Research on Fruit State Discrimination Method for Harvesting Robot


Article Preview

Because fruit state need to be discriminate to select the different harvesting method before it is fast picked, the fruit state discrimination method was developed. Firstly, the two apple images were acquired, and then segmented by the improved OTSU dynamic threshold segmentation method. Secondly, the picking target fruit was selected based on the principle of the nearest distance to image center when there were a lot of fruits. Thirdly, the two segmented fruit images were done by the inter-frame difference method, then the target fruit state was got using the connection number discrimination to the difference image and the centroid coordinates matching discrimination to the oscillating fruit image. Lastly, the test results showed that the designed algorithm was feasible and effective for most cases in natural environment, and the discrimination time was less than 0.2s.



Edited by:

Chunliang Zhang and Paul P. Lin




J. D. Lv et al., "Research on Fruit State Discrimination Method for Harvesting Robot", Applied Mechanics and Materials, Vols. 226-228, pp. 1835-1839, 2012

Online since:

November 2012




[1] De-an Zhao, Jidong Lv, Wei Ji, Ying Zhang and Yu Chen: Biosystems Engineering, Vol. 110 (2011) No. 2, p.112.


[2] Defeng Zhang: Detailed Description of MATLAB Digital image processing (Publishing House of Electronics Industry, China 2010). (In Chinese).

[3] Anderson C, Bert P and Vander Wal G: Proc SPIE Conference on Intelligent Robots and Computer Vision (Cambridge, MA, 1985). Vol. 579, p.72.

[4] Lipton A, Fujiyoshi H and Patil R: Proc IEEE Workshop on Applications of Computer Vision (Princeton, NJ, 1998). p.8.

[5] Wenzhe Zhao and Shiyin Qin: Science & Technology Review, Vol. 27 (2009) No. 10, p.64. (In Chinese).

[6] Gang Li, Shangbin Qin, Ling Li, and Ruili Zeng: Chinese Journal of Scientific Instrument, Vol. 27 (2006) No. 8, p.961. (In Chinese).