面向采摘机器人的棉花激光定位算法

为了定位棉株上的棉花，设计了1个激光测距试验装置，利用计算机图像处理技术和模式识别理论结合棉花的农学特性测量了单朵棉花的三维坐标。以0.004m为X、Y轴的采样间距，获取传感器至棉株表面点云的距离图像；以传感器至棉花上表面的最长距离0.9m为阈值对棉株距离图像进行二值化处理，去除地面背景；以棉枝的宽度0.01～0.02m为结构元素尺寸，对二值图进行形态学开运算，去除棉枝，提取棉花区域。用欧氏距离计算像素之间的相似度，用Cophenetic相关系数选择质心距离为类间距离，以呈45°夹角棉枝的最小纵向间距0.17m为阈值，对棉花距离图像进行层次聚类，分割粘连重叠的棉花，求取单朵棉花的三维坐标。结果...

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Bibliographic Details
Published in农业工程学报 Vol. 30; no. 14; pp. 42 - 48
Main Author 王玲 刘思瑶 卢伟 顾宝兴 朱镕杰 朱宏超
Format Journal Article
LanguageChinese
Published 南京农业大学工学院，江苏省现代设施农业技术与装备工程实验室，南京 210031 2014
Subjects
图像处理
层次聚类
形态学运算
机器人
棉花
激光测距
激光测距
image processing
机器人
层次聚类
形态学运算
棉花
图像处理
laser measurement
cotton
robots
morphological operation
hierarchical cluster
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ISSN1002-6819
DOI10.3969/j.issn.1002-6819.2014.14.006

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Summary:为了定位棉株上的棉花，设计了1个激光测距试验装置，利用计算机图像处理技术和模式识别理论结合棉花的农学特性测量了单朵棉花的三维坐标。以0.004m为X、Y轴的采样间距，获取传感器至棉株表面点云的距离图像；以传感器至棉花上表面的最长距离0.9m为阈值对棉株距离图像进行二值化处理，去除地面背景；以棉枝的宽度0.01～0.02m为结构元素尺寸，对二值图进行形态学开运算，去除棉枝，提取棉花区域。用欧氏距离计算像素之间的相似度，用Cophenetic相关系数选择质心距离为类间距离，以呈45°夹角棉枝的最小纵向间距0.17m为阈值，对棉花距离图像进行层次聚类，分割粘连重叠的棉花，求取单朵棉花的三维坐标。结果表明，单朵棉花的识别率达96.67%，激光测距与手工测量结果之间的相关系数为0.9934。该研究为采摘机器人运动轨迹的规划提供了依据。
Bibliography:11-2047/S
image processing;robots;cotton;laser measurement;morphological operation;hierarchical cluster
In order to detect cotton’s position on a plant, a laser measurement experiment was designed, which included a crossgirder, and beneath which a model LMS291-S05 laser scanner produced by SICK Co., Ltd was fixed. Then the three-dimensional coordinate values of a single cotton plant can be measured with the devices mentioned above, and the acquired distance image was furthermore processed with computer image processing technology and pattern recognition theory and also with the agronomic characteristics of cotton taken into consideration. The sampling interval of the laser sensor on axis X and axis Y was both 0.004 m, and the sampled points formed a image that illustrated the distance from the laser sensor to the plant surface point cloud. For the purpose of removing the unneeded background of the plant in the image, the acquired plant distance image was first processed with binaryzation at the threshold value
ISSN:1002-6819
DOI:10.3969/j.issn.1002-6819.2014.14.006