小麦精播机器人设计——基于图像融合与智能路径规划

Design of Wheat Precision Seeding Robot——Based on Image Fusion Technology and Autonomous Path Planning

为了提高小麦的产量,并且在作业过程中使播种机器人成功绕过障碍物,需要对小麦播种路径精细的规划。为此,提出了一种新的路径规划方法,使用图像融合技术,结合模糊控制位移误差理论,实现了小麦播种机器人的自主路径规划。为了测试该方法的有效性和可靠性,设计了一款具备高清摄像功能和PC图像处理功能的精密播种机器人,并对其路径规划和播种效率进行了测试。结果表明:该机器人能够成功绕过障碍物,完成最优路径的规划,并在小麦播种过程中可以规划出近似矩形的播种路径。从机器学习和播种时间上的对比发现:该算法可以有效地提高机器学习速度,缩短播种时间,从而提高了小麦播种的自动化水平和作业效率。

In order to improve the yield of wheat,and makes a successful seeding robot around obstructions in the process of operation,we need to play a careful planning for wheat seeding paths.It puts forward a new method of path planning,the method USES image fusion technology,combined with fuzzy control displacement error theory,it realized wheat seeding robot autonomous path planning.In order to test the validity and reliability of the method,has designed a high-definition camera and PC image processing function of the precision seeding robot,and the path planning and the seeding efficiency was tested.Through test,found that the robot successfully bypass obstacles,complete the optimal path planning,and in the process of wheat sowing seeds can plan out the approximate rectangle path,from machine learning and sowing time on contrast,it was found that the algorithm can effectively improve the speed of machine learning,shorten the sowing time,which can improve the automation level and work efficiency of wheat sowing.