Journal of Biosystems Engineering
- Volume 24 Issue 1
- /
- Pages.41-50
- /
- 1999
- /
- 1738-1266(pISSN)
- /
- 2234-1862(eISSN)
Development of a Transplanting Robot System for Tissue Culture Pants (II) - Machine Vision System -
조직배양체 이식로봇 시스템의 개발 (II) - 기계시각 시스템 -
-
Lee, H. D.
;
- Kim, K. D. ;
- Kim, C. S. ;
- Kim, J. P. ;
-
Jung, H.
-
이현동
(충남대학교 농과대학 농업기계공학과) ;
- 김기대 (충남대학교 농과대학 농업기계공학과) ;
- 김찬수 (충남대학교 농과대학 농업기계공학과) ;
- 김정필 (충남대학교 농과대학 농업기계공학과) ;
-
정혁
(생명공학 연구소)
- Published : 1999.02.01
Abstract
This study aims at detecting the three dimensional gripping points for the transplanting robot system to grip in the process of developing transplanting robot system, which is one of the automation systems for transplanting tissue culture. The stereo vision system equipped with two cameras has been used to detect the gripping points of the plant stem. The method for matching the plants of the image information which came from two cameras was to measure the total numbers of pixels, leaves, and the heights of the plants. The gripping points were detected near the roots after extracting the stem parts by the standard deviation of the X axis according to the Y axis. The performance test of the developed program showed that the detecting errors of the gripping points were 0∼1mm for X axis and 1∼2mm for Y & Z axis. The mean running time of the program was about 3 seconds.
Keywords