Design of structured-light vision system for tomato harvesting robot
Keywords:
harvesting robot, tomato, linear structure-light, 3D measurement, feature extractionAbstract
In order to improve the operating precision of the harvesting robot, a vision system for intelligently identifying and locating the mature tomato was designed. The active detection method based on structured-light stereo vision was expected to deal with the problem of variable illumination and target occlusion in the glasshouse. The maximum between-cluster variances of hue (H) and saturation (S) value were adopted as the threshold for color segmentation, which weakened the impact on the image caused by the light intensity variation. Through the limit on the pixel size and circularity of the candidate areas, the vision system recognized the fruit area and removed the noise areas. The fruit’s 3D position was computed on the basis of spatial relationship between the laser plane and the camera, when the linear laser was projected on the centre area of the mature fruit. The blue view-scanning laser stripe pixels on the mature fruit were extracted according to its Cb color characteristic. As the field test results show, the measurement error on the fruit radius is less than 5 mm, the centre distance error between the fruit and camera is less than 7 mm, and the single axis coordinate error is less than 5.6 mm. This structured-light vision system could effectively identify and locate mature fruit. Keywords: harvesting robot, tomato, linear structure-light, 3D measurement, feature extraction DOI: 10.3965/j.ijabe.20140702.003 Citation: Feng Q C, Cheng W, Zhou J J, Wang X. Design of structured-light vision system for tomato harvesting robot. Int J Agric & Biol Eng, 2014; 7(2): 19-26.References
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[2] Jiang H Y, Peng Y S, Ying Y B. Measurement of 3-D locations of ripe tomato by binocular stereo vision for tomato harvesting. ASABE Annual International Meeting, 2008. Paper Number: 084880.
[3] Ji P, Wang J, Chen H B. The tomato identification and geometric size measurement based on image. Journal of Anhui Agricultural Sciences, 2012; 40(33): 16426-16428.(in Chinese with English Abstract)
[4] Tarrío P, Bernardos A M, Casar J R, Besada J A. A harvesting robot for small fruit in bunches based on 3-D stereoscopic vision. Computers in Agriculture and Natural Resources, 4th World Congress Conference, Florida, 2006: 270-275.
[5] Yuan T, Li W, Tan Y Z, Yang Q H, Gao F, Ren Y X. Information acquisition for cucumber harveating robot in greenhouse. Transactions of the Chinese Society for Agricultural Machinery, 200; 40(10): 151-155. (in Chinese with English Abstract)
[6] Feng Q C, Yuan T, Ji C, Li W. Feedback control based close scene for robotic cucumber harvesting. Transactions of the Chinese Society for Agricultural Machinery, 2011;
42(2): 154-157. (in Chinese with English Abstract)
[7] Kawollek M, Rath T. Machine vision for three-Dimensional modelling of gerbera jamesonii for automated robotic harvesting. International Conference on Sustainable Greenhouse Systems Greensys 2004, Leuven, 2005: 757-764.
[8] Xu K, Yang C L, Zhou P, Liang J. 3D detection technique of surface defects for steel rails based on linear lasers. Chinese Journal of Mechanical Engineering, 2010; 46(8): 1-5.
[9] Feng J, Zeng L H, Liu G, Ma X D, Pang S J, Zhou W. Construction of laser vision system for apple harvesting robot. Transactions of the Chinese Society of Agricultural Engineering, 2013; 29: 32-37. (in Chinese with English Abstract)
[10] Feng Q C, Liu X N, Jiang K, Fan P F, Wang X. Development and experiment on system for tray-seedling on-line measurement based on line structured-light vision. Transactions of the Chinese Society of Agricultural Engineering, 2013; 29(21): 143-149.
[11] Kendo N, Nishitsuji Y, Ling P P, Ting K C. Visual feedback guided robotic cherry tomato harvesting. Transactions of the American Society of Agricultural Engineers, 1996; 39(6): 2331-2338.
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Published
2014-04-28
How to Cite
Qingchun, F., Wei, C., Jianjun, Z., & Xiu, W. (2014). Design of structured-light vision system for tomato harvesting robot. International Journal of Agricultural and Biological Engineering, 7(2), 19–26. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/977
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Power and Machinery Systems
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