| 西红柿采摘机器人视觉系统的研究 |
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| 引用本文： | 郭凯敏,崔天时,张桢,郭志强,朱铁欣,谢学刚.西红柿采摘机器人视觉系统的研究[J].农机化研究,2016(12):217-221,226. |
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| 作者姓名： | 郭凯敏 崔天时 张桢 郭志强 朱铁欣 谢学刚 |
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| 作者单位： | 东北农业大学,哈尔滨,150030 |
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| 基金项目： | 国家“863计划”项目(810028) |
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| 摘 要： | 针对果实采摘机器人果实识别率低的问题,设计了一组用于西红柿识别和定位的双目立体视觉系统,为机器人的采摘作业提供更有利的条件。为此,采用Bumblebee双目立体视觉系统,基于成熟果实与植株颜色特征的差异进行图像分割,来识别成熟的西红柿;在完成相机标定、特征点提取和特征点匹配的基础上,通过三维空间定位获取果实的三维坐标。实验结果表明:该系统果实识别的整个过程平均耗时150ms,对成熟西红柿的识别率达到99%,测试误差在10mm以内,能够较好地满足西红柿采摘工作的要求。
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| 关 键 词： | 农业机器人 双目立体视觉 相机标定 特征点提取 特征点匹配 三维重建 定位 |
Research on Tomato-harvesting Robot Visual System |
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| Guo Kaimin;Cui Tianshi;Zhang Zhen;Guo Zhiqiang;Zhu Tiexin;Xie Xuegang.Research on Tomato-harvesting Robot Visual System[J].Journal of Agricultural Mechanization Research,2016(12):217-221,226. |
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| Authors: | Guo Kaimin;Cui Tianshi;Zhang Zhen;Guo Zhiqiang;Zhu Tiexin;Xie Xuegang |
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| Institution: | Guo Kaimin;Cui Tianshi;Zhang Zhen;Guo Zhiqiang;Zhu Tiexin;Xie Xuegang;Northeast Agricultural University; |
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| Abstract: | Aimed at the problem of low recognition rate of fruit picking robots ,design a set of binocular stereo vision sys-tem is used to identify and locate tomato , provide more favorable conditions of picking robot operation .The Bumblebee binocular stereo vision system , the identification of visual system is developed through the difference between the color characteristics of ripe tomatoes and plant .after camera calibration , feature point extraction and feature points matching , the space coordinates is obtained through 3 D reconstruction .The experiment results show that the identification rate of the vision system can reach 99%,and identification average time is about 0.15s,the absolute error of distance-measuring can be controlled within 10mm.It can meet the needs of practical work very well . |
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| Keywords: | agricultural robot binocular stereo vision camera calibration feature point extraction feature points matc-hing 3 dreconstruction location |
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