基于立体视觉的水果采摘机器人系统调研报告

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1、基于立体视觉的水果采摘机器人系统调研报告摘要：基于立体视觉逑立了水果采摘机器人系统。在图像空叫利用Hough变换检测出果实y标,并利川随机采样B标上均匀分布多个点的三维坐标信息重建果实球模型,进而获得0标质心的空间位a叱标；通过最小二乘法研究了采摘机器人手眼标定；分析了采摘机器人的轨迹规划。实验结果表n几设计的A动采摘系统4以有效地消除遮挡以及立体视觉匹配失效等因素的影响，FI标定位误差小于8mm，显著地提高了抓取的精度和町靠性。关键词：采摘机器人立体视觉手眼标定识别ResearchReportoffruitpickingrobotsystembasedonstereovisionAbst

2、ract：Afruitpickingrobotsystembasedonstereovisionisestablished.IntheimagespacebyusingHoughtransformtodetecttargetfruit,andtherandomsamplingofmultiplepointreconstructionof3Dcoordinateinformationfruitballmodelareuniformlydistributedtarget，andthenobtainthespatialpositioncoordinatesofthetargetcentroid;

3、bytheleastsquaresmethodofpickingrobothandeyecalibration;analysisofthepickingrobottrajectoryplanning.Theexperimentalresultsshowthatthedesignoftheautomaticpickingsystemcaneffectivelyeliminateocclusionandtheinfluenceofthestereovisionmatchingfailureandotherfactors，targetlocationerrorislessthan8mm，sign

4、ificantlyimprovetheaccuracyandreliabilityofthecrawl.Keywords:pickingrobot；stereovision；handeyecalibration；identification基于立体视觉的水果采摘机器人系统调研报告摘要：基于立体视觉逑立了水果采摘机器人系统。在图像空叫利用Hough变换检测出果实y标,并利川随机采样B标上均匀分布多个点的三维坐标信息重建果实球模型,进而获得0标质心的空间位a叱标；通过最小二乘法研究了采摘机器人手眼标定；分析了采摘机器人的轨迹规划。实验结果表n几设计的A动采摘系统4以有效地消除遮挡以及立体视觉匹

5、配失效等因素的影响，FI标定位误差小于8mm，显著地提高了抓取的精度和町靠性。关键词：采摘机器人立体视觉手眼标定识别ResearchReportoffruitpickingrobotsystembasedonstereovisionAbstract：Afruitpickingrobotsystembasedonstereovisionisestablished.IntheimagespacebyusingHoughtransformtodetecttargetfruit,andtherandomsamplingofmultiplepointreconstructionof3Dcoordin

6、ateinformationfruitballmodelareuniformlydistributedtarget，andthenobtainthespatialpositioncoordinatesofthetargetcentroid;bytheleastsquaresmethodofpickingrobothandeyecalibration;analysisofthepickingrobottrajectoryplanning.Theexperimentalresultsshowthatthedesignoftheautomaticpickingsystemcaneffective

7、lyeliminateocclusionandtheinfluenceofthestereovisionmatchingfailureandotherfactors，targetlocationerrorislessthan8mm，significantlyimprovetheaccuracyandreliabilityofthecrawl.Keywords:pickingrobot；stereovision；hande