农田作业视觉导航系统研究

Study on vision navigation for field work

主要介绍了水田插秧、水田管理、小麦播种和小麦管理的导航线检测算法,展示了耕作、玉米播种、棉花播种、小麦收割、玉米收获、棉花收获的导航线检测结果及地头的检测结果。对开发的样机在棉花喷药现场进行了性能测试,车速4.7 km/h,苗列跟随误差2 cm,没有压苗现象,验证了视觉导航的实用性。

The paper introduces a number of navigation line image detection methods, including rice transplanting, paddy field manage, sowing wheat and wheat field managing. And it exhibites various navigation line detection results including farming, seeding corn, sowing cotton, wheat harvest, corn harvest and cotton harvesting. A devetoped prototype machine is also reported on its test in the cotton spraying field. The test result shows that at a speed of 4.7 km / h, the following error of cotton seedling column is 2cm, which proves the vision navigation is practical.