基于图像矩的室内喷雾机器人自动对靶研究
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摘要
针对间距较大作物的精准喷雾作业要求,提出了一种基于图像矩的喷雾机器人自动对靶方法。该方法采用单目场景/单目(多目)手眼混合视觉结构。场景相机用于作物目标的预定位,研究了基于其图像的作物形心三维定位算法。手眼相机用于目标的跟踪对靶,提出了一种基于图像矩的视觉跟踪方法,并就矩特征组选取、图像雅可比矩阵计算以及目标深度实时估算等问题进行了研究。仿真结果表明,该视觉跟踪方法能够完成对靶任务,且可达到较高的控制精度。为进一步验证所提自动对靶方法的可行性,搭建了具有一个喷雾机械臂的简化样机并进行了室内对靶实验,实验测得样机移动速度在150~200 mm/s时,喷头X、Y、Z向定位误差均小于等于6.5 mm。
Automatic target is a key technology in the field of target spray robot. In order to meet the requirements of precision spraying operation for large spacing crops,an automatic target method based on visual feedback was proposed. A hybrid vision structure,including single scene camera and single( or multi) eye-in-hand camera was adopted. The scene camera mounted in the front of robot body was used to pre-locate target crop and estimate robot's moving speed,and algorithm about location of target crop's centroid and estimating of robot's moving speed was studied. The eye-in-hand camera mounted at the end of spray mechanical arm with nozzle was used to track and aim at target crop. A visual tracking method which used image moments as image features was presented,and some important issues,such as moment features selection,image Jacobian calculation and real-time estimation of target depth were studied,and using real-time estimation of target depth would obtain better tracking trajectory than commonly used fixed depth in Cartesian space and image space. Simulation results showed that the visual tracking method can fulfill the target task and had high control precision. In order to further verify the feasibility of the automatic target method,a simplified prototype containing one spray mechanical arm was built and target experiments were carried out in laboratory. The results showed that the position error of nozzle in X,Y and Z directions was less than or equal to 6. 5 mm with vehicle speed of 150 ~ 200 mm / s. This study can provide reference for the development of target spray robot.
Automatic target is a key technology in the field of target spray robot. In order to meet the requirements of precision spraying operation for large spacing crops,an automatic target method based on visual feedback was proposed. A hybrid vision structure,including single scene camera and single( or multi) eye-in-hand camera was adopted. The scene camera mounted in the front of robot body was used to pre-locate target crop and estimate robot's moving speed,and algorithm about location of target crop's centroid and estimating of robot's moving speed was studied. The eye-in-hand camera mounted at the end of spray mechanical arm with nozzle was used to track and aim at target crop. A visual tracking method which used image moments as image features was presented,and some important issues,such as moment features selection,image Jacobian calculation and real-time estimation of target depth were studied,and using real-time estimation of target depth would obtain better tracking trajectory than commonly used fixed depth in Cartesian space and image space. Simulation results showed that the visual tracking method can fulfill the target task and had high control precision. In order to further verify the feasibility of the automatic target method,a simplified prototype containing one spray mechanical arm was built and target experiments were carried out in laboratory. The results showed that the position error of nozzle in X,Y and Z directions was less than or equal to 6. 5 mm with vehicle speed of 150 ~ 200 mm / s. This study can provide reference for the development of target spray robot.
引文
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15 ZHANG Z Y.Flexible camera calibration by viewing a plane from unknown orientations[C]∥Proceedings of the 7th IEEE International Conference on Computer Vision,1999:666-673.
16 林靖,陈辉堂,王月娟.基于图像矩的机器人视觉伺服[J].同济大学学报,2000,28(4):438-442.LIN Jing,CHEN Huitang,WANG Yuejuan.Visual servoing using image moments[J].Journal of Tongji University,2000,28 (4):438-442.(in Chinese)
17 董志丹,刘士荣,姜宏超.基于图像矩和矢量积法的六自由度机械臂视觉伺服控制[J].上海理工大学学报,2013,35(3):221-226.DONG Zhidan,LIU Shirong,JIANG Hongchao.Visual servoing control of a 6-DOF robot manipulator based on image moments and vector product[J].University of Shanghai for Science and Technology,2013,35(3):221-226.(in Chinese)
18 赵瑶池,胡祝华.基于对数相似度约束Otsu的自然场景病害果实图像分割[J].农业机械学报,2015,46(11):9-15.ZHAO Yaochi,HU Zhuhua.Image segmentation of fruits with diseases in natural scenes based on logarithmic similarity constraint Otsu[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(11):9-15.(in Chinese)
19 崔永杰,苏帅,王霞霞,等.基于机器视觉的自然环境中猕猴桃识别与特征提取[J].农业机械学报,2013,44(5):247-252.CUI Yongjie,SU Shuai,WANG Xiaxia,et al.Recognition and feature extraction of kiwifruit in natural environment based on machine vision[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(5):247-252.(in Chinese)
20 彭辉,吴鹏飞,翟瑞芳,等.基于视差图像的重叠果实图像分割算法[J].农业机械学报,2012,43(6):167-173.PENG Hui,WU Pengfei,ZHAI Ruifang,et al.Image segmentation algorithm for overlapping fruits based on disparity map[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(6):167-173.(in Chinese)
21 张志斌,罗锡文,臧英,等.基于颜色特征的绿色作物图像分割算法[J].农业工程学报,2011,27(7):183-189.ZHANG Zhibin,LUO Xiwen,ZANG Ying,et al.Segmentation algorithm based on color feature for green crop plants[J].Transactions of the CASE,2011,27(7):183-189.(in Chinese)
2 赵建柱,宗玉峰,王枫辰,等.雷达识别狼毒草喷药灭除装置[J].农业机械学报,2014,45(增刊):68-72.ZHAO Jianzhu,ZONG Yufeng,WANG Fengchen,et al.Spraying and removal device for Stellera chamaejasme identificated by radar[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(Supp.):68-72.(in Chinese)
3 刘雪美,李扬,李明,等.喷杆喷雾机精确对靶施药系统设计与试验[J].农业机械学报,2016,47(3):37-44.LIU Xuemei,LI Yang,LI Ming,et al.Design and test of smart-targeting spraying system on boom sprayer[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):37-44.(in Chinese)
4 邓巍,何雄奎,张录达,等.自动对靶喷雾靶标红外探测研究[J].光谱学与光谱分析,2008,28(10):2285-2289.DENG Wei,HE Xiongkui,ZHANG Luda,et al.Target infrared detection in target spray[J].Spectroscopy and Spectral Analysis,2008,28(10):2285-2289.(in Chinese)
5 尹东富,陈树人,毛罕平,等.基于模糊控制的棉田变量对靶喷药除草系统设计[J].农业机械学报,2011,42(4):179-183.YIN Dongfu,CHEN Shuren,MAO Hanping,et al.Weed control system for variable target spraying based on fuzzy control[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(4):179-183.(in Chinese)
6 GILES D K,SLAUGHTER D C.Precision band spraying with machine-vision guidance and adjustable yaw nozzles[J].Transactions of ASAE,1997,40(1):29-36.
