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当前位置: 首页 > 文章 > 除草机器人田间机器视觉导航 农业机械学报 2008,39 (3) 106-108+112
Position: Home > Articles > Machine Vision-based Navigation for a Weeding Robot Transactions of the Chinese Society for Agricultural Machinery 2008,39 (3) 106-108+112

除草机器人田间机器视觉导航

作  者：
侯学贵;陈勇;郭伟斌
单  位：
南京林业大学机械电子工程学院
关键词：
除草机器人;导航;机器视觉;Hough变换
摘  要：
建立了除草机器人模型,利用VC++开发了基于机器视觉的除草机器人杂草识别和导航系统应用软件,引导除草机器人沿农作物行自动行走。提出新的图像分割算法,在RGB空间直接将农作物分割出来,再利用优化的Hough变换检测出农作物行中心线,根据摄像头姿态和透视变换原理确定除草机器人位姿。试验表明,分割一幅真彩色图像(分辨率:1536×1152)只需450ms,并能够适应自然光线变化。优化的Hough变换算法使运算时间减少了1/2,导航距和导航角平均误差分别为-0.6mm和0°,证明了此导航方案的可行性。
译  名：
Machine Vision-based Navigation for a Weeding Robot
作  者：
Hou Xuegui Chen Yong Guo Weibin(Nanjing Forestry University)
关键词：
Weeding robot, Navigation, Machine vision, Hough transform
摘  要：
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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