本文選題：機(jī)械化　切入點(diǎn)：農(nóng)作物　出處：《農(nóng)業(yè)工程學(xué)報(bào)》2017年09期

【摘要】：針對矮化密植棗園環(huán)境的復(fù)雜性,提出一種基于圖像處理的棗園導(dǎo)航基準(zhǔn)線生成算法。選用B分量圖進(jìn)行處理,提出"行閾值分割"方法分割樹干與背景;根據(jù)拍攝場景及視角提出"行間區(qū)域"方法剔除行間噪聲;通過統(tǒng)計(jì)樹干與地面交點(diǎn)位置分布區(qū)域選取圖像五分之二向下區(qū)域進(jìn)行處理;依據(jù)樹干縱向灰度分布規(guī)律,采用浮動窗口灰度垂直投影方法結(jié)合形態(tài)學(xué)開閉運(yùn)算提取樹干區(qū)域;基于棗園行間線性分布特征引入"趨勢線",而后利用點(diǎn)到直線的距離與設(shè)定閾值作比較選取樹干與地面的交點(diǎn);利用交點(diǎn)的位置分布將其歸類,并采用最小二乘法原理擬合左右兩側(cè)邊緣,提取邊緣線上各行的幾何中心點(diǎn)生成棗園導(dǎo)航基準(zhǔn)線。通過對陰天、晴天、順光、逆光、噪聲多元疊加5種條件進(jìn)行試驗(yàn),結(jié)果表明,該算法具有一定的抗噪性能,單一工況條件導(dǎo)航基準(zhǔn)線生成準(zhǔn)確率可達(dá)83.4%以上,多工況條件準(zhǔn)確率為45%。針對5種工況條件的視頻檢測,結(jié)果表明,單一工況條件算法動態(tài)檢測準(zhǔn)確率可達(dá)81.3%以上,每幀圖像處理平均耗時(shí)低于1.7 s,多工況條件檢測準(zhǔn)確率為42.3%,每幀圖像平均耗時(shí)1.0 s。該研究可為矮化密植果園實(shí)現(xiàn)機(jī)器人自主導(dǎo)航作業(yè)提供參考。
[Abstract]:In view of the complexity of the environment of dwarf and close planting jujube orchard, an algorithm of generating navigation datum line based on image processing is proposed. B component map is selected to process, and the method of "row threshold segmentation" is proposed to segment tree trunk and background. According to the shooting scene and angle of view, the method of "interline area" is put forward to eliminate interline noise, and the image 2/5 downward region is selected to process by statistics of the distribution region of the intersection of tree trunk and ground, and according to the rule of trunk longitudinal gray distribution, Using floating window gray vertical projection method combined with morphological open and close operation to extract tree trunk area; Based on the characteristics of linear distribution between rows of jujube orchard, the "trend line" is introduced, and then the distance from point to line is compared with the set threshold to select the intersection point between tree trunk and ground, and the intersection point is classified by the position distribution of intersection point. The principle of least square method is used to fit the left and right edges, and the geometric center points of each line on the edge line are extracted to generate the navigation datum of jujube garden. The experiments are carried out under five conditions: overcast, sunny, smooth, inverse and noise. The results show that the algorithm has a certain anti-noise performance, the accuracy rate of generating navigation datum under a single working condition can reach more than 83.4%, and the accuracy rate of multi-condition condition is 455.The video detection of five operating conditions shows that, The accuracy of dynamic detection of single working condition algorithm can reach more than 81.3%. The average time of image processing per frame is less than 1.7 s, the accuracy of multi-condition detection is 42.3 and the average time of each frame is 1.0 s.This study can provide a reference for autonomous navigation of robot in dwarf and dense orchard.
【作者單位】： 石河子大學(xué)信息科學(xué)與技術(shù)學(xué)院;石河子大學(xué)機(jī)械電氣工程學(xué)院;
【基金】：國家重點(diǎn)研發(fā)計(jì)劃課題(2016YFD07011504) 兵團(tuán)中青年科技創(chuàng)新領(lǐng)軍人才(2016BC001) 石河子大學(xué)杰出青年科技人才培育計(jì)劃(2014ZRKXJQ04)
【分類號】：TP242;TP391.41
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本文編號：1654160