| Presently the infestation of forest and agricultural plant diseases and insects causes severe problems while the chemical treatment, as the major solution, is of very low efficiency. Meanwhile, chemical application causes severe pollution to the agricultural and forestry ecological environment and damage to the manipulators. So, developing robot system for pesticide smart targeting spraying is necessary and significative, which bears the promises of low cost and high efficiency of chemical application in diseases and insects (?)(?)atment and moreover, will protect the agricultural and forestry ecological environment, and shield the manipulators from the dangerous pesticide.In the paper, an indoor smart targeting pesticide application robot system was developed. Three sub-systems were established, that is, image capturing sub-system, movement control sub-system and smart spray execution sub-system. The image capturing sub-system composed of a CCD camera and PC. The movement control sub-system composed of navigational line, DC motors, batteries and movement control circuit. The smart spray execution sub-system composed of spraying pump, nozzle, tank and spray control circuit. The communication between PC and MCU was established. In the paper, the functions were realized as follows: (l)controling the movement of the robot, following the navigational line; (2) controling smart spraying when the PC capturing the target image and giving the spraying instructions; (3) realizing data communications between PC and MCU, converting the decision making results to spraying instructions to control the spray execution system..A series of experiments and analysis, which covered the main puzzles and technical difficulties, were carried out to predict the feasibility and reliability of the system for out-door purposes. The research in the paper will provide valuable experiences both theoretically and practically for the outdoor smart chemical applications based on machine vision. |
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