LiDAR探测自动对靶喷雾控制系统设计  

Design of Automatic Target Spray Control System Based on LiDAR

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作  者:李秋洁 徐波 束义平 陶冉 Li Qiujie;Xu Bo;Shu Yiping;Tao Ran;College of Mechanical and Electronic Engineering,Nanjing Forestry University;School of Information Science and Engineering,East China University of Science and Technology

机构地区:南京林业大学机械电子工程学院 华东理工大学信息科学与工程学院

出  处:《农机化研究》2019年第8期65-71,共7页Journal of Agricultural Mechanization Research

基  金:江苏省基础研究计划-青年基金项目(BK20170930);国家林业局“948”项目(2015-4-56);国家自然科学基金面上项目(61473156);江苏省产学研联合创新资金—前瞻性联合研究项目(BY2014006-02)

摘  要:Li DAR(Light Detection and Ranging,激光雷达)能快速获取靶标完整形貌,是目前最先进的靶标探测技术。为此,设计了基于上下位机结构的Li DAR探测自动对靶喷雾控制系统。其上位机采用MFC多线程编程,实现点云数据采集、靶标探测及喷雾时间补偿,同时具有喷雾模式及作业参数设置、喷头状态显示等人机交互功能;下位机采用C51编程,实现喷雾指令接收与喷头启闭控制。通过MatLab靶标探测算法仿真及上下位机联合调试,验证了所采用开发方式的有效性。LiDAR( light detection and ranging) can quickly acquire complete target morphology,which is the most advanced target detection technology at present. This paper proposed the design method of automatic target spray control system based on laser detection,in which upper and lower computer structure is used. The upper computer adopts MFC multi-thread programming to realize point cloud data acquisition,target detection and spray time compensation. Human-computer interaction function such as spray mode and job parameter setting,nozzle status display are also included in the upper computer. The lower computer adopts C51 programming to receive spray instruction and nozzle on-off control.Target detection algorithm was simulated using Matlab and upper and lower computers were debugged jointly. The experimental results verified the effectiveness of the proposed method.

关 键 词:对靶喷雾 多喷头喷雾机 激光雷达 人机交互 

分 类 号:S491[农业科学—植物保护]

 

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