| 基于单目视觉与超声检测的振荡果实采摘识别与定位 |
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| 引用本文： | 李国利,姬长英,顾宝兴.基于单目视觉与超声检测的振荡果实采摘识别与定位[J].农业机械学报,2015,46(11):1-8. |
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| 作者姓名： | 李国利 姬长英 顾宝兴 |
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| 作者单位： | 南京农业大学;金陵科技学院,南京农业大学,南京农业大学 |
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| 基金项目： | 国家高技术研究发展计划(863计划)资助项目(2006AA10Z259)和中央高校基本科研业务费专项资金资助项目(KYZ201325) |
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| 摘 要： | 针对采摘机器人在果实振荡情况下因难以精确定位影响采摘效率的问题,提出了一种基于单目视觉与超声检测的振荡果实识别与定位方法。首先对采集的振荡果树图像序列进行基于色差R-G的Otsu阈值分割和形态学处理,接着对图像果实区域进行灰度填充,将处理后的图像序列叠加得到复合图像和目标果实运动区域,求取振荡果实在图像运动区域的二维平衡位置坐标。然后机械手在视觉引导下运动,其末端指向振荡果实二维平衡位置坐标,同时超声传感器检测目标果实深度信息并提取超声回波信号峰峰值进行果实识别,当检测到果实处于适合采摘位置时,机械手爪抓取果实。采摘试验表明,采摘成功率为86%,验证了所采用方法的有效性,为实现采摘机器人实用化提供了参考。
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| 关 键 词： | 采摘机器人 振荡果实 单目视觉 超声检测 识别 定位 |
| 收稿时间： | 4/1/2015 12:00:00 AM |
Recognition and Location of Oscillating Fruit Based on Monocular Vision and Ultrasonic Testing |
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| Li Guoli,Ji Changying and Gu Baoxing.Recognition and Location of Oscillating Fruit Based on Monocular Vision and Ultrasonic Testing[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(11):1-8. |
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| Authors: | Li Guoli Ji Changying and Gu Baoxing |
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| Institution: | Nanjing Agricultural University;Jinling Institute of Technology,Nanjing Agricultural University and Nanjing Agricultural University |
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| Abstract: | In order to solve the problem of low picking efficiency of harvesting robot under the target fruit oscillation condition, a recognition and location method of oscillating fruit based on monocular vision and ultrasonic testing was proposed. Firstly, the acquired sequential images of oscillating fruit were segmented by using Otsu algorithm based on R-G color component; morphological operation was employed to eliminate residual noise; and the region of target fruit was separated from backgrounds. Secondly, the region of target fruit was filled with gray threshold. Thirdly, the processed sequential images were superimposed and a composite image was obtained, and the 2-D centroid coordinates of the oscillating fruit were extracted from the fruit oscillating region in the composite image. Fourthly, the picking manipulator was controlled to move and its end was pointed to 2-D centroid coordinates, at the same time, the depth information of the target fruit was acquired through ultrasonic testing, and the peak-to-peak value of ultrasonic echo signal was extracted for recognition of fruit and tree. Finally, the end-effector of picking manipulator was started to grab the fruit when it was within valid range and the manipulator was stopped motion. The experiments results showed that the success rate of picking can reach 86%. This method is universal and suitable for apple, citrus, pears and other spherical fruits. The research can provide a reference for realization of harvesting robot practicability. |
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| Keywords: | Harvesting robot Oscillating fruit Monocular vision Ultrasonic testing Recognition Location |
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