农业机器人视觉导航路径识别方法研究  

Research on Path Recognition Method of Agricultural Robot Vision Navigation

作　　者：李军锋 李逃昌[1] 彭继慎[1] LI Junfeng;LI Taochang;PENG Jishen(College of Electrical and Control Engineering,Liaoning Technical University,Huludao,Liaoning 125105,China)

机构地区：[1]辽宁工程技术大学电气与控制工程学院,辽宁葫芦岛125105

出　　处：《计算机工程》2018年第9期38-44,58,共8页Computer Engineering

基　　金：辽宁省博士科研启动基金(201601364);辽宁工程技术大学校基金(20160050T)

摘　　要：针对农业机器人视觉路径识别的识别率低、速度慢以及易受光照、杂草影响的问题,提出基于混合阈值与偏移行中线的视觉导航路径识别方法。采用光照无关量进行光照干扰的剔除,利用混合阈值方法分割图像,给出基于偏移行中线的方法划分作物行。实验结果表明,与传统农业机器人作物行识别方法相比,该方法数据运算量小,平均耗时200 ms左右,作物行识别准确率达98%,能够有效地确定农业机器人的导航路径。Aiming at the problems of low recognition rate,slow speed,easy to be affected by illumination and weeds effect in the visual path recognition of agricultural robots,a visual navigation path recognition method based on mixed threshold and offset line midline is proposed.The illumination independence is used to eliminate the illumination interference.The mixed threshold method is used to segment the image,and the crop line based on the offset line midline method is given.Experimental results show that compared with the traditional agricultural robot crop line identification method,the method has a small amount of data calculation,the average time is about 200 ms,and the crop line identification accuracy rate is 98%,which can effectively determine the navigation path of the agricultural robot.

关 键 词：农业机器人 机器视觉 路径规划 偏移行中线 混合阈值法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]