• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.349-351
• /
• 2007

A concept of the semi-autonomous tele-weeding-system which performs weeding tasks through co-operation of human and machine intelligence is proposed. The tele-weeding system consists of weeding robot, communication networks and operating server. The images of plants taken by the weeding robot are transferred through the communication networks to the human operator. Positions of the weeds are indicated at the operating host by the operator and transferred back to the weeding robot. Such position informations are converted to the world space and the weeding is done based on the robot intelligence. Feasibility of such concept has been tested through development of a laboratory model of the system.

• 드라이브 ㆍ 컨트롤
• /
• 제20권4호
• /
• pp.27-34
• /
• 2023

Weeding in orchards is closely associated with productivity and quality. The customary weeding process is both labor-intensive and time-consuming. To solve the problems, there is need for automation of agricultural robots and machines in the agricultural field. On the other hand, orchards have complicated working areas due to narrow spaces between trees and amorphous terrain. Therefore, it is necessary to develop customized robot technology for unmanned weeding work within the department. This study developed a path generation and path control method for unmanned weeding according to the orchard environment. For this, the width of the weeding span, the number of operations, and the width of the weeding robot were used as input parameters for the orchard environment parameters. To generate a weeding path, a weeding robot was operated remotely to obtain GNSS-based location data along the superheated center line, and a driving performance test was performed based on the generated path. From the results of orchard field tests, the RMSE in weeding period sections was measured at 0.029 m, with a maximum error of 0.15 m. In the steering period within row and steering to the next row sections, the RMSE was 0.124 m, and 0.047 m, respectively.

• Journal of Biosystems Engineering
• /
• 제39권1호
• /
• pp.11-20
• /
• 2014

Purpose: Walking type cultivator used for weeding generated excessive handle vibration as well as bouncing motion depending on the weeding speed. This research was conducted to define a design factor of the rotary weeding blades for reducing soil reaction forces as well as hand vibration. Methods: The motion and forces acting on the rotary blades were reviewed to find out the most influencing parameter on hand vibration. The installation angle (IA) of the blade was selected and analyzed to determine the condition of no reaction force less. For removing the unnecessary upward soil reaction, the design factor theory of weeding blade was suggested based on geometrics and dynamics. For evaluation of design factor theory, the experiment in situ was performed base on ISO 5349:1. The vibration $a_{hv}$ and theoretical value $X_{MF}$ were compared with two groups that one was positive group ($X_{MF}$ > 0) and the other was negative group ($X_{MF}$ < 0). Results: $X_{MF}$ was derived from rotational velocity, forward velocity, disk diameter, weeding depth, blade's width and IA of blade. Two groups had significant difference (p < 0.05). In aspect of the group mean total exposure duration, positive group was 17.53% bigger than negative group. When disk radius 100, 150 and 200 mm, minimum IAs were $4{\sim}27^{\circ}$, $3{\sim}15^{\circ}$ and $2{\sim}10^{\circ}$, respectively. A spread sheet program which calculated XMF was developed by Excel 2013. Conclusions: According to this result, minimum IA of weeding blade for soil reaction reduction could be obtained. For reduction hand-arm vibration and power consumption, minimum IA is needed.

• 한국산림과학회지
• /
• 제109권2호
• /
• pp.179-188
• /
• 2020

풀베기작업은 양분, 수분, 광량의 경쟁을 유발시키는 조림목 주변의 잡초목을 제거하는 작업으로, 조림 수종의 활착 및 초기 생장에 큰 영향을 미친다. 본 연구는 주요 조림 수종에 적합한 풀베기 시기와 방법을 알아보기 위하여 전국 국유림을 대상으로 조림수종별 풀베기 시기 및 횟수, 조림목의 수고와 잡초목의 길이를 분석하였다. 조림 후 5년 내의 조림지에서 풀베기사업의 99%가 이뤄지고 있었으며, 소나무, 낙엽송, 편백, 산벚나무, 자작나무 조림지가 풀베기 전체 대상지 중 70% 이상을 차지하였다. 연 1회 풀베기사업은 6월 하순부터 7월 하순까지 67% 실시되었고, 연 2회 풀베기는 6월과 8월이 31%로 가장 높았다. 일부 수종을 제외한 대부분의 수종이 조림 당년과 2년 후까지 잡초목에 비해 수고가 낮았지만, 조림 3년 후부터 잡초목의 길이보다 조림목의 수고가 평균 48% 더 높았다. 따라서, 대부분의 수종은 조림 3년 후부터 모두베기 방식의 풀베기보다는 조림목과 경쟁하는 목본류 위주의 제거작업을 통해 잡초목과의 경쟁을 감소시키고, 작업자의 작업량 또한 줄일 수 있다고 판단된다. 본 연구는 각 지역에 적합한 수종별 풀베기사업 일정과 방법을 반영한다면 효율적인 산림자원육성이 가능함을 제안하고 있다.

