Real-time identification method of hickory nut fruits in image based on machine vision

Abstract

The invention discloses a target recognition method of a hickory nut picking robot based on machine vision. The method comprises the following steps: down-sampling an original image to obtain a down-sampled image; carrying out smooth denoising processing on the down-sampled image to obtain a denoised image; converting the denoised image in different color spaces, selecting and extracting a featureimage component with obvious target features, and acquiring a first binary image after threshold segmentation; processing the denoised image according to a color threshold range to obtain a second binary image; and performing morphological processing on the first binary image and the second binary image, and then taking a public area of the two images, wherein the public area is a hickory nut fruit recognized by the picking robot. According to the method, the classification rate of hickory nut target images is improved, and the method has good classification robustness and accuracy.

Description

technical field [0001] The invention relates to a target recognition method of a pecan picking robot, in particular to a machine vision-based real-time recognition method of a pecan fruit in an image. Background technique [0002] For the automated hickory picker, identifying the operating object is the key problem that the picking robot needs to solve. On the one hand, naturally growing hickory nuts have individual differences, and their physical forms such as size, shape, and color are different, and change with time; on the other hand, the interference of complex backgrounds such as the occlusion of hickory fruit branches and leaves increases It reduces the difficulty of identifying the work object. Therefore, in order for the picking machine to accurately identify the work object from the complex operating environment, the picking machine must be supported by powerful analysis and recognition algorithms. Color information is the most commonly used feature to distinguis...

AI Technical Summary

Problems solved by technology

Although there are many research results at home and abroad, how to improve the picking robot's ability to perceive the hickory fruit growth environment and ensure high accuracy of target recognition on the basis of only using visible light sensors, improve the robustness and real-time performance of the algorithm No systematic studies

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