This paper proposes a modular system of precision agriculture to automate sprayers, optimizing the application of pesticides through a robotic system based on computer vision and individual nozzle on/off control. The system uses low-cost equipment such as Arduino boards, solenoid valves, pressure and flow sensors, smartphone, webcam, and Raspberry Pi. The motivation is to reduce the amount of pesticides applied in crops, not just for potential savings for the farmers, but also for environment protection issues, as well as for food safety. The system can be used in any crop planted in rows such as onion, soybean, corn, beans, and rice. The results show that our system can detect lines in plantations and can be used to retrofit conventional boom sprayers, so it is an important step to develop a kit capable of upgrade a conventional sprayer to a fully autonomous robotic sprayer even at affordable cost in the context of small and medium size farms.

本文提出了一种精确农业的模块化系统，以使喷雾器自动化，并通过基于计算机视觉和独立喷嘴开/关控制的机器人系统来优化农药的施用。该系统使用低成本设备，例如Arduino板，电磁阀，压力和流量传感器，智能手机，网络摄像头和Raspberry Pi。这样做的动机是减少农作物中使用的农药数量，这不仅是为了节省农民的钱，而且是为了解决环境保护问题以及食品安全。该系统可用于成排种植的任何农作物，例如洋葱，大豆，玉米，豆类和水稻。结果表明，我们的系统可以检测种植园中的品系，并可用于改造传统的喷杆式喷雾机，