计算机视觉在蘑菇采摘机器人上的应用

介绍了蘑菇采摘机器人的工作过程,并重点讨论了它的计算机视觉系统的图象分析所采用的基本算法。主要内容为蘑菇和苗床图象信息的数字特征;提取蘑菇边界所用的算法;封闭曲线的周长、面积和闭曲线中心坐标的计算。对现场获取的图象信息进行分析,所得到的结果与实际情况吻合,表明所采用的算法是有效的。

Application of Computer Vision in Mushroom Picking Robot

The paper presents the working process of mushroom pickup robot, the emphasis is put on the discussion of the basic algorithm of image analysis used in its computer vision system. The main contents are the digital characteristics of mushroom and seedbed image information; algorihm used in extracting mushroom edges; the calculations of perimeter, area and central coordinates for an enclosed curve. The algorithm is used as image analysis for information obtained in real working environments, with results fairly consistent with practical objects, thus, showing that the algorithm proposed is feasible.