温室环境下黄瓜采摘机器人信息获取

Information Acquisition for Cucumber Harvesting Robot in Greenhouse

研究基于近红外图像的黄瓜果实与茎叶的信息表达方法,有效实现了近色系生物信息的图像识别。分析了黄瓜采摘深度图像信息的特点,通过建立基于灰度相关与极线几何相结合的匹配策略实现了双目视觉下的黄瓜抓取点的立体匹配和三维重建。研究温室环境下不同时间光照强度变化特点,建立了光照分析模型,提高了不同光照条件下的导航线提取的适应性。试验表明机器人视觉系统能有效识别、定位果实的空间位置,定位误差控制在±5mm以内。

By analyzing characteristic information of depth image for robotic fruit-picking,a combinatorial optimization matching algorithm based on epipolar geometry and gray correlation constraints was discussed,to improve target precision with convergent binocular stereovision system.Furthermore,a light analysis model was established by comparing the influence of illumination intensity variation on the navigation detection under different time scale,which was beneficial to the processes of robotic autonomous navigation. The experimental results showed that the visual system can detect the target of cucumbers with the positioning error in a ± 5 mm range.