| 基于机器视觉和北斗定位的小麦变量喷雾系统研究 |
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| 引用本文： | 杨文超,何进,周靖凯,李洪文,王庆杰,卢彩云.基于机器视觉和北斗定位的小麦变量喷雾系统研究[J].农业机械学报,2022,53(7):150-161. |
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| 作者姓名： | 杨文超 何进 周靖凯 李洪文 王庆杰 卢彩云 |
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| 作者单位： | 中国农业大学 |
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| 基金项目： | 财政部和农业农村部：国家现代农业产业技术体系建设项目（CARS-03）和中国农业大学2115人才工程项目 |
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| 摘 要： | 针对传统植保喷杆喷雾机作业时各喷头以同等药量喷洒的方式导致农药浪费、利用率低和污染环境等问题，以生长前期的小麦为研究对象，设计一种基于北斗定位系统和机器视觉的小麦变量喷雾作业系统。通过双平面高度投影法完成对感兴趣区域获取，研究了速度、植株密度对喷雾的影响，提出变量喷雾流量的控制方法。在定位系统规划的目标区域内，通过机器视觉处理实现变量喷雾，试验结果表明，相同机组速度下，植株密度稀疏区相对植株密度正常区的平均雾滴覆盖率平均减少12.06%;相同植株密度下机组前进速度0.75 m/s相对1.50 m/s的平均雾滴覆盖率平均增加3.94%。在满足喷雾标准的情况下，可以在不同速度、不同植株密度下实现变量喷雾。为验证目标区域边界行驶速度对等级变换准确度，进行定位传感器实时判断在目标区域边界喷头相对位置并控制开闭，试验结果表明，在行驶速度为0.50 m/s时准确度最高，区域边界行驶超出量误差平均值为48.72 cm;为验证行驶方式对喷雾等级变换准确度的影响，使用北斗定位系统在目标区域边界开展行驶方式对喷雾等级变换准确度的影响试验，试验结果表明，驶入目标区域超出量误差平均值为7.20 cm。
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| 关 键 词： | 小麦 机器视觉 北斗定位系统 目标区域 变量喷雾 |
| 收稿时间： | 2021/7/14 0:00:00 |
Design of Wheat Variable Spray System Based on Machine Vision and Beidou Positioning |
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| YANG Wenchao,HE Jin,ZHOU Jingkai,LI Hongwen,WANG Qingjie,LU Caiyun.Design of Wheat Variable Spray System Based on Machine Vision and Beidou Positioning[J].Transactions of the Chinese Society of Agricultural Machinery,2022,53(7):150-161. |
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| Authors: | YANG Wenchao HE Jin ZHOU Jingkai LI Hongwen WANG Qingjie LU Caiyun |
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| Institution: | China Agricultural University |
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| Abstract: | Aiming at the problems of waste of pesticide, low utilization rate and environmental pollution caused by spraying the same amount of pesticide in the traditional plant protection spray rod sprayer, a wheat variable spray operation system based on positioning system and machine vision was designed. The region of interest (ROI) was obtained by double-plane height projection method. The effects of velocity and plant density on spray volume were studied, and the control method of variable spray volume was proposed. In the target area planned by the positioning system, variable spray was realized by machine vision processing. The test results showed that at the same unit speed, the average fog drop coverage in the sparse area of plant density was reduced by 12.06% compared with that in the normal area of plant density. At the same plant density, the average fog drop coverage rate at unit advancing speed of 0.75m/s was 3.94% higher than that at speed of 1.50m/s. Under the condition that the spray standard was satisfied, variable spray can be realized at different speeds and different plant densities. In order to verify the grade transformation accuracy of the driving speed at the boundary of the target area, the positioning sensor was used to judge the relative position of the nozzle at the boundary of the target area in real time and control the opening and closing. The test results showed that the accuracy was the highest when the driving speed was 0.50m/s, and the average exceeding error at the boundary of the region was 48.72cm. In order to verify the influence of driving mode on the accuracy of spray level transformation, a test on the influence of driving mode on the accuracy of spray level transformation was carried out at the boundary of the target area by the positioning system. The test results showed that the average value of the minimum outsize error of driving into the target area was 7.20cm. |
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| Keywords: | wheat machine vision Beidou positioning system target area variable spray |
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