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Research On Weeding Robot Based On Skeleton Feature Of Target Image

Posted on:2024-04-29Degree:MasterType:Thesis
Country:ChinaCandidate:J WangFull Text:PDF
GTID:2543307127458854Subject:Electrical engineering
Abstract/Summary:PDF Full Text Request
As people’s living standards continue to improve and their awareness of environmental protection and the importance of food safety increases,the resistance to the use of chemical herbicides is becoming more and more vocal.As a result,mechanical weeding has become the most ideal way to weed,reducing the cost of manual labor while weeding efficiency has also improved significantly,however,most weeders can only eradicate weeds between monopolies,and weeds between plants and crops can only be handled by manual weeding and other means,which cannot really achieve mechanization and automation of farmland weeding operations.With the continuous progress of automation,machine vision and other advanced technologies,agricultural machinery automation technology has also gained rapid development,and weeders are gradually developing in the direction of intelligence.It is an inevitable trend to study intelligent weeders that can truly replace manual work,ensuring food safety at source and alleviating the increasingly serious problem of soil ecological balance destruction.In this context,this paper develops the research of weeding robot based on the target image skeleton feature.By analyzing the functional requirements of the robot,the overall structural design of the robot and the research of the key technical methods are carried out.The key technical methods include crop and weed identification and localization methods and weed execution and control methods.In the former research,by comparing and analyzing the advantages,disadvantages and applicability of different color spaces,the HSV color space is selected to segment the background of the image,and then the erosion algorithm is used to erode the image to erode the weed image information to obtain the image information containing only the crop,and then the Zhang-Suen refinement algorithm is used to extract the skeleton of the crop image,and finally the skeleton intersection point in the latter study,the center of the crop stalk is identified and located by means of the image analysis,so as to obtain the coordinates of the target object’s feature points and to complete the accurate identification of the center of the crop stalk.In the latter study,the physical state information of the target obtained in the former study is converted into the pulse signal required for the control motor of the weeding operation and the desired target for the precise control of the actual farming operation space through the conversion between the image pixel coordinate system and the world coordinate system,and the PID control strategy is combined to complete the real-time control of the motor and coordinate with each other to complete the weeding action and realize the weeding robot to remove the weeds around the target in order to validate the above proposed target-based weed control system,the weed control system has been developed.In order to verify the performance of the proposed weeding robot based on the target image skeleton features,the simulation verification of the image feature recognition algorithm and the double closed-loop simulation of the position and velocity of the stepper motor were carried out in the MATLAB simulation platform in this paper,which proved that the method adopted in this paper can accurately identify the center of the stalk of crop seedlings and its stepper motor control method has good stability.The software and hardware design of the whole control system is also explained in detail.The hardware design includes the selection of the main control chip,the image acquisition module,the motor and motor drive module,and the overall hardware connection of the system;the software design mainly includes the construction of the software platform and the process of writing the program code.The robot designed in this paper provides a feasible solution for the realization of inter-plant weeding in the field,and has certain research significance and application value.
Keywords/Search Tags:Weeding robot, HSV color space, Zhang-Suen refinement algorithm, PID control
PDF Full Text Request
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