{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,21]],"date-time":"2026-01-21T06:38:52Z","timestamp":1768977532449,"version":"3.49.0"},"reference-count":29,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2020,6,14]],"date-time":"2020-06-14T00:00:00Z","timestamp":1592092800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Shaanxi Key Research and Development Program of China","award":["2019NY-171, 2018TSCXL-NY-05-04"],"award-info":[{"award-number":["2019NY-171, 2018TSCXL-NY-05-04"]}]},{"name":"The Innovative Training Program for College Students of Northwest A&amp;F University","award":["1201810712046"],"award-info":[{"award-number":["1201810712046"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>During the process of automated crop picking, the two hand\u2013eye coordination operation systems, namely \u201ceye to hand\u201d and \u201ceye in hand\u201d have their respective advantages and disadvantages. It is challenging to simultaneously consider both the operational accuracy and the speed of a manipulator. In response to this problem, this study constructs a \u201cglobal\u2013local\u201d visual servo picking system based on a prototype of a picking robot to provide a global field of vision (through binocular vision) and carry out the picking operation using the monocular visual servo. Using tomato picking as an example, experiments were conducted to obtain the accuracies of judgment and range of fruit maturity, and the scenario of fruit-bearing was simulated over an area where the operation was ongoing to examine the rate of success of the system in terms of continuous fruit picking. The results show that the global\u2013local visual servo picking system had an average accuracy of correctly judging fruit maturity of 92.8%, average error of fruit distance measurement in the range 0.485 cm, average time for continuous fruit picking of 20.06 s, and average success rate of picking of 92.45%.<\/jats:p>","DOI":"10.3390\/s20123366","type":"journal-article","created":{"date-parts":[[2020,6,15]],"date-time":"2020-06-15T05:56:27Z","timestamp":1592200587000},"page":"3366","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A \u201cGlobal\u2013Local\u201d Visual Servo System for Picking Manipulators"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6835-4604","authenticated-orcid":false,"given":"Yinggang","family":"Shi","sequence":"first","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China"},{"name":"Key Laboratory of Agricultural Internet of Things, Ministry of Agriculture and Rural, Yangling 712100, China"},{"name":"Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service, Yangling 712100, China"}]},{"given":"Wei","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China"}]},{"given":"Zhiwen","family":"Li","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China"}]},{"given":"Yong","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China"}]},{"given":"Li","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China"},{"name":"Key Laboratory of Agricultural Internet of Things, Ministry of Agriculture and Rural, Yangling 712100, China"},{"name":"Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service, Yangling 712100, China"}]},{"given":"Yongjie","family":"Cui","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China"},{"name":"Key Laboratory of Agricultural Internet of Things, Ministry of Agriculture and Rural, Yangling 712100, China"},{"name":"Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service, Yangling 712100, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,6,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1016\/j.compag.2016.06.022","article-title":"A review of key techniques of vision-based control for harvesting robot","volume":"127","author":"Zhao","year":"2016","journal-title":"Comput. 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