Abstract：In the greenhouse environment, a navigation algorithm with navigation line and twodimensional code was designed to solve the deviation in the straight path of spraying robot and quickly obtain the navigation information at the turning path. The red guideline was pasted on the straightline driving path, and the collected images were processed to calculate deviation and declination and converted into rightandleftwheel differential for correction to achieve accurate linear navigation. To solve the problems of navigationline navigation with low turning efficiency and large deviation during cornering, a QR code navigation method was designed to realize prompt and accurate navigation by recognizing the QR code at turning point with navigation and decision information. 120 navigation line images and 120 QR code images under various conditions were collected to verify the algorithm, and the average correction rate of navigation line and the average recognition rate of QR codes were 93.33% and 92.50%,respectively. The results of navigation experiments show that the maximum navigation deviation of navigation line is 2.0 cm, and the maximum navigation deviation of the QR code is 3.5 cm at the traveling speed of 2.0 m·s-1, which can meet the realtime and accuracy requirements of the navigation of spraying robots.
王鹏, 耿长兴, 王蓬勃. 设施农业喷雾机器人的组合视觉导航方法[J]. 江苏大学学报（自然科学版）, 2019, 40(3): 307-312.
WANG Peng, GENG Chang-Xing, WANG Peng-Bo. Visual navigation method of agrospraying robot based on
navigation line and QR code combination[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2019, 40(3): 307-312.
2019, Vol. 40 
