基于视觉传感器的棉花果实定位方法

针对棉花采摘机器人,提出了一种快速、准确的实现棉花果实定位的方法,构建了以CMOS图像传感器为基础的双目图像采集系统。其中,两个由单片机控制的CMOS图像传感器对图像信息进行二值化处理。考虑数据在RAM中的存储形式,采用行列组合法求解果实在单目下的质心平面坐标(以像素点为单位),构建以左目坐标为基准的三维坐标系,单片机对传递过来的同一个果实的两组质心平面坐标,依据立体视差的关系,解得果实的空间坐标,完成果实的定位。

A Method Based on Visual Sensor Positioning Method of Cotton Fruit

For cotton picking robot,this paper puts forward a fast and accurate implementation cotton fruit positioning method.Construction of a CMOS image sensor based on binocular image acquisition system.The two of CMOS image sensor which is controlled by MCU processing image information on two value.Considering the data storage in RAM form we use the group of legal ranks in order to solve the fruit under the centroid coordinate(pixel as a unit to).To construct the left eye coordinates for baseline coordinate,on the basis of stereoscopic parallax,MCU calculate the two groups of centroid plane coordinate about the same fruit in order to get the spatital coordinates of fruit,complete fruit position.