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Recognition and localization system of the robot for harvesting hangzhou white chrysanthemums

International Journal of Agricultural and Biological Engineering 2018年第2期11卷 88-95页

作者： Qinghua Yang Chun Chang Guanjun Bao Jun Fan Yi Xun Key Laboratory of E&M(Zhejiang University of Technology) Ministry of Education&Zhejiang ProvinceHangzhou 310032China

To realize the robotic harvesting of hangzhou white chrysanthemums,the quick recognition and 3D vision localization system for target chrysanthemums was investigated in this *** system was comprised of three main ***,an end-effector and a simple freedom manipulator with three degrees were designed to meet the quality requirements of harvesting hangzhou white ***,a segmentation based on HSV color space was performed.A fast Fuzzy C-means(FCM)algorithm based on S component was proposed to extract the target image from irrelevant ***,binocular stereo vision was used to acquire the target spatial *** to the shape of hangzhou white chrysanthemums,the centroids of stamens were selected as feature points to match in the right and left *** experimental results showed that the proposed method was able to recognize hangzhou white chrysanthemums with the accuracy of 85%.When the distance between target and baseline was 150-450 mm,the errors between the calculated and measured distance were less than 14 mm,which could meet the requirements of the localization accuracy of the harvesting robot.

关键词： hangzhou white chrysanthemums harvesting robot recognition localization Fuzzy C-means(FCM) binocular vision stereo matching

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