CN106169068A - One can independent navigation wheeled robot locomotive - Google Patents

Abstract

One of the present invention can independent navigation wheeled robot locomotive, including wheeled robot locomotive and the road detection apparatus that is connected with wheeled robot locomotive, wherein, road detection apparatus includes the image capture module being sequentially connected with, coloured image pretreatment module and road self-adapting detecting module, described road self-adapting detecting module is used for detecting, merge road area, and remaining area is all mapped in non-rice habitats region, road self-adapting detecting module includes histogram thresholding coarse segmentation submodule, road Identification submodule, network training submodule and vehicle guide line extract submodule；The present invention enormously simplify the workload of graphical analysis and process, can obtain the more complete region of ratio, and recognition efficiency is high, has reached to carry out road the requirement of self-adapting detecting.

Description

One can independent navigation wheeled robot locomotive

Technical field

The present invention relates to wheeled robot field, being specifically related to one can independent navigation wheeled robot locomotive.

Background technology

In numerous information that can be used for robot navigation, visual information is originated as the perception of road and external environment condition There is the advantage that other information are incomparable, and road is detected the first hang-up becoming pendulum in face of it.

Summary of the invention

For the problems referred to above, the present invention provides the one can independent navigation wheeled robot locomotive.

The purpose of the present invention realizes by the following technical solutions:

One can independent navigation wheeled robot locomotive, including wheeled robot locomotive and road detection apparatus, Wherein wheeled robot locomotive includes: vehicle frame and wheel, and four wheels are rectangular is arranged symmetrically in vehicle frame both sides, its feature It is: four wheels are driven, respectively by a trapezoidal linkage between front two-wheeled, rear two-wheeled by four set decelerating through motor units respectively It is connected.

Preferably, four wheels are connected by electromagnetic clutch between decelerating through motor unit.

Preferably, described front wheels and rear wheels is respectively arranged with a stepper motor driven steering mechanism.

Preferably, described road detection apparatus includes image capture module, the coloured image pretreatment module being sequentially connected with With road self-adapting detecting module；

Described image capture module is for gathering the coloured image of external information；

Described coloured image pretreatment module, for coloured image is carried out projection pre-procession, uses HSV mould during pretreatment Type, the pre-processed results of coloured image according to the numerical value of luminance component V at chrominance component H, saturation component S, luminance component V tri- Selecting between individual component, when having that saturation is too low or brightness is too low or being too high, image segmentation relies primarily on brightness and divides The information of amount V, in the case of remaining, uses chrominance component H to carry out Objective extraction；

Described road self-adapting detecting module is used for detecting, merging road area, and is all mapped to by remaining area non- In road area；Described road self-adapting detecting module includes:

(1) histogram thresholding coarse segmentation submodule, for entering by the pretreated image of coloured image pretreatment module Row coarse segmentation, it carries out rectangular histogram structure to pretreated image, and uses rectangular histogram multi thresholds method, position with trough point As threshold value, pretreated image is carried out coarse segmentation, uses following algorithm that described trough point is selected:

If P_iFor the frequency occurred in pixel that gray value is i image after the pre-treatment, allow P_iThe local being adjacent Neighborhood P_tMake comparisons, P_t={ P_i-n,...,P_i-1,P_i+1,...P_i+n, the span of parameter n is [4,8], represents P_tLeft and right is adjacent Territory picture frequency scope, P_tMiddle minimum frequency value is P_tmin, secondary minimum frequency value is P_tminsIf,Then i is trough Point, ifThen i is not trough point, definition valley point function v (i):

$v\left(i\right)=\left\{\begin{array}{cc}1,& P_i\≤\sqrt{P_{t\min }\·P_{t\min s}}\\ 0,& P_i>\sqrt{P_{t\min }\·P_{t\min s}}\end{array}\right.$

To all valley point v (i)=1 selected, increase distance constraints and probabilistic constraints, if adjacent valley point i and j Between distance be expressed as d=| i-j |, probability difference is expressed as g=| P_i-P_j|, setpoint distance parameter D reflects between trough point The minimum range that should keep, andD_minAnd D_maxIt is respectively adjacent wave valley point minimum range and maximum Distance, definition distance restraint function d (i):

$d\left(i\right)=\left\{\begin{array}{c}1,d\&GreaterEqual;D\\ 0,d<D\end{array}\right.$

Set probability difference parameter G and reflect the threshold difference between trough point, andG_min And G_maxThe minimum probability difference being respectively between adjacent wave valley point and maximum of probability are poor, definition probability difference constraint function g (i):

$g\left(i\right)=\left\{\begin{array}{c}1,g\&GreaterEqual;G\\ 0,g<G\end{array}\right.$

Definition trough point selection function is:

X (i)=v (i) × d (i) × g (i)

In formula, when x (i)=1, represent that trough point is selected；

(5) road Identification submodule: be used for by the way of multiple neural network detects through histogram thresholding coarse segmentation Region after module segmentation is identified, and then selects suitable neutral net to close road area in multiple neural network And, and remaining area being mapped directly to non-rice habitats region, described multiple neural network includes N number of neutral net, N ∈ [3,5], its In the positive and negative training sample of each neutral net from being placed on multiple windows of zones of different, if described multiple neural network represents For { W₁(μ₁,δ₁),W₂(μ₂,δ₂),...,W_N(μ_N,δ_N), μ and δ represents the positive training sample corresponding to neutral net respectively and bears Training sample, then definition network Selection Model is:

W={W_k(μ_k,δ_k),f(μ_k)=1, f (δ_k)=0, k ∈ [1, N] }

Wherein, W is the suitable networks finally chosen, W_k(μ_k,δ_k) represent suitable neutral net, f (μ_k) represent nerve net Network W_k(μ_k,δ_k) positive training sample windows detecting result be 1, f (δ_k) represent W_k(μ_k,δ_k) negative training sample windows detecting knot Fruit is 0；

(6) network training submodule, uses the training sample of suitable networks at road Identification submodule while operating Neutral net is trained by the feature that this window extracts；

(7) vehicle guide line extracts submodule: being used for extracting vehicle guide line, described vehicle guide wire is roadway area Territory and the demarcation line in non-rice habitats region.

In described coloured image pretreatment module, based on color component projection model in HSV space when carrying out Objective extraction, Projection formula is:

$V(x,y)=\left\{\begin{array}{cc}V(x,y)& V(x,y)\&GreaterEqual;T_{V_1}orV(x,y)\&le;T_{V_2}orS(x,y)<T_s\\ H(x,y)\&times;\mathrm{\&sigma;}+\mathrm{\&xi;}& \left(otherwise\right)\end{array}\right.$

In formula, when being unsatisfactory forTime, chrominance component H is projected to V and puts down Face；(x, y) represents point corresponding to luminance component V to V, and (x, y) is the point of correspondence on chrominance component H to H, and σ represents and is used for avoiding color Adjusting the stretching factor that component H and luminance component V overlaps, ξ is the segmentation of projection numerical value later, ξ ＞ σ, T_SFor the saturation set Threshold value,For the luminance threshold set.

