| 荔枝采摘机械手视觉定位系统设计 |
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| 引用本文： | 熊俊涛,邹湘军,彭红星,吴定中,朱梦思.荔枝采摘机械手视觉定位系统设计[J].农业机械学报,2012,43(Z1):250-255. |
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| 作者姓名： | 熊俊涛 邹湘军 彭红星 吴定中 朱梦思 |
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| 作者单位： | 1. 华南农业大学信息学院,广州,510642
2. 华南农业大学南方农业机械与装备关键技术省部共建教育部重点实验室,广州,510642 |
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| 基金项目： | 国家自然科学基金资助项目（31201135、31171547、51175189）;广东省自然科学基金资助项目（S2011010001933） |
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| 摘 要： | 建立了基于双目立体视觉的荔枝采摘机械手视觉定位系统.通过对成熟荔枝颜色特征的分析,选取YCbCr颜色模型进行处理,利用Otsu算法结合模糊C均值聚类法(FCM)对荔枝果实和果梗进行了分割,实验结果表明:有效识别果实和果梗的正确率为94.2％.通过计算果实质心与果梗的距离最大值确定荔枝采摘点,利用基于色调空间的彩色图像匹配法和极限约束法进行果梗采摘点的立体匹配,实现了采摘点的空间定位.通过定位误差分析,采用直线插值法进行定位误差补偿,定位实验结果表明:定位的深度误差小于10 mm,能满足荔枝机械手视觉精确定位的要求.
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| 关 键 词： | 荔枝 采摘机械手 机器视觉 图像识别 空间定位 |
Design of Visual Position System for Litchi Picking Manipulator |
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| Xiong Juntao,Zou Xiangjun,Peng Hongxing,Wu Dingzhong and Zhu Mengsi.Design of Visual Position System for Litchi Picking Manipulator[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(Z1):250-255. |
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| Authors: | Xiong Juntao Zou Xiangjun Peng Hongxing Wu Dingzhong and Zhu Mengsi |
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| Institution: | South China Agricultural University;South China Agricultural University;South China Agricultural University;South China Agricultural University;South China Agricultural University |
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| Abstract: | A visual positioning system of litchi picking manipulator was established based on the binocular stereo vision. By analyzing the color features of mature litchi, the YCbCr color model was selected. The Otsu algorithm was combined with fuzzy C-means clustering (FCM) to segment litchi fruit and peduncle. The experimental results showed that the effective recognition accuracy of litchi fruit and peduncle reached to 94.2%. The maximum distance between the fruit centroid and peduncle was calculated to determine litchi picking point. The color image matching method based on hue component of color image and the limiting binding method were used to achieve the stereo match of picking point, which realized the spatial position of picking point. Through the analysis of position error, the linear interpolation method was used to realize the positioning error compensation. The positioning experimental results showed that the depth value error was less than 10mm, which could satisfy the visual accurate position requirements of litchi manipulator. |
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| Keywords: | Litchi Picking manipulator Machine vision Image recognition Spatial positioning |
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