Fruit identification method of picking robots based on laser vision systems
A picking robot and vision system technology, applied in the field of fruit picking robot fruit recognition based on laser vision system, can solve problems such as target recognition rate and positioning accuracy limitation
Inactive Publication Date: 2014-04-02
CHINA AGRI UNIV
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From the existing literature, the visual system of picking robots mostly uses cameras or video cameras with CCD or CMOS as image sensors as key components. When analyzing and processing images captured by them, nonlinear lighting changes and complex environments The background limits the recognition rate and positioning accuracy of the target. In contrast, the 3D image generated by scanning with the laser vision system has strong anti-interference to light changes, and it is easy to understand the size, shape, and location of the work object. The external environment and the positional relationship with other job objects
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[0053] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0054]The laser vision system used in the picking robot fruit recognition method based on the laser vision system of the present embodiment is as follows: figure 1 As shown, the main hardware includes: laser range finder, linear transmission mechanism driven by stepping motor, unit controller and host computer, etc. Among them, the laser rangefinder is based on the principle of time-of-flight measurement, and changes the angle of the incident light through the internal rotating mirror to detect the distance information of the object existing in the two-dimensional sector. Rotate the laser rangefinder 90° counterclockwise and fix it on the slide table of the linear transmi...
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The invention discloses a fruit identification method of picking robots based on laser vision systems, and relates to the technical field of image identification and processing. The method includes the following steps: capturing local distance information of fruiters with constructed laser vision systems, and generating three-dimensional images marking scene far and near characteristics by using the contact relation between distance values and gray values; sliding the three-dimensional images; and calculating centroid coordinates and semi-diameters of fruits in the three-dimensional images by using the chain code tracking technology and random circle detection method. According to the fruit identification method of picking robots based on laser vision systems, accurate identification of robots on agricultural product fruits is achieved.
Description
technical field [0001] The invention relates to the technical field of image recognition and processing, in particular to a method for recognizing fruits of a picking robot based on a laser vision system. Background technique [0002] Agricultural robot is the robot with the fastest research progress in the 21st century. It is a kind of flexible automation or semi-automatic equipment that uses agricultural products as the operating object, simulates human intelligent perception and action functions, and can be programmed repeatedly. It is mainly used in fields such as transplanting, grafting, spraying, picking, and fruit grading. Picking is one of the most important links in fruit production. The research on it will solve the labor shortage, reduce the labor intensity of workers, improve the labor comfort of workers, reduce the harm of agricultural chemical fertilizers and pesticides to the human body, improve the quality of picked fruits and vegetables, and reduce the impac...
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IPC IPC(8): G06K9/00G01B11/24G01B11/08
Inventor 刘刚冯娟任雯周薇
Owner CHINA AGRI UNIV