Preferably, the value of described saturation threshold value and luminance threshold is respectively as follows:

Wherein, described network training submodule includes:

(1) feature extraction unit, it is little that it uses 18 wavelet filters of 3 yardsticks and 6 direction compositions to carry out Gabor Wave conversion, extracts the textural characteristics of pretreated image, uses 10 windows to extract the color spy of pretreated image simultaneously Levy, and be quantified as 4 grades, to obtain 22 dimensional features；

(2) neutral net construction unit, for building neutral net according to described 22 dimensional features, neutral net includes input Layer, intermediate layer and output layer, input layer arranges 22 neurons, and output layer arranges 1 neuron, is output as when 1 representing road Region, is output as when 0 representing non-rice habitats region；

(3) network training unit, for being trained neutral net every 2s in vehicle motor process.

The invention have the benefit that

1, HSV space is separately separated out luminance component, and process and identification for color provide conveniently, additionally HSV Space mainly describes color with the subjective feeling to color, so comparing the visual signature meeting people, sets up in HSV space Color component projection model, H component projection to V plane, robustness is preferable, and more stable, it is possible to express mesh accurately Marking intrinsic color characteristic, coloured image after treatment, as gray level image, is all two-dimentional, and data volume is less, greatly Simplify greatly the workload of graphical analysis and process；

2, reality is in road image, comprises multiple target, and background is the most complex, is likely to occur and has in rectangular histogram Multiple crests and the situation of trough, can not effectively be partitioned into target area, rectangular histogram medium wave peak location tables with single threshold segmentation Showing that the frequency that the pixel of corresponding color occurs in the picture is higher, wave trough position represents the frequency of corresponding colored pixels appearance relatively Little, therefore trough point position is split as threshold value, can obtain than more complete region；Close wave crest point or trough Point all will be selected, and with the addition of distance constraints and probability difference constraints in this case, select the most rational Trough point；

3, road Identification submodule is set, to through histogram thresholding coarse segmentation submodule by the way of multiple neural network detects Region after block segmentation is identified, and selects suitable neutral net to merge road area, is directly reflected by remaining area It is mapped to non-rice habitats region, and defines network Selection Model, improve the efficiency of identification；

4, every 2s, neutral net is trained in vehicle motor process, reaches road is carried out self-adapting detecting Requirement.

Accompanying drawing explanation

The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not constitute any limit to the present invention System, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to the following drawings Other accompanying drawing.

Fig. 1 is the connection diagram of each module of road detection apparatus of the present invention.

Fig. 2 is wheeled robot locomotive schematic diagram of the present invention.

Detailed description of the invention

The invention will be further described with the following Examples.

Embodiment 1

See Fig. 1, Fig. 2, the present embodiment one can independent navigation wheeled robot locomotive, move including wheeled robot Motor-car and road detection apparatus, wherein wheeled robot locomotive includes: vehicle frame and wheel, and four wheels are rectangular to be arranged symmetrically with In vehicle frame both sides, it is characterized in that: four wheels are driven, by four set decelerating through motor units respectively between front two-wheeled, rear two-wheeled respectively It is connected by a trapezoidal linkage.

Preferably, four wheels are connected by electromagnetic clutch between decelerating through motor unit.

Preferably, described front wheels and rear wheels is respectively arranged with a stepper motor driven steering mechanism.

Preferably, described road detection apparatus includes image capture module, the coloured image pretreatment module being sequentially connected with With road self-adapting detecting module；

Described image capture module is for gathering the coloured image of external information；

Described coloured image pretreatment module, for coloured image is carried out projection pre-procession, uses HSV mould during pretreatment Type, the pre-processed results of coloured image according to the numerical value of luminance component V at chrominance component H, saturation component S, luminance component V tri- Selecting between individual component, when having that saturation is too low or brightness is too low or being too high, image segmentation relies primarily on brightness and divides The information of amount V, in the case of remaining, uses chrominance component H to carry out Objective extraction；

Described road self-adapting detecting module is used for detecting, merging road area, and is all mapped to by remaining area non- In road area；Described road self-adapting detecting module includes:

(1) histogram thresholding coarse segmentation submodule, for entering by the pretreated image of coloured image pretreatment module Row coarse segmentation, it carries out rectangular histogram structure to pretreated image, and uses rectangular histogram multi thresholds method, position with trough point As threshold value, pretreated image is carried out coarse segmentation, uses following algorithm that described trough point is selected:

If P_iFor the frequency occurred in pixel that gray value is i image after the pre-treatment, allow P_iThe local being adjacent Neighborhood P_tMake comparisons, P_t={ P_i-n,...,P_i-1,P_i+1,...P_i+n, the span of parameter n is [4,8], represents P_tLeft and right is adjacent Territory picture frequency scope, P_tMiddle minimum frequency value is P_tmin, secondary minimum frequency value is P_tminsIf,Then i is trough Point, ifThen i is not trough point, definition valley point function v (i):

$v\left(i\right)=\left\{\begin{array}{cc}1,& P_i\&le;\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\\ 0,& P_i>\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\end{array}\right.$

To all valley point v (i)=1 selected, increase distance constraints and probabilistic constraints, if adjacent valley point i and j Between distance be expressed as d=| i-j |, probability difference is expressed as g=| P_i-P_j|, setpoint distance parameter D reflects between trough point The minimum range that should keep, andD_minAnd D_maxIt is respectively adjacent wave valley point minimum range and maximum Distance, definition distance restraint function d (i):

$d\left(i\right)=\left\{\begin{array}{c}1,d\&GreaterEqual;D\\ 0,d<D\end{array}\right.$

Set probability difference parameter G and reflect the threshold difference between trough point, andG_min And G_maxThe minimum probability difference being respectively between adjacent wave valley point and maximum of probability are poor, definition probability difference constraint function g (i):

$g\left(i\right)=\left\{\begin{array}{c}1,g\&GreaterEqual;G\\ 0,g<G\end{array}\right.$

Definition trough point selection function is:

X (i)=v (i) × d (i) × g (i)

