基于机器视觉的对靶喷雾系统时延估计方法研究

对靶喷雾系统中的时延估计是关系到整个系统实际喷雾命中率的关键问题。首先对经典的机载对靶喷雾模型进行了分析,总结出理论上机载设备长度、硬件延时、算法耗时、农机运行速度和理论对靶精确度之间的关系;然后,在此基础上提出了一套基于双目机器视觉的核心速度测算方法,并设计了喷雾时延估计模型;最后,通过搭建完整软硬件实验平台实现了对算法的有效性验证。实验结果表明:该算法可以在常用的基于机器视觉的农机装备中实现准确的常规对靶喷雾时延估计。

Time Delay Estimation for Automatic Target Spraying System Based on Machine Vision

Time delay estimation is the key problem in precision spraying system and its performance strongly influnce on the whole system's spraying accuracy .In this paper , we propose a classical analysis of spraying model and try to summa-rize the relationship of equipment size , hardware delay , time consuming , vehicle speed and the theoretical spraying accu-racy .As the core technology of spraying estimation , a binocular vision speed estimation algorithm is presented .Then , an experimental platform is set up to verify the feasibility and effectiveness of our algorithm .The experimental results show that our method can effectively solve the speed calculation and time delay estimation in vehicle -mounted precision spra-ying .