基于处方图的室内变量喷药除草系统设计

摘要

为提高除草剂利用率,开发了一种基于处方图的变量对靶施药除草系统.该系统以S3C2410微处理器为核心,在linux操作系统环境下,能根据MATLAB软件对机器视觉系统采集的棉田杂草图像处理后生成的喷施除草剂处方图,控制不同喷头开关及实现4种喷药量.对棉花与杂草识别、杂草质心坐标及面积大小计算,网格划分、田间杂草定位以及喷头高度与间距关系等关键问题进行了研究.在室内试验台上对喷药系统进行了测试,当喷药系统压力为0.1 MPa,传送带速度为0.4 m/s时,50棵杂草对靶率超过90%,与传统喷药方式相比可节省除草剂用量60%以上.该喷药系统的设计,为实时变量对靶喷药除草机器人的研究提供了参考.%In order to improve herbicide efficiency, a map-based variable weed spraying system was designed. The core of this system was S3C2410 microprocessor. In the linux environment, the system could achieve different nozzles combinations and four spraying capacity according to weed distribution map. The map was created after MATLAB soft'ware processed weeds images which collected by machine vision system. Some key issues in prescription map production were discussed, such as weed identification, weed location and area calculation, meshing, weed location, the relationship between nozzle height and distance. The spraying system was tested on indoor test-bed, when the spraying system pressure was 0.1 MPa, the conveyor speed was 0.4 m/s. The results showed that over 90％ of 50 weeds was sprayed. Compared with traditional spraying methods this system could save over 60％ of the herbicide. The designed spraying system provided a reference for the study on real-time variable target spraying weed robot.