Path recognition system of orchard mobile robot

WANG Yi; LIU Bo; HE Yu; XIONG Longye; YANG Changhui

doi:10.13873/J.1000-9787(2020)09-0069-04

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Path recognition system of orchard mobile robot

更新时间：2025-09-11

- Path recognition system of orchard mobile robot
- Vol. 39, Issue 9, Pages: 69-72(2020)
- 作者机构：
  
  1. 重庆理工大学机械工程学院
  2. 重庆大学机械工程学院
  3. 西安交通大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2020)09-0069-04
  CLC： S24;TP242;TP391.41
- Published：2020
- 稿件说明：
移动端阅览
[1]王毅,刘波,何宇,熊龙烨,杨长辉.果园移动机器人路径识别系统[J].传感器与微系统,2020,39(09):69-72.

WANG Yi, LIU Bo, HE Yu, et al. Path recognition system of orchard mobile robot[J]. 2020, 39(9): 69-72.
[1]王毅,刘波,何宇,熊龙烨,杨长辉.果园移动机器人路径识别系统[J].传感器与微系统,2020,39(09):69-72. DOI： 10.13873/J.1000-9787(2020)09-0069-04.

WANG Yi, LIU Bo, HE Yu, et al. Path recognition system of orchard mobile robot[J]. 2020, 39(9): 69-72. DOI： 10.13873/J.1000-9787(2020)09-0069-04.

摘要

针对果园移动机器人的路径识别易受到光照、实时性低、误差大等因数影响

提出一种果园移动机器人路径识别系统。通过构建光照无关量来降低不同光照的干扰

提出采用融合最大类间方差（Otsu）和Ncut算法进行分割

并通过Sobel算子检测果园道路边界

最后通过最小二乘法对导航中心线进行拟合。为实现导航信息的实时获取和系统可视化

在Linux系统下通过Qt和Open CV相结合开发了路径识别系统

实验结果表明:在不同的光照强度下系统提取出导航中心线的平均偏移距离为4.67像素

偏转角为2.88°

系统平均处理一张图片的耗时为102.1 ms。与基于VB和MATLAB搭建的路径识别系统相比

本文所设计的系统具有较强的鲁棒性和实时性。

Abstract

In order to solve the problems such as illumination interference

poor real-time and large error for recognition of path on orchard mobile robot

An orchard mobile robot path recognition system is proposed

Firstly

the interference of different light is reduced by constructing light illumination

then the fusion of Otsu and Ncut algorithm to realize segmentation is proposed

and the orchard road boundary is detected by Sobel operator

Finally

least square method is used for detecting the navigation center line. To realize the real-time acquisition and system visualization of navigation information

the path recognition system is designed by Qt and Open CV under Linux system. The results have demonstrated that the average navigation center line offset distance is 4. 67 pixel and feflection angle is 2. 88°

the time consumption for single image is about 102. 1 ms

compared with the path recognition system using VB and MATLAB

the designed system has stronger robustness and real-time capability.

关键词

Keywords

references

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