Precise recognition method of overlapped shielded fruits

A recognition method and fruit technology, applied in character and pattern recognition, instruments, picking machines, etc., can solve the problems of damage to the original shape of the fruit, lack of information, unfavorable accurate recognition, etc.

Active Publication Date: 2013-09-18
溧阳常大技术转移中心有限公司
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Problems solved by technology

The so-called natural separation means relying on the superimposition of the original image and the occluded edge inverse image to achieve separation, rather than artificially sett

Method used

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  • Precise recognition method of overlapped shielded fruits
  • Precise recognition method of overlapped shielded fruits

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Embodiment Construction

[0019] The present invention will be further described in detail below in conjunction with the drawings.

[0020] The flow of the method for accurately identifying overlapping and obscured fruits of the present invention is as follows figure 1 As shown, it specifically includes the following steps:

[0021] (1) Image acquisition steps

[0022] The image acquisition is based on the binocular vision system. In addition to the subsequent extraction of the two-dimensional information of the target object, the depth information of the target object must also be obtained.

[0023] (2) Target object extraction step

[0024] The implementation process of this step is as follows figure 2 Shown. First of all, the variability of lighting in the natural environment seriously affects the image segmentation effect. Therefore, this step adopts the adaptive Wiener filtering method for image preprocessing to eliminate noise interference in images collected under different lighting conditions such as ...

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Abstract

The invention discloses a precise recognition method of overlapped shielded fruits, which concretely comprises an image acquisition step, a target object extraction step, a target object depth calculation step, a shielded edge area determining step, a shielded edge information obtaining step, an overlapped shielded fruit separating step, an incomplete target fruit repairing step and a fruit centroid and depth coordinate calculation step, wherein in the target object extraction step, an acquired image is processed to extract fruits, branches and leaves in the image, in the shielded edge information obtaining step, complete information of a shielded edge is obtained through methods of edge detection, edge thinning and edge connecting, and in the overlapped shielded fruit separating step, an overlapped shielded complete edge image is overlapped with a fruit image after being perverted to realize separation of overlapped shielded fruits. For picking robots of fruits, such as apples and citrus, the precise recognition method of the overlapped shielded fruits disclosed by the invention can realize precise recognition for the overlapped shielded fruits, and thus the practical progress of the picking robots is expected to be pushed.

Description

Technical field [0001] The invention relates to a method for accurately recognizing overlapping and concealed fruits, in particular to a method for accurately recognizing overlapping and concealed fruits such as apples and citrus. Background technique [0002] For picking robots, due to the unstructured nature of the natural working environment, there are many factors that affect the precise identification of fruits, of which overlapping occlusion is one of the main factors. Fruit overlap and occlusion, as the name implies, means that when viewed from the image collection direction of the vision sensor, two or more fruits overlap but do not necessarily touch so that the rear part of the fruit is blocked by the front fruit. Whether the picking robot has the ability to accurately recognize the fruit has an important relationship with the completeness of the fruit information. Specifically for overlapping and obscured fruits, its accurate identification depends on the natural separ...

Claims

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Application Information

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IPC IPC(8): G06K9/60A01D46/24
Inventor 吕继东王雪何可人赵德安陈玉姬伟
Owner 溧阳常大技术转移中心有限公司
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