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Farmland machine leading line extraction algorithm based on machine vision

A machine vision and navigation line technology, applied in the field of agricultural engineering, can solve the problems of poor adaptability, poor accuracy, slow speed, etc., to achieve the effect of improving the operation speed, improving the poor adaptability and accuracy, and improving the generality of the algorithm

Active Publication Date: 2014-07-09
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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Problems solved by technology

[0004] Aiming at the problems of poor adaptability, accuracy and slow speed when the current agricultural machinery navigation algorithm is applied to the field environment, the present invention proposes a machine vision-based farmland machinery navigation line extraction algorithm

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  • Farmland machine leading line extraction algorithm based on machine vision
  • Farmland machine leading line extraction algorithm based on machine vision
  • Farmland machine leading line extraction algorithm based on machine vision

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Embodiment Construction

[0025] Such as figure 1 Shown, the farmland machinery navigation line extraction algorithm based on machine vision of the present invention, its steps are as follows:

[0026] Step S1: The crop pictures taken by the color digital camera in the real environment of the farmland, such as figure 2 As shown in (a), save it in the computer program in JPG or BMP format, the size of the image is 640*480, based on the developed visual program, the picture can be directly displayed on the program interface;

[0027] Step S2: Use the improved ultra-green factor (1.8G-R-0.8B) to improve the ultra-green image segmentation algorithm, and process the color image to obtain a grayscale image, such as figure 2 As shown in (c), the image processed by the traditional ultra-green image segmentation algorithm is as follows figure 2 as shown in (b);

[0028] Step S3: Use the Ostu algorithm to perform binarization threshold processing on the grayscale image, and the obtained binary image is as ...

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Abstract

The invention discloses a farmland machine leading line extraction algorithm based on machine vision. The method comprises the following steps that a color farmland image obtained by a CCD is grayed through an improved ultrafiltration algorithm, and an image with a target distinguished well is obtained; then an improved Otsu algorithm is utilized for carrying out binaryzation threshold processing on the image; the morphology algorithm of corrosion, expansion and opening and closing operation is adopted to remove image noise; main crop rows are extracted, Hough transformation is adopted to match a leading line to calculate course deviation, parallel leading lines are obtained, and feedback information is provided for real-time heading correction. According to the algorithm, image processing steps and procedures can be simplified, the defects that a previous algorithm is poor in adaptability and precision and low in processing speed are overcome, the universality of the algorithm is improved, and when the algorithm is used for treating different crops, the accurate leading lines can be provided. It takes about 200 ms to process one image, and the requirement for real-time navigation of farmland machines can be met.

Description

technical field [0001] The invention relates to the field of agricultural engineering, in particular to the extraction of farm machinery navigation lines in automatic intensive farming. Background technique [0002] Due to the advantages of less resource consumption and less environmental pollution, precision agriculture has become a trend of agricultural modernization and informatization. Automatic navigation is the key technology of precision agriculture. Commonly used automatic navigation technologies include GPS, multi-sensor fusion, machine vision, etc. Machine vision has become a hot spot in navigation technology research in recent years due to its advantages in price and anti-interference. Experts and scholars at home and abroad have conducted in-depth research on farmland machinery navigation technology. European and American countries started earlier. Swedish expert Bjprn Astrand et al. proposed a navigation algorithm based on Hough transform with strong and robust...

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Application Information

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IPC IPC(8): G06T7/00G06T5/00
Inventor 刁智华毋媛媛方洁王宏罗雅雯
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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