农机化研究2025，Vol.47Issue(7)：191-197,7.DOI:10.13427/j.issn.1003-188X.2025.07.028
基于机器视觉的鲜食葡萄采摘点和抓取点定位方法
Table Grape Picking Point and Grasping Point Positioning Method Based on Machine Vision
摘要
Abstract
Robotic grape harvesting depends on the precise and quick identification of grapes in their natural environment as well as the placement of picking and grasping points.Accurately locating the grapes'picking and gripping locations in the natural environment is challenging.For this,proposed a picking and grabbing point positioning approach for table grapes based on machine vision.The grape picking point and the gripping point were located using the center point of the smallest circumscribed rectangle of the polygon after the YOLOv5 model had been used to identify and segment the grapes and fruit stalks.The grapes were roughly positioned at a distance,and the picking point and gripping point were precisely located at a close distance,all while the three-dimensional coordinates of the picking point and the gripping point were calculated by merging the structured light camera.The average split rates of grapes and fruit stems were 92.6%and 92.7%,respectively,when the three various hues of grapes green grapes,purple red grapes,and purple black grapes were verified.The average recognition rates of grapes and fruit stems were 92.8%and 89.8%,respectively.After recog-nition and segmentation,the percentages of success in determining picking points and gripping point positioning were 95.9%and 98.6%,correspondingly.关键词
采摘机器人/果梗识别/定位/YOLOv5/鲜食葡萄Key words
picking robot/fruit stem identification/positioning/YOLOv5/table grape分类
农业科技引用本文复制引用
马智杰,李长勇..基于机器视觉的鲜食葡萄采摘点和抓取点定位方法[J].农机化研究,2025,47(7):191-197,7.基金项目
新疆维吾尔自治区自然科学基金项目(2021D01C052) （2021D01C052）
