| 摘要 |
The invention provides a method for intra-row and/or inter-row weeding of crop plants, and a controller and apparatus for achieving the same. The method is for tilling the soil between crop plants using a rotor device with a rotating tine rotor having a tine offset from an axis of rotation, a rotational speed and a translational speed. It includes the steps of: (i) predicting a trajectory of the tine; and (ii) if the minimum distance between the predicted trajectory and a crop plant position is less then a threshold distance, changing the predicted trajectory of the tine by changing the rotational speed of the tine rotor. |
