文献类型：期刊文献

中文题名：基于图像矩的室内喷雾机器人自动对靶研究

英文题名：Automatic Target of Indoor Spray Robot Based on Image Moments

作者：赵栋杰[1,2];张宾[1];王学雷[1];郭洪红[1,3];徐松兵[1]

第一作者：赵栋杰

通讯作者：Zhang, Bin

机构：[1]中国农业大学工学院;[2]聊城大学机械与汽车工程学院;[3]北京联合大学机电学院

第一机构：中国农业大学工学院,北京100083

年份：2016

卷号：47

期号：12

起止页码：22-29

中文期刊名：农业机械学报

外文期刊名：Transactions of the Chinese Society for Agricultural Machinery

收录：CSTPCD;;EI(收录号：20165203163243);Scopus(收录号：2-s2.0-85006470362);北大核心:【北大核心2014】；CSCD:【CSCD2015_2016】；

基金：高等学校博士学科点专项科研基金项目(20120008110046);山东省自然科学基金项目(ZR2012CQ026)

语种：中文

中文关键词：喷雾机器人;图像矩;自动对靶;视觉伺服

外文关键词：spray robot; image moment ; automatic target; visual servoing

摘要：针对间距较大作物的精准喷雾作业要求，提出了一种基于图像矩的喷雾机器人自动对靶方法。该方法采用单目场景／单目（多目）手眼混合视觉结构。场景相机用于作物目标的预定位，研究了基于其图像的作物形心三维定位算法。手眼相机用于目标的跟踪对靶，提出了一种基于图像矩的视觉跟踪方法，并就矩特征组选取、图像雅可比矩阵计算以及目标深度实时估算等问题进行了研究。仿真结果表明，该视觉跟踪方法能够完成对靶任务，且可达到较高的控制精度。为进一步验证所提自动对靶方法的可行性，搭建了具有一个喷雾机械臂的简化样机并进行了室内对靶实验，实验测得样机移动速度在150～200mm／s时，喷头x、Y、Z向定位误差均小于等于6．5mm。
Automatic target is a key technology in the field of target spray robot. In order to meet the requirements of precision spraying operation for large spacing crops, an automatic target method based on visual feedback was proposed. A hybrid vision structure, including single scene camera and single （ or multi） eye-in-hand camera was adopted. The scene camera mounted in the front of robot body was used to pre-locate target crop and estimate robot＇ s moving speed, and algorithm about location of target crop＇s centroid and estimating of robot＇s moving speed was studied. The eye-in-hand camera mounted at the end of spray mechanical arm with nozzle was used to track and aim at target crop. A visual tracking method which used image moments as image features was presented, and some important issues, such as moment features selection, image Jacobian calculation and real-time estimation of target depth were studied, and using real-time estimation of target depth would obtain better tracking trajectory than commonly used fixed depth in Cartesian space and image space. Simulation results showed that the visual tracking method can fulfill the target task and had high control precision. In order to further verify the feasibility of the automatic target method, a simplified prototype containing one spray mechanical arm was built and target experiments were carried out in laboratory. The results showed that the position error of nozzle in X, Y and Z directions was less than or equal to 6.5 mm with vehicle speed of 150 -200 mm/s. This study can provide reference for the development of target spray robot.