A local motion control method of a white moth larva screen spraying robot

Abstract

The invention provides a fall webworm hyphantria cunea drury chemical spray robot local movement control method. The method includes the following steps that 1, an overall movement strategy and a local movement path of a chemical spray robot are designed, and the chemical spray robot operates according to the set path and collects corresponding tree target images in real time; 2, fall webworm hyphantria cunea drury targets are extracted according to the image features, the relative distance L between the mesh curtain targets and an execution mechanism is estimated, and the image plane area S and the chemical spray covering face area S' of the position L away from the execution mechanism are determined; 3, mu is made to be equal to S' / S, the S is the image plane area, the S' is the chemical spray covering face area, and when the mu is larger than 0.5, a simple scanning control strategy is executed; when the mu is smaller than or equal to 0.5, a complex strategy of scanning, targeting and chemical spraying is executed, and finally, the optimal chemical spray position is determined.

Description

technical field [0001] The invention relates to the field of vision control of an intelligent spraying robot, in particular to a local motion control method for a white moth larva screen spraying robot. Background technique [0002] American white moth is a worldwide quarantine pest with strong reproductive ability and a wide range of tree species. In northern my country, there are usually three generations a year, and each generation is divided into three stages: larvae, pupae, and adults. The larval stage is the most harmful to trees. After a few hours of hatching, it spins silk and nets and attaches to the leaves to feed on the mesophyll. During the entire larval period, the amount of food eaten is extremely large, resulting in weak growth of the plant, low stress resistance, and even the death of the entire plant. The larval screen is more obvious, which is the best time to implement control. At present, the prevention and control methods of manual removal of screens an...

AI Technical Summary

Problems solved by technology

At present, the prevention and control methods of manual removal of screens and large-scale spraying of chemical agents are often used, but these methods are simple, extensive and heavy in pollution. Intelligent and precise target application based on machine vision is one of the methods to solve this problem

[0003] Most of the currently used spraying control strategies are based on a certain space transformation model to precisely control the parameters of the manipulator. Although this method has high precision, it has a large amount of calculation, low spraying efficiency, and is susceptible to interference. It is not suitable for large-scale field operations with a short occurrence period

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