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基于图像处理的番茄采摘机器人的设计.doc
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基于图像处理的番茄采摘机器人的设计.doc
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目 录
摘 要....................................................................................................................................................................I
ABSTRACT.........................................................................................................................................................II
1 绪论 ...................................................................................................................................................................1
1.1 研究的背景及意义.....................................................................................................................................1
1.2 国外研究现状.............................................................................................................................................1
1.3 国内研究现状.............................................................................................................................................2
1.4 主要研究内容.............................................................................................................................................3
2 采摘机器人硬件系统设计 ...............................................................................................................................5
2.1 系统整体方案设计.....................................................................................................................................5
2.2 双目立体摄像机的选型.............................................................................................................................7
2.3 图像处理核心芯片的选型.........................................................................................................................7
2.4 下位机控制器选型与电路设计...............................................................................................................13
2.5 采摘机械手自由度的降维方案和驱动设计...........................................................................................18
2.6 滑台限位和采摘手接触检测和设计.......................................................................................................20
3 双目视觉定位模型及摄像机参数标定 .........................................................................................................22
3.1 双目视觉定位模型...................................................................................................................................22
3.2 摄像机标定方法.......................................................................................................................................24
3.3 标定结果及分析.......................................................................................................................................26
4 图像采集和预处理 .........................................................................................................................................29
4.1 图像采集...................................................................................................................................................29
4.2 图像裁剪和二值化处理...........................................................................................................................29
4.3 图像滤波处理...........................................................................................................................................31
4.4 番茄果实边缘检测与轮廓提取...............................................................................................................32
4.5 图像显示调试方法设计...........................................................................................................................34
5 番茄果实的特征点和形心参数的提取 .........................................................................................................35
5.1 番茄果实圆周上特征点获取的方法设计...............................................................................................35
5.2 计算番茄果实的圆心和半径的方法设计...............................................................................................35
6 立体匹配和三维坐标计算 .............................................................................................................................37
6.1 立体匹配...................................................................................................................................................37
6.2 番茄果实的空间三维坐标的计算...........................................................................................................37
7 上下位机通讯与下位机采摘设计 .................................................................................................................39
7.1 上位机与下位机串行通讯协议设计.......................................................................................................39
7.2 上位机与下位机串行通讯寄存器配置...................................................................................................39
7.3 上位机和下位机串行通讯程序...............................................................................................................40
7.4 下位机对番茄果实定位和采摘...............................................................................................................41
8 软件开发环境配置 .........................................................................................................................................42
8.1 CCS 开发环境配置 ...................................................................................................................................42
8.2 IAR 开发环境配置....................................................................................................................................45
9 样机试验和总结 .............................................................................................................................................47
9.1 采摘机器人样机试验...............................................................................................................................47
9.2 总结和展望 ...............................................................................................................................................49
参考文献 .............................................................................................................................................................51
致 谢 .................................................................................................................................................................54
附 录 .................................................................................................................................................................55
附录 1 基于 OPENCV 的张正友标定算法程序(部分) .............................................................................55
附录 2 DSP 的主程序和图像采集程序(部分)............................................................................................58
附录 3 图像裁剪程序 ........................................................................................................................................61
附录 4 图像阈值分割程序 ................................................................................................................................62
附录 5 中值滤波程序 ........................................................................................................................................63
附录 6 索贝尔边缘检测程序 ............................................................................................................................64
附录 7 番茄果实圆周上特征点获取的程序(部分) ....................................................................................65
附录 8 计算番茄果实的圆心和半径的算法(部分) ....................................................................................67
附录 9 番茄果实的空间三维坐标定位的算法(部分) ................................................................................69
附录 10 上位机 TMS320DM642 的串行通讯寄存器配置及串行通讯程序.................................................73
附录 11 下位机 MSP430F149 的串行通讯程序 .............................................................................................76
附录 12 下位机对番茄果实定位和采摘的算法(部分) ..............................................................................78
基于图像处理的番茄采摘机器人的设计
摘 要
目前的番茄采摘基本上都是依赖于人工作业而导致劳动力成本高、劳动强度大,而现有的采摘机器
人的研究基本上都是停留在理论层面,而极个别物化的成果都是基于计算机,从而导致系统体积过大、
功耗高和成本高。为解决以上问题,本文提出并开发了一套基于 DSP 的番茄采摘机器人。
本文的主要设计内容包括基于 DSP 的采摘机器人系统的方案设计、各个硬件电路的设计、以及基
于汇编语言、C 语言和 VC++三种编程语言的软件设计。本文的主要贡献为:(1)提出利用 DSP 代替计
算机实现番茄图像的采集、处理和果实的空间三维定位,并进行了验证;(2)提出一种采摘机械手降维
的方法,解决了机器人建模复杂且实现困难的问题,并结合三维滑台实现并完成了对空间中番茄的准确
抓取和采摘的功能。
试验表明,本文研发的系统能够实现对番茄果实的准确定位和采摘,具有操作简单、体积小巧、功
耗低、性价比高等优点。本系统的研发对于提高番茄的采摘效率,减少劳动力、降低农民的劳动强度和
采摘成本具有重要的实际意义,也为精准农业的发展提供了一种新的思路和方法。
关键字:番茄采摘;图像处理;DSP;双目立体视觉
Design of Tomato Picking Robot Based on Image Processing
Abstract
At present, the tomato harvest work mostly depends on the artificial operation, which causes the problems
of high-cost, high labor intensity etc. But now, the research of picking robot mainly focuses on the theoretical
research. Few materialized productions, which use the computer as the controller, have the characteristics of
big-system volume, high power-consumption, and high cost etc. To solve the above problems, this paper
designs a tomato picking robot based on the DSP.
The main design contents of this paper include the scheme design of robot picking robot based on DSP,
the hardware circuit design and software design based on the assembler language, C language and VC++
language. The main contributions of this paper include two aspects: (1) a novel scheme is proposes that DSP is
used to take place of the computer to complete the tomato image acquisition, image process and
three-dimension localization. (2) an novel approach for reducing dimensions is proposed to reduce the picking
manipulator dimensions, which solves the difficulty in robot modeling and realization method. Combing with
the three-dimension slipway, the grasping and picking for tomatoes are finished in the space.
This experiment tests indicate that the designed system can realize the accurate positioning and picking
for tomatoes, as well as the system has many advantages of the simple operation, compact size, low power and
high cost-performance ratio. The development of this system not only has the important meanings in
improving the tomato picking efficiency, reducing human labors, reducing the labor intensity of farmers and
the picking cost, but also providing a new idea and method for the development of precision agriculture.
Key words:tomato picking, image process, DSP, binocular stereo vision
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