Research On The Farmland Crawler Robot Visual Navigation And Monitoring Technology

Agricultural equipment intelligence is one of China’s agricultural equipment development directions.This paper focuses on the safe autonomous navigation of farmland crawler robot,combines machine vision and monitor technology,made the research on visual navigation method based on DSP and monitoring method with the function of warning,and then built a hardware platform.It mainly includes the following work:(1)Made gray treatment,target area selection and median filter on the road image collected by camera,used bimodal method for image segmentation,selected Sobel edge operator to detect the both sides’ edge of the road,used least squares method curve fitting for the two edge,and finally obtained the navigation path according to the centerline method.It laid the foundation for image processing based on DSP.(2)Built the linear equations representing the correspondence connection of coordinates between in the world coordinate system and in the image pixel coordinate system according to pinhole imaging principle.Obtained the internal and external camera parameters by using measured coordinates and solving equations.And further verify the reliability of the calibration result.(3)Obtained the required navigation parameters’ expressions by using the Hough transform and it ensured the navigation parameter expressions’ correctness and availability by experiment.(4)Selected wireless module to achieve wireless transmission of data signal.Used video server to encode and compress two collected image videos.Selected wireless bridge to achieve wireless transmission of image videos.It provided network transmission conditions for remote monitoring(5)Designed various functions’ circuit of the core of microcontroller,the functional tests verified the correctness of the circuit design,made a brief analysis and design of its overall function.Introduced the image processing circuit of TMS320DM642 as the core,made a detailed analysis of the software design ideas and gave the part program.It verified the feasibility and real-time of image processing algorithms based on DSP.(6)Designed the initial monitoring software based on VB,which has obstacle avoidance alarm function.Operator can use this software to remotely communicate with the lower machine for enabling the crawler farmland robot control.