マルチセンサフュージョンとビジュアルサーボ制御に基づく知的節水灌漑システム
An Intelligent Water-Saving Irrigation System Based on Multi-Sensor Fusion and Visual Servoing Control
軽量YOLOと簡易ハンドアイキャリブレーション、アクティブ水平化を組み合わせ、傾斜地でも高精度に植物を検出・灌漑する節水システムを開発し、従来比30-50%の節水を達成した。
著者: ZhengKai Huang, YiKun Wang, ChenYu Hui, XiaoCheng
分類: cs.RO, cs.CV, cs.SY, eess.SY
原文アブストラクト
This paper introduces an intelligent water-saving irrigation system designed to address critical challenges in precision agriculture, such as inefficient water use and poor terrain adaptability. The system integrates advanced computer vision, robotic control, and real-time stabilization technologies via a multi-sensor fusion approach. A lightweight YOLO model, deployed on an embedded vision processor (K210), enables real-time plant container detection with over 96% accuracy under varying lighting conditions. A simplified hand-eye calibration algorithm-designed for 'handheld camera' robot arm configurations-ensures that the end effector can be precisely positioned, with a success rate exceeding 90%. The active leveling system, driven by the STM32F103ZET6 main control chip and JY901S inertial measurement data, can stabilize the irrigation platform on slopes up to 10 degrees, with a response time of 1.8 seconds. Experimental results across three simulated agricultural environments (standard greenhouse, hilly terrain, complex lighting) demonstrate a 30-50% reduction in water consumption compared to conventional flood irrigation, with water use efficiency exceeding 92% in all test cases.