Abstract
Weeds nyob rau hauv strawberry teb reproduces sai heev, depriving strawberry seedlings ntawm as-ham thiab lub teeb, ua rau lub zos ib puag ncig kub, thiab pab raws li ib tug nruab nrab hosts rau kab tsuag thiab kab mob, accelerating lawv tshwm sim thiab kis. Txhawm rau hais txog qhov teeb meem ntawm kev tswj cov nroj tsuag thaum cog txiv pos nphuab, daim ntawv no tsim ib qho kev siv hluav taws xob laser weeding neeg hlau rau strawberry teb raws li DIN-LW-YOLO. Ua ntej, los ntawm kev tsim cov ntaub ntawv los ntawm strawberry teb nyob rau hauv ntau qhov chaw, peb thov DIN-LW-YOLO: ib txoj kev tshawb nrhiav rau drip irrigation yeeb nkab navigation thiab laser weeding, uas yuav ntes tau strawberry seedlings, nroj tsuag, drip irrigation kav, thiab nroj tsuag loj hlob cov ntsiab lus nyob rau hauv realtime.{{6} Tus qauv tsim kev twv ua ntej lub taub hau ntawm siab - daws teeb meem feature maps ntawm YOLOv8-pose. Ib qho EMA xim module tau ntxiv ua ntej lub taub hau twv ua ntej thiab Spatial Pyramid Pooling Fast (SPPF) module kom ntes pixel - theem kev sib raug zoo. Txoj kev no zoo dua siv cov ncauj lus kom ntxaws los ntawm cov duab kos duab ntiav, txhim kho cov phiaj xwm me me. Tsis tas li ntawd, deformable convolutions yog siv los adaptively ntes cov hom phiaj, hloov qhov thib ob convolution nyob rau hauv lub bottleneck qauv ntawm lub feature fusion module, txhim khu kev tshawb pom ntawm elongated drip irrigation yeeb nkab hom phiaj. Tom ntej no, DIN{16}}LW-YOLO tau koom ua ke rau hauv cov neeg hlau laser weeding. Lub kaw lus tswj kev txiav txim siab txoj kev taug kev raws li qhov dav ntawm cov yeeb nkab drip irrigation rau kev tawm tswv yim tswj thiab tso lub hom phiaj laser los ntawm kev tau txais cov kev sib koom ua ke ntawm cov nroj tsuag loj hlob cov ntsiab lus txheeb ze rau strawberry seedlings thiab drip irrigation kav, ua tiav autonomous laser weeding ua haujlwm. Cov qhabnias xeem tau pom tias DIN-LW-YOLO qauv qhia kev paub txog kev ua tau zoo ntawm cov ntaub ntawv strawberry nyob rau hauv ib puag ncig sib txawv thiab theem kev loj hlob. Tus qauv qhov nruab nrab qhov tseeb (mAP) nyob rau hauv cheeb tsam thiab taw tes lub hom phiaj nrhiav pom yog 88.5% thiab 85.0%, feem, kev txhim kho los ntawm 1.9% thiab 2.6% piv rau tus qauv qub, ua tau raws li lub sijhawm ua haujlwm tiag tiag ntawm cov neeg siv tshuab laser weeding robots. Cov txiaj ntsig kev sim teb qhia tau hais tias kev tswj cov nroj tsuag thiab cov qoob loo raug mob ntawm 92.6% thiab 1.2%, feem, ua tau raws li cov kev cai agronomic rau kev siv tshuaj tua nroj hauv strawberry teb. Cov kev tshawb pom no pab txhawb rau kev tsim cov cuab yeej ua liaj ua teb ntse thiab txhawb kev siv tshuab pom kev hauv kev tiv thaiv qoob loo strawberry.
