果实成熟度识别机器人设计——基于近红外线信号处理

Recognition of Fruit Maturity——Based on Near Infrared Signal Processing

为了提高采摘机器人自动识别果实成熟度的智能化水平,提高果实识别的准确性,实现机器人自主定位和自动规划路径能力,设计了一种新的自动化采摘机器人。该机器人利用图像分割技术和近红外信号处理技术,实现了果实成熟度的自动定位和判别。对采摘机器人的性能进行了测试,包括苹果图像的分割和提取、果实成熟度的判断和机器人路径规划。通过测试发现:机器人可以在复杂采摘背景下准确地识别苹果果实,并可以通过红外线探测实现果实成熟度的判别,最终规划出来合理的采摘路径,实现果实的精准采摘,为果蔬采摘机器人的研究提供了较有价值的参考。

In order to improve the picking robot automatic identification of fruit maturity level of intelligence,improve fruit recognition accuracy,robot self localization and automatic planning path capacity design a new automatic picking robot,the robot using image segmentation technique and near infrared signal processing technology,to realize the automatic positioning of fruit maturity and discriminant. The performance of the picking robot was tested,including the segmentation and extraction of the apple image,the judgment of the fruit maturity and the path planning of the robot. Through the test found that the robot can be in complex picking background accurate recognition of apple fruit,and can be in infrared light to achieve the identification of fruit maturity. Finally,plan out the reasonable picking path,to obtain the fruit of accurate picking,for the fruit picking robot research provides a valuable reference.