Design of an Intelligent Target Spraying Robot for Processing Hyphantria Cunea Larva Nets

摘要

Background: The Hyphantria cunea is a worldwide quarantine pest. It has the characteristicsof a wide variety of recipes, strong adaptability, wide transmission channels and serious harm,which seriously endanger the sustainable development of the ecological environment. At present, thecontrol methods of the Hyphantria cunea are costly and inefficient.Objective: An intelligent target spraying robot based on machine vision is designed for cleansing Hyphantriacunea larva nets according to the characteristics of the net curtain and the background color.Methodology: The mobile mechanism of the spraying robot is based on a crawler type trolley and thethree-dimensional movements are achieved by stepping motor and synchronous belt driving linearguide slider in the horizontal plane, and by the lead screw in the vertical direction. The on-boardsoftware controls the hand-eye actuator to scan the target trees with a specific trajectory, and performsimage processing to identify the target so as to intelligently spray on the target.Results: The spraying robot can cope with the irregular distribution of Hyphantria cunea larva nets,and can realize the three-dimensional movement of the nozzle, and perform the progressive scanningto identify the larva nets, and the robot controls the nozzle to spray the medicine, thereby realizingthe intelligent spraying of the target.Conclusion: Experiments show that accurate target spraying of the robot can be achieved, and thetarget coverage rate can reach up to 85% of the total larva nets, which greatly improves the sprayingefficiency.