基于单目视觉的农业机器人导航系统研究  

Researchon Navigation System of Agricultural Robot Based on Monocular Vision

作　　者：赵荣阳 吴桂云[2] 梁家海 王青青 姜重然[2] 王斌[2] Zhao Rongyang;Wu Guiyun;Liang Jiahai;Wang Qingqing;Jiang Zhongran;Wang Bin(School of Electronic and Information Engineering,Beibu Gulf University,Qinzhou 535000,China;School of Information and Electronic Technology,Jiamusi University,Jiamusi 154007,China)

机构地区：[1]北部湾大学电子与信息工程学院,广西钦州535011 [2]佳木斯大学信息电子技术学院,黑龙江佳木斯154007

出　　处：《农机化研究》2022年第5期92-96,共5页Journal of Agricultural Mechanization Research

基　　金：广西自然科学基金项目(2020GXNSFAA297233);黑龙江省自然科学基金项目(LH2020F006);佳木斯大学优秀学科团队项目(JDXKTD-2019008)。

摘　　要：机器人在农业生产、农产品运输等方面的应用程度,已逐渐成为农业智慧化水平的体现,而受农业环境复杂性的限制,机器人的导航路径规划及定位精度问题,仍是制约农业机器人应用的主要因素之一。为此,设计了一种基于单目视觉的农业机器人导航系统,通过摄像头采集农业机器人工作环境信息,建立机器人的视觉导航地图;采用级联分类器区域检测结合颜色标定的方法,使用户能够根据具体环境,自主规划机器人运动路径,实现机器人的实时定位与导航。实验结果表明:农业机器人沿用户自主规划的无轨道路径,可自动完成导航定位工作,并在路径各目标点获得了亚米级的定位精度,满足农业机器人的应用需求。Gradually intelligent agriculture was marked by the participation levels of robot in agricultural production and transportation. Limited by the complexity of agricultural environment,the navigation path planning and positioning resolution is still a principal consideration for applications of robots in agriculture.A navigation system of agricultural robot based on monocular vision,which collected information of the working environment through camera for building a visual navigation map of a gricultural robot. the users could the system utilized region detection of cascade classifier and color calibration,to realize the real-time positioning and navigation of robot,and the users could customize the motion path of robot independently according to specific environment.The experimental results shows it could obtain positioning resolution with sub meter level at each target point of the path,and the requirements of agricultural robot will be satisfied preferably.

关 键 词：路径规划 单目视觉 视觉导航地图 区域检测 颜色标定 

分 类 号：S126[农业科学—农业基础科学] TP242[自动化与计算机技术—检测技术与自动化装置]