摘要
针对目前名优茶采摘效率低以及名优茶的采摘具有较强的时效性等问题,提出用双目摄像头定位茶叶嫩芽,以此推动自动化采茶设备的研发。采用双目立体视觉技术获取茶叶嫩芽的三维坐标信息,用于引导采摘机械臂进行自动化采摘作业。试验以茶园中的茶树为研究对象,根据SGBM算法获得一幅视差图像。然后通过OpenCV中reprojectImageTo3D函数得到深度图像,最后对照左摄像机中嫩芽形心在深度图像中的位置,获取茶叶嫩芽的三维坐标信息。实验结果表明,所采用的方案能够较为精确地定位出茶叶三维立体坐标,为后续自主采茶机器人的研发提供了技术支持。
In view of the low efficiency and strong timeliness of tea picking,this paper proposes to use binocular camera to locate the tea shoots,so as to promote the research and development of automatic tea picking equipment.Binocular stereo vision technology is used to obtain the three-dimensional coordinate information of the tea shoots,to guide the picking robot arm for automatic picking operation.The experiment took the tea tree in the tea garden as the research object and obtained a parallax image according to the SGBM algorithm.Then,the depth image is obtained by the reprojectImageTo3D function in OpenCV.Finally,the three-dimensional coordinate information of the tea bud is obtained by comparing the position of the tender bud centroid in the depth image in the left camera.The experimental results show that the scheme adopted in this paper can accurately locate the three-dimensional coordinates of tea,and provide technical support for the development of subsequent autonomous tea-picking robots.
作者
邵佩迪
吴明晖
Shao Peidi;Wu Minghui(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《农业装备与车辆工程》
2020年第9期50-53,共4页
Agricultural Equipment & Vehicle Engineering
关键词
视觉测量
茶叶嫩芽
定位
立体坐标
visual measurement
tea bud
positioning
stereo coordinates
