中文摘要：

对成熟柑橘果实在扰动状态下的视觉识别定位技术进行研究。利用ANSYS进行了扰动柑橘的动力学分析,结合图像处理分析结果,确定了微扰动柑橘的运动规律为类单摆运动;对采集的微扰动柑橘视频进行图像处理,设定规则选取视频中的图像,利用改进的K-means聚类分割法结合优化Hough圆拟合方法实现柑橘果实的分割;根据图像分割结果,对柑橘的二值图像进行Hough直线拟合,结合直线斜率在-0.45~0.45的约束条件,确定扰动柑橘的有效采摘点。试验结果表明该方法能有效地识别自然环境中的微扰动柑橘,确定扰动果实采摘点的准确率达85%,采摘点确定的处理时间在7.58~9.24 s范围内。

英文摘要：

The visual identification technology of mature citrus fruits in the condition of disturbance had been studied. Firstly, analyzing disturbed citrus in ANSYS, so as to confirm the law of motion was the simple pendulum movement. Secondly, processing video image of the disturbed citrus, by using the improved K-means clustering method combined with Hough circle transform method to segment fruits. According to the image segmentation result, fitting the binary citrus image using Hough line method. With constraint of straight slope between - 0.45 ～ 0.45, disturbed citrus＇ picking positions were determined ultimately. Test results show that this method could identify the disturbed citrus effectively in the natural environment, and the recognition rate of picking position was 85% , with processing time within 7.58 s to 9.24 s. The study provides the theoretical foundation and technical support for the visual localization of disturbed fruits.