Mobile weed killing system using high voltage discharge and current sensor feedback

This paper describes the development and testing of an autonomous robotic system designed to combat weeds using a high-voltage discharge. The system implements a feedback mechanism. The basis of the device is a mobile platform with a six-wheel drive and a buggy-type suspension. It consists of a high-voltage source capable of generating voltage up to 15 kV, a manipulator with electrodes for mechanical and electrical removal of weeds, a sensor for measuring the consumed current, and a single-board computer for control and data processing.The principle of operation of the system is that when the high-voltage electrode comes into contact with the weed, an increase in current is observed. After the process is complete, the current decreases significantly. The average energy for the destruction of a weed (spurge) was estimated at 200 J with a discharge current of 10 A. Based on the measurements of the consumed current, the feedback mechanism was calibrated to determine and detect the destruction of weeds. Research has shown that the proposed control scheme significantly increases the efficiency of robotic systems, ensuring high accuracy and reliability in the automation of agronomic processes.