自动对靶精准施药机研究——基于图像边缘检测和目标识别
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摘要
为了提高施药作业的效率和实际着药量,降低喷药成本和给环境造成的负担,提出了准确精量的对靶施药系统的设计理念,并给出了施药平台的原理和结构构成,最后对施药平台的图像处理系统进行了重点设计。为了验证方案的可行性,以传统的施药机械为搭载平台,将PC图像处理器嵌入到了精准对靶控制系统中,选择地势平坦的果园为实验场地,对施药平台进行了实验研究。实验结果表明:基于图像边缘检测和目标识别的自动对靶施药平台即使在光线不好的条件下,仍可以准确地得到果树果实和枝叶的位置信息,施药平台的实际着药量要比传统施药平台更高,而成本却更低,从而验证了方案的可行性。
In order to improve the efficiency and the actual spraying dosage,reduce the cost of spraying and the burden of the environment,it put forward the accurate precision spraying system on target design concept,and presented the structure principle and structure of application platform,then it focused on the design application platform of image processing system.In order to verify the feasibility of the scheme,the PC image processor was embedded into the precise target control system with the traditional spraying machine as the platform.Taking the flat orchard as the experimental site,it studied the pesticide application platform.The experimental results show that even in the light is good,it still can get the accurate location information of fruit and foliage based on automatic image edge detection and target recognition of target delivery platform.And the actual drug delivery platform are higher than the traditional application platform,and the cost is lower,which verified the scheme feasibility.
In order to improve the efficiency and the actual spraying dosage,reduce the cost of spraying and the burden of the environment,it put forward the accurate precision spraying system on target design concept,and presented the structure principle and structure of application platform,then it focused on the design application platform of image processing system.In order to verify the feasibility of the scheme,the PC image processor was embedded into the precise target control system with the traditional spraying machine as the platform.Taking the flat orchard as the experimental site,it studied the pesticide application platform.The experimental results show that even in the light is good,it still can get the accurate location information of fruit and foliage based on automatic image edge detection and target recognition of target delivery platform.And the actual drug delivery platform are higher than the traditional application platform,and the cost is lower,which verified the scheme feasibility.
引文
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[23]邹建军,曾爱军,何雄奎,等.果园自动对靶喷雾机红外探测控制系统的研制[J].农业工程学报,2007,23(1):129-132.
[2]金慧迪,陈军,袁池.基于红外探测的果园自动喷药机控制系统[J].农机化研究,2011,33(12):154-157.
[3]李丽,李恒,何雄奎,等.红外靶标自动探测器的研制及试验[J].农业工程学报,2012,28(12):159-163.
[4]刘金龙,丁为民,邓巍.果园对靶喷雾红外探测系统的设计与试验[J].江苏农业科学,2012,40(12):370-372.
[5]陈志刚,王玉光,杜彦生,等.精确对靶喷雾施药的靶标微波探测试验[J].排灌机械工程学报,2010,28(4):364-368.
[6]张卫,杜尚丰.Hough变换在农田机械视觉导航中的应用[J].仪器仪表学报,2005,26(8):706-707.
[7]张磊,王书茂,陈兵旗,等.基于机器视觉的麦田边界检测[J].农业机械学报,2007,38(2):111-114.
[8]赵匀,武传宁,胡旭东,等.农业机器人的研究进展及存在的问题[J].农业工程学报,2003,19(1):20-24.
[9]顾宝兴,姬长英,王海青,等.智能移动水果采摘机器人设计与试验[J].农业机械学报,2012,43(6):153-160.
[10]李文凤,彭智勇,李德毅,等.不确定性Top-k查询处理[J].软件学报,2012,23(6):1542-1560.
[11]张晓辉,李莹,王华勇,等.应用特征聚合进行中文文本分类的改进KNN算法[J].东北大学学报,2003,24(3):229-233.
[12]王海青,姬长英,顾宝兴,等.基于机器视觉和支持向量机的温室黄瓜识别[J].农业机械学报,2012,43(3):163-167.
[13]王辉,毛文华,刘刚,等.基于视觉组合的苹果作业机器人识别与定位[J].农业机械学报,2012,43(12):165-170.
[14]魏泽鼎,贾俊国,王占永.基于视觉传感器的棉花果实定位方法[J].农机化研究,2012,34(6):66-68,112.
[15]刘慧英,王小波.基于Open CV的车辆轮廓检测[J].科学技术与工程,2010(12):2987-2991.
[16]刘青,傅泽田,祁力钧,等.9WZCD-25型风送式超低量喷雾机性能优化试验[J].农业机械学报,2005,36(9):44-47.
[17]王万章,洪添胜,李捷,等.果树农药精确喷雾技术[J].农业工程学报,2004,20(6):98-101.
[18]郭艳玲,李志鹏.可定制功能温室自动喷灌系统[J].农业机械学报,2005,36(12):99-101.
[19]耿爱军,李法德,李陆星.国内外植保机械及植保技术研究现状[J].农机化研究,2007(4):189-191.
[20]刘丰乐,张晓辉,马伟伟,等.国外大型植保机械及施药技术发展现状[J].农机化研究,2010,32(3):246-248.
[21]傅锡敏,吕晓兰,丁为民,等.我国果园植保机械现状与技术需求[J].中国农机化学报,2009(6):10-13,17.
[22]何雄奎.改变我国植保机械和施药技术严重落后的现状[J].农业工程学报,2004,20(1):13-15.
[23]邹建军,曾爱军,何雄奎,等.果园自动对靶喷雾机红外探测控制系统的研制[J].农业工程学报,2007,23(1):129-132.