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Design of structured-light vision system for tomato harvesting robot

International Journal of Agricultural and Biological Engineering 2014年第2期7卷 19-26页

作者： Feng Qingchun Cheng Wei Zhou Jianjun Wang Xiu Beijing Research Center of Intelligent Equipment for Agriculture Beijing 100097China Zhejiang University of Technology Hangzhou 100085China

In order to improve the operating precision of the harvesting robot,a vision system for intelligently identifying and locating the mature tomato was *** active detection method based on structured-light stereo vision was expected to deal with the problem of variable illumination and target occlusion in the *** maximum between-cluster variances of hue(H)and saturation(S)value were adopted as the threshold for color segmentation,which weakened the impact on the image caused by the light intensity *** the limit on the pixel size and circularity of the candidate areas,the vision system recognized the fruit area and removed the noise *** fruit’s 3D position was computed on the basis of spatial relationship between the laser plane and the camera,when the linear laser was projected on the centre area of the mature *** blue view-scanning laser stripe pixels on the mature fruit were extracted according to its Cb color *** the field test results show,the measurement error on the fruit radius is less than 5 mm,the centre distance error between the fruit and camera is less than 7 mm,and the single axis coordinate error is less than 5.6 *** structured-light vision system could effectively identify and locate mature fruit.

关键词： harvesting robot tomato linear structure-light 3D measurement feature extraction

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