基于机器视觉技术的大棚农作物喷药机器人设计与实现

Design and Implementation of A Greenhouse Crop Spraying Robot Based on Machine Vision Technology

设计一款由底盘、轮子--履带复合行走机构、喷药升降支架、喷药装置及控制器、传感器等组成的大棚农作物喷药机器人,能在复杂路况下自由行走并自动调整高度选择作物喷洒农药。在喷药机器人于田间自主行走及分辨杂草功能上,采用基于机器视觉技术的OTSU图像分割算法检测农作物中心线,从而识别路径并规划行走路线,通过视觉传感器检测形状和颜色进而辨别杂草和农作物;使用ARM9处理器对采集图像进行算法处理,然后驱动喷药装置实施对靶精准喷药。该系统的研发可为实现喷药的精准、安全、智能、无人管理等提供思路。

A greenhouse crop spraying robot is developed,which is composed of robot chassis,wheel-rocker arm composite walking mechanism,spraying lifting bracket,spraying device and controller,and sensors.The system can realize the robot's autonomous walking on uneven ground,adjust the height to select crops to spray pesticides and other functions.OTSU image segmentation algorithm based on machine vision technology is used to detect the center line identification path of crops and plan the walking route.The shape and color were detected by visual sensors to identify weeds and crops.ARM9 processor is used to collect images and perform algorithm processing.Finally,the spraying device is driven to perform precise spraying action on target.The research and development of this system provides reference for realizing the precision,safety,intelligence and unmanned management of spraying.