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Navigation center line extraction method for vegetable greenhouse inspection robot

An inspection robot and navigation center technology, applied in instruments, image data processing, computing and other directions, can solve the problems of blurred images of navigation lines, sensitive to light changes, slow recognition speed, etc., to improve robustness, sensitive and accurate navigation, The effect of reducing labor intensity

Active Publication Date: 2021-09-28
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0004]However, the current intelligent inspection robots used in vegetable greenhouses have blurred images, slow recognition speed, low detection accuracy and sensitivity to light changes for the extraction of navigation lines. problems, the robustness of machine vision navigation technology needs to be further improved

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  • Navigation center line extraction method for vegetable greenhouse inspection robot
  • Navigation center line extraction method for vegetable greenhouse inspection robot
  • Navigation center line extraction method for vegetable greenhouse inspection robot

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Embodiment Construction

[0080] The technical solutions of the present invention will be further specifically described below through the embodiments and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals designate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the general inventive concept of the present invention, but should not be construed as a limitation of the present invention.

[0081] see figure 1 , which shows the flow of a method for extracting a navigation centerline for a vegetable greenhouse inspection robot according to an embodiment of the present invention. The method for extracting the navigation centerline comprises the following steps:

[0082] Step S1 collects the inter-ridge images between the crop rows in the vegetable greenhouse through the camera, and obtains the corrected inter-ridge images;

[00...

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Abstract

The invention discloses a navigation center line extraction method for a vegetable greenhouse inspection robot, and belongs to the field of machine vision. The navigation center line extraction method comprises the following steps: acquiring an inter-ridge image between crop rows in a vegetable greenhouse through a camera, and obtaining a corrected inter-ridge image; performing image segmentation on the corrected inter-ridge image to obtain an inter-ridge soil foreground and a crop row background; removing holes in the segmented image through morphological closed operation and a small-area removal method in sequence to obtain a low-noise soil foreground and a low-noise crop background; detecting the edge of the low-noise soil foreground through a Canny edge detection algorithm to obtain a contour line of soil between ridges; extracting contour feature points according to the contour line of the soil between the ridges, and fitting the extracted contour feature points through a least square method to obtain navigation reference lines on the two sides of the soil between the ridges; and calculating an angular bisector between the navigation datum lines on the two sides of the inter-ridge soil to obtain a navigation center line.

Description

[0001] technology neighborhood [0002] The invention relates to the field of machine vision technology, in particular to a method for extracting a navigation centerline for a vegetable greenhouse inspection robot. Background technique [0003] Autonomous navigation technology is the core technology to realize the intelligentization, informatization and automation of agricultural robots in vegetable greenhouses. The existing autonomous navigation technologies that can be used in the agricultural machinery navigation neighborhood include global navigation satellite system, machine vision system, inertial navigation system and multi-sensor information fusion, etc., among which the global navigation satellite system and machine vision navigation have become the agricultural machinery navigation neighborhood Two mainstream methods in . Although the Global Navigation Satellite System (GNSS) or the Global Positioning System (GPS) can provide all-weather and all-time absolute positi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/66G06T7/13G06T7/194G06T7/136G06T7/155G06T5/00G06T5/30G06T7/62
CPCG06T7/66G06T7/13G06T7/194G06T7/136G06T7/155G06T5/30G06T7/62G06T2207/20032G06T2207/20132G06T2207/10024G06T2207/30172G06T5/80
Inventor 李霞苏筠皓王金柱王思超岳振超
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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