低成本的植物保护无人地面车辆系统用于使用机器视觉的可变除草
Huangtao Dong1, Jianxun Shen2, Zhe Yu1
1College of Mathematics and Computer Science, Zhejiang A&F University, Hangzhou 311300, China.
Sensors (Basel, Switzerland)
|February 24, 2024
概括
本研究介绍了无人地面车辆 (UGV) 的成本效益高的机器视觉系统,以减少农药浪费. 可变除草系统根据实时植被检测精确控制喷,增强农业的可持续性.
科学领域:
- 农业工程 农业工程
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
背景情况:
- 传统的农业喷雾机械有助于农药废弃物和环境污染.
- 需要精准农业技术来优化资源使用并最大限度地减少对环境的影响.
研究的目的:
- 为无人地面车辆 (UGV) 开发和评估基于机器视觉的可变除草系统.
- 通过基于植被分布的适应性喷来减少农药废弃物和环境污染.
主要方法:
- 使用了机器视觉系统与正常化超级绿色 (2G-R-B) 算法和快速代值细分用于植被检测.
- 实现了一个PID控制算法,具有基于模糊规则的自适应参数调整 (Kp,Ki,Kd) 和一个间隔周期PWM控制器.
- 进行了与不同喷工作周期 (25%,50%,75%,100%) 的直角测试,以评估系统性能.
主要成果:
- 选择的图像处理组合有效地将植被从背景区分开来,提高了像素提取精度.
- 坐标测试表明压力变化最小 (<0.05 MPa) 和喷雾误差低 (平均值<2%,最大值<5%).
- 现场试验证实了该系统能够根据植被分布实时调整喷量.
结论:
- 开发的基于机器视觉的可变除草系统是精准农业的低成本和有效解决方案.
- 该系统提高了控制的准确性和稳定性,大大减少了农药废弃物和环境影响.
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