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《Journal of Jiangsu University(Natural Science Edition)》 2015-01
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Dynamic recognition of oscillating orange for harvesting robot

Ning Zhigang;Cheng Hui;Yang Heng;Cheng Xiong;College of Electrical Engineering,University of South China;  
In order to improve picking speed and picking efficiency,a fast dynamic identification method was proposed for harvesting robot with orange oscillating and covering. The two acquired successive oscillation orange images were analyzed to separate the fruit image from background by color space selection and threshold segmenting method. The dynamic region of oscillation fruit was labelled by the inter-frame difference method,the minimum enclosing rectangle method in horizontal direction and the square inscribed circle method. The oscillation orange was located and identified. The experimental results show that the outstanding performance of the proposed method can be used to solve the harvesting problems caused by various reasons in practice. The recognize time of sole target is less than 0. 4 s.
【Fund】: 湖南省自然科学基金资助项目(11JJ6021);; 湖南省大学生创新性实验计划项目([2012]402)
【CateGory Index】: TP242
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