本文關(guān)鍵詞： 除草機(jī)器人 嵌入式Web ZigBee網(wǎng)關(guān) ARM處理器 OTSU方法　出處：《農(nóng)機(jī)化研究》2017年01期 　論文類型：期刊論文

【摘要】：為了提高除草機(jī)器人自主導(dǎo)航能力和雜草識別率,將嵌入式Web和ZigBee技術(shù)引入到了機(jī)器人的控制系統(tǒng)中,設(shè)計(jì)了一種新型雜草自動(dòng)識別除草機(jī)器人。除草器人利用攝像頭采集導(dǎo)航圖像,利用作物顏色特征在RGB顏色空間對圖像進(jìn)行分割,使用OTSU方法檢測作物的中心線,以農(nóng)作物行中心線為基準(zhǔn)線進(jìn)行自動(dòng)行走,實(shí)現(xiàn)了機(jī)器人的自主導(dǎo)航功能。機(jī)器人利用雜草識別攝像頭識別雜草,使用ARM9處理器對圖像進(jìn)行處理,利用ZigBee發(fā)送控制指令,最后由執(zhí)行末端刀盤去除雜草。為了驗(yàn)證機(jī)器人雜草識別和導(dǎo)航性能的可靠性,對機(jī)器人的性能進(jìn)行了測試,結(jié)果表明:圖像計(jì)算和實(shí)際機(jī)器人測試的位姿結(jié)果非常接近,雜草的識別率在99.8%以上,算法的性能可靠,雜草識別精度高,除草機(jī)器人的實(shí)時(shí)性較好。
[Abstract]:In order to improve the autonomous navigation ability and weed recognition rate of the weeding robot, embedded Web and ZigBee techniques are introduced into the robot control system. A new weed recognition robot is designed in this paper. The herbicide uses the camera to capture the navigation image and uses the crop color feature to segment the image in the RGB color space. The OTSU method is used to detect the center line of the crop, and the center line of the crop line is used as the base line to walk automatically. The autonomous navigation function of the robot is realized. The robot uses the weed recognition camera to identify the weeds. The ARM9 processor is used to process the image, the ZigBee is used to send the control instructions, and finally the executive end cutter is used to remove the weeds. In order to verify the reliability of the robot's weed identification and navigation performance. The performance of the robot is tested. The results show that the image calculation is very close to that of the actual robot, the weed recognition rate is more than 99.8%, and the performance of the algorithm is reliable. The weed recognition accuracy is high and the real-time performance of the weeding robot is better.
【作者單位】： 賀州學(xué)院機(jī)械與電子工程學(xué)院;中原工學(xué)院信息商務(wù)學(xué)院信息技術(shù)系;賀州學(xué)院計(jì)算機(jī)科學(xué)與信息工程學(xué)院;
【基金】：廣西自然科學(xué)基金項(xiàng)目(2015GXNFBA139264) 賀州市科技開發(fā)項(xiàng)目(賀科能1506006,賀科攻1506006) 賀州學(xué)院科研、教改項(xiàng)目(2014YBZK10,2015SHGZ005,2015MTA16,2015 ZZZK03,2015 kf27,hzxytszy201501,hzxyjg201525)
【分類號】：S224.15;TP242
【正文快照】： 信息商務(wù)學(xué)院信息技術(shù)系,鄭州450007)0引言農(nóng)業(yè)是國民經(jīng)濟(jì)中的基礎(chǔ)產(chǎn)業(yè),對經(jīng)濟(jì)和社會(huì)生活起到重要的支撐作用。中國人口多,隨著生態(tài)環(huán)境的惡化,中國的農(nóng)業(yè)面臨嚴(yán)峻的考驗(yàn),為了提高農(nóng)業(yè)資源的利用率及農(nóng)業(yè)的經(jīng)濟(jì)效益,發(fā)展現(xiàn)代化精準(zhǔn)農(nóng)業(yè)是必然選擇的途徑。精確農(nóng)業(yè)是一個(gè)新的農(nóng)，

本文編號：1469437