In formula, when x (i)=1, represent that trough point is selected；

(8) road Identification submodule: be used for by the way of multiple neural network detects through histogram thresholding coarse segmentation Region after module segmentation is identified, and then selects suitable neutral net to close road area in multiple neural network And, and remaining area is mapped directly to non-rice habitats region, described multiple neural network includes N number of neutral net, neutral net number Mesh N ∈ [3,5], the positive and negative training sample of the most each neutral net from being placed on multiple windows of zones of different, if described Multiple neural network is expressed as { W₁(μ₁,δ₁),W₂(μ₂,δ₂),...,W_N(μ_N,δ_N), μ and δ represents respectively corresponding to neutral net Positive training sample and negative training sample, then definition network Selection Model is:

W={W_k(μ_k,δ_k),f(μ_k)=1, f (δ_k)=0, k ∈ [1, N] }

Wherein, W is the suitable networks finally chosen, W_k(μ_k,δ_k) represent suitable neutral net, f (μ_k) represent nerve net Network W_k(μ_k,δ_k) positive training sample windows detecting result be 1, f (δ_k) represent W_k(μ_k,δ_k) negative training sample windows detecting knot Fruit is 0；

(9) network training submodule, uses the training sample of suitable networks at road Identification submodule while operating Neutral net is trained by the feature that this window extracts；

(10) vehicle guide line extracts submodule: being used for extracting vehicle guide line, described vehicle guide wire is road Region and the demarcation line in non-rice habitats region.

In described coloured image pretreatment module, based on color component projection model in HSV space when carrying out Objective extraction, Projection formula is:

$V(x,y)=\left\{\begin{array}{cc}V(x,y)& V(x,y)\&GreaterEqual;T_{V_1}orV(x,y)\&le;T_{V_2}orS(x,y)<T_s\\ H(x,y)\&times;\mathrm{\&sigma;}+\mathrm{\&xi;}& \left(otherwise\right)\end{array}\right.$

In formula, when being unsatisfactory forTime, chrominance component H is projected to V and puts down Face；(x, y) represents point corresponding to luminance component V to V, and (x, y) is the point of correspondence on chrominance component H to H, and σ represents and is used for avoiding color Adjusting the stretching factor that component H and luminance component V overlaps, ξ is the segmentation of projection numerical value later, ξ ＞ σ, T_SFor the saturation set Threshold value,For the luminance threshold set.

Preferably, the value of described saturation threshold value and luminance threshold is respectively as follows:

Wherein, described network training submodule includes:

(1) feature extraction unit, it is little that it uses 18 wavelet filters of 3 yardsticks and 6 direction compositions to carry out Gabor Wave conversion, extracts the textural characteristics of pretreated image, uses 10 windows to extract the color spy of pretreated image simultaneously Levy, and be quantified as 4 grades, to obtain 22 dimensional features；

(2) neutral net construction unit, for building neutral net according to described 22 dimensional features, neutral net includes input Layer, intermediate layer and output layer, input layer arranges 22 neurons, and output layer arranges 1 neuron, is output as when 1 representing road Region, is output as when 0 representing non-rice habitats region；

(3) network training unit, for being trained neutral net every 2s in vehicle motor process.

The present embodiment arranges coloured image pretreatment module, enormously simplify the workload of graphical analysis and process；Directly In side's figure threshold value coarse segmentation submodule, trough point position is split as threshold value, can obtain than more complete region；If Put road Identification submodule, to the district after histogram thresholding coarse segmentation submodule is split by the way of multiple neural network detects Territory is identified, and selects suitable neutral net to merge road area, remaining area maps directly to non-rice habitats district Territory, and define network Selection Model, improve the efficiency of identification, every 2s, neutral net is entered in vehicle motor process simultaneously Row training, reaches to carry out road the requirement of self-adapting detecting；The present embodiment parameter n value is 4, and N value is 3, detection efficiency Relatively improve 3%.

Embodiment 2

See Fig. 1, Fig. 2, the present embodiment one can independent navigation wheeled robot locomotive, move including wheeled robot Motor-car and road detection apparatus, wherein wheeled robot locomotive includes: vehicle frame and wheel, and four wheels are rectangular to be arranged symmetrically with In vehicle frame both sides, it is characterized in that: four wheels are driven, by four set decelerating through motor units respectively between front two-wheeled, rear two-wheeled respectively It is connected by a trapezoidal linkage.

Preferably, four wheels are connected by electromagnetic clutch between decelerating through motor unit.

Preferably, described front wheels and rear wheels is respectively arranged with a stepper motor driven steering mechanism.

Preferably, described road detection apparatus includes image capture module, the coloured image pretreatment module being sequentially connected with With road self-adapting detecting module；

Described image capture module is for gathering the coloured image of external information；

Described coloured image pretreatment module, for coloured image is carried out projection pre-procession, uses HSV mould during pretreatment Type, the pre-processed results of coloured image according to the numerical value of luminance component V at chrominance component H, saturation component S, luminance component V tri- Selecting between individual component, when having that saturation is too low or brightness is too low or being too high, image segmentation relies primarily on brightness and divides The information of amount V, in the case of remaining, uses chrominance component H to carry out Objective extraction；

Described road self-adapting detecting module is used for detecting, merging road area, and is all mapped to by remaining area non- In road area；Described road self-adapting detecting module includes:

(1) histogram thresholding coarse segmentation submodule, for entering by the pretreated image of coloured image pretreatment module Row coarse segmentation, it carries out rectangular histogram structure to pretreated image, and uses rectangular histogram multi thresholds method, position with trough point As threshold value, pretreated image is carried out coarse segmentation, uses following algorithm that described trough point is selected:

If P_iFor the frequency occurred in pixel that gray value is i image after the pre-treatment, allow P_iThe local being adjacent Neighborhood P_tMake comparisons, P_t={ P_i-n,...,P_i-1,P_i+1,...P_i+n, the span of parameter n is [4,8], represents P_tLeft and right is adjacent Territory picture frequency scope, P_tMiddle minimum frequency value is P_tmin, secondary minimum frequency value is P_tminsIf,Then i is trough Point, ifThen i is not trough point, definition valley point function v (i):

$v\left(i\right)=\left\{\begin{array}{cc}1,& P_i\&le;\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\\ 0,& P_i>\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\end{array}\right.$

To all valley point v (i)=1 selected, increase distance constraints and probabilistic constraints, if adjacent valley point i and j Between distance be expressed as d=| i-j |, probability difference is expressed as g=| P_i-P_j|, setpoint distance parameter D reflects between trough point The minimum range that should keep, andD_minAnd D_maxIt is respectively adjacent wave valley point minimum range and maximum Distance, definition distance restraint function d (i):

$d\left(i\right)=\left\{\begin{array}{c}1,d\&GreaterEqual;D\\ 0,d<D\end{array}\right.$