Taw qhia
Strawberries yog perennial herbaceous nroj tsuag ntawm tsev neeg Rosaceae, feem ntau propagated vegetatively los ntawm stolons. Tsawg-cov nroj tsuag strawberry loj hlob muaj kev cuam tshuam rau cov nroj tsuag nyob ib puag ncig hauv ob qho chaw zov me nyuam thiab thaj chaw ib puag ncig. Cov nroj tsuag muaj zog tsis tsuas yog sib tw rau cov as-ham thiab lub teeb, ua kom lub cheeb tsam ib puag ncig qhov kub thiab txias, tab sis kuj ua haujlwm nruab nrab rau cov kab tsuag thiab kab mob, ua kom lawv kis tau zoo. Yog li ntawd, kev tswj cov nroj tsuag ncaj qha cuam tshuam cov txiaj ntsig thiab qhov zoo ntawm strawberries. Feem ntau siv ua ntej- thiab tom qab- cov tshuaj tua kab mob tshwm sim tsis zoo cuam tshuam cov txiaj ntsig, ib puag ncig, thiab kev noj qab haus huv ntawm cov neeg ua haujlwm (Huang et al., 2018). Rabier et al. (2017) tau sau tseg tias cov nroj tsuag siv tshuab tsis muaj txiaj ntsig zoo dua li cov tshuaj tua kab mob, vim tias cov nroj tsuag ib txwm siv (xws li, hoes, rotary blades) tsis tuaj yeem tsom mus rau sab hauv- kab cov nroj tsuag. Tsis tas li ntawd, cov av cuam tshuam los ntawm kev tillage tuaj yeem ua rau cov av muaj txiaj ntsig zoo, xws li cov kab mob hauv av, thiab ua rau cov av yaig thiab cov khoom noj leaching (Chatterjee & Lal, 2009). Kev txhawj xeeb txog cov txheej txheem tswj cov nroj tsuag tam sim no qhia txog qhov xav tau ntawm cov kev daws teeb meem tshiab, ntawm cov laser{18}}raws li kev tswj cov nroj tsuag tau cog lus (Tran et al., 2023).
Hauv kev ua haujlwm ntawm laser-raws li kev tswj cov nroj tsuag, ntau yam kev nce qib tau ua rau tsis tu ncua ntawm kev txhim kho thev naus laus zis. Heisel et al. (2001) pioneered siv cov kab teeb laser txiav cov nroj tsuag rau kev tswj cov nroj tsuag. Tom qab ntawd, Mathiassen et al. (2006) tau ua ib qho kev tshawb fawb hauv - qhov tob ntawm qhov cuam tshuam ntawm kev kho laser ntawm kev tua cov nroj tsuag, pom tias laser raug rau cov nroj tsuag apical meristems txo qis kev loj hlob thiab ua rau tuag taus rau qee hom nroj tsuag. Nadimi et al. (2009) tsim ib lub laser weeding test device los simulate dynamic targeting ntawm cov nroj tsuag. Tom qab ntawd, Marx et al. (2012) tau ua pov thawj tias kev tswj cov nroj tsuag zoo yuav tsum tau CNC (Computer Numerical Control) precision targeting of meristems, hos Ge li al. (2013) thiab Xuelei et al. (2016) txhua lub tswv yim robotic caj npab rau laser weeding. Arsa et al. (2023) tau qhia txog kev sib txuas ntawm neural network nrog tus encoder -decoder architecture txhawm rau txheeb xyuas cov ntsiab lus kev loj hlob ntawm cov nroj tsuag, qhia txog qhov tseem ceeb thiab qhov ua tau ntawm kev loj hlob- taw tes nrhiav kom pom tseeb lub hom phiaj laser hauv cov thev naus laus zis no. Ua ke, cov kev tshawb fawb no muaj kev ua haujlwm siab laser-raws li kev tswj cov nroj tsuag thoob plaws ntau qhov ntev.
