王玲,徐伟,杜开炜,卢伟,朱家豪,张俊.基于SR300深度相机的褐蘑菇原位测量技术[J].农业机械学报,2018,49(12):13-19,108.
WANG Ling,XU Wei,DU Kaiwei,LU Wei,ZHU Jiahao,ZHANG Jun.Portabella Mushrooms Measurement in Situ Based on SR300 Depth Camera[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(12):13-19,108.
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基于SR300深度相机的褐蘑菇原位测量技术   [下载全文]
Portabella Mushrooms Measurement in Situ Based on SR300 Depth Camera   [Download Pdf][in English]
投稿时间:2018-05-12  
DOI:10.6041/j.issn.1000-1298.2018.12.002
中文关键词:  褐蘑菇  SR300深度相机  背景分割  粘连蘑菇  原位测量
基金项目:江苏省农机三新工程项目(SZ120170036)和扬州市重点研发项目(现代农业)(YZ2018038)
作者单位
王玲 南京农业大学 
徐伟 南京农业大学 
杜开炜 南京农业大学 
卢伟 南京农业大学 
朱家豪 南京农业大学 
张俊 南京农业大学 
中文摘要:褐蘑菇工厂化种植模式下,为了给蘑菇采摘机器人提供工作参数,采用结构光SR300深度相机采集菇床图像送入工控机进行原位测量。针对菇床上褐蘑菇的菌丝干扰背景,在深度图像中利用土壤表面深度的众数,结合蘑菇菌柄至少20mm的高度,自适应选择动态阈值,从菇床背景中提取蘑菇菌盖二值图;针对粘连的类圆形蘑菇,基于2-1圆形Hough变换初步检测其圆心、半径,进一步对蘑菇的边界点进行跟踪、去噪、插补,分割粘连的蘑菇,准确拟合单体蘑菇边界,获取蘑菇圆心和边界点的三维坐标;校准相机坐标系并基于陶瓷圆板验证原位测量方法的精度,由此计算世界坐标系中单体蘑菇的位置、直径、偏向角、倾斜角。现场试验表明,蘑菇直径最大误差为5.57mm,倾斜角最大误差为6.3°,视频帧的运行时间为206ms,单体蘑菇的运行时间为44ms,可满足蘑菇采摘机器人的现场需求。
WANG Ling  XU Wei  DU Kaiwei  LU Wei  ZHU Jiahao  ZHANG Jun
Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University and Nanjing Agricultural University
Key Words:Portabella mushroom  SR300 depth camera  background segmentation  adhesion mushroom  measurement in situ
Abstract:In factory-like planting pattern of Portabella mushrooms, aiming to provide working parameters for mushroom picking robot, mushroom bed images were collected into the industrial personal computer (IPC) to measure in situ by structured light 3D camera-SR300. For complex background of plenty of hyphae in mushroom bed, the dynamic threshold was calculated adaptively by the mode of depth data of soil surface combined to at least 20mm of stipe height, and the binary image of mushroom caps were extracted from mushroom bed background. For adhesion and quasi-circular mushrooms, the centric coordinates and radius were detected roughly based on the 2-1 cyclo-Hough transform, and then the boundaries of mushrooms were tracked, denoised and interpolated to segment adhesion mushrooms and fit a single mushroom exactly. And the three-dimensional coordinates of the centric and the boundary points of a single mushroom were calculated. By the coordinate system calibration of camera, the measurement accuracy in site was verified by using a ceramic disk. The location, diameter and deviation-lean angle of a single mushroom were calculated in world coordinate system of the camera. Field test results showed that the maximum diameter error of a mushroom was 5.57mm, the maximum lean angle error of a mushroom was 6.3°. The mean run time of a video frame was 206ms, and the mean run time of a single mushroom was 44ms, which can meet the scene requirement of the mushroom picking robot.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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