农业机械学报2012，Vol.43Issue(5)：173-178,196,7.DOI:10.6041/j.issn.1000-1298.2012.05.030
采摘机器人振荡果实动态识别
Dynamic Recognition of Oscillating Fruit for Harvesting Robot
摘要
Abstract
A kind of dynamic recognition method under the fruit oscillation condition for the harvesting robot was researched in order to resolve the problem of fruit oscillation influence to its recognition and orientation, and further influence to the harvest efficiency of harvesting robot. Firstly, the acquired oscillation fruit was segmented into two parts; fruit image and background image; secondly, the inter-frame difference method and the minimum enclosing rectangle method in horizontal direction were introduced to label dynamic region of the oscillation fruit for the segmented image; thirdly, the oscillation fruit was identified and located. The harvesting oscillation fruit was selected based on the principle of the nearest to the image center when the image had a lot of oscillation fruits. The test result showed that the oscillating fruit was nicely recognized and the recognition time was less than 0. 5 s for the most cases under the actual harvesting environment.关键词
采摘机器人/振荡/图像分割/动态识别Key words
Harvesting robot/ Oscillation/ Image segmentation/ Dynamic recognition分类
信息技术与安全科学引用本文复制引用
吕继东,赵德安,姬伟,陈玉,沈惠良,张颖..采摘机器人振荡果实动态识别[J].农业机械学报,2012,43(5):173-178,196,7.基金项目
国家高技术研究发展计划(863计划)资助项目(2006AA10Z254)、高等学校博士学科点专项科研基金资助项目(20093227120013)、江苏高校优势学科建设工程资助项目和江苏省普通高校研究生科研创新计划资助项目(CXZZ11_0573) （863计划）
