摘要
为提高草莓采摘作业的自动化程度,设计一种基于图像识别技术的草莓采摘机,通过双目视觉进行草莓的空间坐标定位及初始图像获取,基于Lab颜色空间完成图像识别,以草莓轮廓图像及对称轴定位其采摘点,确定草莓空间采摘位置;采用先夹持草莓梗定位后切断草莓梗的二级结构及3组丝杠滑块机构,完成采摘手结构设计。经检测,识别系统成功率可达98.48%,系统的识别精度、定位准确性较好,且采摘手结构简单、工作可靠,能够满足采摘要求。研究为温室内高垄栽培草莓的自动采摘提供参考。
In order to improve the automation degree of strawberry harvesting operation,a strawberry harvester based on image recognition technology was designed.Through binocular vision,the spatial coordinates of strawberries were located and the initial images were obtained.The system achieves image recognition based on Lab color space,and locates the harvesting point with strawberry contour image and symmetry axis so as to determine the spatial harvesting position of strawberries.A two-stage structure,which first clamps the strawberry stem for positioning and then cutting it off,and three groups of screw slider mechanisms were adopted to complete the structure design of harvesting manipulator.The success rate of the recognition system can reach 98.48%through measurement.The recognition accuracy and positioning accuracy of the system are good,and the manipulator is simple in structure and reliable in operation,which can meet the requirements of harvesting.The study can provide a reference for automatic strawberry harvesting in greenhouse.
作者
李昭
张耀艺
耿宇航
谢颖佳
孙建明
LI Zhao;ZHANG Yaoyi;GENG Yuhang;XIE Yingjia;SUN Jianming(Department of Packaging Engineering,Henan University of Science and Technology,Luoyang 471023,China;Henan Engineering Research Center of Intelligent and Protective Packaging Design,Luoyang 471023,China;School of Intelligent Manufacturing and Automotive Engineering,Luoyang Vocational College of Science and Technology,Luoyang 471822)
出处
《包装与食品机械》
CAS
北大核心
2023年第1期70-74,共5页
Packaging and Food Machinery
基金
河南科技大学大学生研究训练计划项目(2021214)。
关键词
草莓采摘
图像识别
双目视觉
采摘手
strawberry harvesting
image recognition
binocular vision
harvesting manipulator
