基于視覺(jué)的采摘機(jī)器人采摘定位與導(dǎo)航方法

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摘要：自主導(dǎo)航與采摘定位作為采摘機(jī)器人的關(guān)鍵任務(wù)，可有效減輕人工勞動(dòng)強(qiáng)度，提高作業(yè)精度與作業(yè)效率。該文闡述和分析基于視覺(jué)的采摘機(jī)器人采摘定位與自主導(dǎo)航方法，主要涉及視覺(jué)導(dǎo)航的可行駛區(qū)域檢測(cè)、果實(shí)目標(biāo)識(shí)別及采摘點(diǎn)定位，并根據(jù)國(guó)內(nèi)外的研究現(xiàn)狀，對(duì)機(jī)器視覺(jué)的最新發(fā)展和未來(lái)發(fā)展趨勢(shì)進(jìn)行展望。

關(guān)鍵詞：采摘機(jī)器人；機(jī)器視覺(jué)；自主導(dǎo)航；可行駛區(qū)域檢測(cè)；果實(shí)目標(biāo)識(shí)別；采摘點(diǎn)定位

中圖分類(lèi)號(hào)：TP391.4           文獻(xiàn)標(biāo)志碼：A            文章編號(hào)：1674-2605（2023）05-0001-07

DOI：10.3969/j.issn.1674-2605.2023.05.001

Picking Location and Navigation Methods for Vision-based

Picking Robots

MENG Hewei1  ZHOU Xinzhao1，2  WU Fengyun3，4  Zou Tianlong2

（1.College of Mechanical and Electrical Engineering， Shihezi University， Shihezi 832000， China

2.Foshan-Zhongke Innovation Research Institute of Intelligent Agriculture， Foshan 528010， China

3.Guangzhou College of Commerce， Guangzhou 511363， China

4.College of Engineering， South China Agricultural University， Guangzhou 510642， China）

Abstract： Autonomous navigation and picking positioning， as key tasks of picking robots， can effectively reduce manual labor intensity， improve work accuracy and efficiency. This article elaborates and analyzes the methods of vision-based picking positioning and autonomous navigation for picking robots， mainly involving the detection of movable areas， fruit target recognition， and picking point positioning in visual navigation. Based on the current research status at home and abroad， it looks forward to the latest development and future development trends of machine vision.

Keywords： picking robots; machine vision; autonomous navigation; travelable area detection; fruit target recognition; picking point positioning

0 引言

在世界各地，水果在農(nóng)業(yè)經(jīng)濟(jì)中占有越來(lái)越重要的地位。（剩余17663字）