Development and evaluation of a machine vision and deep learning-based smart sprayer system for site-specific weed management in row crops: An edge computing approach

Abstract

Traditional weed management often involves blanket herbicide spraying, resulting in substantial herbicide wastage, environmental concerns, and herbicide resistant issues. Smart spraying systems utilizing robotics and sensors technologies can minimize herbicide usage and provide a sustainable solution for site-specific weed management. A machine vision-based spraying system was designed and developed for weed identification and precise spray application onto the target weeds. The sprayer platform utilizes a deep learning YOLOv4 model to accurately recognize multiple weed species, facilitating targeted spray application. The platform is equipped with an FLIR RGB camera for real-time image acquisition and Nvidia Jetson AGX Orin edge device for deploying weed detection deep-learning model. The GPIO pins of Nvidia Jetson were utilized to activate relay, providing precise on/off control over the TeeJet solenoid valves for spot spraying. Both indoor and field experiments were conducted to evaluate and compare the performance of vision-based sprayer system for weed identification and precise spraying onto the target weeds. In the indoor experiment, the sprayer system showed the average effective spraying rate of 93.33 %, with the precision of 100 % and recall of 92.8 %. Conversely, the field experiment resulted in a slightly lower average effective spraying rate of 90.6 %, while maintaining a precision of 95.5 % and a recall of 89.47 %. The reduced accuracy of the spraying system in field experiment was due to varying outdoor conditions such as lighting, shadows, and wind velocity. Overall, the result of this study demonstrates the spraying system's potential for targeted herbicide application onto the grid cells containing weeds, effectively reducing herbicide usage and overall weed management costs.