3. Selective Sensing

Task overview

For this task, the robots are navigating autonomously. The robots shall detect weed patches represented by red and blue golf tees. Task 3 is conducted on the area used in task 2 with straight rows. Nevertheless, simple row navigation is required and the robot has to turn on the headland and return in the adjacent row. There will be nine (9) weed patches in total with three patches on each of the first three between row spacing. The end of the third row spacing is the finish line for this task 3.

The rules for entering the field, moving the robot, using remote controller etc. are the same as in task 1 and 2.

Field conditions

The weeds are objects represented by blue and red golf tees distributed between the rows in the soil. The weeds are placed as weed patches in a squared area of 25 cm × 25 cm. The total number of weeds is 10 per weed patch but there are different combinations regarding the number of the red and the blue tees. The tees are in the soil with only the head or upper part visible (ca. 1 to 2 cm). The weed patches are located in a centered band of 25 cm width between the rows. Robots may drive across or over them without a penalty. No weeds are located within the rows and on the headlands. A possible example is illustrated in picture 3.

Rules for robots

Each robot has only one attempt. The maximum available time for the run is 3 minutes. The robot should detect the weed patches. The detection of the weed patch with a higher number of red tees shall be indicated by one (!) loud acoustic signal while the detection of the weed patch with a higher number of blue tees must be confirmed by two (!) consecutive and loud acoustic signals. The length of each acoustic signal may not be longer than 1 second.

Assessment

The Jury registers and assesses the signaling as follows:

  • True positives (correct signals, correct detection) + (plus) 6 points,
  • Wrong positives (wrong signals, but weed detection) + (plus) 2 points
  • False positives (signals, but no weed ) – (negative) 2 points
  • False negatives (no signals) – (negative) 2 points.

Crop plant damage by the robot will result in a penalty of 1 points per plant.

The total travelled distance will not be assessed. The task completing teams will be ranked by the number of points as described above. The best 3 teams will be rewarded. This task 3, together with tasks 1, 2 and 4, contributes to the overall contest winner 2018. Points for the overall winner will be given as described in chapter 0.3 Awards.

Picture of possible locations of the weeds for task 3. Two zoom areas of 25 cm × 25 cm of two weed patch (with different combinations of blue and red weeds) are also indicated.
Picture 3 – Possible locations of the weeds for task 3. Two zoom areas of 25 cm × 25 cm of two weed patch (with different combinations of blue and red weeds) are also indicated.
Print Friendly, PDF & Email