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A method for dividing a litchi fruit picking area based on MATLAB image processing

A region division method and image processing technology, applied in the direction of instruments, character and pattern recognition, computer components, etc., can solve the problems of non-regional picking and research

Active Publication Date: 2019-04-26
SOUTH CHINA AGRI UNIV
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Problems solved by technology

However, in the process of litchi picking, the vision system of the robot is mostly combined with the manipulator picking, and there is basically no research on regional picking

Method used

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  • A method for dividing a litchi fruit picking area based on MATLAB image processing
  • A method for dividing a litchi fruit picking area based on MATLAB image processing
  • A method for dividing a litchi fruit picking area based on MATLAB image processing

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Embodiment

[0050] Such as figure 1 As shown, the present embodiment is based on MATLAB image processing litchi fruit picking area division method, specifically comprises the following steps:

[0051] (1) collecting the canopy image of the litchi canopy;

[0052] Use the image acquisition equipment industrial camera to pick and shoot the canopy of lychee to get the image of the canopy.

[0053] (2) Carry out denoising preprocessing to the collected tree canopy image, specifically:

[0054] Step 1: The original fruit image is decomposed into three color images of R, G, and B in the RGB color space, and each color image is a two-dimensional image;

[0055] Step 2: Next, each color image is decomposed into low-frequency and high-frequency parts using a two-dimensional tower decomposition algorithm, and then the low-frequency part and high-frequency part are processed separately using histogram averaging and contrast enhancement;

[0056] Step 3: Merge the processed low-frequency and high-fr...

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Abstract

The invention discloses a MATLAB (Matrix Laboratory) image processing-based litchi fruit picking area division method, which comprises the following steps of: carrying out decision division on pickingby combining fruit picking machinery of a regional picking method, shooting, identifying, positioning and extracting coordinates of a litchi crown through a binocular vision camera, and dividing an optimal position of a picking area. And using a binocular camera to collect a crown fruit photo, analyzing the photo, and detecting a suspected fruit area by adopting color-based K-means clustering andHough circle transformation. Carrying out error detection on the suspected fruit area and the non-fruit area by using an AdaBoost classifier trained by the local binary pattern characteristics of thefruits and the non-fruits, and completing the recognition of the litchi fruits after the detection results are combined; Coordinate information of litchi is obtained and then carrying out clusteringanalysis on the region by using a K-means clustering method, and taking the centroid of each divided region as a central point of a picking position after classification. The invention relates to thefield of machine vision, and is of great significance to orchard automation.

Description

technical field [0001] The invention belongs to the field of orchard picking, in particular to a decision-making method for litchi orchard picking based on MATLAB image analysis. Background technique [0002] Litchi picking machine has become a research hotspot in the field of agricultural engineering because of its advantages of improving picking efficiency, reducing labor intensity and saving litchi harvesting costs. However, in the litchi picking process, the robot's vision system is mostly combined with the manipulator picking, and there is basically no research on regional picking. To this end, based on theoretical methods such as binocular stereo vision, machine learning, and cluster analysis, this paper conducts in-depth research on the methods of identifying, locating, and picking decisions for litchi fruits in unstructured environments. And use software simulation and hardware test for the recognition and positioning of many types of litchi with different growth fo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06V20/38G06V10/40G06V10/44G06V10/467G06V20/68G06F18/23213G06F18/2148G06F18/24
Inventor 李君李伯阳潘丽敏郭景达张廷浩李志强
Owner SOUTH CHINA AGRI UNIV
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