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玉米行间导航线实时提取(5)
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摘要:试验结果如图14所示。试验结果表明算法能够稳定地获取航向角,由于试验区域玉米苗带近似为直线,底盘车轮沿着玉米苗带行走,因此导航偏转角在 0°上
试验结果如图14所示。试验结果表明算法能够稳定地获取航向角,由于试验区域玉米苗带近似为直线,底盘车轮沿着玉米苗带行走,因此导航偏转角在 0°上下波动(图14a)。以航向角为自动转向系统输入,基于PID算法控制底盘自动转向,底盘车轮转角在 0°上下浮动(图14b),高地隙行走轨迹近似直线行走。在100米导航行走过程中, 人工统计车轮压苗21株(共计952株玉米),压苗率2.2%。
图14 田间导航试验结果Fig.14 Test results of field navigation
6 结 论
本文以不同时期玉米苗带为研究对象,基于机器视觉提取高地隙植保机玉米行间行走导航线。通过颜色分量归一化、超绿特征算子以及最大类间方差法对采集视频帧进行图像预处理,为导航线的可靠提取提供必要条件。提出底盘车轮可行走视觉区域(动态ROI区域)划分算法,并在动态ROI区域内提取导航线。本文提出的算法提取导航线与人工提取结果平均误差1.157°,准确率为96 %、视频单帧图像处理平均耗时97.56 ms(标准偏差8 ms),算法能够满足高地隙植保机田间对行行走的准确性和实时性要求。田间试验表明,高地隙植保机车轮沿着玉米行行走,车轮转角在 0°上下浮动,为后续的高地隙植保机无人植保提供技术支持。
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