基于双目视觉的番茄图像处理及采摘轨迹规划

针对番茄采摘自动化水平不高的问题，设计一种利用双目视觉采集系统和机器人定位技术的番茄采摘系统。利用双目立体视觉系统进行图像采集，构建模型并进行标定校正。通过图像处理技术将图像预处理，从而获得成熟番茄的具体轮廓；根据番茄类椭圆形状确定其中心点坐标，并将其转换为空间坐标，便于机器人末端执行器抓手进行定位采摘。针对各关节运动限制提出平滑性约束，通过改进蚁群算法，获得采摘抓手较平滑且距离最短的路径。仿真结果表明：该方法可基本满足采摘图像处理要求，能获得运动距离最短且平滑的路径，为实现番茄全自动化采摘提供参考。

Tomato Image Processing and Picking Trajectory Planning Based on Binocular Vision

Aimed at the low automation level of tomato picking, a tomato picking system combining binocular vision acquisition system and robot positioning technology was designed.Binocular stereo vision system was used for image acquisition, model construction and calibration.The image was preprocessed by image processing technology, so as to obtain the specific contour of the mature tomato.According to the tomato ellipse shape, the coordinates of the center point were determined and converted into space coordinates. It was convenient for the robot end effector gripper to locate and pick. Aimed at the motion limitation of each joint, the smoothness constraint was proposed. The ant colony algorithm was improved, and a smooth and shortest path for the picking gripper was obtained. The simulation results show that the method can basically meet the requirements of picking image processing,and can obtain the shortest and smooth path.It provides reference for realizing tomato fully automatic picking