【摘要】 提出了一种适用于采摘机器人的单摄像机果实目标测距方法。开发了基于PC机的开放式采摘机器人实验系统。采用自动阈值法对G-B灰度图像进行了分割。通过轮廓标记提取了果实目标的轮廓、面积、质心、外接矩形以及切断点等特征。根据测距原理,编写了基于Visual C++6.0的测试程序。实验结果表明:当测量距离为275～575 mm时,测量误差基本都在±18 mm之内。实际运行效果良好,能够满足果蔬采摘机器人的工作要求。更多还原

【Abstract】 A new method of distance measuring by single camera for picking robot is presented.Experimental system of open picking robot based on PC is developed.The automatic threshold is adopted to segment the G-B gray images of the target.The characteristics of fruit target such as outline,area,center of gravity,enclosing rectangle and the point to cut off,are extracted through outline tracing.Testing program is written based on Visual C++ 6.0 according to the distance-measuring theory.Experimental results show that measurement error is within ±18 mm when the measuring distance ranges from 275 mm to 575 mm.The system work stably and can meet working demand of the picking robot.更多还原