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Design and Experiment of an Automatic Row-Oriented Spraying System Based on Machine Vision for Early-Stage Maize Corps

文献类型： 外文期刊

作者： Zheng, Kang 1 ; Zhao, Xueguan 3 ; Han, Changjie 2 ; He, Yakai 4 ; Zhai, Changyuan 1 ; Zhao, Chunjiang 1 ;

作者机构： 1.Beijing Acad Agr & Forestry Sci, Intelligent Equipment Res Ctr, Beijing 100097, Peoples R China

2.Xinjiang Agr Univ, Coll Mech & Elect Engn, Urumqi 830052, Peoples R China

3.Natl Engn Res Ctr Informat Technol Agr, Beijing 100097, Peoples R China

4.Chinese Acad Agr Mechanizat Sci Grp Co Ltd, Beijing 100083, Peoples R China

5.Jiangsu Univ, Coll Agr Engn, Zhenjiang 530004, Peoples R China

关键词： maize; machine vision; pesticide application; navigation tracking

期刊名称：AGRICULTURE-BASEL （ 影响因子：3.6； 五年影响因子：3.6 ）

ISSN：

年卷期： 2023 年 13 卷 3 期

页码：

收录情况： SCI

摘要： Spraying pesticides using row alignment in the maize seedling stage can effectively improve pesticide utilization and protect the ecological environment. Therefore, this study extracts a guidance line for maize crops using machine vision and develops an automatic row-oriented control system based on a high-clearance sprayer. First, the feature points of crop rows are extracted using a vertical projection method. Second, the candidate crop rows are obtained using a Hough transform, and two auxiliary line extraction methods for crop rows based on the slope feature outlier algorithm are proposed. Then, the guidance line of the crop rows is fitted using a tangent formula. To greatly improve the robustness of the vision algorithm, a Kalman filter is used to estimate and optimize the guidance line to obtain the guidance parameters. Finally, a visual row-oriented spraying platform based on autonomous navigation is built, and the row alignment accuracy and spraying performance are tested. The experimental results showed that, when autonomous navigation is turned on, the average algorithm time consumption of guidance line detection is 42 ms, the optimal recognition accuracy is 93.3%, the average deviation error of simulated crop rows is 3.2 cm and that of field crop rows is 4.36 cm. The test results meet the requirements of an automatic row-oriented control system, and it was found that the accuracy of row alignment decreased with increasing vehicle speed. The innovative spray performance test found that compared with the traditional spray, the inter-row pesticide savings were 20.4% and 11.4% overall, and the application performance was significantly improved.

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