Apple fruitlet bagging robot visual positioning method

A technology of robot vision and positioning method, applied in the field of visual positioning system, which can solve problems such as difficult positioning, low robustness, and strong limitations of visual positioning system

Inactive Publication Date: 2013-07-10
SHENYANG LIGONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] There are also some people in China who have conducted research on this problem and achieved certain results. Most of the visual positioning systems currently developed are based on processing images with large differences in foreground and background colors to achie

Method used

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  • Apple fruitlet bagging robot visual positioning method
  • Apple fruitlet bagging robot visual positioning method
  • Apple fruitlet bagging robot visual positioning method

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Embodiment Construction

[0085] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0086] For connection methods of various devices, see figure 1 , the apple bagging robot visual positioning method based on machine vision of this preferred embodiment needs to simulate human eyes, i.e. a binocular camera, and requires higher camera configuration requirements, and general camera devices cannot meet the requirements, so it is required A kind of binocular camera device 2, what choose in the present invention is industrial CCD binocular camera, it is installed on the bagging robot, is used for collecting the image of apple fruit tree and apple young fruit, and the image storage that it gathers to storage device 3. The image processing program 4 in the processor 6 reads the two images captured by the left-eye and right-eye cameras from the storage device 3, performs image processing, and passes the processed data to the positionin...

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Abstract

The invention relates to a visual positioning method using an apple fruitlet bagging robot, in particular to an apple fruitlet bagging robot visual positioning system based on machine vision. The method is capable of carrying out accurate image processing and analysis on apple fruitlets, positioning the apple fruitlets accurately and fast through algorithms, determining accurate positions of the fruitlets, and guiding a mechanical arm to accomplish the bagging work. The method comprises a hardware part and a software part, wherein the hardware part comprises an image collecting device, a storage device, a processor and a controller, and the software part comprises an image processing program and a positioning program. The apple fruitlet bagging robot visual positioning method is achieved by ROI extraction, graying, image intensification, image segmentation, camera calibration, image epipolar line calibration, image feature extraction and matching, and image three-dimensional reconstruction.

Description

technical field [0001] The present invention relates to a visual positioning system of a robot, and more specifically, to the composition and realization method of an apple bagging robot precise positioning system based on machine vision. Background technique [0002] With the rapid development of my country's overall agricultural science and technology level and high-tech industries, the application research of new technologies such as artificial intelligence and machine vision in agricultural machinery has been highly valued. Due to the gradual shortage of labor resources today, the country attaches great importance to the research of agricultural robots, and the research of robot vision is one of the important contents of the research of agricultural robots, so designing a visual precise positioning system to guide the robot to work has become a very urgent task. Task. [0003] Some people in China have also conducted research on this problem and achieved certain results...

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Application Information

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IPC IPC(8): G06T7/00G01B11/00A01G13/02
Inventor 高宏伟李斌刘哲洪坤于洋
Owner SHENYANG LIGONG UNIV
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