基于主动计算机视觉的茶叶采摘定位技术  

Positioning Method for Tea Picking Using Active Computer Vision

作　　者：张浩[1] 陈勇[1] 汪巍[1] 张国路 

机构地区：[1]南京林业大学机械电子工程学院,南京210037

出　　处：《农业机械学报》2014年第9期61-65,78,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：'十二五'国家科技支撑计划资助项目(2011BAD20B07)

摘　　要：为解决名优茶智能采摘的茶叶嫩梢定位问题,提出了一种基于主动视觉的嫩梢定位方法,并据此开发了一套视觉定位系统。针对茶叶采摘工作面特点设计了交叉投影与摄像光路;基于色彩因子法实现了自然环境下茶叶嫩梢的识别;重点研究了利用光栅投影轮廓术实现茶叶嫩梢高度信息获取。光栅投影轮廓术采用时间相位法获取光栅场的相位,并利用判别机制和形态滤波器去除噪声点,以多项式逼近法计算高度克服非线性误差。试验结果表明,基于光栅投影法的茶叶嫩梢定位系统,能够有效识别嫩梢并获取其三维信息,为研究名优茶智能采摘机解决了茶叶嫩梢定位问题。For the intelligent tea picking machine, the positioning of tea tips was a difficult procedure. A positioning method based on active computer vision and corresponding visual system were proposed to solve this problem. First, according to the characteristics of the tea picking surface, a cross light path of projection and camera was designed; then the recognition approach of tea tips based on the color factor was developed in natural environment; furthermore, fringe projection profilometry was studied to acquire the height information of tea tips. In fringe projection profilometry, the temporal phase unwrapping method was used to obtain the phase maps, the invalidity identification framework and morphological filter were designed to remove noise points, and a polynomial approximation method which can reduce the nonlinear error was applied to calculate the height. The experimental results show that the positioning system for tea tips based on fringe projection technology can effectively recognize the tips and extract their three-dimensional information, which can help new tea picking machine to realize the positioning function.

关 键 词：茶叶 采摘定位 主动计算机视觉 光栅投影轮廓术 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置] S571.1[自动化与计算机技术—控制科学与工程]