模拟复杂地形的变量喷雾靶标特征激光检测研究

发布时间：2018-01-03 06:36

本文关键词：模拟复杂地形的变量喷雾靶标特征激光检测研究　出处：《江苏大学》2017年硕士论文　论文类型：学位论文

【摘要】：喷雾靶标的检测是精密变量喷雾的重要环节。激光传感器具有扫描速度快、测量精度高以及适用于室外环境等出色的性能,在精密变量喷雾的研究与应用中备受关注。然而实际喷雾的过程中,复杂地形条件容易造成变量喷雾机实时传感器检测靶标特征出现偏差。本文研究的主要目标就是探索如何降低激光传感器姿态角的偏移对喷雾靶标检测的影响,从而获取精确的喷雾靶标外形尺寸信息以及三维重构图像。首先研究了所选用的二维激光扫描传感器的检测原理以及靶标激光检测数据的获取与三维重构的方法。在此基础上,利用直线滑台靶标激光检测平台设计了靶标激光检测试验,通过试验验证了所选用的激光传感器的优良性能以及靶标三维重构方法的有效性。然后研究了模拟复杂地形的直线滑台靶标激光检测与矫正。利用直线滑台靶标激光检测平台,通过改变激光传感器的三维安装角度模拟复杂路况,分别针对激光传感器存在固定的横滚角、偏航角和俯仰角的情况,提出了极坐标值与三角函数重新匹配、深度值系数矫正以及检测帧与检测点重新组合等3种姿态角偏移矫正方法,并且设计试验验证了激光传感器3种姿态角偏移单一固定存在以及复合固定存在时矫正方法的有效性。试验结果显示树形雕花板的宽度、高度以及树冠高度等尺寸相对误差均小于5%,仿真树的相关参数相对误差均小于10%,矫正后的三维重构图像与矫正前相比有较大改善,满足变量喷雾检测的精度要求。最后研究了融合动态车体姿态角偏移数据的车载激光靶标检测与矫正。本文基于惯性测量单元与UTM-30LX型激光传感器搭建了车载激光靶标检测平台,惯性测量单元实时获取车体的偏航角、俯仰角及横滚角。根据利用试验车动态变化的姿态角偏移数据矫正靶标激光检测数据的思想,提出了车体横滚角、俯仰角以及偏航角分别动态存在时靶标激光检测数据的矫正方法,分别为融合横滚角的极坐标值与三角函数重新匹配法、分段融合俯仰角平均值的检测帧与检测点重新组合法以及融合偏航角平均值的深度值系数矫正法。然后设计试验验证了俯仰角单一动态存在、俯仰角和横滚角复合动态存在以及复杂地形三种情况下激光检测数据矫正方法的有效性。试验结果显示矫正后靶标的三维重构图像与矫正前相比有较大改善,且长方体柜子的宽度、高度以及仿真树的宽度、高度和树冠高度相对误差均小于10%,矫正效果良好,验证了矫正方法的有效性。本文根据复杂地形条件对靶标激光检测的影响,研究了激光传感器存在固定姿态角偏移以及动态姿态角偏移的靶标检测与矫正,为实际变量喷雾靶标检测环节提供了一定的理论与试验基础。
[Abstract]:The detection of spray target is an important part of precision variable spray. Laser sensor has the advantages of high scanning speed, high measuring precision and being suitable for outdoor environment. In the research and application of precision variable spray, however, in the process of actual spray. Complex terrain conditions can easily lead to the deviation of target characteristics of variable sprayer real-time sensor detection. The main goal of this paper is to explore how to reduce the impact of laser sensor attitude angle on spray target detection. In order to obtain accurate shape information of spray target and three-dimensional reconstruction image. Firstly, the detection principle of the selected two-dimensional laser scanning sensor and the method of obtaining laser detection data and 3D reconstruction of target laser detection data are studied. On this basis. The laser detection test of the target is designed by using the laser detection platform of the linear slide platform. The excellent performance of the selected laser sensor and the effectiveness of the 3D reconstruction method of the target are verified by experiments. Then the laser detection and correction of the linear slide target simulating complex terrain are studied. Laser detection platform. By changing the 3D installation angle of the laser sensor to simulate the complex road conditions, aiming at the situation that the laser sensor has fixed roll angle, yaw angle and pitch angle, a new matching between the polar coordinates and the trigonometric function is proposed. Three correction methods of attitude angle deviation are depth coefficient correction and detection frame and detection point recombination. The experimental results verify the effectiveness of the three methods for correcting the laser sensor when the attitude angle offset is single and the composite fixation exists. The experimental results show the width of the tree-shaped engraved plate. The relative error of height and crown height is less than 5, and the relative error of simulation tree is less than 10. The corrected 3D reconstructed image is better than that before correction. Finally, the vehicle laser target detection and correction based on inertial measurement unit and UTM-30LX laser sensor are studied. A vehicle laser target detection platform is built. The inertia measurement unit can get the yaw, pitch angle and roll angle of the vehicle in real time. According to the idea of correcting the target laser detection data by using the dynamic attitude angle deviation data of the test vehicle, the rolling angle of the car body is put forward. When the pitch angle and yaw angle exist dynamically, the correction method of laser detection data of target is the polar coordinate value of fusion roll angle and trigonometric function rematch method respectively. The method of detecting frame and detection point recombination and the depth coefficient correction method of fusion yaw angle mean value are combined by subsection fusion pitch angle average. Then the design experiment verifies the single dynamic existence of pitch angle. The experimental results show that the 3D reconstructed image of the target after correction is better than that before correction under the condition of composite dynamic of pitch angle and roll angle and complex terrain. The relative errors of the width, height and the width, height and crown height of the cuboid cabinet are less than 10, and the correction effect is good. The effectiveness of the correction method is verified. According to the influence of complex terrain conditions on laser detection of target, the detection and correction of laser sensor with fixed attitude angle migration and dynamic attitude angle migration are studied in this paper. It provides a theoretical and experimental basis for the actual variable spray target detection.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S49;TP212

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