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基于立體視覺(jué)的水果采摘機(jī)器人系統(tǒng)設(shè)計(jì)
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Fruit Harvesting Robot Based on Stereo Vision
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    摘要:

    基于立體視覺(jué)建立了水果采摘機(jī)器人系統(tǒng)。在圖像空間利用Hough變換檢測(cè)出果實(shí)標(biāo),并利用隨機(jī)采樣目標(biāo)上均勻分布多個(gè)點(diǎn)的三維坐標(biāo)信息重建果實(shí)球模型,,進(jìn)而獲得目標(biāo)質(zhì)心的空間位置坐標(biāo),;通過(guò)最小二乘法研究了采摘機(jī)器人手眼標(biāo)定,;分析了采摘機(jī)器人的軌跡規(guī)劃。實(shí)驗(yàn)結(jié)果表明,,設(shè)計(jì)的自動(dòng)采摘系統(tǒng)可以有效地消除遮擋以及立體視覺(jué)匹配失效 等因素的影響,,目標(biāo)定位誤差小于8mm,顯著地提高了抓取的精度和可靠性,。

    Abstract:

    The automatic picking system of fruit harvesting robot was designed based on stereo vision. Firstly, the fruit objects were recognized in image space by using the Hough transform. Some pixels of each object obeying the uniform distribution in the image space were sampled randomly. Then the sphere model of fruit was constructed in 3-D space with these pixels, and the coordinates of the center of each fruit object were obtained directly. Secondly, hand-eye calibration was carried out through the least square method. Finally, the path planning of the harvesting robot was analyzed simply. Experimental results showed that the effects of the partial occlusion and invalidation of stereo matching in the presence of complex scene on the automatic picking system was weakened, and the positioning accuracy of the fruit object was less than 8mm. Therefore the reliability and precision of fruit gripping were improved significantly. 

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周俊,劉銳,張高陽(yáng).基于立體視覺(jué)的水果采摘機(jī)器人系統(tǒng)設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(6):158-162. Fruit Harvesting Robot Based on Stereo Vision[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(6):158-162.

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