【摘要】：隨著農(nóng)業(yè)機(jī)械化和機(jī)器人智能化的發(fā)展,現(xiàn)代農(nóng)業(yè)機(jī)械發(fā)展方向已經(jīng)逐步轉(zhuǎn)向智能農(nóng)業(yè)、設(shè)施農(nóng)業(yè)和高效農(nóng)業(yè)。高效、智能和精細(xì)成了現(xiàn)代農(nóng)業(yè)機(jī)械的發(fā)展目標(biāo)。這一學(xué)科集合了機(jī)械、電子、控制理論以及植物保護(hù)等諸多領(lǐng)域最前沿的研究成果。一定程度上小型移動(dòng)熱霧機(jī)在病蟲(chóng)害防治方面填補(bǔ)了玉米、高粱、甘蔗等高大作物中后期難以防治的空白,具有極大的發(fā)展空間和研究意義。大田環(huán)境下病蟲(chóng)害的防治是現(xiàn)代農(nóng)業(yè)研究的核心問(wèn)題之一。為了實(shí)現(xiàn)小型移動(dòng)熱霧機(jī)器人在田間自動(dòng)實(shí)現(xiàn)農(nóng)藥的均勻噴灑,本文以機(jī)械化種植并生長(zhǎng)到中后期的玉米為研究對(duì)象,針對(duì)移動(dòng)機(jī)器人在作物行間大面積均勻施藥展開(kāi)核心技術(shù)研究,自主研發(fā)了作物行間小型移動(dòng)噴霧機(jī)器人,對(duì)機(jī)器人移動(dòng)中噴霧的霧滴沉積均勻性進(jìn)行了研究。針對(duì)多行均勻噴霧過(guò)程中機(jī)器人速度保持下的自主行走的問(wèn)題,提出了基于徑向基函數(shù)的單目視覺(jué)路徑規(guī)劃方法,分析了在不同移動(dòng)速度下多行噴霧的霧滴沉積特性,并進(jìn)行了試驗(yàn)和分析。本文主要研究?jī)?nèi)容和結(jié)果如下：(1)針對(duì)熱霧機(jī)工作原理進(jìn)行分析,分解熱霧機(jī)噴霧過(guò)程。通過(guò)將熱霧機(jī)噴霧到霧滴沉積在作物表面的過(guò)程分解為藥液的霧化和霧滴在空氣中運(yùn)動(dòng)至沉積位置兩步驟,根據(jù)前人的研究成果,分析熱霧機(jī)實(shí)現(xiàn)大面積噴霧的機(jī)理。選用同型號(hào)不同孔徑噴藥嘴時(shí),霧滴最終沉積趨勢(shì)相似,然而在施藥有效距離、平均粒徑和覆蓋率上仍有差異。(2)針對(duì)搭載于移動(dòng)平臺(tái)的噴霧系統(tǒng)在不同移動(dòng)速度下的霧滴分布均勻性、覆蓋率和有效距離這三個(gè)熱霧機(jī)工作效率的重要指標(biāo)。本文提出了一種在大田實(shí)驗(yàn)中水敏試紙半定量研究霧滴沉積分布的方法。水敏試紙中反應(yīng)區(qū)域通過(guò)450-455nm波長(zhǎng)藍(lán)色圓周陣列的光源的照射與試紙本底進(jìn)行區(qū)別,減小了雜散光的干擾,提高了所采集圖像二值化分割的效果。引入置信區(qū)間估算的方法去除采集數(shù)據(jù)中的噪聲數(shù)據(jù)。對(duì)圖像處理的數(shù)據(jù)可信區(qū)間上下限分析進(jìn)一步去減低系統(tǒng)誤差,提高檢測(cè)精度。此方法對(duì)于霧滴的覆蓋率計(jì)算的系統(tǒng)重復(fù)測(cè)量誤差低于5%；當(dāng)霧滴覆蓋率在10%-20%時(shí),對(duì)于霧滴Dv0.5系統(tǒng)重復(fù)測(cè)量誤差也同樣低于5%。利用此方法對(duì)機(jī)器人噴霧系統(tǒng)在不同速度下霧滴沉積的特性進(jìn)行研究,分別進(jìn)行霧滴分布均勻性、覆蓋率和有效距離的分析。測(cè)繪了熱霧機(jī)移動(dòng)過(guò)程中霧滴覆蓋率的分布曲線。(3)研究了機(jī)器人在狹小作物行間基于單目視覺(jué)的導(dǎo)航方法。通過(guò)采取增強(qiáng)光照的方法來(lái)削弱光照不均對(duì)結(jié)果的影響。通過(guò)對(duì)秸稈圖像塊的主成分分析、形態(tài)學(xué)分割和相機(jī)的標(biāo)定,實(shí)現(xiàn)了圖像中秸稈根部位置的定位;最后利用簡(jiǎn)化的徑向基函數(shù)算法根據(jù)所得秸稈位置坐標(biāo)規(guī)劃行走路徑,提高了秸稈塊提取的容錯(cuò)能力。采用本系統(tǒng)的導(dǎo)航方法,機(jī)器人保持速度為0.6m/s時(shí),與秸稈的最大碰撞率為6.38%。系統(tǒng)的圖像處理平均耗時(shí)220ms,路徑規(guī)劃的平均耗時(shí)為30ms,可以滿足運(yùn)行速度1.2m/s以下的直線自主行駛的響應(yīng)需求。最后,本文實(shí)驗(yàn)樣機(jī)在渦陽(yáng)及懷遠(yuǎn)實(shí)驗(yàn)田中進(jìn)行了多行作業(yè)的霧滴沉積研究,測(cè)試了在不同速度下霧滴沉積的均勻性和覆蓋率,實(shí)現(xiàn)了精準(zhǔn)施藥的優(yōu)化,實(shí)驗(yàn)得到樣機(jī)的噴霧效率曲線并對(duì)各因素進(jìn)行針對(duì)性的分析。研究結(jié)果為進(jìn)一步實(shí)現(xiàn)小型移動(dòng)熱霧機(jī)器人在大田精準(zhǔn)施藥的方法的研究提供了實(shí)驗(yàn)依據(jù),為提高農(nóng)藥的噴灑效率提供了實(shí)驗(yàn)參考。
[Abstract]:With the development of agricultural mechanization and robot, the development direction of modern agricultural machinery has gradually turned to intelligent agriculture, facility agriculture and high-efficiency agriculture. High-efficiency, intelligent and fine is the development goal of modern agricultural machinery. The subject has the most advanced research results in the fields of machinery, electronics, control theory and plant protection. The small-sized mobile hot-fog machine has the great development space and research significance in the aspect of preventing and controlling the diseases and insect pests of the large crops such as corn, sorghum, sugar cane and the like. The prevention and control of diseases and insect pests in the field of field is one of the core problems of modern agricultural research. in ord to realize that uniform spraying of the small-scale mobile hot-fog robot in the field, In this paper, the small-scale moving spray robot between the interline of the crop is researched and developed, and the uniformity of the droplet deposition in the motion of the robot is studied. In order to solve the problem of autonomous walking in the process of multi-row uniform spraying, a single-order vision path planning method based on radial basis function is proposed, and the droplet deposition characteristics of multi-row spray at different moving speeds are analyzed, and the test and analysis are carried out. The main contents and results of this paper are as follows: (1) The working principle of the hot fog machine