苹果采摘机器人对振荡果实的快速定位采摘方法  

Fast positioning method of apple harvesting robot for oscillating fruit

作　　者：吕继东[1] 赵德安[1] 姬伟[1] 陈玉[1] 沈惠良[1] 张颖[1] 

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《农业工程学报》2012年第13期48-53,I0002,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家"863"高新技术发展计划基金(2006AA10Z254)资助项目;教育部博士点基金(20093227120013)资助项目;江苏高校优势学科建设工程资助项目;江苏省普通高校研究生科研创新计划(CXZZ11_0573)资助项目

摘　　要：为解决由于果实振荡影响采摘机器人采摘效率的问题,该文研究了苹果采摘机器人在果实振荡状况下的快速采摘方法。首先对振荡果实进行动态连续采集,其次对所采集的图像进行振荡果实识别并提取其二维质心坐标,然后由FFT建模,求取果实的振荡周期,在测得振荡果实的深度距离后,计算出采摘机器人直动关节的行程速度,随即开始采摘,抓取时果实正处于平衡位置。最后通过试验可知,采摘成功率达到84%,对于果实静态状况下采摘速度较快的采摘机器人来说,采摘振荡果实,该研究方法明显优于以往采摘方法,能够显著提高采摘机器人果实采摘的整体速度。此外,该采摘方法简单、通用性好,可满足苹果等类球状果实采摘机器人的需要,对实现其实用化和商品化提供参考。A kind of fast positioning and harvesting method in oscillation condition for the harvesting robot was researched in order to solve the problem of fruit oscillation influence on harvesting efficiency of harvesting robot.Firstly,it needs to obtain the dynamic and continual images of the oscillatory fruit,then images are recognized and its two-dimensional centroid coordinates are extracted,and then the fruit oscillation period is calculated by FFT algorithm.With measurement of the depth distance of the oscillating fruit,the forward moving speed of the translation joint for the harvesting robot is calculated,and then the harvesting robot starts to harvest,the oscillatory fruit is in balance when it is grabbed.The test results showed that the rate of successful harvesting was 84%,the presented method was better than ever before harvesting method for the oscillating fruit harvest and this method can significantly improve the harvesting speed.In addition,this method is simple and universal,can meet the need of apple and other near-spherical fruit harvesting robot,and the method can provide a reference for realization of practicability and commercialization.

关 键 词：采摘 机器人 图像处理 振荡周期 快速傅立叶变换 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]