宽幅施药机械机器视觉辅助导航系统研究  

Research on Auxiliary Navigation System for Wide Spraying Mechanism Based on Machine Vision

作　　者：李林[1] 魏新华[1] 朱文静[1] 李晋阳[1] 

机构地区：[1]江苏大学现代农业装备与技术教育部重点实验室,镇江212013

出　　处：《农业机械学报》2015年第9期28-33,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家高技术研究发展计划(863计划)资助项目(2013AA10230704);江苏省农业科技支撑计划资助项目(BE2013401);江苏省农业科技支撑计划资助项目(BE2014415);江苏大学高级人才基金资助项目(14JDG149)

摘　　要：为了实现宽幅施药机械喷幅的精确拼接,提出一种机器视觉辅助GPS导航方法。该方法首先对施药机械幅边喷洒泡沫剂并进行泡沫剂识别,识别过程中为了有效分割目标与背景,选定蓝色泡沫剂作为试验对象,提出使用超蓝色灰度化方案,并经过形态学滤波、行定位点的选取、Otsu分割提取泡沫剂信息,使用迭代的最小二乘法检测泡沫剂中心线的信息;然后给出了二维图形航向偏角和偏距的定义,并根据识别的泡沫剂信息进行航向偏角和偏差信息的提取,从而指导施药机械的行进方向。试验表明,所提方法可以较为准确地进行泡沫剂识别,根据泡沫剂信息识别得到的偏角计算值和实际测量值平均误差为1.58°,最大误差为2.5°,偏距计算值和实际测量值平均误差为5.4 cm,最大误差为8.4 cm,检测精度能够满足实际需求。To achieve precision mosaic of sprinkling width in wide spraying mechanism, a novel auxiliary GPS navigation method based on machine vision was put forward. Firstly, the foams sprayed to the breadths of spraying mechanism were identified, during which blue foams were chosen in order to effectively segment the target and background, and then the center line of foams image was obtained by iterative least square method after extra-blue gray algorithm, morphological filter, anchor points selection and Otsu segmentation. Secondly, the definition of rotate angle and offset distance was given, and the information of course deviation was obtained by analyzing the parameter of foam＇ s center line. Experiments showed that the proposed method could accurately obtain the information of foams. The mean error of rotate angle between the values obtained by the proposed method and the real values was 1.58°, and the maximum value was 2. 5 °. The mean error of offset distance between the values obtained by the proposed method and the real values was 5.4 cm, and the maximum value was 8.4 em.

关 键 词：宽幅施药机械 导航 机器视觉 全球定位系统 直线检测 

分 类 号：S126[农业科学—农业基础科学]