Research on Fruit State Discrimination Method for Harvesting Robot
Because fruit state need to be discriminate to select the different harvesting method before it is fast picked, the fruit state discrimination method was developed.Firstly, the two apple images were acquired, and then segmented by the improved OTSU dynamic threshold segmentation method.Secondly, the picking target fruit was selected based on the principle of the nearest distance to image center when there were a lot of fruits.Thirdly, the two segmented fruit images were done by the inter-frame difference method, then the target fruit state was got using the connection number discrimination to the difference image and the centroid coordinates matching discrimination to the oscillating fruit image.Lastly, the test results showed that the designed algorithm was feasible and effective for most cases in natural environment, and the discrimination time was less than 0.2s.
Harvesting robot State discrimination Oscillating Image segmentation Inter-frame difference
Jidong Lv De-an Zhao Wei Ji Ying Zhang Zhikui Ma
School of Electrical and Information Engineering,Jiangsu university,Zhenjiang 212013,China Zhengzhou Cigarette Factory of China Tobacco Henan Industrial.Co.LTD,Zhengzhou 450000,China
国际会议
上海
英文
1835-1839
2012-10-19（万方平台首次上网日期，不代表论文的发表时间）