基于双目立体视觉的挤奶机自动奶杯套杯技术研究  

Research on Automatic Teatcup Attaching Technology of Milking Machine Based on Binocular Stereo Vision

作　　者：李小明 杨开锁 李军辉[1] 陈向东[1] LI Xiao-ming;YANG Kai-suo;LI Jun-hui;CHEN Xiang-dong(Beijing Vocational College Agriculture,Beijing 102442)

机构地区：[1]北京农业职业学院,北京102442

出　　处：《中国奶牛》2020年第12期42-45,共4页China Dairy Cattle

摘　　要：为了突破挤奶机器人关键技术,推动挤奶机器人国产化,提出了基于双目立体视觉的挤奶机自动奶杯套杯方法,设计了基于双目立体视觉的自动奶杯套杯实验装置,以滑台模组为三维运动基础构件,采用双目立体视觉技术进行仿真乳头的识别与定位,依据双目立体视觉系统对仿真乳头末端识别和定位的结果,控制滑台模组的空间运动。通过相机标定、图像分割、立体匹配、三维重建等实验过程,实现了自动奶杯套杯实验装置对仿真乳头的自动奶杯套杯。结果表明,基于双目立体视觉的自动奶杯套杯实验装置,能够成功进行自动奶杯套杯且定位误差较小。In order to break through the key technology of milking robots and promote the localization of milking robots,this article proposed an automatic teatcup attaching method for milking machines based on binocular stereo vision,and designed an experimental automatic teatcup attacher based on binocular stereo vision.The module was the basic component of three-dimensional motion.It utilized binocular stereo vision technology to identify and locate the simulated nipple.According to the result of the recognition and positioning of the end of the simulated nipple by the binocular stereo vision system,it controlled the spatial movement of the slide module.Through the experimental processes of camera calibration,image segmentation,stereo matching,and three-dimensional reconstruction,the automatic teatcup attaching of the artificial nipple was realized by the experimental automatic teatcup attacher.The results showed that the experimental automatic teatcup attacher based on binocular stereo vision could successfully carry out automatic teatcup attaching and the positioning error was small.

关 键 词：双目立体视觉 挤奶机器人 自动奶杯套杯 奶牛 

分 类 号：S8-1[农业科学—畜牧兽医]