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An unmanned autonomous pesticide spraying robot shown in Figure.2 was created by Hirayama, K. et al. It uses line traces to move between the ridges in the greenhouse and uses ultrasonic sensors to estimate the distance to crops and image recognition to spray pesticides.

An unmanned autonomous pesticide spraying robot shown in Figure.2 was created by
Hirayama, K. et al. It uses line traces to move between the ridges in the greenhouse and
uses ultrasonic sensors to estimate the distance to crops and image recognition to spray
pesticides. The driving technique was line tracking with a CCD camera. To effectively spray
insecticide, the robot moves across ridges and simultaneously sprays the ridges on both
sides. The lines for tracing are being installed so that one can move precisely between the
ridges. We used LabVIEW to construct a line tracing program and connected a CCD camera
(HD-WEBCAMC270n) to myRIO so that the robot could operate smoothly in the
greenhouse. The value of the straight edge inclination regulates the DC motor's drive
amount. The angle of the line inclination determines whether a straight-line edge is positive
or negative. Therefore, it will be feasible to perform a straight line or a curved line by
dividing the value of the straight-line edge. Cucumbers, white radishes, peanuts, tomatoes,
and other vegetables have already seen practical application with this robot.