采摘机器人定位导航系统设计—基于机载三维激光成像电力巡线

Design of Positioning and Navigation System for Picking Robot Power Patrol Line Based on Airborne Three-dimensional Laser Imaging

采摘机器人作为一种典型的农业机器人,一直未得到普及,其主要受限于果实空间分布的不规律性,以及存在视觉定位及采摘方式等技术难题。为此,将机载三维激光成像电力巡线技术引入到采摘机器人的定位导航系统的设计过程中,通过果实的圆形检测和三维重构来确定果实的质心坐标,以提高采摘机器人导航视觉的精度和效率。为了验证方案的可行性,对果实图像采集和处理的准确性进行了测试,结果表明:视觉导航系统可以成功得到标准的圆形图像,通过三维重构后,质心坐标的计算结果和测量结果基本吻合,且对果实的成功识别率较高,从而验证了方案的可靠性。

As a typical agricultural robot,it has not been popularized for harvesting robot.It is mainly limited by the irregularity of fruit spatial distribution,and the technical problems of visual positioning and harvesting methods.Based on this,it introduced the airborne three-dimensional laser imaging power line patrol technology into the design process of the picking robot’s positioning and navigation system.The centroid coordinates of the fruit are determined by the circle detection and three-dimensional reconstruction of the fruit,so as to improve the accuracy and efficiency of the picking robot’s navigation vision.It tested the accuracy of fruit image acquisition and processing in order to verify the feasibility of the scheme.The test results show that the visual navigation system can successfully obtain the standard circular image.After three-dimensional reconstruction,the calculation results of centroid coordinates are basically consistent with the measurement results.The successful recognition rate of fruit by the picking robot navigation system is higher,which verifies the scheme reliable.