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基于視覺組合的蘋果作業(yè)機(jī)器人識別與定位
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“十二五”國家科技支撐計(jì)劃資助項(xiàng)目(2011BAD20B07),、國家重點(diǎn)基礎(chǔ)研究發(fā)展計(jì)劃（973計(jì)劃）資助項(xiàng)目(2012CB723704)和國家博士后科學(xué)基金面上項(xiàng)目（2012M510622）


Identification and Location System of Multi-operation Apple Robot Based on Vision Combination
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    摘要:

    為實(shí)現(xiàn)機(jī)器人自動化采摘作業(yè),，設(shè)計(jì)了蘋果作業(yè)機(jī)器人識別與定位系統(tǒng),。模擬人類采摘過程,，采用單,、雙目視覺組合傳感器系統(tǒng),，克服了現(xiàn)有識別與定位系統(tǒng)對目標(biāo)到視覺傳感器距離的依賴性,。實(shí)現(xiàn)了對單,、雙目視覺系統(tǒng)的單獨(dú)和組合標(biāo)定,，與手動測量結(jié)果相比,，雙目視覺系統(tǒng)標(biāo)定后3個(gè)方向的標(biāo)準(zhǔn)偏差分別為3.4、1.2和1.2 cm,。提出了基于蘋果顏色,、形狀和位置特征的識別與定位方法，試驗(yàn)結(jié)果表明：當(dāng)工作距離為240 cm時(shí),，雙目視覺系統(tǒng)可以準(zhǔn)確識別并定位所有蘋果,，深度方向標(biāo)準(zhǔn)差為4.9 cm；當(dāng)工作距離為150 cm時(shí),，雙目視覺系統(tǒng)深度方向標(biāo)準(zhǔn)差為2.4 cm,；當(dāng)工作距離小于100 cm時(shí)，單目視覺傳感器測量目標(biāo)到傳感器距離的標(biāo)準(zhǔn)偏差為1.0 cm,。

    Abstract:

    In order to improve orchard automation, an identification and location system of apple picking robot was developed. In order to overcome dependence of existing system on the working distance, human picking process using a web camera and a Kinect sensor was imitated. Compared with manual measurements after calibration, the standard deviation of binocular vision in three directions were 3.4 cm, 1.2 cm and 1.2 cm, respectively. An apple detection and location method was developed based on color, shape and position. The results showed that when the working distance was about 240 cm, the mature apples can still be accurately identified and located, the standard deviation of binocular vision in depth direction was 4.9 cm. When the working distance was about 150 cm, the standard deviation of binocular vision in depth direction was 2.4 cm. When the working distance was less than 100 cm, the standard deviation in depth direction was less than 1.0 cm with web camera. 

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王輝,毛文華,劉剛,胡小安,李樹君.基于視覺組合的蘋果作業(yè)機(jī)器人識別與定位[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(12):165-170. Wang Hui, Mao Wenhua, Liu Gang, Hu Xiaoan, Li Shujun. Identification and Location System of Multi-operation Apple Robot Based on Vision Combination[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(12):165-170.

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  • 在線發(fā)布日期: 2012-12-13
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