本文關鍵詞：模擬復雜地形的變量噴霧靶標特征激光檢測研究　出處：《江蘇大學》2017年碩士論文　論文類型：學位論文

  更多相關文章： 變量噴霧 靶標激光檢測 復雜地形 姿態(tài)角偏移量 數據矯正與分析 三維重構

【摘要】：噴霧靶標的檢測是精密變量噴霧的重要環(huán)節(jié)。激光傳感器具有掃描速度快、測量精度高以及適用于室外環(huán)境等出色的性能,在精密變量噴霧的研究與應用中備受關注。然而實際噴霧的過程中,復雜地形條件容易造成變量噴霧機實時傳感器檢測靶標特征出現偏差。本文研究的主要目標就是探索如何降低激光傳感器姿態(tài)角的偏移對噴霧靶標檢測的影響,從而獲取精確的噴霧靶標外形尺寸信息以及三維重構圖像。首先研究了所選用的二維激光掃描傳感器的檢測原理以及靶標激光檢測數據的獲取與三維重構的方法。在此基礎上,利用直線滑臺靶標激光檢測平臺設計了靶標激光檢測試驗,通過試驗驗證了所選用的激光傳感器的優(yōu)良性能以及靶標三維重構方法的有效性。然后研究了模擬復雜地形的直線滑臺靶標激光檢測與矯正。利用直線滑臺靶標激光檢測平臺,通過改變激光傳感器的三維安裝角度模擬復雜路況,分別針對激光傳感器存在固定的橫滾角、偏航角和俯仰角的情況,提出了極坐標值與三角函數重新匹配、深度值系數矯正以及檢測幀與檢測點重新組合等3種姿態(tài)角偏移矯正方法,并且設計試驗驗證了激光傳感器3種姿態(tài)角偏移單一固定存在以及復合固定存在時矯正方法的有效性。試驗結果顯示樹形雕花板的寬度、高度以及樹冠高度等尺寸相對誤差均小于5%,仿真樹的相關參數相對誤差均小于10%,矯正后的三維重構圖像與矯正前相比有較大改善,滿足變量噴霧檢測的精度要求。最后研究了融合動態(tài)車體姿態(tài)角偏移數據的車載激光靶標檢測與矯正。本文基于慣性測量單元與UTM-30LX型激光傳感器搭建了車載激光靶標檢測平臺,慣性測量單元實時獲取車體的偏航角、俯仰角及橫滾角。根據利用試驗車動態(tài)變化的姿態(tài)角偏移數據矯正靶標激光檢測數據的思想,提出了車體橫滾角、俯仰角以及偏航角分別動態(tài)存在時靶標激光檢測數據的矯正方法,分別為融合橫滾角的極坐標值與三角函數重新匹配法、分段融合俯仰角平均值的檢測幀與檢測點重新組合法以及融合偏航角平均值的深度值系數矯正法。然后設計試驗驗證了俯仰角單一動態(tài)存在、俯仰角和橫滾角復合動態(tài)存在以及復雜地形三種情況下激光檢測數據矯正方法的有效性。試驗結果顯示矯正后靶標的三維重構圖像與矯正前相比有較大改善,且長方體柜子的寬度、高度以及仿真樹的寬度、高度和樹冠高度相對誤差均小于10%,矯正效果良好,驗證了矯正方法的有效性。本文根據復雜地形條件對靶標激光檢測的影響,研究了激光傳感器存在固定姿態(tài)角偏移以及動態(tài)姿態(tài)角偏移的靶標檢測與矯正,為實際變量噴霧靶標檢測環(huán)節(jié)提供了一定的理論與試驗基礎。
[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.
【學位授予單位】：江蘇大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：S49;TP212

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