葡萄采摘机械臂的双目定位与抓取精度研究  

Research on Binocular Positioning and Grasping Accuracy of Grape Picking Manipulator

作　　者：杨皓天 万腾[1] Yang Haotian;Wan Teng(Baicheng Normal University,Baicheng 137000,China)

机构地区：[1]白城师范学院,吉林白城137000

出　　处：《农机化研究》2022年第12期49-54,共6页Journal of Agricultural Mechanization Research

基　　金：吉林省大学生创新创业训练项目(201910206071)。

摘　　要：双目视觉定位技术是机器人领域对于环境感知的常用技术,特点是参照人眼对环境的认识原理,利用在水平方向设置的固定距离的两个摄像设备获取空间环境数据,指导机器人准确执行预期工作。在葡萄采摘机器人的研发过程中,双目视觉定位是采摘目标定位的关键技术。葡萄采摘对于定位精准度的要求很高,以双目视觉定位技术为基础,配合合理的图像提取逻辑和计算机算法,可有效提高机械臂对葡萄果柄剪切和夹取的准确性。为此,从视觉识别的角度出发,设计了双目相机的功能分配与葡萄采摘关键特征的提取逻辑,优化了双目视觉定位的相机标定、立体匹配和深度计算等关键过程。同时,对葡萄基体的识别与分区和果柄的几何特征与位置确定进行了详细设计,分析了双目定位技术在葡萄采摘机械臂中应用存在的采摘失效的主要因素,并对葡萄采摘自动化技术的进一步提升进行了总结。Binocular vision positioning technology is a common technology for environment perception in the field of robot,which is characterized by referring to the principle of human eye's understanding of the environment,using two camera devices with fixed distance set in the horizontal direction to obtain the space environment data and guide the robot to accurately perform the expected work.In the research process of grape picking robot,binocular vision positioning is the key technology of picking target positioning.Because of the high requirements of grape picking for positioning accuracy,based on binocular vision positioning technology,combined with reasonable image extraction logic and computer algorithm,the accuracy of grape stalk cutting and clamping can be effectively improved.From the perspective of visual recognition,the function allocation of binocular camera and the extraction logic of key features of grape picking were studied and designed.The camera calibration,stereo matching,depth calculation and other key processes of binocular vision positioning were optimized.The recognition and partition of grape matrix and the determination of geometric features and position of fruit stalk were designed in detail.The application of binocular positioning technology in grape picking was analyzed The main factors of grape picking failure in the application of grape picking manipulator were analyzed,and the further improvement of grape picking automation technology was summarized.

关 键 词：葡萄 采摘机械臂 双目定位 抓取精度 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]