Name
Title | ||
|---|---|---|
Far-near combined positioning of picking-point based on depth data features for horizontal-trellis cultivated grape |
Abstract | ||
|---|---|---|
For robotic harvesting of table grape in clusters usually by gripping and cutting the peduncle, the accurate cutting point positioning on the peduncle is crucial. In this paper, a new method for accurate positioning of picking-point based on the combination of far-view and near-view depth data features for horizontal-trellis cultivated grape was proposed. First, a far-near combination strategy for picking-point positioning which makes full use of the features of grape cluster and horizontal-trellis environment obtained from depth point cloud data was put forward. Then the special "eye-under-finger" structure to meet the needs of far-near combination was proposed, and, three key points of far-view point, near-view point and picking-point that determine the hand-eye path for far-near combination were defined. Finally, the far-near combined method composed of grape cluster detection in far view, far-near viewing switching and picking-point positioning based on depth data histogram in near view was established, which was realized by selecting the grape cluster bottom as the key clue. In field experiment of picking-point positioning in near view, the average running time of the algorithm is 0.29 s, and only 5 samples in total 100 failed to achieve accurate positioning. In lab experiments of far-near combined picking-point positioning, the success rate of accurate picking-point positioning reached 100%. This method is hopeful to overcome the deficiency of black-box processing of traditional image processing methods. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1016/j.compag.2022.106791 | COMPUTERS AND ELECTRONICS IN AGRICULTURE |
Keywords | DocType | Volume |
Grape, Picking-point, Positioning, Far-near combination, Depth data feature | Journal | 194 |
ISSN | Citations | PageRank |
0168-1699 | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yucheng Jin | 1 | 0 | 0.34 |
| Jizhan Liu | 2 | 0 | 0.34 |
| Jie Wang | 3 | 0 | 3.72 |
| Zhujie Xu | 4 | 0 | 0.34 |
| Yan Yuan | 5 | 0 | 0.34 |