Method for identifying bunch-type fruit mother branch based on monocular camera and binocular camera

Abstract

The invention provides a method for identifying a bunch-type fruit mother branch based on a monocular camera and a binocular camera. The method comprises: firstly, acquiring a color image of bunch-type fruit characteristics including fruits, leaves and branches by adopting the monocular camera; training, segmenting, identifying and extracting the color image by using a support vector machine and an AdaBoost algorithm to obtain color images of fruits, leaves and branches then; classifying single-fruit bunches, double-fruit bunches and multi-fruit bunches of the fruits by utilizing a fruit bunch classification principle, and then identifying fruit bunch mother branches through perpendicular bisectors of upper and lower bottoms of outlines of fruit bunches, which are externally tangent to rectangles; and finally, obtaining a binocular stereo image of the mother branch of the fruit bunch by adopting a binocular camera, realizing feature matching of the left image and the right image by utilizing a normalized cross-correlation function, and finally obtaining the space coordinate of the mother branch. According to the method, the fruit bunches can be accurately and effectively identified, the mother branches of the fruit bunches can be positioned, intelligent picking of bunch type fruits is achieved, the picking efficiency is high, and the labor cost is effectively reduced.

Description

technical field [0001] The invention relates to the technical field of fruit intelligent picking, in particular to a method for identifying string-shaped fruit branches based on a monocular camera and a binocular camera. Background technique [0002] my country is the main producer of longan, grape, lychee and other bunch-shaped fruits. The total planting and production volume ranks among the top in the world, and has huge economic potential; for example, litchi, as a typical subtropical bunch-shaped fruit, is planted in South China It has become one of the important economic pillars for farmers to get rid of poverty and become rich. [0003] At present, picking string-shaped fruits is basically carried out manually, which is labor-intensive and expensive, and wastes a lot of manpower and material resources. With the advancement of science and technology and the development of intelligence level, there are more and more researches and applications of picking robots, which br...

AI Technical Summary

Problems solved by technology

However, due to the growth characteristics of the bunch-shaped fruit itself, the whole fruit bunch is very easy to grow randomly, which makes it difficult to identify the fruit bunch, the identification and positioning of the mother branch, and the inability to accurately find the entire bunch-shaped fruit. The string-type fruit intelligent picking system faces great challenges in wide application

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