Vision-based pest detection and automatic spray of greenhouse plant

摘要

This paper proposes a new method of pest detection and positioning based on binocular stereo to get the location information of pest, which is used for guiding the robot to spray the pesticides automatically. The production of agricultural cultivation in greenhouse requires of big quantities of pesticides for pest control. Pesticides application is a major component of plant production costs in greenhouse, and the excess in their applications have a great negative impact on the environment. A pesticide application is ideal if the spraying coverage is presented as evenly distributed over the whole plant canopy and, if the product application is correctly adjusted for minimizing the losses towards the soil or the environment. In this approach, the difference of color features between pest and plant leaves is extracted by the image segmentation to identify pest. According to the results of image segmentation and binocular stereo vision technique, the 3D position of the pest has been obtained. In the process of position locating, centroid-matching technique is adopted to displace the common object-matching. The formula based on binocular stereo vision to measure distance is revised, additionally.