CAJ | 학술논문

为了提高苹果采摘视觉识别系统的精度,增强视觉系统的抗干扰能力和自适应能力,设计了一种新的苹果采摘机器人激光视觉识别系统,可以直接获得层次关系的深度图像,实现了果园非结构化环境中果实的识别与定位. 为了测试激光识别系统苹果采摘机器人的采摘效果,在果园中对其采摘性能进行了测试:首先采用高清相机完成了对果实图像的采集,通过图像处理准确地实现了苹果的识别,在遮挡率低于50%时其识别率达到了90%以上;然后利用激光测距方法对苹果进行距离测量,成功定位了果实位置,其响应时间仅为3.58s,动作效率快,实现了苹果的高效率、高精度采摘功能.
위료제고평과채적시각식별계통적정도,증강시각계통적항간우능력화자괄응능력,설계료일충신적평과채적궤기인격광시각식별계통,가이직접획득층차관계적심도도상,실현료과완비결구화배경중과실적식별여정위. 위료측시격광식별계통평과채적궤기인적채적효과,재과완중대기채적성능진행료측시:수선채용고청상궤완성료대과실도상적채집,통과도상처리준학지실현료평과적식별,재차당솔저우50%시기식별솔체도료90%이상;연후이용격광측거방법대평과진행거리측량,성공정위료과실위치,기향응시간부위3.58s,동작효솔쾌,실현료평과적고효솔、고정도채적공능.
In order to improve apple-picking accuracy of visual identification system, enhance anti-interference ability and adaptive ability of visual system,it designs a new apple-picking robot with laser vision recognition system,which can direct access to the depth image of the relationship.It can realize the identification and localization of the unstructured en-vironment of orchard fruit.In order to test laser identification system of apple-picking robot in the orchard of the picking performance were tested.First of all, the high-definition camera completed the acquisition of fruit image, accurate im-plementation of the recognition of Apple by image processing, the recognition rate in shielding rate of less than 50% to more than 90%.Then the laser ranging method to measure the distance of apple and the successful positioning of the fruit position, its response time is only 3.58 s and fast operation efficiency, which realize the function of picking apples with high efficiency and accuracy.