基于CMOS传感器的采摘机器人计算机视觉系统研究  

Research on Computer Vision System of Picking Robot Based on CMOS Sensor

作　　者：魏宏飞[1] 张季萌[1] Wei Hongfei;Zhang Jimeng(Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2022年第12期221-224,229,共5页Journal of Agricultural Mechanization Research

基　　金：河南省高等教育教学改革研究与实践项目(2019SJGLX69,2019SJGLX630)。

摘　　要：为了提高采摘机器人计算机视觉系统的性能、简化机器人视觉系统的硬件结构,将COMS传感器引入到了采摘机器人视觉系统的设计上,并通过对图像处理系统的集成实现了传感器采集图像的增强处理,为果实定位提供了更加可靠的数据。为了验证COMS传感器在视觉系统中使用的可靠性,通过仿真模拟的方法对比了多种传感器,结果表明:COMS传感器与CCD、激光扫描得到的定位数据相吻合,可靠性较好。In order to improve the performance of the computer vision system of picking robot and simplify the hardware structure of the robot vision system,it introduced COMS sensor into the design of the vision system of the picking robot,and through the integration of the image processing system,and it realized the enhanced processing of the sensor acquisition image,which provides more reliable data for the fruit positioning.In order to verify the reliability of COMS sensor used in vision system,the simulation results of various sensors are compared by simulation method.The simulation test results show that the positioning data of COMS sensor and CCD and laser scanning are consistent,so it verified the reliability of sensor function.

关 键 词：采摘机器人 视觉系统 COMS传感器 仿真模拟 图像增强 

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