基于激光视觉系统的苹果空间定位方法  

Spatial Locating Method of Apple Fruits Based on Laser Vision System

作　　者：冯娟[1,2] 曾立华[1,3] 刘刚[1] 马晓丹[1] 庞树杰[4] 周薇[1] 

机构地区：[1]中国农业大学现代精细农业系统集成研究教育部重点实验室,北京100083 [2]河北农业大学信息科学与技术学院,保定071001 [3]河北农业大学机电工程学院,保定071001 [4]中国农业机械化科学研究院,北京100083

出　　处：《农业机械学报》2013年第S1期236-239,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(31071333);保定市科学技术研究与发展计划资助项目(12ZG011);中国农业大学博士创新基金资助项目(2013YJ008)

摘　　要：为了准确引导机械臂接近苹果目标,避免机器视觉研究中复杂的立体匹配过程,在识别苹果的基础上,提出了一种基于激光视觉系统的苹果空间定位方法。根据该系统的构成、扫描及运动控制特点,建立了激光视觉系统坐标系,用于表示目标的三维空间信息;进行了图像坐标系、视觉系统坐标系及机械臂坐标系间的转换,用于为机械臂的运动控制提供指向性数据。通过对果园环境下苹果的抓取实验可知:当特征参数准确提取率RRC大于90%时,机械臂的准确抓取率为100%。In order to guide robot arm to be close to apple target accurately,and avoid complex stereo matching of machine vision,a fruit locating method based on laser vision system was presented.According to the features of the system structure,scanning and motion controlling,a coordinate system of laser vision system was established,which was used to represent 3-D spatial information of target.Three different kinds of coordinate systems were transformed for offering directional data to robot arm,which separately belonged to image,laser vision system and robot arm.The grabbing experiment in orchard showed that the accurate grabbing ratio of robot arm was 100% while recognition index RRC was more than 90%.

关 键 词：苹果 激光视觉系统 机械臂 坐标转换 空间定位 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]