Abstract：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 interframe 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.
2015, Vol. 36 
