Agricultural Robot Navigation Based On Monocular Vision System Design

In recent years, with the progress of science and technology, especially the rapid development of electronic, computer and image processing technology, greatly promote the development of machine vision navigation technology. Agricultural robot using machine vision navigation system to realize independent walking becomes the important research direction of intelligent agricultural machinery, which is of great significance. The key to realize visual navigation in this specific farmland environment is to detect road information from complex background. Then we calculate the necessary navigation parameters on this basis. This paper mainly studied the method of using monocular visual to inspect farmland road navigation center line, including agricultural robot navigation line detection, navigation parameters acquisition and navigation system overall design, the main research content has the following several aspects:1. The gray-scale transformation of road image collected. Using the method of median filter to remove noise in the process of acquisition. Aimed at the uncertainty of farmland path environment, using fuzzy c-means clustering method to realize image segmentation and mathematical morphology method to eliminate and repair the holes of background and road area in the process of dividing. By the preceding ways, satisfying recognition for road image is made.2. The Road image edge detection after the pretreatment. Using the scanning pixel method to establish a coordinate matrix of the road edge points. Taking the median of corresponding pixel coordinates in the left and right sides to obtain path midpoint pixel coordinates matrix. Using the least square method to realize the linear fitting of coordinate matrix, by which we can get the road navigation center line. And then the parameters, under robot navigation coordinate, can be calculated through coordinate transformation.3. Based on the agricultural robot platform, image processing and machine vision module, software part of the image processing is completed in the CCS integrated development environment, in order to realize visual navigation. Through integration of each function module in the system, the overall design of the navigation system based on monocular vision is accomplished in the end. And finally experimental verification of the effectiveness of the system is done under the environment of laboratory simulation of farmland path, which proves that the system meets the design requirements.