Research Into Visual Orientation In The Weeding Robot Based On COCM

Agriculture is the trend of development of agricultural equipment automation and intelligent. Farmland weeds can effect and reduce agricultural crop growth. Although the use of herbicides was effectively inhibited weeds, it brings huge damage for ecological environment. In order to finish effectively remove weeds, and can reduce the farmer to increase agricultural labor intensity and the automation equipment is a new research. This topic main works are the camera are installed in the weeding Robot, and the method of color image direction symbols matching are used, and combined with colored shade spots lawn mower assist complete three-dimensional space position, make the lawn mower test since the realization of automatic accurate mobile, and applied in the vineyards, complete test of visual orientation in lawn mower.The main research contents and the results are as follows:1. the argument to a method for image symbols matching as the object orientation method (OCM), learn its comparison method, and based on this, puts forward the use of color image of image information, namely color image direction symbols matching (COCM). By way of demonstration test using color image orientation symbol matching (COCM) for image matching, not only can reduce the match time, but also can improve the matching accuracy.2. Discusses the use of shades of shades of spots dot the robustness, then the results of testing by experiment.3. According to the 3d space location test MMC, non-ferrous shades of three spots on top, and using the method of COCM detected three spots, through the center of the camera calibration, to verify the accuracy.4. According to MMC for 3-dimensional position measurement, the color shades into the marked spots of 3 vertices and 3 spots were detected using COCM law center point, through the camera calibration, verify its accuracy.In summary, intelligent handling of the visual navigation of robots, can be used COCM method, using colored shades of the triangle marked spots three-dimensional orientation in space, and finished the Visual Orientationin the Weeding Robot.