摘要
蓝莓采摘车要实现自动化采摘,在运行过程中就必须按照蓝莓植株中心线运动,避免和蓝莓植株发生干涉。本文首先对蓝莓采摘车轨迹规划的步骤进行介绍,然后分析蓝莓采摘车运行轨迹的要求,根据要求对蓝莓植株中心线进行确定,主要是采用基于Lab色彩模式的蓝莓植株检测和基于小波的蓝莓植株图像边缘检测两种方法。通过对单株蓝莓植株中心点的估算,最终确定蓝莓采摘车的运行轨迹,试验结果表明蓝莓采摘车运行轨迹的设计方案可行,与实地测试数据基本相符。
In order to achieve the automatically picking of blueberry,the blueberry picking machine must move in accordance with the center of the blueberry plants to avoid bumping the blueberry plants.In this paper,the steps of trajectory planning of the blueberry picking car was introduced,and then the requirements of blueberry picking vehicle trajectory were analyzed.The blueberry plants centerline was determined by the blueberry plants detection algorithm based on the Lab color mode and blueberry plants image edge detection algorithm based on wavelet.According to the estimates of center point for each plant,the blueberry picking car＇s running track was determined finally.The test results showed that the design of the blueberry picking cars running track is feasible and conforms to the field test data.
出处
《森林工程》
2013年第5期70-72,共3页
Forest Engineering
基金
黑龙江省攻关项目(GC08A506)
黑龙江省科学技术基金项目(E051103)
