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Image texture feature extraction-based intelligent mower boundary identification method

A feature extraction and image texture technology, applied in image data processing, image enhancement, image analysis, etc., can solve the problem of intelligent lawn mower without beacon border recognition, and achieve the effect of solving no beacon border recognition

Inactive Publication Date: 2018-08-21
SOUTHEAST UNIV
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Problems solved by technology

[0005] Purpose of the invention: The purpose of the present invention is to provide an intelligent lawn mower boundary recognition method based on image texture feature extraction to solve the problem of outdoor intelligent lawn mower boundary recognition without beacons

Method used

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  • Image texture feature extraction-based intelligent mower boundary identification method
  • Image texture feature extraction-based intelligent mower boundary identification method
  • Image texture feature extraction-based intelligent mower boundary identification method

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Embodiment Construction

[0031] In this embodiment, a USB camera installed on the front end of the lawn mower, conforming to the UVC protocol, having a resolution of 640*480, and a viewing angle of 90° is used as the image acquisition device, and the image is collected using the Linux v4l2 library; it is built into the intelligent lawn mower The microprocessor is used as an image processing device, which initializes the USB camera through the v4l2 interface, calculates the constants required for boundary extraction and stores them in the memory, and the camera continuously collects images in RGB format, and transmits them to the ARM Cortex-A9 core through USB The image is processed in the Samsung S5P4418 microprocessor; the microprocessor is connected with the mower motion control system.

[0032] Such as figure 1 , figure 2 As shown, the boundary identification method includes the following steps:

[0033] (1) Convert the collected RGB image I1 into a 256-level grayscale image I2, using the follow...

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Abstract

The invention discloses an image texture feature extraction-based intelligent mower boundary identification method. The method comprises the following steps that 1, a collected image I1 is converted into a grey-scale map U2; 2, a texture feature value grey-scale map I4 corresponding to the gray-scale map I2 is gotten; 3, the texture feature value grey-scale map I4 is subjected to adaptive segmentation, and a binary image I5 is obtained; 4, the binary image I5 is subjected to noise processing, and the binary image I6 used for extracting a final boundary line is obtained; 5, by means of a straight line fitting algorithm, a boundary line is obtained.

Description

technical field [0001] The invention relates to an intelligent lawnmower control technology, in particular to an intelligent lawnmower boundary recognition method based on image texture feature extraction. Background technique [0002] With the development of the economy, the urban green area and the family lawn have increased substantially, and a large number of lawns need to be maintained. Traditional lawn mowers are mostly powered by gasoline, which has the disadvantages of high energy consumption, high noise, and serious pollution, and requires manual operation, which is time-consuming and laborious; in contrast, intelligent lawn mowers that can automatically complete lawn trimming operations increasingly favored by consumers. [0003] The boundary recognition technology of the intelligent lawn mower is one of the key technologies of the intelligent lawn mower. Limiting the lawn mower to work in a certain area by certain means is the key to realize the complete automati...

Claims

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Application Information

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IPC IPC(8): G06T7/136G06T7/13G06T7/44G06T5/00
CPCG06T7/13G06T7/136G06T7/44G06T2207/10004G06T5/70
Inventor 王兴松张晓春田梦倩毛玉良
Owner SOUTHEAST UNIV
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