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Method for detecting autonomous navigation path of plant protection robot, server and storage medium

A technology of autonomous navigation and path detection, which is applied in the direction of instruments, image data processing, calculation, etc., can solve the problems of affecting detection accuracy, slow Hough transform processing speed, difficulty in meeting the real-time navigation requirements of plant protection robots, etc., and achieve the effect of improving detection accuracy

Pending Publication Date: 2020-10-16
SHANDONG ACADEMY OF AGRI MACHINERY SCI
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Problems solved by technology

In the image preprocessing, due to the influence of weeds between the ridges, it brings a large error to the feature point extraction, which in turn affects the final detection accuracy.
At present, the traditional image morphology processing method is mainly used to solve the weed interference, but the effect is not ideal
[0004] 2) The Hough transform method to detect the straight line features of discrete point clusters pays more attention to the collinearity of local feature points, which leads to the fact that some area points in the row form a line alone, and it is difficult to detect a complete straight line. The detection result is composed of multiple straight lines. , which is not conducive to the extraction of plant protection robot navigation parameters; and the processing speed of Hough transform is slow in the use process, the parameter conditions are difficult to set, and it is difficult to meet the real-time navigation requirements of plant protection robots
[0005] 3) Due to the existence of outliers, the line features extracted directly by the least squares algorithm cannot accurately and reliably reflect the actual direction of the row, which will bring non-negligible errors to the navigation of the plant protection robot

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  • Method for detecting autonomous navigation path of plant protection robot, server and storage medium
  • Method for detecting autonomous navigation path of plant protection robot, server and storage medium
  • Method for detecting autonomous navigation path of plant protection robot, server and storage medium

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[0035] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0036] It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit exemplary embodiments according to the present invention. As used herein, unless the invention clearly states otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, their Indicate the presence of features, steps, operations, means, components and / or combinations thereof;

[0037] As introduced in the background technology, there are deficiencies in the prior art. In order ...

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Abstract

The invention discloses a method for detecting an autonomous navigation path of a plant protection robot. The method comprises the following steps: acquiring an image; carrying out segmentation preprocessing on the image; carrying out region division on the ridge row, carrying out noise reduction by adopting morphological operation, extracting the edge of the ridge row, and then carrying out further noise reduction by utilizing a dynamic area threshold noise reduction method; extracting feature point clusters by adopting a mean value method, and optimizing the feature point clusters to obtainan optimal feature point set; and extracting a navigation path by using a least square method in combination with an RANSAC rejection algorithm.

Description

technical field [0001] The invention relates to a method for detecting an autonomous navigation path of a plant protection robot, a server and a storage medium including the method. Background technique [0002] The inventors found that the feature of the ridge line is the core visual feature based on the autonomous navigation of the plant protection robot, and the Hough transform and the least square method are the mainstream methods for detecting the feature of the ridge line, that is, the navigation path. Although the methods themselves are relatively mature, they are not effective when applied to navigation path detection. The reason is that the interference characteristics caused by the irregular size of weeds and crop stems and leaves seriously affect the detection accuracy of navigation paths. Expressed as: [0003] 1) For plant protection robots operating in the field, crop row can provide structured navigation information. In image preprocessing, due to the influe...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T7/11G06T7/13G06T7/136G06T7/155G06T7/62G06T7/90
CPCG06T7/11G06T7/155G06T7/13G06T7/136G06T7/62G06T7/90G06T5/70
Inventor 方会敏牛萌萌褚幼晖荐世春张春艳
Owner SHANDONG ACADEMY OF AGRI MACHINERY SCI
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