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| 西红柿采摘机器人视觉系统的设计与研究 | |
| 引用本文： | 吕小莲,吕小荣,卢秉福.西红柿采摘机器人视觉系统的设计与研究[J].传感器与微系统,2010,29(6). |
| 作者姓名： | 吕小莲 吕小荣 卢秉福 |
| 作者单位： | 1. 滁州学院,电子信息工程系,安徽,滁州,239000 2. 四川农业大学,信息工程学院,四川,雅安,625014 3. 黑龙江大学,科学研究院,黑龙江,哈尔滨,150080 |
| 摘 要： | 设计、开发了西红柿采摘机器人的双目立体视觉系统,为机器人自动化采摘作业提供条件。采用VFW方法进行了实时采集系统的设计;基于成熟西红柿与背景之间颜色特征的差异信息进行图像分割来识别成熟西红柿;在摄像头标定和形心匹配的基础上,通过三维立体重建获取了西红柿果实的空间位置信息。实验结果表明:视觉系统的成熟果识别率可达到98%,图像分割识别整个过程消耗平均时间0.21s;当工作距离小于500mm时,除个别奇异点,测试距离误差绝对值可控制在14mm以内,能较好满足实际工作需要。 |
| 关 键 词： | 立体视觉 VFW 特征识别 摄像机标定 形心匹配 定位 |
Design and research on tomato-harvesting robot visual system |
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| L Xiao-lian,L Xiao-rong,LU Bing-fu.Design and research on tomato-harvesting robot visual system[J].Transducer and Microsystem Technology,2010,29(6). | |
| Authors: | L Xiao-lian L Xiao-rong LU Bing-fu |
| Affiliation: | L(U) Xiao-lian,L(U) Xiao-rong,LU Bing-fu |
| Abstract: | Tomato-harvesting robot binocular stereo vision system has been designed and developed to make it possible for automatic picking up operation of matured tomatoes.Based on VFW method,image acquisition system is designed.The identification of visual system is developed through the difference between the color characteristics of ripe tomatoes and background.After accurate identification,the spatial location information is obtained through camera calibration and ripe tomatoes centroid matching.The experimental ... |
| Keywords: | stereo vision VFW feature identification camera calibration centroid matching location |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |