基于TMS320DM642的农业机器人视觉导航路径检测  

Identifying the Navigation Route Based on TMS320DM642 for Agriculture Visual Robot

作　　者：曹倩[1] 王库[1] 杨永辉[1] 史小磊[1] 

机构地区：[1]中国农业大学信息与电气工程学院,北京100083

出　　处：《农业机械学报》2009年第7期171-175,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家"863"高技术研究发展计划资助项目(2006AA10A304)

摘　　要：在农田非结构化自然环境下,通过机器视觉提取导航线的处理算法,利用透视投影变换得到摄像机相对于导航路径的偏移距离和偏移角,成功地在TMS320DM642系统上得到实现,并对程序进行了基于C语言的代码优化。试验结果表明,偏移角的最大误差为2°,横向偏移距离最大误差为5 cm。In the farmland non-structurization natural environment, navigation route＇s extraction algorithm was studied based on machine vision. The distance and angle between camera and navigation route was gained by the perspective projection. The algorithm was successfully transplanted to TMS320DM642 hardware platform, and optimized on a C programming language level. In the examination, it shows that the biggest error of deviation angle between camera and navigation route is 2° and the biggest deviation distance between camera and navigation route is 5 cm.

关 键 词：机器人 自定位 视觉导航 农业环境 数字信号处理 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]