Key techniques of hangzhou white chrysanthemum picking robot

FAN Jun1, XUN Yi1, BAO Guanjun1, WU Junliang2, YANG Qinghua1

(1.Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology,
Ministry of Education, Zhejiang University of Technology, Hangzhou 310032, China; 2.Shanghai
Worth Garden Co.,Ltd., Shanghai 200072, China)

Abstract: Aiming at the problems of the low level of Hangzhou White Chrysanthemum picking mechanization and high labor costs, a walking mechanism, picking arm, an endeffector, vision system and motion control system were researched, a kind of Hangzhou white chrysanthemum picking robot was developed. At the same time, aiming at the problem of fruit identification of Hangzhou White Chrysanthemum, the color feature and texture feature of Hangzhou white chrysanthemum were researched, a new segmentation method for Hangzhou white chrysanthemum that based on the fast FCM algorithm of S component on HSV color space was presented. The Hangzhou white chrysanthemum image in two different light conditions that facing the light and backlight was tested. The results indicate that the proposed method can segment Hangzhou white chrysanthemum quickly and well from the complex natural environment. It can provide some references for the research of agricultural robots.

Key words: Hangzhou white chrysanthemum; hardware structure; endeffector; segmentation of image