| 基于双目视觉的农药喷洒机器人识别系统研究 |
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| 引用本文： | 张谋,蒲烨锋,江雯,王鹏,李心怡.基于双目视觉的农药喷洒机器人识别系统研究[J].农业工程,2023,13(10). |
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| 作者姓名： | 张谋 蒲烨锋 江雯 王鹏 李心怡 |
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| 作者单位： | 北京航天长征飞行器研究所,华中科技大学航空航天学院,华中科技大学航空航天学院,北京航天长征飞行器研究所,华中科技大学航空航天学院 |
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| 基金项目： | 智慧农场农业机器人研发 |
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| 摘 要： | 针对玉米秧苗期农药喷洒存在的效率低、成本高、污染大等问题，本文提出了一种可搭载于小型农药喷洒机器人的视觉识别喷药系统。该系统采用SSD-MobileNetv1网络作为玉米秧苗识别算法，结合数据增强与迁移学习两种方法，将ARM集成板作为嵌入式设备，当相机检测到喷药范围内的玉米秧苗时，控制引脚将产生PWM信号，启动喷淋系统，实现对单株玉米秧苗的精确喷药。经过测试，该系统对玉米苗的识别准确率可达84.18%，对距离的估计基本满足机器人喷药要求。
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| 关 键 词： | 目标检测 双目测距 嵌入式系统 农药喷洒机器人 |
| 收稿时间： | 2022/12/6 0:00:00 |
| 修稿时间： | 2023/5/31 0:00:00 |
Research on Identification System of Pesticide Spraying Robot Based on Binocular Vision |
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| ZhangMou,PuYefeng,JiangWen,WangPeng and LiXinyi.Research on Identification System of Pesticide Spraying Robot Based on Binocular Vision[J].Agricultural Engineering,2023,13(10). |
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| Authors: | ZhangMou PuYefeng JiangWen WangPeng and LiXinyi |
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| Institution: | Beijing Aerospace Long march Flying Vehicle Institute,School of Aerospace Engineering Huazhong University of Science and Technology,School of Aerospace Engineering Huazhong University of Science and Technology,Beijing Aerospace Long march Flying Vehicle Institute,School of Aerospace Engineering Huazhong University of Science and Technology |
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| Abstract: | In view of low efficiency, high cost and large pollution of pesticide spraying in corn seedling stage, in this paper, we propose a visual recognition and spraying system that can be mounted on a small pesticide spraying robot. The system uses the SSD-MobileNetv1 network as the corn seedling recognition algorithm, combining methods of data augmentation and transfer learning. The ARM is used as an embedded device. When the camera detects the corn seedlings within the spraying range, the control pin generates PWM signals to start the praying system to spray accurately. After testing, the recognition accuracy rate of the system for corn seedlings reached 84.18%, and the distance estimation basically met the spraying requirements. |
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| Keywords: | Object detection Binocular vision Embedded system Pesticide Spraying Robot |
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