基于机器视觉的高地隙喷雾机自动导航系统设计

Design of Automatic Navigation System for Highland Gap Sprayer Based on Machine Vision

针对高地隙喷雾机在玉米中后期喷药植保作业对行难的问题,设计了一种基于机器视觉的高地隙喷雾机自动导航系统,并进行了可行性分析和仿真试验。系统整体由前置的CCD摄像头、车载计算机、STM32微控制器、蓄电池组、步进电机及控制器,以及传感器模块组成,通过Labview编程软件实现程序的开发及数据的储存工作,车载计算器进行图像数据的处理,并由单片机执行控制。试验结果表明:系统鲁棒性强,能够成功提取导航线并达到自动导航目的,综合成功率为89.3%,满足实际工作要求,为实现玉米高地隙喷雾机自动导航作业提供了一种可行方案。

Aiming at the difficult problem of high altitude sprayer in the middle and later stage of spraying and planting plant protection in corn,an automatic navigation system based on machine vision for highland gap sprayer is designed,and feasibility analysis and simulation test are carried out.The whole system is composed of CCD camera,on-board computer,STM32 microcontroller,battery,stepping motor and controller,sensor module.The development of the program and the storage of the data are realized by Labview programming software.The vehicle calculator processes the image data and is controlled by the single chip microcomputer.The experimental results show that the system has strong robustness and can successfully extract the navigation line and achieve the automatic navigation destination.The comprehensive success rate is 89.3%,which meets the actual working requirements,and provides a feasible plan for realizing the automatic navigation operation of the corn highland gap sprayer.