An apparatus for controlling weeds, which includes a tine formation adapted to remove or disrupt targeted weeds, and a tine support assembly adapted to support the tine for movement about a first control axis in a generally vertical direction between an engaged position wherein the tine formation in use contacts a ground surface for removal or disruption of targeted weeds and a disengaged position wherein the tine formation is substantially retracted from the ground surface. The tine support assembly is further adapted to support the tine for movement about a second control axis in a generally horizontal direction. The tine support assembly further includes a first actuation mechanism adapted to effect movement of the tine about the first control axis, and a second actuation mechanism adapted to effect movement of the tine about the second control axis. The apparatus also includes a sensing system for sensing aspects of an environment and generating data indicative thereof, and a classification system for identifying target weeds within the environment on the basis of the data from the sensing system. A control system is adapted to activate the first and second actuation mechanisms of the tine support assembly in accordance with a predetermined control logic thereby sequentially to position the tine for disruptive contact with the targeted weeds.Cette invention se rapporte à un appareil permettant de lutter contre les mauvaises herbes. L'appareil comprend une partie dent conformée, conçue pour éliminer ou désagréger les mauvaises herbes ciblées, et un ensemble support de dent conçu pour maintenir la dent afin que celle-ci effectue un mouvement autour d'un premier axe de commande dans une direction généralement verticale, entre une position accouplée dans laquelle la partie dent conformée, à l'utilisation, entre en contact avec une surface de sol pour éliminer ou désagréger des mauvaises herbes ciblées ； et une position désaccouplée, dans laquelle la partie dent conf