Set probability difference parameter G and reflect the threshold difference between trough point, andG_min And G_maxThe minimum probability difference being respectively between adjacent wave valley point and maximum of probability are poor, definition probability difference constraint function g (i):

$g\left(i\right)=\left\{\begin{array}{c}1,g\&GreaterEqual;G\\ 0,g<G\end{array}\right.$

Definition trough point selection function is:

X (i)=v (i) × d (i) × g (i)

In formula, when x (i)=1, represent that trough point is selected；

(11) road Identification submodule: be used for by the way of multiple neural network detects through histogram thresholding coarse segmentation Region after module segmentation is identified, and then selects suitable neutral net to close road area in multiple neural network And, and remaining area is mapped directly to non-rice habitats region, described multiple neural network includes N number of neutral net, neutral net number Mesh N ∈ [3,5], the positive and negative training sample of the most each neutral net from being placed on multiple windows of zones of different, if described Multiple neural network is expressed as { W₁(μ₁,δ₁),W₂(μ₂,δ₂),...,W_N(μ_N,δ_N), μ and δ represents respectively corresponding to neutral net Positive training sample and negative training sample, then definition network Selection Model is:

W={W_k(μ_k,δ_k),f(μ_k)=1, f (δ_k)=0, k ∈ [1, N] }

Wherein, W is the suitable networks finally chosen, W_k(μ_k,δ_k) represent suitable neutral net, f (μ_k) represent nerve net Network W_k(μ_k,δ_k) positive training sample windows detecting result be 1, f (δ_k) represent W_k(μ_k,δ_k) negative training sample windows detecting knot Fruit is 0；

(12) network training submodule, uses the training sample of suitable networks at road Identification submodule while operating Neutral net is trained by the feature that this window extracts；

(13) vehicle guide line extracts submodule: being used for extracting vehicle guide line, described vehicle guide wire is road Region and the demarcation line in non-rice habitats region.

In described coloured image pretreatment module, based on color component projection model in HSV space when carrying out Objective extraction, Projection formula is:

$V(x,y)=\left\{\begin{array}{cc}V(x,y)& V(x,y)\&GreaterEqual;T_{V_1}orV(x,y)\&le;T_{V_2}orS(x,y)<T_s\\ H(x,y)\&times;\mathrm{\&sigma;}+\mathrm{\&xi;}& \left(otherwise\right)\end{array}\right.$

In formula, when being unsatisfactory forTime, chrominance component H is projected to V and puts down Face；(x, y) represents point corresponding to luminance component V to V, and (x, y) is the point of correspondence on chrominance component H to H, and σ represents and is used for avoiding color Adjusting the stretching factor that component H and luminance component V overlaps, ξ is the segmentation of projection numerical value later, ξ ＞ σ, T_SFor the saturation set Threshold value,For the luminance threshold set.

Preferably, the value of described saturation threshold value and luminance threshold is respectively as follows:

Wherein, described network training submodule includes:

(1) feature extraction unit, it is little that it uses 18 wavelet filters of 3 yardsticks and 6 direction compositions to carry out Gabor Wave conversion, extracts the textural characteristics of pretreated image, uses 10 windows to extract the color spy of pretreated image simultaneously Levy, and be quantified as 4 grades, to obtain 22 dimensional features；

(2) neutral net construction unit, for building neutral net according to described 22 dimensional features, neutral net includes input Layer, intermediate layer and output layer, input layer arranges 22 neurons, and output layer arranges 1 neuron, is output as when 1 representing road Region, is output as when 0 representing non-rice habitats region；

(3) network training unit, for being trained neutral net every 2s in vehicle motor process.

The present embodiment arranges coloured image pretreatment module, enormously simplify the workload of graphical analysis and process；Directly In side's figure threshold value coarse segmentation submodule, trough point position is split as threshold value, can obtain than more complete region；If Put road Identification submodule, to the district after histogram thresholding coarse segmentation submodule is split by the way of multiple neural network detects Territory is identified, and selects suitable neutral net to merge road area, remaining area maps directly to non-rice habitats district Territory, and define network Selection Model, improve the efficiency of identification, every 2s, neutral net is entered in vehicle motor process simultaneously Row training, reaches to carry out road the requirement of self-adapting detecting；The present embodiment parameter n value is 5, and N value is 3, detection efficiency Relatively improve 3.2%.

Embodiment 3

See Fig. 1, Fig. 2, the present embodiment one can independent navigation wheeled robot locomotive, move including wheeled robot Motor-car and road detection apparatus, wherein wheeled robot locomotive includes: vehicle frame and wheel, and four wheels are rectangular to be arranged symmetrically with In vehicle frame both sides, it is characterized in that: four wheels are driven, by four set decelerating through motor units respectively between front two-wheeled, rear two-wheeled respectively It is connected by a trapezoidal linkage.

Preferably, four wheels are connected by electromagnetic clutch between decelerating through motor unit.

Preferably, described front wheels and rear wheels is respectively arranged with a stepper motor driven steering mechanism.

Preferably, described road detection apparatus includes image capture module, the coloured image pretreatment module being sequentially connected with With road self-adapting detecting module；

Described image capture module is for gathering the coloured image of external information；

Described coloured image pretreatment module, for coloured image is carried out projection pre-procession, uses HSV mould during pretreatment Type, the pre-processed results of coloured image according to the numerical value of luminance component V at chrominance component H, saturation component S, luminance component V tri- Selecting between individual component, when having that saturation is too low or brightness is too low or being too high, image segmentation relies primarily on brightness and divides The information of amount V, in the case of remaining, uses chrominance component H to carry out Objective extraction；

Described road self-adapting detecting module is used for detecting, merging road area, and is all mapped to by remaining area non- In road area；Described road self-adapting detecting module includes:

(1) histogram thresholding coarse segmentation submodule, for entering by the pretreated image of coloured image pretreatment module Row coarse segmentation, it carries out rectangular histogram structure to pretreated image, and uses rectangular histogram multi thresholds method, position with trough point As threshold value, pretreated image is carried out coarse segmentation, uses following algorithm that described trough point is selected:

If P_iFor the frequency occurred in pixel that gray value is i image after the pre-treatment, allow P_iThe local being adjacent Neighborhood P_tMake comparisons, P_t={ P_i-n,...,P_i-1,P_i+1,...P_i+n, the span of parameter n is [4,8], represents P_tLeft and right is adjacent Territory picture frequency scope, P_tMiddle minimum frequency value is P_tmin, secondary minimum frequency value is P_tminsIf,Then i is trough Point, ifThen i is not trough point, definition valley point function v (i):

$v\left(i\right)=\left\{\begin{array}{cc}1,& P_i\&le;\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\\ 0,& P_i>\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\end{array}\right.$