Nyob rau hauv xyoo tas los no, txhawm rau daws cov teeb meem kev nyom nyom, cov kws tshawb fawb tau siv cov txheej txheem kev kawm tob rau kev tshawb nrhiav cov nroj tsuag hauv cov qoob loo. Gao et al. (2020) tau tsim ib txoj hauv kev siv YOLOv3-raws li sib sib zog nqus convolutional neural network (CNN) kom paub qhov txawv qab zib beet los ntawm cov nroj tsuag, thaum Jabir li al. (2021) siv plaub lub network architectures-Detectron 2, EfficientDet, YOLO, thiab Faster R-CNN- kom sib txawv orchids ntawm convolvulus, xaiv cov qauv tsim nyog tshaj plaws rau kev tshawb nrhiav cov nroj tsuag. Chen et al. (2022) tau txhim kho tus qauv YOLOv4 los ntawm kev sib koom ua ke SE module ua cov txheej txheem logic hauv SPP thiab ntxiv qhov tseem ceeb hauv cheeb tsam sib koom ua ke, hais txog qhov sib txawv ntawm lub hom phiaj qhov ntau thiab tsawg thiab txhim kho kev paub txog cov nroj tsuag kev ua tau zoo thiab qhov tseeb hauv cov noob qoob loo. Visentin et al. (2023) tau qhia txog kev siv tshuaj tua kab mob autonomous robotic weeding system uas ua tiav kev txawj ntse thiab kev siv tshuaj tua kab. Shao et al. (2023) tau hais txog cov teeb meem nyuaj hauv cov liaj teb-xws li kev xav txog dej, av keeb kwm yav dhau, kev loj hlob sib tshooj, thiab ntau yam teeb pom kev zoo-los ntawm kev nthuav tawm cov qauv kev kawm tob, GTCBS-YOLOv5s, txhawm rau txheeb xyuas rau hom nroj tsuag. Fan et al. (2023) tsim ib qho kev tshawb nrhiav thiab kev tswj cov nroj tsuag uas siv CBAM module, BiFPN qauv, thiab bilinear interpolation algorithm. Xu et al. (2023) tau nthuav tawm ib txoj hauv kev tshiab uas sib txuas cov duab pom xim nrog cov piv txwv segmentation txoj kev raws li tus encoder -decoder architecture, zoo tackling qhov kev sib tw kom raug thiab segmenting nroj tsuag ntawm cov qoob loo cog qoob loo. Liao et al. (2024) tau tshaj tawm cov qauv tshiab Strip Convolutional Network (SC-Net), ua tiav cov qhab nia mIoU ntawm 87.48 % thiab 89.00 % ntawm cov qoob loo kev cai thiab cov ntaub ntawv ua liaj ua teb pej xeem, ua kom pom tseeb thiab ruaj khov. Ronay et al. (2024) tau soj ntsuam SMA qhov kev ua tau zoo hauv kev kwv yees cov nroj tsuag ntawm ntau theem kev loj hlob nrog rau hauv kev daws teeb meem spectral thiab spatial. Rai thiab Sun (2024) tsim ib qho - theem sib sib zog nqus kev kawm architecture muaj peev xwm ntawm ob qho tib si bounding box localization thiab pixel- theem piv txwv segmentation ntawm cov nroj tsuag hauv UAV-tau txais tej thaj chaw deb sensing dluab.
Hauv cov ntsiab lus, kev tshawb fawb tam sim no feem ntau tsom rau kev paub qhov txawv cov qoob loo los ntawm cov nroj tsuag. Txawm li cas los xij, rau laser weeding nyob rau hauv strawberry teb, nws yog ib qho tseem ceeb tsis yog tsuas yog los txheeb xyuas cov nroj tsuag, tab sis kuj yuav xyuas cov drip irrigation kav thiab localize nroj tsuag loj hlob point coordinates kom meej weeding hauj lwm. Kev siv cov kav dej drip dej rau kev ua haujlwm hauv thaj chaw ntxiv kev ua haujlwm rau ib qho qauv sib txuas, ua kom zoo dua cov peev txheej suav. Nevertheless, the varying sizes of strawberry plants, slender water pipes, and complex conditions, such as overlapping between strawberry seedlings and pipes, as well as densely clustered weeds, present substantial challenges to accurately extracting and learning the features of weeds, strawberry seedlings, irrigation pipes, and weed growth points in strawberry fields.
Raws li cov ntsiab lus saum toj no, txoj kev tshawb no tsom mus rau: (1) tsim cov ntaub ntawv npog ntau yam kev loj hlob thiab theem rau strawberry teb, drip irrigation kav, nroj tsuag, thiab cov ntsiab lus ntawm kev loj hlob nroj tsuag; (2) tawm tswv yim DIN-LW-YOLO qauv kom raug txheeb xyuas cov txiv pos nphuab, cov kav dej ntws, cov nroj tsuag, thiab cov ntsiab lus ntawm kev loj hlob nroj tsuag; (3) txhim kho kev tswj hwm raws li DIN-LW-YOLO qauv los tswj lub sijhawm tiag tiag - kev taw qhia lub sijhawm thiab laser tsom rau cov neeg hlau nroj tsuag; thiab (4) ua kev sim teb los ntawm kev xa cov laser weeding neeg hlau nyob rau hauv strawberry teb los soj ntsuam nws cov autonomous laser weeding kev ua tau zoo nyob rau hauv cov cheeb tsam tiag tiag.
