Due to the area of the vineyard 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 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.
And a new method to measure the blocked trunk of grapes in vineyards has also been developed in this paper.