To all valley point v (i)=1 selected, increase distance constraints and probabilistic constraints, if adjacent valley point i and j Between distance be expressed as d=| i-j |, probability difference is expressed as g=| P_i-P_j|, setpoint distance parameter D reflects between trough point The minimum range that should keep, andD_minAnd D_maxIt is respectively adjacent wave valley point minimum range and maximum Distance, definition distance restraint function d (i):

$d\left(i\right)=\left\{\begin{array}{c}1,d\&GreaterEqual;D\\ 0,d<D\end{array}\right.$

Set probability difference parameter G and reflect the threshold difference between trough point, andG_min And G_maxThe minimum probability difference being respectively between adjacent wave valley point and maximum of probability are poor, definition probability difference constraint function g (i):

$g\left(i\right)=\left\{\begin{array}{c}1,g\&GreaterEqual;G\\ 0,g<G\end{array}\right.$

Definition trough point selection function is:

X (i)=v (i) × d (i) × g (i)

In formula, when x (i)=1, represent that trough point is selected；

(14) road Identification submodule: be used for by the way of multiple neural network detects through histogram thresholding coarse segmentation Region after module segmentation is identified, and then selects suitable neutral net to close road area in multiple neural network And, and remaining area is mapped directly to non-rice habitats region, described multiple neural network includes N number of neutral net, neutral net number Mesh N ∈ [3,5], the positive and negative training sample of the most each neutral net from being placed on multiple windows of zones of different, if described Multiple neural network is expressed as { W₁(μ₁,δ₁),W₂(μ₂,δ₂),...,W_N(μ_N,δ_N), μ and δ represents respectively corresponding to neutral net Positive training sample and negative training sample, then definition network Selection Model is:

W={W_k(μ_k,δ_k),f(μ_k)=1, f (δ_k)=0, k ∈ [1, N] }

Wherein, W is the suitable networks finally chosen, W_k(μ_k,δ_k) represent suitable neutral net, f (μ_k) represent nerve net Network W_k(μ_k,δ_k) positive training sample windows detecting result be 1, f (δ_k) represent W_k(μ_k,δ_k) negative training sample windows detecting knot Fruit is 0；

(15) network training submodule, uses the training sample of suitable networks at road Identification submodule while operating Neutral net is trained by the feature that this window extracts；

(16) vehicle guide line extracts submodule: being used for extracting vehicle guide line, described vehicle guide wire is road Region and the demarcation line in non-rice habitats region.

In described coloured image pretreatment module, based on color component projection model in HSV space when carrying out Objective extraction, Projection formula is:

$V(x,y)=\left\{\begin{array}{cc}V(x,y)& V(x,y)\&GreaterEqual;T_{V_1}orV(x,y)\&le;T_{V_2}orS(x,y)<T_s\\ H(x,y)\&times;\mathrm{\&sigma;}+\mathrm{\&xi;}& \left(otherwise\right)\end{array}\right.$

In formula, when being unsatisfactory forTime, chrominance component H is projected to V and puts down Face；(x, y) represents point corresponding to luminance component V to V, and (x, y) is the point of correspondence on chrominance component H to H, and σ represents and is used for avoiding color Adjusting the stretching factor that component H and luminance component V overlaps, ξ is the segmentation of projection numerical value later, ξ ＞ σ, T_SFor the saturation set Threshold value,For the luminance threshold set.

Preferably, the value of described saturation threshold value and luminance threshold is respectively as follows:

Wherein, described network training submodule includes:

(1) feature extraction unit, it is little that it uses 18 wavelet filters of 3 yardsticks and 6 direction compositions to carry out Gabor Wave conversion, extracts the textural characteristics of pretreated image, uses 10 windows to extract the color spy of pretreated image simultaneously Levy, and be quantified as 4 grades, to obtain 22 dimensional features；

(2) neutral net construction unit, for building neutral net according to described 22 dimensional features, neutral net includes input Layer, intermediate layer and output layer, input layer arranges 22 neurons, and output layer arranges 1 neuron, is output as when 1 representing road Region, is output as when 0 representing non-rice habitats region；

(3) network training unit, for being trained neutral net every 2s in vehicle motor process.

The present embodiment arranges coloured image pretreatment module, enormously simplify the workload of graphical analysis and process；Directly In side's figure threshold value coarse segmentation submodule, trough point position is split as threshold value, can obtain than more complete region；If Put road Identification submodule, to the district after histogram thresholding coarse segmentation submodule is split by the way of multiple neural network detects Territory is identified, and selects suitable neutral net to merge road area, remaining area maps directly to non-rice habitats district Territory, and define network Selection Model, improve the efficiency of identification, every 2s, neutral net is entered in vehicle motor process simultaneously Row training, reaches to carry out road the requirement of self-adapting detecting；The present embodiment parameter n value is 6, and N value is 4, detection efficiency Relatively improve 3.5%.

Embodiment 4

See Fig. 1, Fig. 2, the present embodiment one can independent navigation wheeled robot locomotive, move including wheeled robot Motor-car and road detection apparatus, wherein wheeled robot locomotive includes: vehicle frame and wheel, and four wheels are rectangular to be arranged symmetrically with In vehicle frame both sides, it is characterized in that: four wheels are driven, by four set decelerating through motor units respectively between front two-wheeled, rear two-wheeled respectively It is connected by a trapezoidal linkage.

Preferably, four wheels are connected by electromagnetic clutch between decelerating through motor unit.

Preferably, described front wheels and rear wheels is respectively arranged with a stepper motor driven steering mechanism.

Preferably, described road detection apparatus includes image capture module, the coloured image pretreatment module being sequentially connected with With road self-adapting detecting module；

Described image capture module is for gathering the coloured image of external information；

Described coloured image pretreatment module, for coloured image is carried out projection pre-procession, uses HSV mould during pretreatment Type, the pre-processed results of coloured image according to the numerical value of luminance component V at chrominance component H, saturation component S, luminance component V tri- Selecting between individual component, when having that saturation is too low or brightness is too low or being too high, image segmentation relies primarily on brightness and divides The information of amount V, in the case of remaining, uses chrominance component H to carry out Objective extraction；

Described road self-adapting detecting module is used for detecting, merging road area, and is all mapped to by remaining area non- In road area；Described road self-adapting detecting module includes:

(1) histogram thresholding coarse segmentation submodule, for entering by the pretreated image of coloured image pretreatment module Row coarse segmentation, it carries out rectangular histogram structure to pretreated image, and uses rectangular histogram multi thresholds method, position with trough point As threshold value, pretreated image is carried out coarse segmentation, uses following algorithm that described trough point is selected:

If P_iFor the frequency occurred in pixel that gray value is i image after the pre-treatment, allow P_iThe local being adjacent Neighborhood P_tMake comparisons, P_t={ P_i-n,...,P_i-1,P_i+1,...P_i+n, the span of parameter n is [4,8], represents P_tLeft and right is adjacent Territory picture frequency scope, P_tMiddle minimum frequency value is P_tmin, secondary minimum frequency value is P_tminsIf,Then i is trough Point, ifThen i is not trough point, definition valley point function v (i):

$v\left(i\right)=\left\{\begin{array}{cc}1,& P_i\&le;\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\\ 0,& P_i>\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\end{array}\right.$

To all valley point v (i)=1 selected, increase distance constraints and probabilistic constraints, if adjacent valley point i and j Between distance be expressed as d=| i-j |, probability difference is expressed as g=| P_i-P_j|, setpoint distance parameter D reflects between trough point The minimum range that should keep, andD_minAnd D_maxIt is respectively adjacent wave valley point minimum range and maximum Distance, definition distance restraint function d (i):

$d\left(i\right)=\left\{\begin{array}{c}1,d\&GreaterEqual;D\\ 0,d<D\end{array}\right.$

Set probability difference parameter G and reflect the threshold difference between trough point, andG_min And G_maxThe minimum probability difference being respectively between adjacent wave valley point and maximum of probability are poor, definition probability difference constraint function g (i):

$g\left(i\right)=\left\{\begin{array}{c}1,g\&GreaterEqual;G\\ 0,g<G\end{array}\right.$

Definition trough point selection function is:

X (i)=v (i) × d (i) × g (i)

In formula, when x (i)=1, represent that trough point is selected；

(17) road Identification submodule: be used for by the way of multiple neural network detects through histogram thresholding coarse segmentation Region after module segmentation is identified, and then selects suitable neutral net to close road area in multiple neural network And, and remaining area is mapped directly to non-rice habitats region, described multiple neural network includes N number of neutral net, neutral net number Mesh N ∈ [3,5], the positive and negative training sample of the most each neutral net from being placed on multiple windows of zones of different, if described Multiple neural network is expressed as { W₁(μ₁,δ₁),W₂(μ₂,δ₂),...,W_N(μ_N,δ_N), μ and δ represents respectively corresponding to neutral net Positive training sample and negative training sample, then definition network Selection Model is:

W={W_k(μ_k,δ_k),f(μ_k)=1, f (δ_k)=0, k ∈ [1, N] }

Wherein, W is the suitable networks finally chosen, W_k(μ_k,δ_k) represent suitable neutral net, f (μ_k) represent nerve net Network W_k(μ_k,δ_k) positive training sample windows detecting result be 1, f (δ_k) represent W_k(μ_k,δ_k) negative training sample windows detecting knot Fruit is 0；

(18) network training submodule, uses the training sample of suitable networks at road Identification submodule while operating Neutral net is trained by the feature that this window extracts；

(19) vehicle guide line extracts submodule: being used for extracting vehicle guide line, described vehicle guide wire is road Region and the demarcation line in non-rice habitats region.

In described coloured image pretreatment module, based on color component projection model in HSV space when carrying out Objective extraction, Projection formula is:

$V(x,y)=\left\{\begin{array}{cc}V(x,y)& V(x,y)\&GreaterEqual;T_{V_1}orV(x,y)\&le;T_{V_2}orS(x,y)<T_s\\ H(x,y)\&times;\mathrm{\&sigma;}+\mathrm{\&xi;}& \left(otherwise\right)\end{array}\right.$

In formula, when being unsatisfactory forTime, chrominance component H is projected to V and puts down Face；(x, y) represents point corresponding to luminance component V to V, and (x, y) is the point of correspondence on chrominance component H to H, and σ represents and is used for avoiding color Adjusting the stretching factor that component H and luminance component V overlaps, ξ is the segmentation of projection numerical value later, ξ ＞ σ, T_SFor the saturation set Threshold value,For the luminance threshold set.

Preferably, the value of described saturation threshold value and luminance threshold is respectively as follows:

Wherein, described network training submodule includes:

(1) feature extraction unit, it is little that it uses 18 wavelet filters of 3 yardsticks and 6 direction compositions to carry out Gabor Wave conversion, extracts the textural characteristics of pretreated image, uses 10 windows to extract the color spy of pretreated image simultaneously Levy, and be quantified as 4 grades, to obtain 22 dimensional features；

(2) neutral net construction unit, for building neutral net according to described 22 dimensional features, neutral net includes input Layer, intermediate layer and output layer, input layer arranges 22 neurons, and output layer arranges 1 neuron, is output as when 1 representing road Region, is output as when 0 representing non-rice habitats region；

(3) network training unit, for being trained neutral net every 2s in vehicle motor process.

The present embodiment arranges coloured image pretreatment module, enormously simplify the workload of graphical analysis and process；Directly In side's figure threshold value coarse segmentation submodule, trough point position is split as threshold value, can obtain than more complete region；If Put road Identification submodule, to the district after histogram thresholding coarse segmentation submodule is split by the way of multiple neural network detects Territory is identified, and selects suitable neutral net to merge road area, remaining area maps directly to non-rice habitats district Territory, and define network Selection Model, improve the efficiency of identification, every 2s, neutral net is entered in vehicle motor process simultaneously Row training, reaches to carry out road the requirement of self-adapting detecting；The present embodiment parameter n value is 7, and N value is 4, detection efficiency Relatively improve 3.8%.

Embodiment 5

See Fig. 1, Fig. 2, the present embodiment one can independent navigation wheeled robot locomotive, move including wheeled robot Motor-car and road detection apparatus, wherein wheeled robot locomotive includes: vehicle frame and wheel, and four wheels are rectangular to be arranged symmetrically with In vehicle frame both sides, it is characterized in that: four wheels are driven, by four set decelerating through motor units respectively between front two-wheeled, rear two-wheeled respectively It is connected by a trapezoidal linkage.

Preferably, four wheels are connected by electromagnetic clutch between decelerating through motor unit.

Preferably, described front wheels and rear wheels is respectively arranged with a stepper motor driven steering mechanism.

