Method for autonomously weeding crops in an agricultural field

A method for performing an agricultural operation in an agricultural field comprises, at an autonomous machine autonomously navigating along crop rows in the agricultural field:

• recording a first image of a ground area below a light module arranged proximal a front of the autonomous machine;
• detecting a location of a first target plant based on the first image;
• driving a first operating module to laterally align a lateral reference position of the first operating module with the location of the first target plant, the first operating module arranged in a tool housing behind the light module;
• tracking the location of the first target plant relative to a longitudinal reference position of the first operating module;
• in response to the longitudinal reference position of the first operating module longitudinally aligning with the location of the first target plant, actuating the first operating module to perform the agricultural operation;
• recording a second image of a ground area below the tool housing;
• in response to detecting a fiducial of the first operating module in the second image, the fiducial indicating a performance of the agricultural operation:
• calculating a first longitudinal offset between the location of the first target plant and the longitudinal reference position of the first operating module, based on the second image;
• and
• calculating a first lateral offset between the location of the first target plant and the lateral reference position of the first operating module, based on the second image.

A method for autonomously weeding crops in an agricultural field comprises, at an autonomous machine autonomously navigating along crop rows in the agricultural field:

• at a first time, recording a first image of a ground area in a light module arranged proximal a front of the autonomous machine;
• detecting a location of a target plant in the first image;
• calculating a longitudinal distance from the location of the target plant to tips of closed blades in a weeding module arranged in a tool housing behind the light module;
• estimating a duration of time at which the target plant will reach a longitudinal position of the closed blades of the weeding module based on the longitudinal distance and a speed of the autonomous machine at the first time;
• initiating a timer for a sum of the duration of time and an open time correction;
• calculating a lateral offset from the location of the target plant at the first time to a lateral reference position of the weeding module;
• driving the weeding module to a lateral position offset from the lateral reference position by a sum of the lateral offset and lateral offset correction;
• in response to expiration of the timer at a second time, triggering the blades in the first weeding module to open for an open duration;
• and
• in response to conclusion of the open duration at a third time, triggering the blades in the weeding module to close.