• 한국응용곤충학회지
• /
• 제16권1호
• /
• pp.7-12
• /
• 1977

논보리의 제초작업체계를 확립하는 기초자료로서 적정제초시기를 구명코자 제초시기를 달리하여 포장시험한 결과를 요약하면 다음과 같다. 1. 1회 제초의 경우, 월동후 조기(2월 상순)에 행할수록 수량구성요소와 수량이 증가하였고, 후기의 잡초량도 감소하였다. 2. 초기잡초의 방임기간은 2월 10일이나 늦어도 2월 25일까지였다. 3. 제초를 끝내도 좋은 시기는 3월 11일까지였고, 4월 이후의 제초는 수량증수에 큰 효과가 없다고 생각되었다. 4. 잡초와 맥류와의 경쟁시기는 2월 25일부터 3월 30일까지가 가장 심하였고, 그 후에도 경쟁이 계속되면서 약화해지는 경향이었다. 따라서 이 기간에는 잡초를 제거해 주어야 수량감소를 면할 수 있을 것으로 보인다. 5. 주요 잡초는 둑새풀, 벼룩나물, 갈퀴덩굴의 순위였다.

• Journal of Biosystems Engineering
• /
• 제31권4호
• /
• pp.334-341
• /
• 2006

This study designed to develop a mower which can reach to side of a tractor or inclined road side and operate weeding. The prototype consists of 4 parts; the base and turning equipment, the boom, the arm, the weeder. The hydraulic actuators were divided into two operations, weeding and operation of boom and they were controlled by electrical equipment. Weeding was very effective when pressure set up at $15{\ell}/min$ using weeding, as $2.27kg{\cdot}m$, 2,210rpm. Weeding range of flail mower was 1.1 to 2.6m from the center of turning equipment at a flat. In case of disk mower, it was 1.5 to 2m. As a result of operation test, flail mower was appropriate for weeding at fence and short weeds, disk mower was appropriate for long weeds.

• 한국정보전자통신기술학회논문지
• /
• 제8권3호
• /
• pp.229-238
• /
• 2015

본 연구는 이러한 경사 토지와 경사진 도로 측면 등 다양한 영역에서 작동하는 캔을 구현 잡초의 전자 제어 시스템을 개발 하였다. 잡초 구현은 다섯 가지 주요 부분으로 구성 전자 제어 시스템, 유압 시스템, 메인 프레임, 붐 및 팔을 이용하는 기계와 회전형 제초기. 그리고 잡초는 전자 제어 시스템의 사용을 고려 트랙터의 3 점 히치 의해 부착될 수 있도록 개발되었다 구현한다. 그 결과, 전자 제어 시험 제초 구현 경사 땅 트랙터에 장착하여 실시했다. 전자 제어 시스템의 테스트 결과가 만족 제초 성능을 보여 주었다.

• 한국도서관정보학회지
• /
• 제9권
• /
• pp.213-240
• /
• 1982

Today, one of the major pressures that libraries have been facing is the rapid growth of publications. Due to the rapid growth of publications, libraries have been faced the shortage of stack as well as quality deterioration of library collections. Naturally, these disa n.0, ppointed the users and made the present library activities weak and inadequate. One of the desirable actions in remedying these problems is to weed library collections properly and regularly. Weeding methods used in libraries are derived from the judgement by subject specialists, from the examining the imprint date and the past use patterns of a volume. Among these methods, the past use patterns are highly predictive of the future use, and can be used to create meaningful weeding criteria. Since the libraries in Korea have emphasized on numbers of library collection in the past, the libraries have neglected weeding library collections. Now, we must turn our concern toward the weeding library collections, and the attitude of the library services to the users must change from passive to active.

• 한국작물학회지
• /
• 제23권3호
• /
• pp.55-65
• /
• 1978

Upland weed control in Korea has been in dilema with the radical problems prior to weed problems, as it were, poor farming conditions, low yielding, no farmers concern, lack of political cares, and low returns for farming, etc. In these respects, the study was intended to collect all concerns to upland farming conditions and to array all research informations contributed upon Korea upland weeding, and at last interpreted its problems in order of importance. Especially expecting the reasonable and common use herbicides upon the most uplands in Korea, the crop compatibility and weeding efficacy by the most herbicides upon each crops were investigated from the experiment results. Among other interpretations of research results, the most important and first of all acceptance was for the direction and methods of weed research to be rationalized. And that weeding programs in level of upland farmers should be cautionsely and gradually propagated was interpreted to be accepted. Also, for the reasonable development of upland weeding situation in near future, the integrated promotion of upland farming rationalization is suggested by schematic explanations.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
• /
• pp.325-332
• /
• 2000

The objective of this research work is to develop an autonomous levee-weeding robot. In this paper, pathway control system for the robot is developed and simulated. A prototype autonomous vehicle for levee weeding is also developed and used in the actual test. The results obtained in this research work is summarized as follows; 1) The simulated typical time history of lateral displacements and heading angle of the vehicle in straight run shows that the vehicle tendency is always to achieve the target path from any of its deviated position and heading angle. 2) The test run on an asphalt surface by the prototype crawler-type vehicle is in good agreement with the simulation results.