Mushroom detection method based on laser and machine vision

A technology of machine vision and detection method, applied in supporting machines, line-of-sight measurement, instruments, etc., can solve problems such as mushrooms and noise background that cannot be handled well

Pending Publication Date: 2020-10-30
BEIJING FORESTRY UNIVERSITY
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This method still uses relatively simple machine vision technology for the recognition o...

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  • Mushroom detection method based on laser and machine vision
  • Mushroom detection method based on laser and machine vision
  • Mushroom detection method based on laser and machine vision

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Embodiment Construction

[0032] The foregoing and other features of the invention will become apparent from the following text description, taken with reference to the accompanying drawings.

[0033] The laser vision system consists of a laser scanner, an area array camera, a synchronous wheel, an X-axis synchronous wheel guide rail, a Y-axis synchronous wheel guide rail, a linear bearing, a polished rod, a camera bracket, a laser bracket, a motor bracket, profiles, connectors, and a servo motor. Among them, the laser scanner collects the mushroom position data, and the area array camera collects the mushroom image.

[0034] In this system, the area array camera is fixedly connected to the motion system through the camera bracket, and its position remains unchanged relative to the motion system; the laser scanner is fixedly connected to the linear bearing through the laser bracket, and can move along the X-axis synchronous wheel guide rail and the Y-axis synchronous wheel The guide rail reciprocates; ...

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Abstract

The invention provides a mushroom detection method based on laser and machine vision. The mushroom position and the pileus edge can be detected in a laser ranging and image mode. The visual system collects a mushroom seedbed image and identifies a mushroom planting area and a non-planting area; a mushroom planting area in the image is linearly scanned by using a laser scanning ranging system, andconvex points are extracted; the visual system automatically recognizes the edge of the mushroom pileus with the salient point as the center, the laser scanning distance measuring system and the boundary information of the visual system are mutually fitted and verified to obtain a final boundary, and mushroom position detection and pileus edge detection are achieved in combination with salient point data.

Description

technical field [0001] The invention belongs to the field of mushroom detection, in particular to a mushroom detection method based on laser and machine vision. Background technique [0002] Mushroom planting is an important industrial project in China, which is dominated by agriculture. Its planting method is mainly based on large-scale aseptic mushroom workshops. There is an urgent need for an automated mushroom picking system to carry out mushroom picking. Traditional human picking requires a lot of cost, manpower and management resources. The existing methods of applying machine vision are not good for the automatic recognition of single-plane mushroom targets due to the interference of complex environments such as soil and hyphae. It is necessary to find a 3D Search for the coordinates of the center of the mushroom from the angle of view, and have excellent resistance to the complex noise scene and adhesion of the mushroom. [0003] Yang Yongqiang invented an automatic...

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Application Information

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IPC IPC(8): G06T7/00G06T7/13G06T7/136G06T7/62G06T7/73G06T7/80F16M11/04F16M11/18G01C3/00
CPCG06T7/0002G06T7/13G06T7/136G06T7/62G06T7/73G06T7/80F16M11/045F16M11/046F16M11/18G01C3/00G06T2207/10004G06T2207/20084G06T2207/30188
Inventor 王明枝袁鹏赵仁浩程朋乐闫磊
Owner BEIJING FORESTRY UNIVERSITY
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