文摘为了提高柑橘采摘速度和采摘效率,提出一种采摘机器人在柑橘扰动并伴有遮挡状态下的快速动态识别方法.首先对所采集的两帧图像进行分析,通过颜色空间的选取以及阈值分割,将水果与背景进行分离;其次通过帧间差分法、水平最小外接矩形法、正方形内切圆法将处于扰动状态下的水果标识出来,然后对振荡水果进行识别.试验结果表明:该算法能很好地适应采摘机器人实际工作中碰到的、各种原因引起的水果扰动及遮挡现象;单个扰动水果算法识别时间小于0.4 s.
基金National Key Technology R&D Program during the‘Twelfth Five-year’Plan Period(No.2012BA125B05)National Key Basic Research Program of China(973 Program)(No.2011CB505404)+2 种基金Innovative Research Team in Beijing University of Chinese Medicine(No.2011-CXTD-05)China-Mexico Strategy and Clinical Research of Acupuncture-Moxibustion Intervention in the Palliative Care(No.KYZ201302010)Independent Program of Beijing University of Chinese Medicine Ministry of Education of China(No.2013-JYBZZ-JS-040)~~
