摘要： 为实现果园移动机器人导航信息的获取与实时显示,提出一种道路中心线类型的判别方法,并设计一种果园路径识别系统。通过对十六色相环在HSV颜色空间下H分量的分析,确定图像二值化阈值。针对处理完成的二值图,采用行扫描点检测算法获得道路中心离散点并用直线进行拟合,以直线和弯曲道路图为样本,分析离散点至拟合直线距离的均值方差分布,确定果园道路中心线类型判别条件,根据判别结果拟合果园道路中心线。为实现系统可视化,采用Matlab与VB混合编程技术将导航信息实时显示在VB设计的系统界面中。实验结果表明,与采用垂直投影法的Matlab-GUI视觉导航系统相比,该系统导航信息更新速度较快,道路识别成功率较高。

关键词: 移动机器人, 路径识别系统, 导航信息, 可视化, 混合编程

Abstract: In order to obtain the navigation information of orchard mobile robot and display in real time,a method to determine the type of road centerline is proposed and an orchard path recognition system is designed.The image binarization threshold is determined by analyzing the H component of the sixteen hue ring in the HSV color space.For pre-processed binary image,the line dislocation point is obtained by line scanning point detection algorithm and the straight line is fitted.The mean and variance distribution of the discrete point to the fitted straight line distance is analyzed when straight road and curved road are used as samples.The criterion for identifying the type of center line of orchard road is determined and the center line is fitted according to the criterion.In order to realize the visualization of the system,a hybrid programming of Matlab and VB is used to display the navigation information in the system interface of VB design in real time.Experimental results show that compared with the Matlab-GUI visual navigation system using the vertical projection method,the navigation information of the system is faster and the road recognition success rate is higher.

Key words: mobile robot, planning recognition system, navigation information, visualization, hybrid programming

中图分类号: 

• TP391.41