Original papersWeed detecting robot in sugarcane fields using fuzzy real time classifier

- An image classification system is designed by extracting internal leaf textures.
- A novel fuzzy real-time classifier is developed to automatically classify weed and crop in sugarcane fields.
- Morphological operators are used to capture the morphological pattern of the crop and weed.
- A robot carrying Raspberry PI board, camera, motors and power system has been fabricated and tested.
- The hardware identifies the sugarcane crop from 9 different weed species with 92.9% accuracy.

The objective of this research work is to propose a weed detecting robotic model for sugarcane fields that uses a fuzzy real time classifier on leaf textures. The differentiation between weed and crop and weed removal are the two challenging tasks for the farmers especially in the Indian sugarcane cultivation scenario. The automatic weed detection and removal becomes a vital task for improving the cost effectiveness and efficiency of the agricultural processes. The detection of weeds by the robotic model employs a Raspberry Pi based control system placed in a moving vehicle. An automated image classification system has been designed which extracts leaf textures and employs a fuzzy real-time classification technique. Morphological operators are applied to extract circular leaf patterns in different scales from the leaf images. An optimal set of features have been identified for the characterization of crops and weeds in sugarcane fields. A weed detecting robotic prototype is designed and developed using a Raspberry Pi micro controller and suitable input output subsystems such as cameras, small light sources and motors with power systems. The prototype's control incorporates the weed detection mechanism using a Raspbian operating system support and python programming. The designed robotic prototype correctly identifies the sugarcane crop among nine different weed species. The system detects weeds with 92.9% accuracy over a processing time of 0.02 s.