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除草機(jī)器人田間機(jī)器視覺導(dǎo)航
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    摘要:

    建立了除草機(jī)器人模型，利用VC++開發(fā)了基于機(jī)器視覺的除草機(jī)器人雜草識別和導(dǎo)航系統(tǒng)應(yīng)用軟件,，引導(dǎo)除草機(jī)器人沿農(nóng)作物行自動行走,。提出新的圖像分割算法，在RGB空間直接將農(nóng)作物分割出來,，再利用優(yōu)化的Hough變換檢測出農(nóng)作物行中心線,，根據(jù)攝像頭姿態(tài)和透視變換原理確定除草機(jī)器人位姿。試驗表明,，分割一幅真彩色圖像（分辨率：1 536×1 152）只需450 ms,，并能夠適應(yīng)自然光線變化。優(yōu)化的Hough變換算法使運(yùn)算時間減少了1/2,，導(dǎo)航距和導(dǎo)航角平均誤差分別為-0.6 mm和0°,，證明了此導(dǎo)航方案的可行性。

    Abstract:

    A model of weeding robot, machine vision-based weed detection and navigation software in VC++ were developed. This software system could lead the weeding robot walk along crop rows and recognize weeds between rows simultaneously. A new image segmentation algorithm was proposed subsequently. Crops could be segmented from background directly in RGB space, and then the center lines of crop rows were identified by Hough transform. The robot poses were obtained according to the camera pose and perspective principle. Experiments showed that a colorful image (resolution: 1 536×1 152) could be segmented within 450 ms, and the new algorithm could also adapt the lightness variation. Optimized Hough transform algorithm reduced the segmentation time by 1/2. The average error of navigation distance and navigation angle was -0.6 mm and 0° respectively. The results showed that the navigation method was feasible. 

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侯學(xué)貴,陳勇,郭偉斌.除草機(jī)器人田間機(jī)器視覺導(dǎo)航[J].農(nóng)業(yè)機(jī)械學(xué)報,2008,39(3):106-108.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(3):106-108.

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