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| Fruit recognition and positioning technology of litchi picking manipulator |
| 1.Key Lab of Key Technology on South Agricultural Machine and Equipment Ministry of Education, South China Agricultural University, Guangzhou, Guangdong 510642, China; 2.College of Informatics, South China Agricultural University, Guangzhou, Guangdong 510642, China |
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Abstract The color features of mature litchi in natural environment were analyzed, and the HSV color model was chosen for threshold segmentation to remove complex background. The fuzzy C-means clustering method (FCM) was used to segment litchi fruit and peduncle. The experimental results show that the effective recognition accuracy of litchi fruit and peduncle reaches 93.3%. The maximum distance between fruit centroid and peduncle was calculated to determine litchi picking point. The color image matching method based on hue component of color image and the limiting binding method were used to realize stereo match of picking point. The positioning experimental results show that the depth value error is less than 3 cm with error rate less than 5.64%，which can meet the visual accurate position requirements of litchi picking manipulator in practical work.
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2012, Vol. 33 
