双目视觉三维重建下的植保机作业优化研究  

Research on Operation Optimization of Plant Protection Machine Under Binocular Vision Three-dimensional Reconstruction

作　　者：张振山[1] 王建军[1] 武秋俊[1] 马振 Zhang Zhenshan;Wang Jianjun;Wu Qiujun;Ma Zhen(Hebei Institute of Mechanical and Electrical Technology,Xingtai 054000,China;Bondi Pipeline System(Chongqing)Co.Ltd.,Chongqing 404100,China)

机构地区：[1]河北机电职业技术学院,河北邢台054000 [2]邦迪管路系统(重庆)有限公司,重庆404100

出　　处：《农机化研究》2024年第8期240-243,共4页Journal of Agricultural Mechanization Research

基　　金：河北省高等学校科学技术研究项目(ZD2021314)。

摘　　要：以喷雾植保机自动化作业路径规划为研究对象,利用双目视觉摄像机对作业环境区域内的障碍物进行检测,并基于三维重建技术构建障碍物空间位置坐标,根据检测到的障碍物位置信息对喷雾植保机的避障路径进行规划,以保证喷雾植保机作业过程可实时避障。试验结果表明:喷雾植保机能够按照预先设定的作业路径行进,遇到障碍物时能够及时进行障碍检测,并根据规划路径进行避障,保证了喷雾作业的有效实施。In this paper,the automatic path planning of spray plant protection machine is taken as the research object.Binocular vision camera is used to detect obstacles in the working environment area,and three-dimensional reconstruc-tion technology is used to build the space position coordinates of obstacles.The obstacle avoidance path of spray plant protection machine is planned according to the location information of obstacles detected.Ensure the real-time obstacle avoidance of the spray plant protection machine.The experimental results show that the spray plant protection machine can advance according to the pre established working path.When encountering obstacles,it can detect obstacles in time and avoid obstacles according to the planning path,so as to ensure the effective implementation of spray operation.

关 键 词：植保机 自动喷雾 双目视觉 三维重建 路径规划 

分 类 号：S491[农业科学—植物保护] TP391.41[自动化与计算机技术—计算机应用技术]