农业机械学报2024，Vol.55Issue(5)：21-27,39,8.DOI:10.6041/j.issn.1000-1298.2024.05.002
基于语义分割网络的植保机器人视觉伺服控制方法
Visual Servo Control of Plant Protection Robot Based on Semantic Segmentation
摘要
Abstract
A crop line feature detection method based on semantic segmentation network was proposed to realize stable and reliable visual servo control of plant protection robot.Based on the semantic segmentation network which was termed with ESNet,pixel-wise labeling in farmland images was performed for ribbon regions detection,and least mean squares algorithm was utilized to find out all the crop line feature parameters in real time.Among the derived candidate lines features,a key route line was chosen as the valid navigation path which was responsible for subsequent robot motion control.Kalman filter was subsequently employed to smooth geometrical parameters of the previously specified key route,which effectively suppressed the fluctuation of navigation parameters caused by jolt behavior of plant protection robot generated from uneven ground and measurement noises incorporated in visual images.Afterwards,the sophisticated Ackermann steering kinematic model which was characterized by robot front-wheel steering and rear-wheel differential was introduced.A pure tracking controller was designed in Cartesian coordinate system to realize the servo motion control of plant protection robot.The field experiment conducted in real farmland scenarios verified the effectiveness of the proposed method.关键词
植保机器人/视觉伺服控制/深度学习/语义分割网络/作物行特征检测Key words
plant protection robot/visual servo control/deep learning/semantic segmentation net/crop line feature detection分类
信息技术与安全科学引用本文复制引用
李秀智,方会敏,朱玉垒,杜博文,董泓佑..基于语义分割网络的植保机器人视觉伺服控制方法[J].农业机械学报,2024,55(5):21-27,39,8.基金项目
国家自然科学基金项目(52005310)、江苏大学高级人才基金项目(22JDG041)和农业农村部现代农业装备重点实验室开放项目(2020007) （52005310）
