Journal
COMPUTERS AND ELECTRONICS IN AGRICULTURE
Volume 194, Issue -, Pages -Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.compag.2022.106791
Keywords
Grape; Picking-point; Positioning; Far-near combination; Depth data feature
Funding
- National Natural Science Foundation of China [31971795]
- Project of Jiangsu Modern Agricultural Machinery Equipment & Technology Demonstration and Promotion [NJ2021-13]
- Project of Faculty of Agricultural Equipment of Jiangsu University [4111680002, NZXB20210105]
- Priority Academic Program Development of Jiangsu Higher Education Institutions [PAPD-2018-87]
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This paper proposes a novel method for accurate positioning of picking-point in table grape clusters using a combination of far-view and near-view depth data features. The method achieves high success rate through a combination strategy and a special eye-under-finger structure.
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.
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