发表机构
Eindhoven University of Technology; ETH Zürich（埃因霍温理工大学; 苏黎世联邦理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对除草剂抗性和环境问题，提出用配备铣削工具的Spot四足机器人进行机械除草，减少土壤压实，简化自动化，并分析其准确性与效率。
AI 中文摘要
基于除草剂的杂草控制由于杂草抗性上升和化学药剂对环境的不利影响而日益不可持续。机械除草虽避免了这些缺点，但通常使用大型机械实施，导致土壤压实。我们提出一种基于小型移动机器人进行机械除草的新颖替代方案。与现有自动化机械除草方法相比，所提方法减少了土壤压实、简化了自动化并提高了可扩展性。我们的解决方案涉及一台波士顿动力公司（Boston Dynamics）的Spot四足机器人，其末端配备定制除草工具，该工具带有铣削钻头。工具刚性连接至机器人，通过驱动腿部利用机器人基座的自由度，同时保持足部静止。我们开发了一套软件架构以实现自主除草，并将该系统与所有其他必要组件集成。我们在室内和室外环境中分析了当前概念验证的准确性和效率，并为未来工作提供建议，以使系统更加准确和高效。
英文摘要
Herbicide-based weed control is increasingly unsustainable due to rising weed resistance and the adverse environmental impacts of chemical use. While mechanical weed control avoids these drawbacks, it is typically implemented using large machines that cause soil compaction. We propose a novel alternative based on small mobile robots for mechanical weeding. Compared with existing automated mechanical weeding approaches, the proposed method offers reduced soil compaction, simpler automation, and improved scalability. Our solution involves a Boston Dynamics Spot quadruped robot equipped with a custom weed removal tool featuring a milling bit at its end. The tool is rigidly attached to the robot and uses the degrees of freedom of the robot base by actuating the legs, while keeping the feet stationary. We develop a software architecture that enables autonomous weed removal and integrate this system with all other required components. We analyze the accuracy and efficiency of the current proof of concept both in an indoor and outdoor environment and provide recommendations for future work to make the system more accurate and efficient.
