| 黄瓜采摘机器人远近景组合闭环定位方法 |
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| 引用本文： | 冯青春,袁 挺,纪 超,李 伟.黄瓜采摘机器人远近景组合闭环定位方法[J].农业机械学报,2011,42(2):154-157. |
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| 作者姓名： | 冯青春 袁 挺 纪 超 李 伟 |
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| 作者单位： | 中国农业大学工学院,北京,100083 |
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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(2007AA04Z222)和高等学校博士点专项科研基金资助项目(200800191014) |
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| 摘 要： | 针对黄瓜采摘机器人远景定位精度不高，以致切伤果实和茎蔓的问题，设计了一种基于机器视觉具有空间位置反馈功能的末端执行器。对温室环境下黄瓜果实采摘区域图像信息获取方法加以研究，综合HIS色彩空间H、S分量进行阈值分割，结合RGB色彩空间G通道边缘分布特征以及黄瓜形状特征，提取黄瓜采摘区域。基于摄像机线性透视模型，研究了采摘切割点空间定位方法，最终向采摘机械臂控制器反馈位置微调信息。采用远近景组合闭环定位方法，对采摘目标进行闭环定位，有效地解决了采摘机器人一次远景定位误差较大的问题。试验结果表明，排除温室复杂光照情况，机器人末端执行器定位精度达到2mm，满足采摘作业要求。
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| 关 键 词： | 黄瓜 采摘机器人 机器视觉 特征识别 末端定位 闭环控制 |
Feedback Locating Control Based on Close Scene for Cucumber Harvesting Robot |
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| Feng Qingchun,Yuan Ting,Ji Chao and Li Wei.Feedback Locating Control Based on Close Scene for Cucumber Harvesting Robot[J].Transactions of the Chinese Society of Agricultural Machinery,2011,42(2):154-157. |
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| Authors: | Feng Qingchun Yuan Ting Ji Chao and Li Wei |
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| Institution: | China Agricultural University;China Agricultural University;China Agricultural University;China Agricultural University |
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| Abstract: | In order to improve locating accuracy of cutting point and avoid injury of fruit and stem for cucumber harvesting robot, an end-effector with special position feedback was developed based on machine vision. As the differences of H and S distribution on HIS space between cucumber and background, the thresholds was used for image segmentation. Subsequently, the region for robotic harvesting was extracted with edge detection on G channel of RGB space and shape features analysis. Upon the data from the firstly locating system, the spatial coordinate of the cutting point was acquired with respect to the model of linear projection. The position correction was fed back to the robot controller. The results showed that the maximum error for the cutting point location was less than 2mm, which met the demands of the robotic harvesting operation. |
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| Keywords: | Cucumber Harvesting robot Machine vision Feature recognition Terminal locating Feedback control |
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