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Method for recognizing manually-set road sign in agricultural machine visual navigation

An identification method and technology for agricultural machinery, applied in navigation, mapping and navigation, character and pattern recognition, etc., can solve problems such as large constraints, low operating efficiency, poor stability, etc., and achieve strong environmental adaptability and navigation recognition accuracy. High and fast operation speed

Inactive Publication Date: 2009-10-21
KUNMING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the technical shortcomings of the existing agricultural machine vision navigation recognition technology, which are greatly restricted by the agricultural environment, low operating efficiency, and poor stability, the present invention proposes an agricultural machine vision navigation recognition method based on manual setting of road signs

Method used

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  • Method for recognizing manually-set road sign in agricultural machine visual navigation
  • Method for recognizing manually-set road sign in agricultural machine visual navigation
  • Method for recognizing manually-set road sign in agricultural machine visual navigation

Examples

Experimental program
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Effect test

Embodiment 1

[0035] like figure 2 As shown, this embodiment is the situation that the method of the present invention is used in the farmland harvesting operation environment. According to the environmental information of the farmland, the road sign 3 is designed to be blue in color, rectangular, and its aspect ratio is 2:1, and the control character TR30 on the road sign is designed to be white. Manually lay the road sign flat on the ground. Use the Tianmin USB interface CCD camera 2 installed on the farmland machinery to capture the scene image of the road sign. The optical center of the CCD camera and the ground plane form an angle of 45 degrees, and transmit the collected road sign image to the industrial computer 1 ( Its processor is P43.0GH Z ), the processing of images collected by the camera, the semantic recognition of control characters and the communication with each control module are completed by the industrial computer. The specific identification method is as follows:

...

Embodiment 2

[0041] This embodiment is the situation that the wood invention method is used in the orchard operating environment. According to the environmental information of the orchard, artificially hang the road sign 3 on the lower branches, and use figure 2 The identification system shown in the figure performs identification, and the specific identification method is the same as that in Embodiment 1. In this example, we use the WK1 control character to represent the execution of actions on the space around the signpost.

[0042] Similarly, the recognition of the control characters of all road signs can be completed.

Embodiment 3

[0044] This embodiment is the situation of the method of the present invention in the lawn operation environment. According to the environmental information of the lawn, the road signs are manually placed at the key points where the robot passes, so that the plane of the road signs is placed perpendicular to the ground. use figure 2 The identification system shown in the figure performs identification, and the specific identification method is the same as that in Embodiment 1. In this example, we use the TR30 control character to represent the execution of actions on the space around the signpost.

[0045] Similarly, the recognition of the control characters of all road signs can be completed.

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Abstract

The invention relates to a method for recognizing a manually-set road sign in agricultural machine visual navigation, which is characterized by comprising the following steps that: a road sign is set manually in an agricultural operating environment, the road sign is provided with control characters, a CCD camera acquires road sign scene images (RGB images), and an industrial computer performs image processing on the road sign scene images and achieves semantic recognition of the control characters so as to form commands for controlling the motions of an agricultural machine and achieve the aim of navigating the agricultural machine. The method has the advantages of flexible and simple path arrangement and modification, high navigation recognition precision, high operational speed, good human-computer interaction, strong environmental suitability and the like, and has significance in further expanding application of robots in agricultural production.

Description

technical field [0001] The invention relates to a recognition method for manually setting road signs in visual navigation of agricultural machinery, and belongs to the field of automatic control of information technology. Background technique [0002] The positioning and navigation of autonomous mobile robots is an important research direction in the field of intelligent robots and a key technology of intelligent mobile robots. In the field of agricultural operation automation, agricultural machinery navigation has experienced various navigation methods such as mechanical touch rod navigation along furrows, field ridges, and crop rows, wired guidance with embedded guide cables, geomagnetic navigation, radio or laser navigation, and inertial navigation. , machine vision navigation has become an important development direction of agricultural machinery navigation. However, for agricultural autonomous mobile operation machinery, the agricultural operating environment is very d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/20G06K9/34G01C21/00G05B19/02
Inventor 张云伟蒋海波郭志伟汪斌
Owner KUNMING UNIV OF SCI & TECH
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