Object extraction for the vision system of eggplant picking robot

机译：茄子采摘机器人视觉系统的对象提取

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Object extraction for the vision system of eggplant picking robot is put forward to improve the real time of the vision system. The characteristic of eggplant fruit is found by means of experiment and statistics of the color features of the eggplant fruit in growing environment and their surroundings. The EXG color factor is most available to segment the image of eggplants. The threshold segmentation method is completed based on the brightness. The residua are got rid of preferably by template operation and morphologic operation. Rotation direction search method is used to contour tracing the eggplant fruit image edges. According to the requirements for the vision system of fruit-vegetable picking robot, such features are extracted as the contour, area, circumscribed rectangle and cutout point of the fruit target. In is shown by the experiments that the segmentation efficiency is greater than 84% respectively and the average time used is 0.11s, meeting the requirements of picking robot for the vision system.

机译：提取茄子采摘机器人视觉系统的对象提取，以改善视觉系统的实时。通过在生长环境和周围环境中的茄子水果的颜色特征的实验和统计来发现茄子果实的特征。 exg颜色因子最可用的是，可以分段为茄子的图像。基于亮度完成阈值分割方法。 Residua优选地通过模板操作和形态学操作摆脱。旋转方向搜索方法用于轮廓跟踪茄子果实图像边缘。根据水果蔬菜采摘机器人的视觉系统的要求，这些特征被提取为水果靶标的轮廓，面积，外接矩形和切口点。通过实验表明，分割效率分别大于84％，使用的平均时间为0.11s，满足用于视觉系统的拣选机器人的要求。

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《International Conference on Electrical and Control Engineering》|2011年||共3页
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Song Jian;
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中图分类 TM92-53;
关键词
eggplant; image processing; picking robot; template operation; threshold segmentation;

机译：茄子;图像处理;拣选机器人;模板操作;阈值分割;

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专利

1. Automatic method of fruit object extraction under complex agricultural background for vision system of fruit picking robot [J] . Xiangqin Wei, Kun Jia, Jinhui Lan, Optik: Zeitschrift fur Licht- und Elektronenoptik: = Journal for Light-and Electronoptic . 2014,第19期

机译：农业复杂背景下采摘机器人视觉系统中水果对象自动提取方法
2. Vision-guided Robot System for Picking Objects by Casting Shadows [J] . Amit Agrawal, Yu Sun, John Barnwell, The International journal of robotics research . 2010,第2a3期

机译：视觉引导机器人系统，用于投射阴影
3. Vision-Based Solutions for Robotic Manipulation and Navigation Applied to Object Picking and Distribution [J] . Maximo A. Roa-Garzon, Elena F. Gambaro, Monika Florek-Jasinska, Kunstliche Intelligenz . 2019,第2期

机译：基于视觉的机器人操纵和导航解决方案应用于对象拣选和分布
4. Object extraction for the vision system of eggplant picking robot [C] . Song Jian 2011 International Conference on Electrical and Control Engineering . 2011

机译：茄子采摘机器人视觉系统的目标提取
5. An optimal scheduling of pick-place operations of a robot-vision-tracking system by using neural networks and rule-based systems. [D] . Feng, Keqi. 1992

机译：使用神经网络和基于规则的系统对机器人视觉跟踪系统的拾取操作进行最佳调度。
6. Depth Image–Based Deep Learning of Grasp Planning for Textureless Planar-Faced Objects in Vision-Guided Robotic Bin-Picking [O] . Ping Jiang, Yoshiyuki Ishihara, Nobukatsu Sugiyama, 2020

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机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

Object extraction for the vision system of eggplant picking robot

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