农药精确对靶施用及其系统设计

提出了减小农药环境污染、增强生态系统可持续性和保护操作者身心健康的精确农药施用系统。系统包括目标树木图像采集处理系统和喷雾控制系统等。树木图像采集处理系统包括CCD摄像头、图像采集卡、计算机软件和试验装置。设计的软件包括采集、提取和处理树木视频图像的关键帧，设计了相对色彩因子从背景中分割出绿色目标，通过分割图像测量获取目标的形态和位置特征。喷雾控制系统包括喷雾台架、喷头、电磁阀和继电器等，以实现数据通讯和将喷雾决策结果转换为指令来控制喷雾执行系统。试验结果表明开发的系统能识别树木图像和树冠类型，并能实现精确对靶喷雾至预定树木目标，从而减小非目标农药污染。

Toward-target precision pesticide application and its system design

The precision pesticide application system was briefly introduced, which could reduce the impact of pesticides on environments, increase the ecosystem sustainability, and protect the operators. The tree image processing, tree crown recognition and spray execution system was included in the system. The tree image processing system includes a CCD camera, an image grabber, a computer and software, and an experimental set-up. The software was developed to realize the functions as follows: capturing, extracting and processing the key frame of tree image from video stream, segmenting the green target from its background by relative color indices, measuring the segmented image to obtain morphological and location features of the target. The spray execution system composed of spraying table, nozzles, solenoid valves and relays was developed, which would realize the data communications and convert spraying decision making results to instructions for controlling the spray execution system. The results of experiments showed that the developed systems were practical and suitable to recognize the tree images and the tree crown types. The non-target or off-target pesticide contamination could be decreased through precisely spraying the pesticide on the desired target tree.