Preferably, described road detection apparatus includes image capture module, the coloured image pretreatment module being sequentially connected with With road self-adapting detecting module；

Described image capture module is for gathering the coloured image of external information；

Described coloured image pretreatment module, for coloured image is carried out projection pre-procession, uses HSV mould during pretreatment Type, the pre-processed results of coloured image according to the numerical value of luminance component V at chrominance component H, saturation component S, luminance component V tri- Selecting between individual component, when having that saturation is too low or brightness is too low or being too high, image segmentation relies primarily on brightness and divides The information of amount V, in the case of remaining, uses chrominance component H to carry out Objective extraction；

Described road self-adapting detecting module is used for detecting, merging road area, and is all mapped to by remaining area non- In road area；Described road self-adapting detecting module includes:

(1) histogram thresholding coarse segmentation submodule, for entering by the pretreated image of coloured image pretreatment module Row coarse segmentation, it carries out rectangular histogram structure to pretreated image, and uses rectangular histogram multi thresholds method, position with trough point As threshold value, pretreated image is carried out coarse segmentation, uses following algorithm that described trough point is selected:

If P_iFor the frequency occurred in pixel that gray value is i image after the pre-treatment, allow P_iThe local being adjacent Neighborhood P_tMake comparisons, P_t={ P_i-n,...,P_i-1,P_i+1,...P_i+n, the span of parameter n is [4,8], represents P_tLeft and right is adjacent Territory picture frequency scope, P_tMiddle minimum frequency value is P_tmin, secondary minimum frequency value is P_tminsIf,Then i is trough Point, ifThen i is not trough point, definition valley point function v (i):

$v\left(i\right)=\left\{\begin{array}{cc}1,& P_i\&le;\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\\ 0,& P_i>\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\end{array}\right.$

To all valley point v (i)=1 selected, increase distance constraints and probabilistic constraints, if adjacent valley point i and j Between distance be expressed as d=| i-j |, probability difference is expressed as g=| P_i-P_j|, setpoint distance parameter D reflects between trough point The minimum range that should keep, andD_minAnd D_maxIt is respectively adjacent wave valley point minimum range and maximum Distance, definition distance restraint function d (i):

$d\left(i\right)=\left\{\begin{array}{c}1,d\&GreaterEqual;D\\ 0,d<D\end{array}\right.$

Set probability difference parameter G and reflect the threshold difference between trough point, andG_min And G_maxThe minimum probability difference being respectively between adjacent wave valley point and maximum of probability are poor, definition probability difference constraint function g (i):

$g\left(i\right)=\left\{\begin{array}{c}1,g\&GreaterEqual;G\\ 0,g<G\end{array}\right.$

Definition trough point selection function is:

X (i)=v (i) × d (i) × g (i)

In formula, when x (i)=1, represent that trough point is selected；

(20) road Identification submodule: be used for by the way of multiple neural network detects through histogram thresholding coarse segmentation Region after module segmentation is identified, and then selects suitable neutral net to close road area in multiple neural network And, and remaining area is mapped directly to non-rice habitats region, described multiple neural network includes N number of neutral net, neutral net number Mesh N ∈ [3,5], the positive and negative training sample of the most each neutral net from being placed on multiple windows of zones of different, if described Multiple neural network is expressed as { W₁(μ₁,δ₁),W₂(μ₂,δ₂),...,W_N(μ_N,δ_N), μ and δ represents respectively corresponding to neutral net Positive training sample and negative training sample, then definition network Selection Model is:

W={W_k(μ_k,δ_k),f(μ_k)=1, f (δ_k)=0, k ∈ [1, N] }

Wherein, W is the suitable networks finally chosen, W_k(μ_k,δ_k) represent suitable neutral net, f (μ_k) represent nerve net Network W_k(μ_k,δ_k) positive training sample windows detecting result be 1, f (δ_k) represent W_k(μ_k,δ_k) negative training sample windows detecting knot Fruit is 0；

(21) network training submodule, uses the training sample of suitable networks at road Identification submodule while operating Neutral net is trained by the feature that this window extracts；

(22) vehicle guide line extracts submodule: being used for extracting vehicle guide line, described vehicle guide wire is road Region and the demarcation line in non-rice habitats region.

In described coloured image pretreatment module, based on color component projection model in HSV space when carrying out Objective extraction, Projection formula is:

$V(x,y)=\left\{\begin{array}{cc}V(x,y)& V(x,y)\&GreaterEqual;T_{V_1}orV(x,y)\&le;T_{V_2}orS(x,y)<T_s\\ H(x,y)\&times;\mathrm{\&sigma;}+\mathrm{\&xi;}& \left(otherwise\right)\end{array}\right.$

In formula, when being unsatisfactory forTime, chrominance component H is projected to V and puts down Face；(x, y) represents point corresponding to luminance component V to V, and (x, y) is the point of correspondence on chrominance component H to H, and σ represents and is used for avoiding color Adjusting the stretching factor that component H and luminance component V overlaps, ξ is the segmentation of projection numerical value later, ξ ＞ σ, T_SFor the saturation set Threshold value,For the luminance threshold set.

Preferably, the value of described saturation threshold value and luminance threshold is respectively as follows:

Wherein, described network training submodule includes:

(1) feature extraction unit, it is little that it uses 18 wavelet filters of 3 yardsticks and 6 direction compositions to carry out Gabor Wave conversion, extracts the textural characteristics of pretreated image, uses 10 windows to extract the color spy of pretreated image simultaneously Levy, and be quantified as 4 grades, to obtain 22 dimensional features；

(2) neutral net construction unit, for building neutral net according to described 22 dimensional features, neutral net includes input Layer, intermediate layer and output layer, input layer arranges 22 neurons, and output layer arranges 1 neuron, is output as when 1 representing road Region, is output as when 0 representing non-rice habitats region；

(3) network training unit, for being trained neutral net every 2s in vehicle motor process.

The present embodiment arranges coloured image pretreatment module, enormously simplify the workload of graphical analysis and process；Directly In side's figure threshold value coarse segmentation submodule, trough point position is split as threshold value, can obtain than more complete region；If Put road Identification submodule, to the district after histogram thresholding coarse segmentation submodule is split by the way of multiple neural network detects Territory is identified, and selects suitable neutral net to merge road area, remaining area maps directly to non-rice habitats district Territory, and define network Selection Model, improves the efficiency of identification, simultaneously in vehicle motor process every 2 s to neutral net It is trained, reaches road is carried out the requirement of self-adapting detecting；The present embodiment parameter n value is 8, and N value is 5, detection effect Rate improves 3.4% relatively.

Last it should be noted that, above example is only in order to illustrate technical scheme, rather than the present invention is protected Protecting the restriction of scope, although having made to explain to the present invention with reference to preferred embodiment, those of ordinary skill in the art should Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention Matter and scope.

Claims (7)

1. can an independent navigation wheeled robot locomotive, including wheeled robot locomotive and road detection apparatus, its Middle wheeled robot locomotive includes: vehicle frame and wheel, and four wheels are rectangular is arranged symmetrically in vehicle frame both sides, it is characterized in that: Four wheels are driven, respectively by a trapezoidal linkage phase between front two-wheeled, rear two-wheeled by four set decelerating through motor units respectively Even.

