中文摘要：

针对采棉机器人对棉花成熟度难以判断,导致工作效率低等问题,本研究采用遗传算法的最大类间方差法进行阈值分割、提取棉花的最小外接矩形和棉花的特征参数,建立判别函数,并对受风吹和挤压的情况进行分析。研究表明,此方法可以快速、准确的判定棉花的成熟度,满足采棉机器人对确定待采摘棉花的要求。

英文摘要：

Aimed at cotton robot can not distinguish the cotton maturity,which lead to the low efficiency.This study used genetic algorithms based on Otsu to threshold segmentation,extracted the smallest enclosing rectangle and characteristic parametersof cotton,to build discriminant function,and analyzed the situation by wind and squeeze.The result showed that this study could distinguish the cotton maturity fast and accurate,to meet the needs of cotton robot for picking cotton.