樱桃番茄叶柄方向光电自动探测方法与机构设计
采用机器人自动去除樱桃番茄腋芽时,为得到叶柄的位置及水平投影方向角,需调整摄像头位置与角度,以便于采集到主茎、腋芽和叶柄的主平面图像,并使后续机器视觉判别腋芽的步骤得以顺利进行.该文设计了光电式自动旋转测向机构;采用闭合环形机构环绕樱桃番茄主茎,并通过往复旋转方式使固定在活动环上的光电传感器能水平360°扫描叶柄,通过叶柄水平投影角度测量算法计算得到叶柄的水平投影方向角;分析8个光电传感器的运动轨迹,得到其线速度与角速度的关系及扫描系数.经试验表明:扫描系数为1.5,角速度为1.5πrad/s,线速度为20 mm/s时,检测成功率为95%;高度补偿设定为28 mm,成功率为93%;对42株樱桃...
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| Published in | 农业工程学报 Vol. 33; no. z1; pp. 42 - 48 |
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| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
宁波职业技术学院机电学院,宁波 315800%浙江大学生物系统工程与食品科学学院,杭州 310058
2017
浙江大学生物系统工程与食品科学学院,杭州 310058 农业部设施农业装备与信息化重点实验室,杭州 310058%温州科技职业学院农业与生物技术系,温州,325006%浙江理工大学信息学院,杭州,310018%浙江省农业科学院园艺研究所,杭州,310021%浙江大学生物系统工程与食品科学学院,杭州,310058 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1002-6819 |
| DOI | 10.11975/j.issn.1002-6819.2017.z1.007 |
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| Summary: | 采用机器人自动去除樱桃番茄腋芽时,为得到叶柄的位置及水平投影方向角,需调整摄像头位置与角度,以便于采集到主茎、腋芽和叶柄的主平面图像,并使后续机器视觉判别腋芽的步骤得以顺利进行.该文设计了光电式自动旋转测向机构;采用闭合环形机构环绕樱桃番茄主茎,并通过往复旋转方式使固定在活动环上的光电传感器能水平360°扫描叶柄,通过叶柄水平投影角度测量算法计算得到叶柄的水平投影方向角;分析8个光电传感器的运动轨迹,得到其线速度与角速度的关系及扫描系数.经试验表明:扫描系数为1.5,角速度为1.5πrad/s,线速度为20 mm/s时,检测成功率为95%;高度补偿设定为28 mm,成功率为93%;对42株樱桃番茄的153个叶柄进行测试,在1.8 m高度内的成功率为88.2%.研究结果为腋芽生长点判定与摘除提供参考. |
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| Bibliography: | 11-2047/S sensors;robots;design;cherry tomato;petiole;direction finding;rotation;horizontal angle In order to remove the axillary bud of cherry tomato automatically by a robot, the camera should be in specific locations to capture images of axillary bud and petiole. Camera optical axis perpendicular to the main plane coexisted with main stem, petiole and axillary bud. The horizontal projection direction angle of petiole in horizontal plane should be measured. In this paper, a photoelectric automatic rotating direction-finding mechanism was designed to get the value of the angle. The end effector of the robot was composed of a direction-finding mechanism, a camera and a pneumatic shear. Telescoping devices were used to control the extension and contraction of direction-finding mechanism. The two half-circle of active circle was closed by mechanical claw, and combined into a complete circle around the main stem. Then active circle moved upward under manipulator control. Meanwhile, the active circle rotated repeat |
| ISSN: | 1002-6819 |
| DOI: | 10.11975/j.issn.1002-6819.2017.z1.007 |