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Setting the right intensity is crucial for the success of post-emergence weed harrowing in cereals. The percentage of crop soil cover (CSC) correlates with the selectivity of weed harrowing. Therefore, real-time camera-based measurements of CSC offer a novel approach to automatically adjust the intensity of harrowing. The intensity of harrowing is varied by hydraulic steering of the tine angle. Five field experiments in cereals were conducted at three locations in southwestern Germany in 2019 and 2020 to measure the effect of camera-based harrowing (2020) and conventional harrowing on weed control efficacy (WCE), crop density, and grain yield. For this purpose, pair-wise comparisons of three fixed harrowing intensities (10°, 40°, and 70° tine angle) and three predefined CSC thresholds (CSC of 10%, 20%, and 60%) were realized in randomized complete block designs. Camera-based intensity adjustment resulted in more homogeneous CSC across the whole plot (6–16% less standard deviation variation) compared to conventional fixed settings of the tine angle. Crop density, WCE, crop biomass, and grain yield were significantly higher for camera-based harrowing than for conventional harrowing. WCE and yields of all automatic adjusted harrowing treatments were equal to the herbicide control plots. Camera-based harrowing provides a robust technology for effective weed management with a lower risk of crop damage than conventional harrowing.

Comparing Sensor-Based Adjustment of Weed Harrowing Intensity with Conventional Harrowing under Heterogeneous Field Conditions