农业机械学报2012，Vol.43Issue(z1)：250-255,6.DOI:10.6041/j.issn.1000-1298.2012.S0.052
荔枝采摘机械手视觉定位系统设计
Design of Visual Position System for Litchi Picking Manipulator
摘要
Abstract
A visual positioning system of litchi picking manipulator was established based on the binocular stereo vision. By analyzing the color features of mature litchi, the YCbCr color model was selected. The Otsu algorithm was combined with fuzzy C-means clustering (FCM) to segment litchi fruit and peduncle. The experimental results showed that the effective recognition accuracy of litchi fruit and peduncle reached to 94. 2% . The maximum distance between the fruit centroid and peduncle was calculated to determine litchi picking point. The color image matching method based on hue component of color image and the limiting binding method were used to achieve the stereo match of picking point, which realized the spatial position of picking point. Through the analysis of position error, the linear interpolation method was used to realize the positioning error compensation. The positioning experimental results showed that the depth value error was less than 10 mm, which could satisfy the visual accurate position requirements of litchi manipulator.关键词
荔枝/采摘机械手/机器视觉/图像识别/空间定位Key words
Litchi/ Picking manipulator/ Machine vision/ Image recognition/ Spatial positioning分类
信息技术与安全科学引用本文复制引用
熊俊涛,邹湘军,彭红星,吴定中,朱梦思..荔枝采摘机械手视觉定位系统设计[J].农业机械学报,2012,43(z1):250-255,6.基金项目
国家自然科学基金资助项目(31201135、31171547、51175189)和广东省自然科学基金资助项目(S2011010001933) （31201135、31171547、51175189）
