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

Agricultural implement automatic navigation is a major trend of modern agriculture. Agricultural implement navigation can avoid the errors during implement shaking in field and improve the precision of navigation and flexibility of operation. At present, most of the navigation terminals were developed based on the industrial computer which is expensive and difficult to be spread. In this paper, an agricultural implement visual navigation terminal based on DSP and MCU for automatic weeding was designed. As the core processor of the system, DSP was responsible for the image acquisition, crop rows detection and offset calculation of navigation line. MCU is the main control unit of the system, so it was used to manage the working process, receive, store and forward GNSS data, and also control the implement. The corresponding protocol of serial communication, network communication and CAN bus communication in the system was normalized to make sure the stability of the communication. In the image processing, the OTSU method and the crop row detection algorithm based on boundary detection and scan-filter (BDSF) were adopted, which could improve the accuracy and efficiency of navigation line detection. In order to verify the validity and stability of the system, the algorithm adaptive test, offset accuracy test and different system comparison tests were carried out. The experiment results showed that the crop line detection algorithm could work adaptively in the weed and crop thinning conditions. The average error of offset detection is 1.29 cm and the maximum error is 4.1 cm. The systems comparison test verified the economic feasibility of the proposed system by compared with the PC and ARM, which can satisfy the requirements of filed operation.