基于机器视觉的农业机械无人驾驶系统

Nobody Driving of Farm Machinery Based on the Robotics Visual Systems

为实现农业机械的无人驾驶,研究基于机器视觉的农业机械运动控制具有重要的意义。为此,介绍了基于机器视觉的农业机械无人驾驶的工作原理和实现方法,通过对视频图像的处理,识别出农业作业环境路径特征的位置和方向,采用模糊控制方法实现了农业机械的运动控制。试验证明了基于机器视觉的农业机械无人驾驶系统的可行性及控制算法的可靠性,对未来视觉伺服研究的方向进行了总结。

In order to realize nobody driving of farmer machinery, it is important to study the movement control of farmer machinery based on the visual sense of the machine. The principle and implementation of the movement control are discussed. The path characters-position and direction under the environment of the farm operation can be identified by the processing of video image. The movement control of farmer machinery is implemented by fuzzy control. The field test shows that the designed nobody driving system is feasible and the movement of control method is reliable. Several future researches on robotic visual servo were pointed out.