A research for intelligent cotton picking robot based on machine vision

Abstract

Analysing the cotton picker in current situation of China, this paper proposed a new design of Intelligent Cotton Picking Robot (ICPR) based on machine vision including the motion control subsystem and machine vision subsystem. The former adopts the YASKAWA MP2100 as the core, which can control the robot of 4-DOF and X-axis. The latter based on the interface module of SEED-VPM642 with 2-CCD cameras, can get an efficient and precise recognition. The identification of mature cotton is one of the critical tasks in this robotic application. According to the statistic experiments and analysis, an optimized segmentation algorithm based on chromatic aberration is studied. The results demonstrate that the method for cotton recognition is well done and the increased pace helps improve the speed of the processing.