Target fruit identification method in night vision environment

A recognition method and fruit recognition technology, applied to pattern recognition in signals, character and pattern recognition, instruments, etc., can solve the problems that picking robots cannot obtain image information at night, long recognition time and low recognition accuracy of picking robots, and achieve The effect of shortening the picking time, improving the picking efficiency and improving the image quality

Pending Publication Date: 2022-01-28
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0006] Purpose of the invention: In order to solve the problems that the existing picking robots cannot obtain accurate nighttime image information, which leads to long recognition time and low recognition accuracy of the picking robots, the present invention proposes a method for identifying target fruits in a night vision environment, which can significantly improve Recognition speed, can meet real-time requirements, and high accuracy

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  • Target fruit identification method in night vision environment
  • Target fruit identification method in night vision environment
  • Target fruit identification method in night vision environment

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Embodiment Construction

[0051] The present invention will be further described below in conjunction with the accompanying drawings and examples.

[0052] Due to the variety of fruit growth forms, the erratic light in the orchard, etc., if the night operation can be realized, the purpose of shortening the picking time and improving the picking efficiency can be realized; therefore, the present invention proposes a method for detecting the target fruit under the night vision environment. The recognition method, which combines the advantages of multiple color spaces, overcomes the defects of the traditional Euclidean distance in the clustering algorithm, improves the efficiency of image segmentation and recognition accuracy, and can quickly and accurately identify the growth states of the circles that are separated from each other. The fruit is detected, and the recognition effect of the partially occluded round fruit is also good. Now take picking peaches as an example to further illustrate the identif...

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Abstract

The invention discloses a target fruit identification method in a night vision environment, and the method comprises the following steps: 1, obtaining an environment image with the target fruit in the night vision environment, carrying out the noise reduction of the environment image through employing a frequency domain algorithm based on edge direction features, and obtaining a denoised environment image; 2, performing target fruit recognition from the denoised environment image by adopting an a * CbR fusion space method to obtain a target fruit image; and step 3, optimizing the circle center and the corresponding radius of the target fruit image obtained in the step 2 by adopting a three-point circle setting method improved by a genetic algorithm to obtain a final target fruit recognition result.

Description

technical field [0001] The invention belongs to the technical field of intelligent agricultural robots, and in particular relates to a method for identifying target fruits in a night vision environment. Background technique [0002] Peaches need to be picked intensively during the ripening period, and the picking operation is one of the most time-consuming and laborious links in peach planting and production, and it is still done by hand at present. In recent years, picking robots based on machine vision have become a hot spot, which aims to realize automatic fruit picking through intelligent robot technology. The picking robot under night vision environment is a comprehensive system integrating environment perception, motion planning and servo control. Among them, environmental perception is an important basis and prerequisite for automatic picking. The detection of peach images can provide picking target information for the picking robot control system. Fast and accurat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/10G06V10/25G06V10/44G06V10/56G06V10/26G06N3/00
CPCG06N3/006G06F2218/04
Inventor 胡仕林陈伟
Owner JIANGSU UNIV OF SCI & TECH
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