A yellow peach picking positioning method and system based on visual recognition

Abstract

The present application discloses a yellow peach picking and positioning method and system based on visual recognition, which relates to the technical field of yellow peach picking and positioning. The method includes obtaining picture information of yellow peach plants blooming in an orchard, establishing a digital orchard; monitoring the flowers on the yellow peach plants to obtain target position data; when the target flowers bear fruit, the target fruits are obtained, the target fruits are monitored to obtain the fruit quality of the target fruits; the load-bearing capacity of the target branches corresponding to the target fruits is obtained, and the bending degree of the target branches is obtained in combination with the fruit quality and the load-bearing capacity, and the fruit position data is obtained, and the target position data of the digital orchard is replaced based on the fruit position data; based on the fruit quality, the maturity of the target fruit is obtained, and the fruit position data corresponding to the target fruit is sent to the picking personnel. The present application has the effect of improving the maturity and positioning recognition accuracy of yellow peach fruits.

Description

Technical Field

[0001] The present application relates to the technical field of yellow peach picking and positioning, and in particular to a yellow peach picking and positioning method and system based on visual recognition. Background Art

[0002] Yellow peaches are native to the northwest and southwest regions of China. They prefer sandy loam with plenty of sunshine, good drainage and strong permeability. They are generally cultivated by grafted seedlings or high-density cultivation. Yellow peaches are an important fruit product in my country.

[0003] In the prior art, before picking yellow peaches, it is necessary to confirm whether the yellow peaches are ripe and determine the specific location of the ripe yellow peaches, and then pick the yellow peaches manually or by machine to obtain ripe yellow peaches. However, in the process of locating ripe yellow peaches, if the manual method is used, workers need to constantly search in the orchard, which is a very heavy workload; if the machine method is used, when the yellow peaches are ripe, the fruit trees are lush and leafy, resulting in a significant reduction in the recognition accuracy of the yellow peaches, resulting in inaccurate recognition of the maturity of the yellow peaches or inaccurate recognition of the location of the yellow peaches in the process of searching for ripe yellow peaches. Summary of the invention

[0004] The purpose of the present invention is to provide a yellow peach picking positioning method and system based on visual recognition to solve the problems raised in the above background technology.

[0005] In a first aspect, the present application provides a yellow peach picking positioning method based on visual recognition, the method comprising the following steps:

[0006] Acquire image information of yellow peach plants blooming in an orchard, extract location data of flowers on the yellow peach plants based on the image information, and establish a digital orchard based on the location data;

[0007] Monitor the flowers on the yellow peach plants to obtain growth data of the flowers during flowering, screen the flowers based on the growth data to obtain target flowers, and screen the position data in the digital orchard according to the target flowers to obtain target position data;

[0008] When the target flowers bear fruit, target fruits are obtained, the target fruits are monitored to obtain the growth status of the target fruits, and the growth status is analyzed to obtain the fruit quality of the target fruits;

[0009] Obtain the load-bearing capacity of the target branch corresponding to the target fruit, obtain the bending degree of the target branch based on the fruit mass and the load-bearing capacity, adjust the target position data based on the bending degree to obtain fruit position data, and replace the target position data of the digital orchard based on the fruit position data;

[0010] Based on the fruit quality, the maturity of the target fruit is obtained, and based on the maturity, it is determined whether the target fruit can be picked. If the target fruit can be picked, the fruit position data corresponding to the target fruit is sent to the pickers.

[0011] By adopting the above technical solution, the picture information of the yellow peach plant when it blooms is obtained, the location data of the yellow peach flower is obtained according to the picture information, and a digital orchard is established. The flowers are screened according to the growth data of the flowers to obtain the target flowers that can eventually bear fruit, and the digital flowers are screened in the digital orchard. When the target flowers bear fruit and obtain the target fruit, the target fruit is monitored to obtain the growth status of the target fruit, the fruit quality is obtained according to the growth status, and the corresponding degree of bending of the branches is obtained according to the fruit quality to obtain the fruit location data of the target fruit, and the target location data is replaced with the fruit location data. When the fruit is ripe, the target fruit is marked in the digital orchard, and the corresponding fruit location data is sent to the pickers. The maturity and positioning recognition accuracy of the yellow peach fruit are improved.

[0012] Preferably, the steps of obtaining picture information of yellow peach plants blooming in the orchard, extracting position data of flowers on the yellow peach plants based on the picture information, and establishing a digital orchard based on the position data are specifically as follows:

[0013] Acquire image information of yellow peach plants blooming in an orchard, and obtain flower images and plant images in the image information based on the image information;

[0014] Based on the plant picture, the planting position and contour data of the yellow peach plant are obtained, a digital orchard is established based on the planting position and the contour data, and digital plants are generated in the digital orchard;

[0015] Based on the flower picture, the position data of each flower is obtained and a digital flower is generated, and the digital flower is placed on the digital plant based on the position data.

