农业机械学报2011，Vol.42Issue(2)：154-157,4.
黄瓜采摘机器人远近景组合闭环定位方法
Feedback Locating Control Based on Close Scene for Cucumber Harvesting Robot
摘要
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 2 mm, which met the demands of the robotic harvesting operation.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Key words
Cucumber/Harvesting robot/Machine vision/Feature recognition/Terminal locating/ Feedback control分类
信息技术与安全科学引用本文复制引用
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):154-157,4.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) （863计划）
