关键词: 水稻, 插秧机, 无人驾驶技术, 机器视觉, 导航线提取

Abstract: Agricultural machinery automatic navigation technology is a basic support technology to realize intelligent agricultural machinery equipment and intelligent agricultural robot, and is an important guarantee to realize agricultural machinery intelligence and automation; the wide application of agricultural machinery intelligent navigation technology based on vision still needs to be developed in many aspects. Among them, navigation line extraction algorithm is one of the key links of vision-based navigation. To address this question, two navigation strategies with corresponding guiding line extraction methods are proposed for rice transplanter. When no transplanted rice seedling is observed in the sight field, images are binarized by Otsu method, and ridge contours are found according to topological analyzation. Otherwise, rice seedlings are located by modified excess-green transformation, and subsequently centre points are found by proposed algorithm. With basic points of ridge contours or rice seedlings, a guiding line is computed using least square and RANdom SAmple Consensus （RANSAC）, and finally, navigation parameters, i.e., lateral deviation and course deviation, are obtained. Experiments proved its considerable applicability in visual navigation of rice transplanters. When true lateral deviation was 100 cm, the mean error of lateral deviation under different course deviation was 2 cm, with a standard deviation of 3 cm. Meanwhile, the mean error of course deviation under different lateral deviation was 0.14°, with a standard deviation of 0.7°.

Key words: rice, transplanter, unmanned driving technology of rice transplanter, machine vision, navigation baseline