小拱棚插架覆膜一体机的导航路径检测方法  

Study on the Extraction Method of Navigation Line under Different Planting Methods of Cuttage and Film Covering Multi-functional Machine for Low Tunnels

作　　者：李雨濛 王春颖 刘立鹏 刘平 李祥[2] Li Yumeng;Wang Chunying;Liu Lipeng;Liu Ping;Li Xiang(College of Mechanical and Electronic Engineering/Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment/Shandong Provincial Engineering Laboratory of Agricultural Equipment Intelligence,Tai′an 271018,China;State Key Laboratory of Crop Biology/College of Life Sciences,Shandong Agricultural University,Tai′an 271018,China)

机构地区：[1]山东农业大学机械与电子工程学院/山东省园艺机械与装备重点实验室/山东省农业装备智能化工程实验室,山东泰安271018 [2]山东农业大学生命科学学院/作物生物学国家重点实验室,山东泰安271018

出　　处：《农机化研究》2023年第9期143-149,共7页Journal of Agricultural Mechanization Research

基　　金：山东省自然科学基金重点项目(ZR2020KF002);国家自然科学基金项目(31871543,31700644);山东省农机装备研发创新计划项目(2018YF004)。

摘　　要：针对直接播种和育苗移栽种植方式,为实现小拱棚插架覆膜一体机的自动化、智能化作业,提出一种机器视觉导航路径检测算法。首先,在图像处理系统主界面选择种植方式,再通过灰度峰值法判定种植行的奇偶数,进而针对直接播种种植方式,提出基于种子播种区域质心点作为特征点的导航路径检测算法;针对育苗移栽种植方式,以分割的幼苗为对象获取边界,逐行计算边界的中点作为特征点拟合导航线。试验结果表明:所提出的算法对于直接播种和育苗移栽种植方式种植行奇偶数判定的准确率为100%,平均耗时为0.031s,直接播种种植方式下导航路径检测准确率为95%,平均耗时为0.29s;育苗移栽种植方式下导航路径检测准确率为97%,平均耗时为0.35s。所提出的导航路径检测算法通用性强,可为小拱棚插架覆膜一体机提供可靠的导航路径。In order to realize the automatic and intelligent operation of cuttage and film covering multi-functional machine for low tunnels under different planting methods,a machine vision navigation path detection algorithm is proposed for direct seeding and seedling transplanting planting methods.Firstly select the implant method in the main screen of the image processing system,then the number of parity of plant rows in the image was detected by the gray-scale peak method,and then a navigation path detection algorithm based on the center of mass of the seed sowing area as a feature point is proposed for the direct seeding planting method.Then,for the seedling transplanting planting method,the boundary is obtained with the segmented crop as the object,and the midpoint of the boundary is calculated row by row as the feature point to fit the navigation line.100%accuracy in determining the parity of planting rows for direct seeding and seedling transplanting planting methods,and the average time spent is 0.031s;the accuracy of navigation path detection under direct seeding planting method is 95%,and the average time spent is 0.3 s;the accuracy of navigation path detection extracted from seedling transplanting planting method is 97%,and the average time spent is 0.37 s.The navigation path detection algorithm proposed in this paper is highly versatile and provides reliable navigation paths for the small arch insert mulching machine.

关 键 词：拱棚搭建 插架覆膜一体机 视觉导航 导航路径检测 

分 类 号：S223.5[农业科学—农业机械化工程] TP242.6[农业科学—农业工程]