A methods of separating weeds and trunk in different motions by blowing wind and a method of presuming root position

Due to the area of the vineyards in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique, which can be applied to the weeding robots in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. Meanwhile, we also attempt to measure the root of trunk accurately. Due to techniques so far cannot suffice today´s applications; a new method to measure the blocked trunk of grape in vineyards has also been developed in this paper.