A method for judging the interference type of string-shaped fruit mother branches based on visual zooming method

Abstract

The invention provides a method for judging the interference type of string-shaped fruit branches based on the visual zoom method. The method first realizes pre-positioning of the mother branches through the cooperation of a monocular camera and a binocular camera, and obtains a pre-positioning image and a pre-positioning image of the mother branch. The geometric center point, and then obtain the actual positioning image and the actual positioning geometric center point of the mother branch in the picking process through the binocular vision camera; finally, use the monocular vision zoom method to compare the actual positioning image of the mother branch with the pre-positioning image to determine the mother branch Interference type. This method can not only accurately and effectively identify the fruit bunches and pre-position the parent branches of the fruit bunches, but also accurately judge the interference type of the mother branches during the picking process and avoid the influence of external factors, so that the picking robot can accurately cut the fruit bunches The mother branch ensures the integrity of the fruit bunch, improves picking efficiency, reduces picking costs, and saves labor.

Description

technical field [0001] The invention relates to the technical field of fruit intelligent picking, in particular to a method for judging the interference type of string-shaped fruit branches based on a visual zoom method. Background technique [0002] my country is an important producer of string fruits such as longan, grapes, and lychees, and is also deeply loved by consumers; for example, lychees are distributed in the southwest, south, and southeast of my country, and Guangdong and southern Fujian are the most cultivated. Bananas, pineapple, and longan are known as the "four major fruits in the southern country". [0003] For the picking of bunch-shaped fruits, it mainly relies on manual work at present. However, manual picking is labor-intensive and expensive, and wastes a lot of manpower and material resources. Second, manual picking is inefficient, time-consuming, and costly. [0004] With the advancement of science and technology, mechanical automation and intelligence...

AI Technical Summary

Problems solved by technology

However, due to the growth characteristics of the bunch-shaped fruit itself, the whole bunch of fruit bunches is very easy to grow in random distribution, resulting in the difficulty of identifying the fruit bunch, the identification and positioning of the mother branch, and the inability to accurately find the mother branch of the whole bunch-shaped fruit; The influence of the external environment such as wind, light, dew, etc. will cause the position of the mother branch to change or be blocked, which will cause the picking robot to fail to pick or cut it by mistake and damage the fruit. Therefore, in order to achieve intelligent picking, it is not only necessary to accurately locate the mother branch The position of the mother branch should also be identified during the picking process, so as to accurately resist interference and achieve the effect of accurately cutting the mother branch.

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