A tomato identification and positioning method and system

Abstract

An embodiment of the present invention provides a tomato identification and positioning method and system, comprising: acquiring an image to be detected containing tomatoes, converting the image to be detected into an HSV image, and after masking the HSV image, integrating the HSV image into The RGB image is masked to obtain the tomato image after the background is removed; the red tomato image after the background removal is cut through the watershed algorithm to obtain the tomato image after image segmentation; the edge detection is performed on the tomato image after image segmentation to determine The coordinate position of the tomato in the tomato image after the image segmentation; according to the coordinate position of the tomato in the tomato image after the image segmentation, the point cloud data of the tomato is obtained, and the actual position of the tomato is determined according to the point cloud data of the tomato. The method provided by the invention eliminates the effects of uneven light, shadows caused by branches and leaves on fruits, and shadows caused by mutual shadows between fruits on fruit recognition.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of image recognition, in particular to a method and system for identifying and locating tomatoes. Background technique [0002] Tomatoes are one of the most commonly cultivated vegetables in people's lives, but manual picking is labor-intensive and inefficient. The development of tomato automatic harvesting equipment can greatly reduce the cost of picking and effectively improve the production status. Due to the complex background of tomato growing environment and overlapping fruit clusters, the ability to accurately obtain fruit location and picking information has become a major bottleneck restricting tomato picking robots. [0003] In the prior art, a lot of relevant research and applications have been done on tomato identification and positioning. The commonly used method is to use binocular stereo vision technology for positioning. Specifically, two CCD cameras are used to coll...

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Problems solved by technology

[0005] The embodiment of the present invention provides a method and system for tomato identification and positioning, which is used to solve the problem that the positioning and identification method for tomatoes in the prior art is too complicated, the camera equipment used is expensive, and at the same time, the active detection method of line structured light vision cannot effectively identify red Ripe fruit, in terms of image processing, it is impossible to effectively segment the fruit and the background, and the fruit sticking part at the same time

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