自然场景下葡萄定位方法的研究  

Study on Grape Location Method in Natural Scene

作　　者：胡洋洋 马本学[1,2] 李小霞 HU Yang-yang;MA Ben-xue;LI Xiao-xia(College of mechanical and electrical engineering,Shihezi University,Shihezi 832000,Xinjiang,China;Key Laboratory ofNorthwest Agricultural Equipment of Ministry of Agriculture)

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832003 [2]农业部西北农业装备重点实验室

出　　处：《新疆农机化》2018年第4期13-15,共3页Xinjiang Agricultural Mechanization

基　　金：国家科技支撑计划项目(2015BAD19B03)

摘　　要：为提高葡萄采摘的自动化水平,降低采摘成本和劳动强度,提高经济效益。针对自然场景中的葡萄,在Visual Studio 2013开发环境中,使用双目立体视觉技术和图像处理技术实现针对自然场景中的葡萄的采摘定位。利用自行设计搭建的葡萄定位视觉系统试验平台进行田间试验,试验结果表明:当双目摄像机与葡萄的距离为500~1 000mm时,误差为1.2~5.5mm,满足葡萄采摘机器人要求,为葡萄采摘机器人的采摘点定位提供了理论依据。In order to improve the level of automation and intelligence of grape harvesting, reduce the cost of harvesting andlabor intensity, and improve economic efficiency. The software platform is based on the Visual Studio 2013 development en-vironment. The binocular stereo vision technology and image processing technology are used to realize the positioning andpositioning of the grapes. For the grapes in the natural scene, this paper uses the self-designed grape positioning visual systemexperimental platform for field experiment and experiment. The results show that when the distance between the binocularcamera and the grape is 500~1000mm, the error is 1.2~5.5mm, which meets the requirements of the grape picking robot andprovidesa theoretical basis for the picking point positioning of the grape picking robot.

关 键 词：自动化 定位 双目立体视觉 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]