免耕环境中视觉导航机器人行走路径的检测

针对免耕环境下农田作业机器人的视觉导航,提出了一种导航路径-梨沟线的检测算法,以提高图像处理速度。同时,介绍了图像采集设备,描述了农田免耕作业环境和农田作业机器人的工作流程。在此基础上,以彩色图像中的R分量为处理对象,分别判断作业区域终点和犁沟线出现位置,确定犁沟线上的候选点,并采用基于一点的Hough变换方法,获得犁沟线的直线斜率。试验表明,提出的算法具有速度快、抗干扰、准确性高等优点。

Detection of Furrows for Agricultural Mobile Robot Based on Visual Navigation under No-tillage

For machine vision navigation of agricultural robot under No-tillage,the article proposed a route detection algorithm to improve image process speed.The paper introduced the acquisition equipments and described No-Tillage environment,wok program of agricultural robot.Based on this work,the route diction algorithm is proposed and the algorithm took R in RGB image as object.The end of work areas and furrow position were judged.After the critical points on the furrow were found,improved Hough Transform passing...