袁挺,任永新,李伟,纪超,谭豫之.基于光照色彩稳定性分析的温室机器人导航信息获取[J].农业机械学报,2012,43(10):161-166.
Yuan Ting,Ren Yongxin,Li Wei,Ji Chao,Tan Yuzhi.Navigation Information Acquisition Based on Illumination Chromaticity Stability Analysis for Greenhouse Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(10):161-166.
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基于光照色彩稳定性分析的温室机器人导航信息获取   [下载全文]
Navigation Information Acquisition Based on Illumination Chromaticity Stability Analysis for Greenhouse Robot   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2012.10.029
中文关键词:  温室  机器人  视觉导航  信息识别  色彩稳定性
基金项目:“十二五”国家科技支撑计划资助项目(2011BAD20B07)、国家自然科学基金资助项目(31071320)和高等学校博士学科点专项科研基金资助项目(20090008110007)
作者单位
袁挺 中国农业大学 
任永新 机械科学研究总院 
李伟 中国农业大学 
纪超 中国农业大学 
谭豫之 中国农业大学 
中文摘要:针对温室环境下视觉导航存在光照波动影响问题,从应用可行性角度,研究了一种基于光照色彩稳定性的导航信息获取方法。分析了温室导航线图像在颜色空间的色彩特征分布,建立了光照分析模型,以提高不同光照条件下的导航线提取适应性。提出g、Cr、Cb色彩分量组合的导航线分割方法,实现了导航信息有效快速识别。采用基于导航参考点的改进Hough变换拟合导航路径,通过几何关系获得导航侧向位移和角度偏差作为导航参数。温室环境下随机拍摄150幅不同光照导航图像进行识别算法验证,导航线平均识别率为93.9%。导航实验结果表明,导航线获取方法平均耗时约95 ms,在运行速度低于1.5 m/s时最大路径跟踪误差小于6 cm,满足视觉导航实时性和准确性的要求。
Yuan Ting  Ren Yongxin  Li Wei  Ji Chao  Tan Yuzhi
China Agricultural University;China Academy of Machinery Science and Technology;China Agricultural University;China Agricultural University;China Agricultural University
Key Words:Greenhouse, Robot, Vision navigation, Information recognition, Illumination stability
Abstract:For the problem of sunlight fluctuation influence on vision navigation in greenhouse environment, a navigation information acquisition method based on illumination chromaticity stability was proposed. By comparing the distribution of navigation line image in different color spaces, a light-color analysis model was established to the processes of navigation detection in variable illuminations. Combination model of g, Cr, Cbcolor components was used to extract guidance line rapidly and effectively. The navigation parameters including lateral deviation and angle deviation were obtained from reference navigation line fitted by an optimized Hough transformation. 150 images with navigation information taken under different light conditions were tested by the recognition algorithm, which can detect navigation line with a right recognition rate of 93.9%. The navigation experimental results showed the average processing time of navigation parameters acquisition was about 95 ms, and the maximum error of path tracking was less than 6 cm with the speed lower than 1.5 m/s, which satisfied real-time requirements of vision navigation. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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