7 TIAN L,REID J F,HUMMEL J W.Development of a precision sprayer for site-specific weed management[J].Transactions of ASAE,1999,42(4):893-900.
8 TIAN L.Development of a sensor-based precision herbicide application system[J].Computers and Electronics in Agriculture,2002,36(23):133-149.
9 张俊雄,曹峥勇,耿长兴,等.温室精准对靶喷雾机器人研制[J].农业工程学报,2009,25(增刊2):70-73.ZHANG Junxiong,CAO Zhengyong,GENG Changxing,et al.Research on precision target spray robot in greenhouse[J].Transactions of the CSAE,2009,25(Supp.2):70-73.(in Chinese)
10 曹峥勇,张俊雄,耿长兴,等.温室对靶喷雾机器人控制系统[J].农业工程学报,2010,26(增刊2):228-233.CAO Zhengyong,ZHANG Junxiong,GENG Changxing,et al.Control system of target spraying robot in greenhouse[J].Transactions of the CSAE,2010,26(Supp.2):228-233.(in Chinese)
11 谷雨,李平,韩波.一种适用于局部特征的混合视觉伺服方法[J].控制与决策,2010,25(1):43-47.GU Yu,LI Ping,HAN Bo.Hybrid visual servoing scheme applicable for local features[J].Control and Decision,2010,25(1):43 -47.(in Chinese)
12 CHAUMETTE F.Image moments:a general and useful set of features for visual servoing[J].IEEE Transactions on Robotics and Automation,2004,20(4):713-723.
13 TAHRI O,CHAUMETTE F.Point-based and region-based image moments for visual servoing of planar objects[J].IEEE Transactions on Robotics and Automation,2005,21(6):1116-1127.
14 李优新,毛宗源,田联房.基于图像矩与神经网络的机器人四自由度视觉伺服[J].控制理论与应用,2009,26(10):1162-1166.LI Youxin,MAO Zongyuan,TIAN Lianfang.Visual servoing of 4DOF using image moments and neural network[J].Control Theory&Applications,2009,26(10):1162-1166.(in Chinese)
15 ZHANG Z Y.Flexible camera calibration by viewing a plane from unknown orientations[C]∥Proceedings of the 7th IEEE International Conference on Computer Vision,1999:666-673.
16 林靖,陈辉堂,王月娟.基于图像矩的机器人视觉伺服[J].同济大学学报,2000,28(4):438-442.LIN Jing,CHEN Huitang,WANG Yuejuan.Visual servoing using image moments[J].Journal of Tongji University,2000,28 (4):438-442.(in Chinese)
17 董志丹,刘士荣,姜宏超.基于图像矩和矢量积法的六自由度机械臂视觉伺服控制[J].上海理工大学学报,2013,35(3):221-226.DONG Zhidan,LIU Shirong,JIANG Hongchao.Visual servoing control of a 6-DOF robot manipulator based on image moments and vector product[J].University of Shanghai for Science and Technology,2013,35(3):221-226.(in Chinese)
18 赵瑶池,胡祝华.基于对数相似度约束Otsu的自然场景病害果实图像分割[J].农业机械学报,2015,46(11):9-15.ZHAO Yaochi,HU Zhuhua.Image segmentation of fruits with diseases in natural scenes based on logarithmic similarity constraint Otsu[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(11):9-15.(in Chinese)
19 崔永杰,苏帅,王霞霞,等.基于机器视觉的自然环境中猕猴桃识别与特征提取[J].农业机械学报,2013,44(5):247-252.CUI Yongjie,SU Shuai,WANG Xiaxia,et al.Recognition and feature extraction of kiwifruit in natural environment based on machine vision[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(5):247-252.(in Chinese)
20 彭辉,吴鹏飞,翟瑞芳,等.基于视差图像的重叠果实图像分割算法[J].农业机械学报,2012,43(6):167-173.PENG Hui,WU Pengfei,ZHAI Ruifang,et al.Image segmentation algorithm for overlapping fruits based on disparity map[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(6):167-173.(in Chinese)
21 张志斌,罗锡文,臧英,等.基于颜色特征的绿色作物图像分割算法[J].农业工程学报,2011,27(7):183-189.ZHANG Zhibin,LUO Xiwen,ZANG Ying,et al.Segmentation algorithm based on color feature for green crop plants[J].Transactions of the CASE,2011,27(7):183-189.(in Chinese)
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