In order to spray onto the canopy of interval planting crop, an approach of using a target spray robot with a composite vision servo\nsystem based on monocular scene vision and monocular eye-in-hand vision was proposed. Scene camera was used to roughly\nlocate target crop, and then the image-processing methods for background segmentation, crop canopy centroid extraction, and\n3D positioning were studied. Eye-in-hand camera was used to precisely determine spray position of each crop. Based on the\ncenter and area of 2D minimum-enclosing-circle (MEC) of crop canopy, a method to calculate spray position and spray time was\ndetermined. In addition, locating algorithm for the MEC center in nozzle reference frame and the hand-eye calibration matrix were\nstudied.The processing of a mechanical arm guiding nozzle to spray was divided into three stages: reset, alignment, and hovering\nspray, and servo method of each stage was investigated. For preliminary verification of the theoretical studies on the approach, a\nsimplified experimental prototype containing one spray mechanical arm was built and some performance tests were carried out\nunder controlled environment in laboratory. The results showed that the prototype could achieve the effect of ââ?¬Å?spraying while\nmoving and accurately spraying on target.ââ?¬Â
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