Instructions of how to use the GUI python scripts to control the system.
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The colour detection script uses an OpenCV colour mask to target objects based on colour. This can be used for testing and calibration of the system’s accuracy onto printed squares. This script can be run on a PC as it does not require much processing power.
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Main - YOLO plant detection
This script uses YOLO to identify plants for targeting. Currently it differentiates based on monocot and dicot, which can be toggled in the GUI to choose to target either monocots or dicots.
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System overview
Plants are detected and classified as either dicot or monocot. If the system is targeting dicots (as in the example above) they will be marked as green and will be assigned for firing. When the system is in segmentation mode it will create a grid of possible firing positions (based on the horizontal positions of the valves and the “Firing Pixel Grid Height Value”) and assign firing positions if they overlap where the segmentation model has identified plants. Each green dot will be fired at by the system.
NOTE: The targeting system relies on accurate calibration of “vehicle velocity”, “row size” and “spray centre offset”. If the velocity of physical position of the camera/valves changes, these must be updated.
GUI controls explanation
Sliders
Vehicle Velocity - Defines velocity of vehicle in m/s. This must be accurately set or the system will spray too early or too late.
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Square size, Square Spacing and Square Pattern - Controls the size of a square fired instead of a single dot. This feature is still in development for the YOLO model targeting. Do not use.
Buttons
Hide live cam feed / show live cam feed - Displays or hides the camera feed. Note: performance is slightly faster with the feed hidden. Fire - Turns on/off whether the system will fire the valves if it sees an object. This must be turned on to spray.
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Quit - Closes the program. Note: if the camera is not connected it may not completely end the process even if the GUI closes.
Non-GUI Controls
There are several settings relating to the camera (e.g. flash on/off, exposure time, gamma) and phsycial setup (e..g distance between camera and valves) that are not changed in the GUI. These must be changed in the code itself before running the script.
Colour Detection Program
System overview
This script uses openCV to identify objects based on their colour. Click on an object in the image to set its colour to be targeted. Use sliders to adjust colour mask as needed. Centre of the detected objected will be targeted.
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GUI controls explanation
Sliders
H, S, V -Controls the threshold for the HSV values used in the colour mask above/below the value set by clicking on a colour.
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Frame Rate - Maximum frame rate of the system in FPS. Note this is the maximum FPS and it may actually be lower than the slider as the FPS is limited by the camera and the system.
Buttons
Hide live cam feed / show live cam feed - Displays or hides the camera feed. Note: performance is slightly faster with the feed hidden.
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Quit - Closes the program. Note: if the camera is not connected it may not completely end the process even if the GUI closes.
Non-GUI Controls
There are several settings relating to the camera (e.g. flash on/off, exposure time, gamma) and phsycial setup (e..g distance between camera and valves) that are not changed in the GUI. These must be changed in the code itself before running the script.
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