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

Row-oriented spraying technology can improve the utilization rate of pesticides, protect the environment and reduce pesticide residues. A vision based row-oriented spray control system for field cabbage was established. The improved ExG algorithm was used to extract color information, and the method of OTSU and morphological opening and closing operation were used to segment crops and background. A method of cabbage crop row localization and multi row adaptive ROI extraction was proposed. In the ROI of strip segmentation, the feature point set was collected based on the limited threshold vertical projection, and the crop row centerline was obtained by linear fitting of the feature point set by the least square method. The offset information of crop rows was obtained based on the geometric relationship of the centerline. A row offset compensation model was established based on the kinematic characteristics of the row mechanism, and row-oriented spray control system based on PID trajectory tracking algorithm was designed. Laboratory tests showed that the accuracy of crop row recognition was 95.75%, and the average algorithm time-consuming was 77ms. Field tests showed that under different periods of illumination, the recognition algorithm had the best test results in the time periods of 09:00—11:00 and 14:00—16:00, and the average recognition deviation was kept below 2.32cm. In the weed press test, the average accuracy rate of the recognition algorithm was 95.56%, indicated that the algorithm had strong robustness.in the comparison test with other recognition algorithms, the algorithm proposed had the shortest average time consumption and the highest recognition accuracy rate, and it could be used for real-time operations.in the field row-oriented spray control system tests, the system row-oriented accuracy rate reached 93.33%, and the control algorithm could control row-oriented deviation within 1.54cm, which could meet the requirements of practical field applications.