蒙贺伟1 周馨曌1,2 吴烽云3,4 邹天龙2
（1.石河子大学机械电气工程学院，新疆 石河子 832000
2.佛山市中科农业机器人与智慧农业创新研究院，广东 佛山 528010
3.广州商学院，广东 广州 511363
4.华南农业大学工程学院，广东 广州 510642）
摘要：自主导航与采摘定位作为采摘机器人的关键任务，可有效减轻人工劳动强度，提高作业精度与作业效率。该文阐述和分析基于视觉的采摘机器人采摘定位与自主导航方法，主要涉及视觉导航的可行驶区域检测、果实目标识别及采摘点定位，并根据国内外的研究现状，对机器视觉的最新发展和未来发展趋势进行展望。
关键词：采摘机器人；机器视觉；自主导航；可行驶区域检测；果实目标识别；采摘点定位
中图分类号：TP391.4 文献标志码：A 文章编号：1674-2605(2023)05-0001-07
DOI：10.3969/j.issn.1674-2605.2023.05.001
Picking Location and Navigation Methods for Vision-based
Picking Robots
MENG Hewei1 ZHOU Xinzhao1,2 WU Fengyun3,4 Zou Tianlong2
(1.College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832000, China
2.Foshan-Zhongke Innovation Research Institute of Intelligent Agriculture, Foshan 528010, China
3.Guangzhou College of Commerce, Guangzhou 511363, China
4.College of Engineering, South China Agricultural University, Guangzhou 510642, China)
Abstract: Autonomous navigation and picking positioning, as key tasks of picking robots, can effectively reduce manual labor intensity, improve work accuracy and efficiency. This article elaborates and analyzes the methods of vision-based picking positioning and autonomous navigation for picking robots, mainly involving the detection of movable areas, fruit target recognition, and picking point positioning in visual navigation. Based on the current research status at home and abroad, it looks forward to the latest development and future development trends of machine vision.
Keywords: picking robots; machine vision; autonomous navigation; travelable area detection; fruit target recognition; picking point positioning
