Fruit distinguishing and locating method with laser scanning and machine vision combined

A technology of machine vision and laser scanning, which is applied in the field of agricultural robots, can solve problems such as sensitivity to light conditions, errors, and difficulty in making correct judgments, and achieve the effects of simple and fast methods, accurate identification and determination, real-time performance and strong practicability

Inactive Publication Date: 2014-01-29
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, machine vision is widely used to identify and locate fruits, but machine vision is sensitive to lighting conditions. Conditions such as backlight and backlight will cause difficulties and errors in extracting fruit edge information in the image, and the effects of supplementary light and other measures are affected by actual conditions. Strict restrictions on lighting conditions
At the same time, for the ubiquitous overlapping of fruits, it is difficult to distinguish in machine vision images, and only limited segmentation can be performed through complex algorithm processing, which is seriously insufficient in real-time and accuracy
A small number of multi-spectral technology is used for fruit identification, its accuracy and real-time performance are difficult to guarantee, and it cannot meet the needs

Method used

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  • Fruit distinguishing and locating method with laser scanning and machine vision combined
  • Fruit distinguishing and locating method with laser scanning and machine vision combined
  • Fruit distinguishing and locating method with laser scanning and machine vision combined

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Embodiment Construction

[0018] The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0019] figure 1 A flow chart of the method of the present invention is shown.

[0020] Taking tomato as an example, the implementation process of the present invention is as follows:

[0021] (1) Laser scanning is not affected by lighting conditions. The laser scanner 1 obtains the reflectivity 3, coordinates 4, and distance 5 information of the scene ahead through three-dimensional scanning. Due to the reflection of tomato fruit 9, tomato branch 10, and tomato leaf 11 There is a significant difference in reflectance, so that a clear outline can be formed in the reflectance figure 7, thereby distinguishing the tomato fruit 9 from the tomato branch 10 and the tomato leaf 11, as shown in image 3 shown;

[0022] (2) In view of the fact that the reflectance 3 of the ripe tomato fruit 13 and the immature toma...

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Abstract

The invention discloses a fruit distinguishing and locating method with laser scanning and machine vision combined. According to the fruit distinguishing and locating method with laser scanning and machine vision combined, through the characteristics that laser scanning is not influenced by the light condition and can simultaneously obtain multiple pieces of information such as the distance, the reflectivity and the coordinate, fruits are distinguished from branches and leaves in a reflectivity graph generated after scanning through a clear outline formed by the obvious difference of reflectivities. According to the color characteristic difference between a color image and a characteristic point of the reflectivity graph, the mature fruits and the immature fruits are distinguished, wherein the mature fruits and the immature fruit are similar in reflectivity. According to the difference distances of multiple mutually-overlapped fruits in a depth map, the mature target fruit is distinguished from the fruits overlapping with the mature target fruit. According to the fruit distinguishing and locating method with laser scanning and machine vision combined, the multiple pieces of information, obtained after laser scanning, such as the reflectivity, the depth and the coordinate and the color image information of machine vision are combined, the purposes that the mature target fruit is distinguished from the branches and the leaves, the immature fruits, and the fruits overlapping with the mature target fruit and is located are achieved comprehensively. The fruit distinguishing and locating method with laser scanning and machine vision combined is simple and rapid, high in real-time performance and practicability, and applicable to distinction and locating of the fruits on a plant.

Description

Technical field [0001] The invention relates to the field of agricultural robots, in particular to a fruit identification and positioning method combining laser scanning and machine vision. Background technique [0002] In robot picking, the identification and positioning of fruits is a key technical problem. At present, machine vision is widely used to identify and locate fruits, but machine vision is sensitive to lighting conditions. Conditions such as backlight and backlight will cause difficulties and errors in extracting fruit edge information in the image, and the effects of supplementary light and other measures are affected by actual conditions. Strict restrictions on lighting conditions. At the same time, it is difficult to distinguish the ubiquitous overlapping of fruits in machine vision images, and only limited segmentation can be performed through complex algorithm processing, which is seriously insufficient in real-time and accuracy. A small number of multi-...

Claims

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Application Information

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IPC IPC(8): G06K9/46G01B11/00
Inventor 刘继展贾允毅席宁
Owner JIANGSU UNIV
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