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Fast tracking recognition method for overlapped fruits by picking robot

A technology for picking robots and identification methods, which is applied in the field of fast tracking and identification of spherical overlapping fruits, can solve problems such as affecting the tracking and identification of robots, and achieve the effects of improving real-time performance, short running time and reducing workload.

Active Publication Date: 2015-05-20
JIANGSU UNIV
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a fast tracking and identification method for spherical overlapping fruits such as apples, to solve the problem that the overlapping of fruits due to natural growth affects the tracking and identification of robots

Method used

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  • Fast tracking recognition method for overlapped fruits by picking robot
  • Fast tracking recognition method for overlapped fruits by picking robot
  • Fast tracking recognition method for overlapped fruits by picking robot

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Embodiment Construction

[0034] The specific embodiments of the present invention will be further described below in conjunction with the drawings. The specific process of the present invention is as follows: figure 1 Shown.

[0035] 1. Overlapping apple image collection

[0036] The invention adopts a color CCD camera to continuously collect images, and the collection frequency is 10 frames / second. The images are continuously collected during the movement of the robot, and the latest 10 overlapping apple images are used.

[0037] 2. Target fruit segmentation

[0038] In this embodiment, the OTSU segmentation method based on color features is used to segment the collected image, that is, the R component under the RGB color model is subtracted from the G component. There are holes, burrs, noise, etc. in the segmented image, so mathematical morphology is used to perfect the segmented image. The specific method is to first use a disc-shaped structural element with a radius of 1 pixel to expand the image, expan...

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Abstract

The invention discloses a fast tracking recognition method for overlapped fruits by a picking robot. The fast tracking recognition method comprises the following steps: continuously collecting the latest ten frames of overlapped apple images through a camera; segmenting the collected first frame of image, and removing a background; determining the position of the circle center of overlapped apples by calculating the maximal value of the minimal distance from points in a circle to the edge of an outline; calculating the distance from the circle center to the edge of the outline to determine a radius; intercepting a subsequently matched template according to the circle center and the radius; determining the circle centers of overlapped apples in the continuously collected latest tens frames of images, and carrying out fitting and pre-judging on the motion path of the robot according to the circle center of each frame of image; determining the positions of overlapped apples in a next frame of image by synthesizing the radius and the pre-judging path, and intercepting the area of the overlapped apples; finally carrying out matching recognition by adopting a rapid normalized cross-correlation matching algorithm. According to the method, tracking recognition of near-spherical overlapped fruits such as the overlapped apples can be achieved; the running time is short; the picking efficiency of the picking robot can be effectively improved.

Description

Technical field [0001] The invention belongs to the field of agricultural machinery, and relates to an image recognition method of a fruit and vegetable picking robot, in particular to a fast tracking and recognition method for apples and other spherical overlapping fruits. Background technique [0002] Since the birth of the first tomato picking robot in the United States in 1983, the research and development of picking robots has gone through more than 30 years, and various countries have set up projects to study various fruit and vegetable picking intelligent robots. However, due to problems such as low recognition rate and low picking rate, picking robots are still far from practical and commercialization. Therefore, improving the picking efficiency of picking robots and enhancing the practical performance of picking robots are the key to current research. [0003] Fruit recognition and positioning are the primary task and design difficulty of fruit picking robots. The accuracy...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/54
CPCG06T7/12G06T7/66G06T2207/30188G06V20/49
Inventor 赵德安沈甜陈玉贾伟宽
Owner JIANGSU UNIV
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