I created an autonomous intelligent ag sprayer drone that identifies and sprays only the wild blackberries (weeds) in my prairie grass. It worked surprisingly well and could be copied for other applications. This video will show you how it's built.
Note - This is version 1 - it works but the system to identify weeds is a bit of a clooge. Version 2 is forthcoming and will use a raspberry pi zero 2 to do onboard image processing and will work much better - I recommend going that route, raspberry pi zero 2's should be back in stock in the summer of 2023.

Landing Pad and Battery Swap Station Video: [ Ссылка ]

Electrical schematic: [ Ссылка ]
Tensor Flow code:
webcamCapture.py - [ Ссылка ]
sprayerLoop_captureOnly.py - [ Ссылка ]
BuildModel.py - [ Ссылка ]
PredictImage.py - [ Ссылка ]
listener_mpScriptsTab.py - [ Ссылка ]
sprayerLoop.py - [ Ссылка ]
Bill of Materials - Drone ($1035 USD as of 2/23, version 2 camera system)
Drone
1 s500 frame - $48 ([ Ссылка ])
4 30A ESC - $40 ([ Ссылка ])
4 920kV drone motors - $40 ([ Ссылка ])
1 2 pair drone props - $14
1 cube orange, 1 here 3+ GPS, 1 900MHz radio - $679 ([ Ссылка ])
This is a huge portion of the total cost, and cheaper pixhawk autopilots and radios exist, but I tried them without much success
1 tf-mini (lidar) - $50 ([ Ссылка ])
1 4s 5200 mAH lipo - $49 ([ Ссылка ]
adhesive velcro - $5
Sprayer:
1 L298N Motor Controller - $7 ([ Ссылка ])
1 12V and 5V DC buck converter (adjustable) - $12 ([ Ссылка ])
1 Sprayer Pump - $10 ([ Ссылка ])
1 Nozzle - $8 ([ Ссылка ])
1 Nozzle tubing - $8 ([ Ссылка ])
5' section of 1/2" PVC, 6 90 degree connectors, 4 T connectors, silicon, 1/4" inside diameter tubing - $25 (tank/landing gear)

Version 1 Camera System -
**NOTE I don't recommend buying version 1. Version 2 will be WAY better and cheaper. Just wait for raspberri pi to be back in stock**
1 Runcam swift 2 FPV Camera - $28 ([ Ссылка ])
1 eachine 5.8GHz Video Transmitter TX805S - $35 ([ Ссылка ])
1 eachine ROTG02 5.8GHz receiver w/ USB - $31 ([ Ссылка ])

Version 2 Camera System -
1 Raspberri Pi Zero 2 - $15 - ([ Ссылка ])
1 Raspberri Pi Camera 2 - $25 - ([ Ссылка ])

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