Picking point positioning method

Abstract

The invention discloses a picking point positioning method which comprises the following steps: obtaining a trained YOLOv3 target detection model, collecting and detecting a fruit growth area image, obtaining the number and positions of fruits in a detection view field, and fusing a feature extraction network of dense connection and residual idea with the target detection model; judging the numberof fruits in the visual field, and judging the images as a distant view and a close view according to the number; performing branch segmentation on the close-range image by using a semantic segmentation model to obtain a branch segmentation image; carrying out target detection on the distant view; judging whether the number of fruits in the branch segmentation image is 1 or not, if yes, using a single-fruit picking strategy, and if not, using a multi-fruit picking strategy; and acquiring final picking positioning point. According to the method, non-damage picking of mature bunches of fruits can be achieved, the shear point positions of the mature bunches of fruits are accurately found and positioned through an algorithm, fruit shear type picking is achieved, and integrity and picking efficiency of the fruits are guaranteed.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a method for locating litchi picking points in the wild based on convolutional neural network and density clustering. Background technique [0002] As a tool for harvesting vegetables and fruits in the future, picking robots can effectively solve the problems of labor shortage and huge labor costs. Through mechanized picking, they can achieve all-weather picking, picking under climate interference, and efficient multi-part picking at the same time. It is extremely important to increase efficiency, reduce labor costs, and accelerate agricultural development. The automated fruit and vegetable picking robot solves the time-consuming, laborious and costly problems in the fruit and vegetable picking process through mechanical automation. Among them, the selection and positioning of fruit and vegetable picking points, as an important part of the fruit and vegetable picking robot, occupi...

AI Technical Summary

Problems solved by technology

The disadvantage of this type of device is that the detection accuracy is low, it is difficult to find the shear picking point, and the picking efficiency is not high

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