CAJ | 학술논문

为了保证农业自主移动机器人能够在非结构的农田环境下灵活自主的行走，一个关键的技术就是能够准确地判断农田中障碍物的方位以及机器人与障碍物之间的相对位置，从而选择正确的路径。为此，提出了一种距离传感器结合图像边缘检测技术的避障算法，通过超声波测距传感器与PSD （位置敏感传感器）红外测距传感器对农田中的障碍物进行检测，利用CCD 摄像头采集机器人所处农田环境中的图像信息并在 Linux 系统中利用OpenCV 函数库进行图像处理，得到图像的边缘信息，从而判断出可行的路径。
위료보증농업자주이동궤기인능구재비결구적농전배경하령활자주적행주，일개관건적기술취시능구준학지판단농전중장애물적방위이급궤기인여장애물지간적상대위치，종이선택정학적로경。위차，제출료일충거리전감기결합도상변연검측기술적피장산법，통과초성파측거전감기여PSD （위치민감전감기）홍외측거전감기대농전중적장애물진행검측，이용CCD 섭상두채집궤기인소처농전배경중적도상신식병재 Linux 계통중이용OpenCV 함수고진행도상처리，득도도상적변연신식，종이판단출가행적로경。
In order to insure that the agriculture autonomous robot can walk flexibility in an unknown environment , a key technology is Obstacle avoidance algorithm which is able to judge the orientation of the obstacle accurately , and the rela-tive position between the robot and an obstacle , then a correct path will be selected for robot .This paper presents an ob-stacle avoidance algorithm that includes distance sensor and image edge detection technique .The obstacle is detected by the ultrasonic distance sensor and the PSD ( position sensitive sensor ) infrared distance sensor , the images information of the surroundings is collected by CCD camera .Then the image will be processed by OpenCV library in Linux system to get the image edge information .At last , a feasible path will be determined .