is analyzed, and the spraying process of the hot fog machine is decomposed. The mechanism of the large-area spraying of the hot-fog machine is analyzed by the process of spraying the hot-fog machine to the surface of the crop and decomposing into the atomization of the liquid medicine and the movement of the fog-fog droplets in the air to the deposition position. The final deposition tendency of the fog drops is similar when the same model of different aperture spray nozzle is selected, however, the effective distance, the average particle size and the coverage rate of the pesticide application are still different. and (2) the distribution uniformity, coverage and effective distance of the fog drops mounted on the moving platform at different moving speeds are important indexes of the working efficiency of the three hot-fog machines. In this paper, a method for semi-quantitative study of the droplet deposition profile of water-sensitive test paper in field experiment is presented. The reaction area in the water-sensitive test paper is different from the background of the test paper through the illumination of the light source of the blue circumferential array with the wavelength of 450-455nm, so that the interference of the stray light is reduced, and the effect of the two-value division of the acquired image is improved. The method of introducing the confidence interval estimate removes the noise data from the acquisition data. the lower limit analysis on the data credible interval of the image processing further reduces the system error and improves the detection accuracy. The measurement error of the system is less than 5% for the coverage of the fog drops; when the coverage of the fog drops is between 10% and 20%, the measurement error of the system is also less than 5% for the drop Dv0.5 system. The characteristics of the droplet deposition at different speeds were studied by this method, and the distribution uniformity, coverage and effective distance were analyzed respectively. and the distribution curve of the coverage of the fog drops during the movement of the hot fog machine is mapped. (3) The navigation method based on monocular vision in the interline of small crop is studied. the effect of uneven illumination on the results is reduced by adopting a method of enhancing the illumination. By analyzing the principal component of the straw image block, the morphological segmentation and the calibration of the camera, the positioning of the position of the straw root in the image is realized; and finally, a simplified radial basis function algorithm is utilized to plan the walking path according to the position coordinate of the obtained straw, and the fault-tolerance capability of the straw block extraction is improved. With the navigation method of the system, the maximum collision rate of the straw is 6.38% when the speed of the robot is 0. 6m/ s. The average time of the image processing of the system is 220ms, the average time of the path planning is 30ms, and the response requirement of the straight-line autonomous driving with the running speed of 1. 2m/ s can be met. In the end, the experimental prototype of this paper has carried on the droplet deposition of multi-line operation in the eddy-Yang and Huaiyuan experimental field, tested the uniformity and coverage of the droplet deposition at different speeds, and realized the optimization of the precise application. The spray efficiency curve of the prototype was obtained and the factors were analyzed. The results of the study provide an experimental basis for the further research on the method of precision application of the small moving hot-fog robot in the field, and provides an experimental reference for improving the spraying efficiency of the pesticide.
【學(xué)位授予單位】：中國(guó)科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TP242
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本文編號(hào)：2375354