ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

In order to achieve the automatic navigation of corn weeding-cultivating operations and improve the efficiency and accuracy of automatic weeding, a corn weeding-cultivating integrated navigation system based on GNSS and MV was designed and developed. The system, which consisted of two parts, the agricultural vehicle automatic navigation based on GNSS and the weeding implement navigation based on machine vision, could achieve automatic navigation in the process of corn weeding-cultivating. In order to avoid the damage corn, the proper safety distance between implement moldboard and crop rows is necessary when the agricultural machinery is working, which is controlled by tracing the GNSS information of corn planting navigation and the image information of crop rows acquired by industrial camera. During the hardware part, the steering wheel controlling and the front wheel angle testing parts were designed and refitted. The steering control circuit and the implement moldboard hydraulic control circuit were designed based on PLC and stepper motor drive. To the vehicle navigation, the steering wheel controlling and the front wheel angle testing institutions were designed. The vehicle operated through tracing the corn row by the GNSS information of corn planting navigation. In the integrated navigation intelligent decision module, the fuzzy control system was taken as the main control algorithm for navigation control decisions, and the lateral deviation of agricultural machinery and lateral deviation error rate were used as input variables of fuzzy control. In the implement visual navigation module, the crop row detection algorithm based on scanning filter was adopted, which could improve the precision of navigation line detection and processing efficiency.Corresponding experiments were designed to test the feasibility of the system,，the accuracy of automatic navigation were calculated respectively. The results show that, in the speed of 0.6 m/s, the maximum lateral deviation of GNSS navigation is 10.04 cm, the average deviation is 4.62 cm. The maximum lateral deviation of integrated navigation is 6.35 cm, the average deviation is 2.73 cm. The corn weeding-cultivating integrated navigation system can effectively satisfy the requirement of the corn weeding.