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A visual navigation path recognition method for agricultural spraying robot

A robot vision and navigation path technology, applied in scene recognition, character and pattern recognition, instruments, etc., can solve the problems of not being able to directly use RGB color space and poor robustness, and achieve wide applicability, improve robustness, and simplify The effect of the algorithm step

Active Publication Date: 2022-03-18
JIANGSU UNIV
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AI Technical Summary

Problems solved by technology

Since the camera collects RGB images, but because the R, G, and B channels of the RGB color space are affected by light, the robustness is extremely poor, so the RGB color space cannot be used directly

Method used

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  • A visual navigation path recognition method for agricultural spraying robot
  • A visual navigation path recognition method for agricultural spraying robot
  • A visual navigation path recognition method for agricultural spraying robot

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Experimental program
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Embodiment Construction

[0053] Such as figure 1 As shown, the flow chart of the path recognition method for the farmland spraying robot. The high ground clearance self-steering unmanned spraying locomotive is used as a platform, and the monocular camera is installed in the middle of the front of the locomotive. The height of the camera from the ground is 2.5m, and the viewing angle is 30°. The image is collected in real time by a camera model DH-IPC-HFW1025B, with a resolution of 960*720 pixels. Halcon software was used for image acquisition and processing.

[0054] Such as figure 2 As shown, the image is converted into the three-channel image rendering of the HSI color space. Since the images taken in the field are easily affected by light, the collected images cannot be directly thresholded. Therefore, it is necessary to select an appropriate color space to describe the color to reduce noise interference. The original image is directly converted from the RGB color space to the HSI color space...

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Abstract

This paper discloses a machine vision-based rice field narrow and long path recognition method, which converts the RGB color space of the rice field image collected by the monocular camera in real time into the HSI color space, and analyzes the characteristics of the three channel images of H, S, and I. Threshold segmentation is performed on the H channel image to obtain the segmentation effect map of the road. The binary image is expanded and denoised by using the morphological method. After the denoised image is subjected to convex hull transformation, a smooth and complete path area is obtained. Finally, the improved Zhang parallel thinning algorithm is used to extract the centerline of the path area.

Description

technical field [0001] The invention belongs to the field of vision systems of robot intelligent mobile robots, and specifically relates to a path recognition method for outdoor intelligent operation mobile robots. Background technique [0002] With the development of intelligent agricultural equipment, more and more intelligent agricultural equipment is designed to reduce the physical labor of workers. The self-navigating paddy field spraying locomotive has the characteristics of replacing manual spraying, avoiding personnel drug poisoning, high spraying efficiency, and reducing agricultural production costs. Path recognition technology is the prerequisite for autonomous navigation of the spraying robot. The complex rice field environment and light affect the path recognition ability of the locomotive. In order to improve the efficiency of farmland operations, it is necessary to shorten the path recognition algorithm time of the spraying robot to meet the real-time requirem...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06V20/58G06T5/00G06T7/13G06T7/136G06T5/30
CPCG06T5/30G06T7/13G06T7/136G06T2207/20036G06V20/588G06T5/92G06T5/70
Inventor 沈跃王振武刘国海刘慧李尚龙刘加林汤金华
Owner JIANGSU UNIV