基于機(jī)器視覺(jué)的番茄收獲機(jī)器人目標(biāo)定位技術(shù)研究.pdf

1、江蘇大學(xué)碩士學(xué)位論文基于機(jī)器視覺(jué)的番茄收獲機(jī)器人目標(biāo)定位技術(shù)研究姓名：仲琴申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：機(jī)械設(shè)計(jì)及理論指導(dǎo)教師：毛罕平20050604江蘇大學(xué)碩士畢業(yè)論文ABSTRACTWiththeadventofinformationera，thenextwaveofagriculturalmachinewillbetowardintelligentizationThus，theresearchesofagriculturalmachin

2、ewillseemuchbroadprospectsThispapermakesacomprehensiveresearchontheobjectlocatingtechnologyofvisionsystemsoftomatoesharvestingrobot，inthisresearchaKH100AGVautomaticguidancevehicleandaMOTOMANrobotanditscontrolsystemareado

3、pted；andprogramsaredevelopedusingtheVisualC60environmentThispaperconstructedthebinocularvisionhardwaresystemofharvestingrobot，F(xiàn)irstlyaCCDcalibratingapproachinthemidstoftraditionalandselfcalibratingmethodsisadvancedtosepa

4、ratetheinnerandtheouterparametersTheplanecalibrationofMrZhangisusedtocalibrateinnerparameterByextractingfeaturepointsinthecalibrationtemplate，arelativelyaccurateinnerparametermodelcanbeobtainedbyexperimentandcalculationT

5、heouterparametermodeloftwoCCDcanbeconstructedbyselectingappropriatereferenceframeandanalyzingexperimentdataSecondlythecentralpointbasedmatchingmethodisputforwardThetomatoes’imageWasanalyzed，theirsurfacefeatureswereextrac

6、ted，andeachtomatoWaSdiscriminatedusingthemethodofparticlesegmentationbywatersheds；atemplatebasedprofileemendationmethodisadvancedinwhichthreetypicalprofilesoftomatoimagesareadopted；thecoordinatesoftomato’Scentralpointare

7、obtained；threeconstraintconditionsareadvancedandbiasrangesareproperlyselectedtomatchfeaturepointsinconjugateimagesThirdlythepaperadoptedtriangularmeasurementtheorytocalculatethe3Dcoordinatesoftomato’Scentralpointinconjug

8、ateimagesFurthermore，basedonthecomparisonbetweenthecalculated3Dcoordinatesandtheactuallymeasured3Dcoordinatesandbiasanalysis，thispaperbuiltaneuralnetmodelandthecorrespondingtrainingsystemtoamenderrorsFinallythesystemsoft

9、wareiswriRentoobtainthe3Dcoordinatesoftheriptomatoes，whichCOIleffectivelyprocesscollectedimagesinnaturalenvironmentTheexperimentindicatesthaterrorsCanbelimitedin05mmbyadoptingthecentralpointmatchbasedbinocularvisionlocat

10、ingtechnologywhentherelativelyintegralprofileofatomatocanbephotographedbybothCCD，thustheacquiredaccuracyforrobotstoharvestfruitsCanbemetKeywords：Robot；Visionsystem；CCDcalibration；Featuresextmctiom3DreconstructionBiasamen