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面向室内养殖场的机器人自主导航技术研究进展

郭晓耿 莫冬炎 朱立学 张世昂 杨尘宇

郭晓耿,莫冬炎,朱立学,等.面向室内养殖场的机器人自主导航技术研究进展[J].农业工程,2022,12(7):40-46. doi: 10.19998/j.cnki.2095-1795.2022.07.008
引用本文: 郭晓耿,莫冬炎,朱立学,等.面向室内养殖场的机器人自主导航技术研究进展[J].农业工程,2022,12(7):40-46. doi: 10.19998/j.cnki.2095-1795.2022.07.008
GUO Xiaogeng,MO Dongyan,ZHU Lixue,et al.Research progress of autonomous robot navigation technology for indoor farm[J].Agricultural Engineering,2022,12(7):40-46. doi: 10.19998/j.cnki.2095-1795.2022.07.008
Citation: GUO Xiaogeng,MO Dongyan,ZHU Lixue,et al.Research progress of autonomous robot navigation technology for indoor farm[J].Agricultural Engineering,2022,12(7):40-46. doi: 10.19998/j.cnki.2095-1795.2022.07.008

面向室内养殖场的机器人自主导航技术研究进展

doi: 10.19998/j.cnki.2095-1795.2022.07.008
基金项目: 广东省重点领域科技研发计划项目(2019B20223003);广东省现代农业产业技术体系创新团队项目(粤农函[2019]1019号);广东大学生科技创新培育专项资金资助项目(PDJH2020B0286)
详细信息
    作者简介:

    郭晓耿,硕士生,主要从事农业机器人导航技术研究 E-mail:1362873994@qq.com

    朱立学,通信作者,博士,教授,主要从事农产品采收技术与智能装备研究 E-mail:zhulixue@zhku.edu.cn

  • 中图分类号: S818

Research Progress of Autonomous Robot Navigation Technology for Indoor Farm

  • 摘要:

    介绍了视觉导航、激光导航、卫星导航和路标导航等机器人导航技术,分析了不同类型的机器人导航技术在特定应用场景下的导航精度、实时性、适应性。根据这些导航技术的特点,结合在梅州市金绿现代农业发展有限公司室内养殖场开展的导航技术试验结果,指出了在室内养殖场内应用单一导航技术存在的问题,并展望多种导航方法信息融合的导航技术在室内养殖场的应用前景,期望为突破机器人饲喂、运输、采摘关键技术,解决制约农业智能化、无人化发展难题提供思路。

     

  • 图 1  基于传统图像处理的导航路径提取流程

    Figure 1.  General process of navigation path extraction based on traditional image processing

    图 2  传统图像处理的导航路径提取

    Figure 2.  Navigation path extraction of traditional image processing

    图 3  基于U-Net网络果园导航路径预测结果与边缘提取

    Figure 3.  Prediction results and edge extraction of orchard navigation path based on U-Net network

    图 4  鸽子室内养殖场和实验室激光雷达扫描结果

    Figure 4.  Lidar scanning results of pigeon indoor breeding farm and laboratory

    图 5  养殖场GPS信号测试

    Figure 5.  Farm GPS signal test

    表  1  基于传统图像处理的导航路径提取结果对比

    Table  1.   Comparison of navigation path extraction results based on traditional image processing

    作业
    对象
    图像预处理图像分割特征提取导航线
    拟合
    图像
    分辨率/
    像素
    处理
    时间/ms
    准确率/
    平均距
    离误差
    玉米行像素归一化过滤算法、最大类
    间方差法
    基于在静态感兴趣区域内利用特征点聚类算法拟合玉米行识别线更新和优化动态感兴趣区域最小二乘法1 920 × 108097.5696%
    玉米根茎2G-R-B灰度图像最大类间方差法
    高斯滤波器平滑累加曲线、极值法等剔除伪特征点最小二乘法1280 × 720236.00
    92%
    水稻畸变矫正、高斯
    滤波、灰度化与
    二值化
    基于2G-R-B超红特征
    模型的综合阈值法
    垂直投影值动态设定感兴趣区域,水平扫描拟合关键点三次B样条曲线拟合法1292 × 96438.004.23 cm
    下载: 导出CSV

    表  2  神经网络处理的导航路径提取方法

    Table  2.   Navigation path extraction method based on neural network processing

    网络导航线拟合数据集/幅图像分辨率处理时间/识别率平均距离误差/cm
    U-Net扫描边缘信息提取法三次B样条曲线拟合13001280 ×720154.0 ms4.4
    YOLOV3最小二乘法8001024 ×76895.37%3.3
    Faster R-CNN三次样条插值法,最小二乘法12003024 × 403290.00%5.2
    下载: 导出CSV
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  • 收稿日期:  2022-02-20
  • 修回日期:  2022-04-01
  • 出版日期:  2022-07-20

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