[0016] By adopting the above technical solution, the flower picture and plant picture are obtained according to the picture information of the yellow peach plant blooming in the orchard, the planting position and contour data of the yellow peach plant are obtained according to the plant picture, and digital plants are generated in the digital orchard, and the flower position data is obtained according to the flower picture and digital flowers are generated and placed on the digital plants, thereby improving the authenticity of the digital orchard.

[0017] Preferably, the steps of monitoring the flowers on the yellow peach plants to obtain the growth data of the flowers during the flowering period, and screening the flowers based on the growth data to obtain the target flowers are specifically as follows:

[0018] Monitoring the flowers on the yellow peach plants to obtain the growth data of the flowers during the flowering period, and analyzing the growth data to obtain the growth environment data, plant nutrient data and pollination data of the flowers during the flowering period;

[0019] Based on the growth environment data, the growth environment data is analyzed to obtain the environmental impact produced during the growth of the flower;

[0020] Based on the plant nutrient data, the plant nutrient data is analyzed to obtain a flower nutrient supply value of the plant to each flower, and based on the flower nutrient supply value, the nutrient impact produced during the growth of the flower is obtained;

[0021] Based on the pollination data, the pollination data is analyzed to obtain the pollination times and pollination quality of each flower, and based on the pollination times and pollination quality, the pollination impact produced during the growth of the flower is obtained;

[0022] The environmental influence, the nutrient influence and the pollination influence are combined to obtain the fruit probability of each flower, and the flowers are screened based on the fruit probability to obtain the target flowers.

[0023] By adopting the above technical solution, the flowers on the yellow peach are monitored to obtain the growth data of the flowers during the flowering period. After analysis, the growth environment data, plant nutrient data and pollination data of the flowers are obtained. The growth environment data, plant nutrient data and pollination data are analyzed respectively to obtain the environmental impact, nutrient impact and pollination impact. The fruiting probability of each flower is obtained based on the comprehensive analysis of the environmental impact, nutrient impact and pollination impact, and the target flowers are screened based on the fruiting probability. The accuracy of the fruiting probability analysis of each flower is improved.

[0024] Preferably, the steps of analyzing the plant nutrient data to obtain the flower nutrient supply value of the plant to each flower, and obtaining the nutrient impact on the flower growth based on the flower nutrient supply value are specifically as follows:

[0025] Based on the plant nutrient data, the total amount of nutrients absorbed by the root system of the yellow peach plant from the soil is obtained;

[0026] Based on the plant picture, the number of branches and trunks of the yellow peach plant, the branch thickness value, and the number of flowers and leaf buds on each branch and trunk are obtained;

[0027] Obtaining the nutrient dosage on each branch based on the number of branches, the branch thickness value, and the number of flowers and leaf buds on each branch;

[0028] Based on the number of flowers and leaf buds on each branch, the nutrient dosage is divided twice to obtain the flower nutrient supply value that each flower can obtain, and the nutrient impact produced during the flower growth process is obtained based on the flower nutrient supply value.

[0029] By adopting the above technical solution, the total amount of nutrients absorbed by the root system of the yellow peach plant from the soil is obtained according to the plant nutrient data, and the number of branches and trunks of the yellow peach plant, the branch thickness value, and the number of flowers and leaf buds on each branch are obtained according to the plant picture. The nutrient dosage on each branch is obtained according to the above content, and the nutrient dosage is divided twice according to the number of flowers and leaf buds to obtain the flower nutrient supply value of each flower, and the nutrient impact produced during the flower growth process is obtained according to the flower nutrient supply value. The accuracy of the nutrient impact produced during the flower growth process is improved.

[0030] Preferably, the steps of monitoring the target fruit to obtain the growth status of the target fruit, and analyzing the growth status to obtain the fruit quality of the target fruit are specifically:

[0031] The target fruit is monitored to obtain orchard image information of the target fruit during its growth process, and a leaf image on a yellow peach plant is obtained based on the orchard image information;

[0032] Based on the leaf image, the leaf image is analyzed to obtain a leaf lushness value, and the amount of sunlight blocked is obtained according to the lushness value;

[0033] Based on the shielding amount, the amount of light that each target fruit can receive is obtained, and based on the amount of light that the fruit can receive, an initial accumulation amount of the fruit is obtained;

[0034] Based on the lush value, the amount of light exposure to the leaves of the yellow peach plant is obtained, and based on the influence of the amount of light exposure to the leaves, the amount of organic matter accumulation in the yellow peach plant is obtained;

[0035] Based on the organic matter accumulation amount, the initial accumulation amount is corrected to obtain the fruit accumulation amount of the target fruit, based on the fruit accumulation amount, the growth condition of the target fruit is obtained, and according to the growth condition, the fruit quality of the target fruit is obtained.

