关键词: 农业机械, 视觉, 导航, 水平投影, 梯度下降

Abstract: Aiming at the problems of low precision and slow speed of navigation line extraction caused by environmental factors such as stubble, soil and light on wheat harvest edge, a method of wheat harvesting edge navigation line extraction based on horizontal projection and gradient descent was proposed to realize precise wheat harvesting operations. Firstly, the image was segmented by LAB threshold segmentation and morphological filtering, then the horizontal projection was performed to extract the pseudo-feature points of wheat harvesting edge, the pseudo-feature points were least squares fitted to obtain the ROI region where the edge feature points were located, and the edge feature points were extracted by Canny edge detection of the region, and finally the wheat harvesting edge navigation line was fitted by the gradient descent algorithm, thus it solved the problems of low accuracy and slow fitting speed of the navigation line encountered in traditional algorithms. The experimental results showed that the average time required to process an image with a resolution of 640×360 pixels was 163 ms with a low contrast between harvested and unharvested areas of wheat, and the success rate of the generated navigation baseline was as high as 95%, which provided a reliable and real-time navigation method for autonomous walking of intelligent agricultural machinery in wheat fields.

Key words: agricultural machinery, machine vision, navigation, horizontal projection, gradient descent