现代电子技术2017，Vol.40Issue(22)：156-158,162,4.DOI:10.16652/j.issn.1004-373x.2017.22.046
基于ARM Cortex-A8平台的喷药机器人路径检测与仿真
Path detection and simulation of spraying robot based on ARM Cortex-A8 platform
摘要
Abstract
In order to realize the application of machine vision in agriculture,the methods of spraying robot's road recogni-tion and path detection in plants are studied in this paper. Taking the road in plants as the research object,the component S of HSV space is adopted to realize the graying of road image. The graying image collected is binarized with Otsu algorithm,the road is separated from the green plant background,and then the image is filtered by morphological filter. Because of the prob-lems such as the uncertainty of the curved road at the end of the image vision and the interference of the trees at the end of the road,the method that the first 1/4 lines of the image are filled with black is proposed to reduce the interference of the uncertain factors in the image processing and improve the extraction precision of the navigation line. The spraying robot′s walking path in plants is obtained with Hough transformation. The results show that the spraying robot can accurately identify the walking path in plants;when identifying the road,it takes the average time of 0.053 s to process an image with 430 × 310 pixel;in the path de-tection,it takes the average time of 0.062 s to process an image with 430 × 310 pixel. That means it can quickly capture and complete the image processing,and meet the requirement of real-time navigation for agricultural robots.关键词
喷药机器人/图像处理/道路识别/路径检测/形态学滤波器Key words
spraying robot/image processing/road recognition/path detection/morphological filter分类
信息技术与安全科学引用本文复制引用
任金波,郭翰林,洪瑛杰,张翔,林建..基于ARM Cortex-A8平台的喷药机器人路径检测与仿真[J].现代电子技术,2017,40(22):156-158,162,4.基金项目
福建省教育厅本科高校"专业综合改革试点"资助项目(闽教高201241号) （闽教高201241号）
福建农林大学机械工程学科水平提升计划项目(612014049) （612014049）