One the most according to claim 1 can independent navigation wheeled robot locomotive, it is characterized in that, four wheels with It is connected by electromagnetic clutch between decelerating through motor unit.

One the most according to claim 2 can independent navigation wheeled robot locomotive, it is characterized in that, described front-wheel It is respectively arranged with a stepper motor driven steering mechanism with trailing wheel.

One the most according to claim 3 can independent navigation wheeled robot locomotive, it is characterized in that, Road Detection fill Put image capture module, coloured image pretreatment module and the road self-adapting detecting module including being sequentially connected with；

Described image capture module is for gathering the coloured image of external information；

Described coloured image pretreatment module, for coloured image is carried out projection pre-procession, uses HSV model during pretreatment, color The pre-processed results of color image according to the numerical value of luminance component V at chrominance component H, saturation component S, luminance component V tri-points Selecting between amount, when having that saturation is too low or brightness is too low or being too high, image segmentation relies primarily on luminance component V's Information, in the case of remaining, uses chrominance component H to carry out Objective extraction；

Described road self-adapting detecting module is used for detecting, merging road area, and remaining area is all mapped to non-rice habitats In region；Described road self-adapting detecting module includes:

(1) histogram thresholding coarse segmentation submodule, for carrying out slightly by the pretreated image of coloured image pretreatment module Segmentation, it carries out rectangular histogram structure to pretreated image, and use rectangular histogram multi thresholds method, using the position of trough point as Threshold value carries out coarse segmentation to pretreated image, uses following algorithm to select described trough point:

If P_iFor the frequency occurred in pixel that gray value is i image after the pre-treatment, allow P_iThe local neighborhood being adjacent P_tMake comparisons, P_t={ P_i-n,...,P_i-1,P_i+1,...P_i+n, the span of parameter n is [4,8], represents P_tLeft and right neighborhood picture Frequently scope, P_tMiddle minimum frequency value is P_tmin, secondary minimum frequency value is P_tminsIf,Then i is trough point, IfThen i is not trough point, definition valley point function v (i):

$v\left(i\right)=\left\{\begin{array}{cc}1,& P_i\&le;\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\\ 0,& P_i>\sqrt{P_{t\min }\&CenterDot;P_{t\min s}}\end{array}\right.$

To all valley point v (i)=1 selected, increase distance constraints and probabilistic constraints, if between adjacent valley point i and j Distance be expressed as d=| i-j |, probability difference is expressed as g=| P_i-P_j|, setpoint distance parameter D reflects should protect between trough point The minimum range held, andD_minAnd D_maxIt is respectively adjacent wave valley point minimum range and ultimate range, Definition distance restraint function d (i):

$d\left(i\right)=\left\{\begin{array}{c}1,d\&GreaterEqual;D\\ 0,d<D\end{array}\right.$

Set probability difference parameter G and reflect the threshold difference between trough point, andG_minAnd G_maxPoint Not Wei minimum probability difference between adjacent wave valley point and maximum of probability poor, define probability difference constraint function g (i):

$g\left(i\right)=\left\{\begin{array}{c}1,g\&GreaterEqual;G\\ 0,g<G\end{array}\right.$

Definition trough point selection function is:

X (i)=v (i) × d (i) × g (i)

In formula, when x (i)=1, represent that trough point is selected；

(2) road Identification submodule: be used for by the way of multiple neural network detects through histogram thresholding coarse segmentation submodule Region after segmentation is identified, and then selects suitable neutral net to merge road area in multiple neural network, And remaining area is mapped directly to non-rice habitats region, described multiple neural network includes N number of neutral net, N ∈ [3,5], wherein The positive and negative training sample of each neutral net is from being placed on multiple windows of zones of different, if described multiple neural network is expressed as {W₁(μ₁,δ₁),W₂(μ₂,δ₂),...,W_N(μ_N,δ_N), μ and δ represents the positive training sample corresponding to neutral net and negative instruction respectively Practice sample, then definition network Selection Model is:

W={W_k(μ_k,δ_k),f(μ_k)=1, f (δ_k)=0, k ∈ [1, N] }

Wherein, W is the suitable networks finally chosen, W_k(μ_k,δ_k) represent suitable neutral net, f (μ_k) represent neutral net W_k (μ_k,δ_k) positive training sample windows detecting result be 1, f (δ_k) represent W_k(μ_k,δ_k) negative training sample windows detecting result be 0；

(3) network training submodule, uses the training sample window of suitable networks at road Identification submodule while operating Neutral net is trained by the feature that mouth extracts；

(4) vehicle guide line extract submodule: be used for extracting vehicle guide line, described vehicle guide wire be road area and The demarcation line in non-rice habitats region.

One the most according to claim 4 can independent navigation wheeled robot locomotive, it is characterized in that, described cromogram As, in pretreatment module, carrying out

Based on color component projection model in HSV space during Objective extraction, projection formula is:

$V(x,y)=\left\{\begin{array}{cc}V(x,y)& V(x,y)\&GreaterEqual;T_{V_1}orV(x,y)\&le;T_{V_2}orS(x,y)<T_s\\ H(x,y)\&times;\mathrm{\&sigma;}+\mathrm{\&xi;}& \left(otherwise\right)\end{array}\right.$

In formula, when being unsatisfactory forTime, chrominance component H is projected to V plane；V (x, y) represents point corresponding to luminance component V, and (x, y) is the point of correspondence on chrominance component H to H, and σ represents and is used for avoiding tone to divide The stretching factor that amount H and luminance component V overlaps, ξ is the segmentation of projection numerical value later, ξ ＞ σ, T_SFor set saturation threshold value,For the luminance threshold set.

One the most according to claim 5 can independent navigation wheeled robot locomotive, it is characterized in that, described saturation The value of threshold value and luminance threshold is respectively as follows:T_s=20.

One the most according to claim 6 can independent navigation wheeled robot locomotive, it is characterized in that, described network instruct Practice submodule to include:

(1) feature extraction unit, it uses 18 wavelet filters of 3 yardsticks and 6 direction compositions to carry out Gabor wavelet change Change, extract the textural characteristics of pretreated image, use 10 windows to extract the color characteristic of pretreated image simultaneously, and It is quantified as 4 grades, to obtain 22 dimensional features；

(2) neutral net construction unit, for according to described 22 dimensional features build neutral nets, neutral net include input layer, Intermediate layer and output layer, input layer arranges 22 neurons, and output layer arranges 1 neuron, is output as when 1 representing roadway area Territory, is output as when 0 representing non-rice habitats region；

(3) network training unit, for being trained neutral net every 2s in vehicle motor process.