基于高速摄像系统和图像边缘检测的精密排种器设计

Design for Precision Metering Device Based on High-speed Camera and Image Edge Detection

为了综合优化排种器的单粒率、双粒率、空穴率、平均间距、重播和漏播指数,设计了一种基于高速摄像和图像边缘检测的排种器,提高了播种机的播种精度。利用高速摄像系统和图像边缘检测技术获取种子堆积的图像反馈信息,采用PID自动化调节的方式,用链条对排种轮的驱动轴进行了有效的调节,从而达到了精密播种的目的。为了测试设计的排种器的有效性和可靠性,对其综合指标进行了测试。通过测试发现:使用高速摄像边缘提取系统的排种器比人工检测播种方法的单粒率、双粒率、空穴率的相对误差要低,平均间距控制平稳,并且有效地降低了重播指数和漏播指数。

In order to achieve accurate positioning robot corn stalk line,the structure of farming corn robot is improved,and it put forward a kind of RSSI localization method based on Taylor series expansion,and increase the corn stalk line robot positioning accuracy. Together with the method of PID closed- loop feedback control,by using high resolution camera gathering image,the positioning system use the PC master side image processing the displacement of the robot,realized the real- time positioning function. In order to verify the reliability of the robot corn stalk line,and adopt the method of field experiments on the performance of the robot were tested. Through test,it was found that the proposed RSSI positioning method of positioning accuracy is higher,and the image processing system can accurate calibration of corn stalk line,which can accomplish the precise positioning of the robot in the corn field and avoid the robot in the process of operation causing damage to the crops.