Abstract:12 mm。Aimed at the demand of recognition and location in computer vision for harvest robots, the embedded vision sensor plat was designed which contained 1.3 million pixel CMOS image chip, MCU with open structure, and brightness adapting module controlled by the expert database to solve the problem of outdoor light changing which affected the visual inspection. Two sensors were used to construct binocular vision sensor system which was coordinated by master-slave frame. The algorithm of image segmentation and distance measurement was applied to get the location data of harvesting object. The binocular vision sensor system ran smoothly and reliably. The performance test results showed that the success ratio of identifying is 96% and the measure error is within ±12mm when the system took ripe tomato as an measuring object and the measure distance limits was in machine pick-arm range.
