Replacing the human worker with a robotic system in agricultural tasks, traditionally carried out by humans, can increase efficiency of work and profit However, robots lack the capability to respond to unknown, changing, and unpredicted events such as exist in unstructured environments. Collaborating a human operator with a robotic system can help increase target recognition rate and decrease false alarm rate.
In this paper we present the design of a remote interface for a human-robot cooperative vineyard sprayer. The interface allows the human operator to control the robot from a remote location at several modes of control such as vehicle navigation, target marking, target spraying and overall supervision on the task completion. Prior to the interface design, a full characterization of the robotic system was applied and will be presented.

The characterization included human factors (e.g., user awareness, GUI interface), robot control parameters (e.g., robot speed\orientation, operation state), and human-robot collaboration parameters (e.g., level of autonomy to the robot, human supervision).

The interface software was design as two distinguish parts, the remote graphical interface and the robot management software. These two parts are connected to a single NAT and communicate using TCP\UDP protocols. The remote graphical interface was design based on WIMP (Windows, Icons, Menus, and Pointer) interface and was created under Java programing language. The robot management software was developed using C programing language.

The functionally of the complete interface both from the human and the robot point of view was proved in a laboratory evaluation.

The full interface design concepts and its implementation will be presented.