Apple fruitlet bagging robot visual positioning method
A visual positioning and robot technology, applied in the direction of optical devices, instruments, image data processing, etc., can solve the problems of complex structure, difficult positioning, low robustness, etc.
Inactive Publication Date: 2015-07-15
SHENYANG LIGONG UNIV
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[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 achieve positioning. Such visual positioning The system has strong limitations, complex structure and low robustness
When the environment changes and the difference between the foreground and background colors of the image is small, it is difficult to perform accurate positioning
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[0086] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0087] For connection methods of various devices, see figure 1, a method for visual positioning using an apple bagging robot in this preferred embodiment, due to the need to simulate human eyes, i.e. a binocular camera, and the need for higher camera configuration requirements, general camera devices cannot meet the requirements, so Need 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 that it gathers stored in the 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 positioning program ...
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The invention relates to a robot visual positioning method, in particular to an apple fruitlet bagging robot visual positioning system and method 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 method for visual positioning of a robot, more specifically, to the composition of a precise positioning system for an apple bagging robot 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. Most of the vis...
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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