除草机器人定位论文：基于COCM的除草机视觉定位研究.docVIP

除草机器人定位论文：基于COCM的除草机视觉定位研究 【中文摘要】农业发展的趋势是农业设备的自动化与智能化。农田中的杂草影响农作物的生长,降低农产品质量。尽管除草剂的使用有效地抑制了杂草,但影响了生态环境。开发有效地去除杂草、而且能够减轻农民劳动强度和提高农业设备的自动化是一项新的研究。本课题利用在除草机上安装照相机,利用方向符号比对法COCM与有色浓淡斑点相结合,协助除草机完成三维空间位置测试,使除草机自实现自动精确移动,并应用于葡萄园中进行测试,完成除草机的视觉定位研究。主要研究内容和结果如下:1、论证以浓淡图像为对象的方向符号比对法(OCM),学习其比对方法,并在该基础上,提出利用图像的颜色信息,对图像进行比对即色图像方向符号比对法(COCM)。通过试验的方式论证使用有色图像方向符号比对法(COCM)进行图像比对,不仅可以缩短比对时间,还可以改善比对精度。2、通过试验验证利用浓淡斑点论述浓淡斑点的鲁棒性。3、根据MMC进行三维空间位置测试,把有色浓淡斑点放到标示的3顶点,并利用COCM法检出3色斑点的中心位置,通过相机进行校正,验证其精度。4、应用于葡萄园除草机的视觉导航试验选取不同的试验环境,通过前述方法,进行比较,验证研究方案在实际应用中的有效性。综上所述,利用有色图像方向符号比对法(COCM)和浓淡斑点结合的三维空间位置测试能够完成除草机的视觉定位。 【英文摘要】Agriculture is the trend of development of agricultural equipment automation and intelligent. Farmland weeds can effect and reduce agricultural crop growth. Although the use of herbicides was effectively inhibited weeds, it brings huge damage for ecological environment. In order to finish effectively remove weeds, and can reduce the farmer to increase agricultural labor intensity and the automation equipment is a new research. This topic main works are the camera are installed in the weeding Robot, and the method of color image direction symbols matching are used, and combined with colored shade spots lawn mower assist complete three-dimensional space position, make the lawn mower test since the realization of automatic accurate mobile, and applied in the vineyards, complete test of visual orientation in lawn mower.The main research contents and the results are as follows:1. the argument to a method for image symbols matching as the object orientation method (OCM), learn its comparison method, and based on this, puts forward the use of color image of image information, namely color image direction symbols matching (COCM). By way of demonstration test using color image orientation symbol matching (COCM) for image matching, not only can reduce the match time, but also can improve the matching accuracy.2. Discusses the use of shades of shades of spots dot the robustness, then the res