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Method for identifying shielded fruits in natural environment

A technology of natural environment and identification method, applied in the field of identification of occluded fruits in natural environment, to achieve the effect of reducing storage capacity and time cost

Active Publication Date: 2020-10-02
SHENYANG POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention aims at proposing a recognition method for covered fruits in a natural environment to solve the problem of recognition of fruits under cover in the prior art

Method used

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  • Method for identifying shielded fruits in natural environment
  • Method for identifying shielded fruits in natural environment
  • Method for identifying shielded fruits in natural environment

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Embodiment Construction

[0078] Below in conjunction with accompanying drawing, the present invention will be further described:

[0079] Aiming at the phenomenon that branches and leaves block fruit and fruit overlapping each other in the natural environment, the present invention proposes a mathematical method for judging the occlusion threshold using the distance fluctuation curve from adjacent manually marked points to the center of mass of the target area. The image is segmented based on the color and texture multi-feature fusion method, and the threshold is used to determine the occluded area and unoccluded edge of the fruit. The center point set obtained by the random three-point circle method is used as the input of the improved agglomerative hierarchical clusterer, and the classification results are circled. fit.

[0080] Relevant definitions are made for the occlusion of the fruit. According to the distance fluctuation curve between the marked point and the centroid, the fruit edge accounts ...

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Abstract

The invention relates to the field of image recognition, in particular to a method for identifying shielded fruits in a natural environment. The method comprises: preprocessing, solving an optimal shielding threshold value by utilizing a distance fluctuation curve of adjacent manual marking points on a region edge and a mass center, judging a fruit shielding region and an unshielded edge, and carrying out random three-point circle determination on non-adjacent marking points on the unshielded edge; and taking the obtained circle center point set as the input of an improved cohesion hierarchical clustering classifier based on heap sorting, solving the circle center mean value of each class in the result, and performing circle fitting on the circle center mean value and the farthest markingpoint on the edge of the fruit to realize the identification of the shielded fruit. Compared with the prior art, the recognition method is good in real-time performance, high in recognition rate and small in fluctuation range.

Description

technical field [0001] The invention relates to the field of image recognition, in particular to a recognition method for covered fruits in a natural environment. Background technique [0002] At present, the picking link of the fruit supply chain mainly relies on manual work, which is low in efficiency and high in cost, and cannot meet the supply demand of the international market. In order to effectively improve labor productivity and save labor costs, the use of fruit picking robots instead of manual work is the modern management inevitable trend. In the natural environment, fruits are mostly spherical, and the phenomenon of fruit overlapping and being blocked by branches and leaves is common. The machine vision system's judgment and detection of the occlusion state of the target fruit has become a practical problem that fruit picking robots need to solve urgently. extensive attention of scholars. [0003] At present, scholars at home and abroad have made some progress ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/36G06K9/34G06K9/40G06K9/62
CPCG06V10/26G06V10/20G06V10/30G06V20/68G06F18/23G06F18/25
Inventor 刘振宇丁宇祺
Owner SHENYANG POLYTECHNIC UNIV
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