自主导航农业机器人全方位视觉目标识别与跟踪研究

随着我国信息化技术的逐渐提高,机械自动化、集成电路、智能控制系统和测试计量等行业得到了快速发展,使得移动机器人达到了一个全新的高度,农业机器人也因此被广泛应用。在机器人众多研究问题中,全方位视觉的目标识别与跟踪一直是比较复杂并较难解决的问题。为此,基于全方位的自主导航技术,根据农业机器人工作特点和运动特性,建立了机器人工作空间的环境模型,提出了一种陆标导航和运动目标跟踪系统的视觉伺服方案,开发了以DSP控制器为核心的全方位视觉图像处理系统。试验结果表明:所设计的农业机器人全方位视觉目标识别与跟踪系统精准度高,可靠性和实时性强,各项性能指标优。

Research on Full Range Vision Target Recognition and Tracking of Autonomous Navigation Agricultural Robot

With the gradual improvement of the information technology in our country, it has been rapid development in machinery automation, integrated circuit, intelligent control system and testing and measurement and other industry.The mobile robot has reached a new height, agricultural robot has therefore been widely used.In many research problems of robot, the target recognition and tracking of omni directional vision is more complex and difficult to solve.According to the working characteristics of agricultural robot and motion characteristics,based on the full range of autonomous navigation technology, it established environment model of robot work space.It put forward a landmark navigation and moving target tracking system of the visual servoing scheme, and developed the DSP controller as the core of the full range of visual image processing system.The experimental results showed that the overall vision target recognition and tracking system of agricultural robot in this paper, which has high precision, reliability and real-time performance with the excellent performance.