The invention discloses a
greenhouse intelligent
mobile robot vision
navigation path identification method. Original image information is converted from an
RGB color space to an HSI
color space, H, S and I component information pictures are extracted respectively, the H component information picture is subjected to denoising
processing, a K-means
algorithm is used to carry out clustering segmentation on the H component information picture, and the segmentation effect picture of a road is obtained. A morphological
erosion method is employed to carry out secondary denoising
processing, the picture which is subjected to the
erosion process is subjected to gray conversion, and the complete road information is obtained. The Candy operator
edge detection is employed, edge
discrete points are extracted, navigation
discrete points are converted and acquired, the navigation
discrete points are fitted to obtain final
navigation path information which is subjected to coordinate transformation, and the navigation angle of a
mobile robot is calculated. The robustness of
navigation path identification to illumination inequality is effectively raised, the subsequent
image processing operation is facilitated, and the rapid real-time performance of the whole path
identification system is raised.