农业机械机器视觉导航研究

Simulation and experiment of machine vision guidance of agriculture vehicles

该文对农业机械机器视觉导航的关键问题图像处理和路径控制进行了深入的研究,采用基于Hough变换和动态窗口技术的图像处理算法提取自然环境下的导航特征,根据系统辨识试验的结果和农业机械机器视觉导航的特点建立了仿真模型,并在通用型轮式拖拉机上建立试验系统对图像处理和控制算法进行验证,取得了良好的试验结果。

This paper aimed at the key problems of machine vision guidance on agriculture vehicles. The two problems of image processing and path control were studied in detail. Guidance features in natural environment were extracted and measured based on the Hough transformation algorithm and dynamic window technology. A simulation model was created according to the system identification result and the characteristics of the machine vision guidance on agriculture vehicles. At last a test system was realized on a general purpose wheeled tractor to test all the image processing and control algorithm and the test results were satisfactory.