| 果树快速定位采摘机器人设计——基于红外和激光扫描技术 |
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| 引用本文： | 张邦凤.果树快速定位采摘机器人设计——基于红外和激光扫描技术[J].农机化研究,2017(6):233-237. |
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| 作者姓名： | 张邦凤 |
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| 作者单位： | 重庆电子工程职业学院应用电子学院,重庆,401331 |
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| 基金项目： | 重庆市科学技术委员会一般项目(cstc2015shmszx0431) |
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| 摘 要： | 为提高采摘机器人的自主导航能力和采摘效率,实现机器人的快速果树识别和定位,结合红外测距传感器与计算机图像处理技术,利用激光扫描传感器体积小、功耗低、速度快、抗干扰等特点,提出了一种非接触式测量果树深度信息的方法;并结合计算机图像处理对果树进行了标定,实现果树的快速识别与定位,为采摘机器人运动轨迹规划提供了自主导航的参数。为了验证该方法的可靠性,在采摘机器人试验样机上安装了红外线测距和激光扫描快速定位装置,并通过左右两侧果树的导航路径拟合,得到了机器人的行走路径,通过对比红外线测距和激光扫描的结果发现,其拟合路径基本吻合,从而验证了该方法测量数据的可靠性。根据不同的树高对应的枝叶密度,利用计算机图像处理对果树进行了标定,最后利用激光扫描方法对标定后的果树进行了快速定位,并将结果和全站仪的结果进行了对比,结果表明:激光扫描和全站仪之间的最大误差仅为20mm。这说明,激光测量的精度较高,可以满足设计的需求。
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| 关 键 词： | 采摘机器人 红外线测距 激光扫描 快速定位 果树标定 |
Design for Picking Robot of Fruit Trees Fast Positioning-Based on Infrared and Laser Scanning Technology |
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| Abstract: | In order to improve the autonomous navigation capabilities and picking efficiency of the picking robot , realize the robot rapid fruit recognition and positioning , combined with infrared distance measuring sensors and computer image processing technology , it used laser scanning sensor with the advantages of small volume , low power , speed , anti-inter-ference characteristics .It put forward a method of non-contact measurement of fruit tree depth information , combined with computer image processing ,which is used to calibrate the fruit trees , realize the fruit fast identification and location , for the picking robot trajectory planning .It provides autonomous navigation parameters .In order to verify the reliability of the method , in picking robot experimental prototype installed infrared ranging and scanning laser rapid positioning de -vice , and the fruit trees on both sides of the navigation path fitting , robot walking path , through the contrast of infrared distance and laser scan .And from the scan results , it was found that the fitting path are basically consistent , which veri-fies the reliability of the measurement data .According to the different tree corresponds to high foliage density using com-puter image processing , which is used to calibrate the fruit trees , at last , fast location of calibration of fruit trees used la-ser scanning method and total station instrument results were compared .The maximum error between the laser scanner and total station is only 20mm, which indicate that the high precision of laser measurement can meet the design require -ments. |
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| Keywords: | picking robot infrared distance measurement laser scanning rapid positioning fruit calibration |
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