番茄采摘机器人识别与定位技术研究进展

Research progress on recognition and localization technology of tomato picking robot

番茄采摘作业的复杂性,使得采摘自动化发展困难重重,对番茄果实正确识别与定位影响番茄采摘行业自动化进程。简要阐述当前番茄采摘机器人的研究现状,总结分析番茄采摘机器人识别与定位相关技术,并对普通情况下成熟番茄、重叠番茄、绿熟番茄、串番茄、番茄采摘点、夜间成熟番茄的识别与定位技术进行介绍,对成熟番茄的检测与分类方法进行总结,分析当前番茄采摘机器人识别与定位技术存在的主要问题,并对未来的研究重点进行展望,为深入研究番茄采摘机器人识别与定位技术提供参考。

The complexity of tomato picking operation makes the development of picking automation difficult.The correct identification and positioning of tomato fruit affects the automation process of tomato picking industry.It was briefly expounded the current research status of tomato picking robots,summarized and analyzed the technology of tomato picking robot recognition and localization,and analyzed the mature tomato,overlapping tomato,green ripe tomato,string tomato,tomato picking point and mature tomato at night.The methods of identification and localization were introduced.The methods of detection and classification of mature tomato were summarized.The main problems of current tomato picking robot recognition and localization technology were analyzed.The future research focus was also prospected.It provides a reference for identification and positioning technology of tomato picking robot.