基于花芯识别定位的凤梨花对靶喷水系统设计与试验OA

In response to the watering requirement of precisely aiming at the floral core of bromeliad,a target-oriented water-spraying system for bromeliad cultivated in nursery beds was designed.The system adopts a gantry-type structure.To improve the positioning accuracy,an identification and positioning method combining coarse positioning based on the center position of the flower crown and fine positioning based on the centroid of the leaf cup point cloud was proposed.In the coarse-positioning stage,the YOLOv8 model was used in combination with the information obtained from the depth camera to quickly locate the center position of the flower crown.In the fine-positioning stage,algorithms such as FPFH(Fast Point Feature Histograms)and RANSAC(Random Sample Consensus)were applied to the flower crown point cloud to match and align with the template point cloud.Subsequently,the leaf cup point cloud was extracted,and its centroid was calculated,which was used as the precise positioning of the floral core.Upon receiving the coordinates of the floral core,the target-oriented water-spraying device quickly adjusted the nozzle pose and sprays water.The control system coordinated the moving device and the target-oriented water-spraying device according to the positioning informa-tion,enabling the system to move precisely and adjust the nozzle pose to aim at the floral core,thus achieving accurate target-oriented water-spraying operations.Experimental results showed that the accuracy of fine positioning was improved by 44.3%compared with that of coarse positioning.Through the combination of coarse and fine positioning,the system exhibits high accuracy and stability in bromeliad identification,floral core positioning,and target-oriented water-spra-ying.The target-hitting success rate can reach 91%,meeting the requirements of practical applications.