[0036] By adopting the above technical solution, the target fruit is monitored to obtain the orchard picture information during its growth process, and the leaf picture is obtained based on the orchard picture information, and the leaf picture is analyzed to obtain the leaf lushness value, and the amount of sunlight blocked is obtained based on the lushness value, and the amount of fruit light that each fruit can receive is obtained based on the blocking amount, and the initial accumulation of the fruit is obtained based on the fruit light, and then the leaf light of the yellow peach plant is obtained based on the lushness value, and the organic matter accumulation of organic matter in the yellow peach plant is obtained. The initial accumulation is corrected according to the organic matter accumulation, and the fruit accumulation of the target fruit is obtained. The growth status of the target fruit is obtained based on the fruit accumulation, and the fruit quality is further obtained. The comprehensiveness of the growth status and fruit quality analysis of the target fruit is improved.

[0037] Preferably, based on the shielding amount, the step of obtaining the amount of light that each target fruit can receive, and obtaining the initial accumulation amount of the fruit based on the amount of light, is specifically:

[0038] Based on the orchard picture information, counting the number of target fruits visible in the orchard picture information to obtain the number of visible fruits;

[0039] Based on the target flowers, a target flower number of the target flowers is obtained, the visible fruit number is matched with the target flower number to obtain a matching difference, and the hidden fruit number of the hidden fruits blocked by leaves is obtained according to the matching difference;

[0040] Based on the obstruction amount, a first obstruction amount of visible fruit obstructed by leaves is obtained, and based on the first obstruction amount, a first initial accumulation amount of visible fruit is obtained;

[0041] Based on the occlusion amount, a second occlusion amount of the hidden fruit blocked by the leaves is obtained, and based on the second occlusion amount, a second initial accumulation amount of the hidden fruit is obtained, and the initial accumulation amount of the target fruit is obtained by combining the first initial accumulation amount and the second initial accumulation amount.

[0042] By adopting the above technical scheme, the number of visible target fruits is counted according to the orchard picture information to obtain the number of visible fruits, and then matched according to the number of target flowers to obtain the matching difference, which is the number of hidden fruits blocked by leaves. According to the blocking amount, a first blocking amount of visible fruits blocked by leaves is obtained, and further a first initial accumulation amount of visible fruits is obtained. At the same time, according to the blocking amount, a second blocking amount of hidden fruits blocked by leaves is obtained. According to the second blocking amount, a second initial accumulation amount of hidden fruits is obtained. The initial accumulation amount of each target fruit in the entire orchard is obtained by combining the first initial accumulation amount and the second initial accumulation amount.

[0043] Preferably, the step of obtaining the load-bearing capacity of the target branch corresponding to the target fruit and obtaining the bending degree of the target branch in combination with the fruit mass and the load-bearing capacity is specifically as follows:

[0044] Obtaining biological characteristics of yellow peach plants, and analyzing the biological characteristics to obtain branch and trunk toughness of the yellow peach plants;

[0045] Combining the branch toughness and the branch thickness value, the load-bearing capacity of the target branch corresponding to the target fruit is obtained;

[0046] Acquiring a blade size of each blade, and obtaining a blade weight of each blade based on the blade size;

[0047] Obtaining the number of leaves and the number of fruits on the target branch, obtaining the fruit weight based on the fruit mass, and obtaining the load value of the target branch by combining the number of leaves, the number of fruits, the leaf weight and the fruit weight;

[0048] Combining the load value and the load-bearing capacity, obtaining the bending degree of the target branch under the load value;

[0049] Based on the bending degree, it is determined whether the bending degree exceeds the limit curvature set for the target branch. If it is determined that the bending degree exceeds the limit curvature, the target branch is marked to obtain a marked branch.

[0050] By adopting the above technical solution, the biological characteristics of yellow peach plants are obtained, and the toughness of branches and trunks of yellow peach plants is obtained according to the biological characteristics. The load-bearing capacity of each target branch is obtained by combining the toughness of branches and trunks and the thickness of branches and trunks. Then the leaf size of each leaf is obtained, and the leaf weight is obtained according to the leaf size, and the fruit weight is obtained according to the fruit quality. Then, the load value of the target branch is obtained according to the number of leaves and the number of fruits on the target branch. The degree of bending of the target branch is obtained according to the load value and the load-bearing capacity. It is judged whether the branch will break according to the degree of bending. If it will break, the branch will be marked. The real-time and accuracy of the spatial position changes of yellow peach fruits during the growth process are improved.

[0051] Preferably, based on the fruit quality, the maturity of the target fruit is obtained, based on the maturity, whether the target fruit can be picked is determined, and if it can be picked, the fruit position data corresponding to the target fruit is sent to the picking personnel, specifically, the step of:

[0052] Based on the fruit quality, analyzing the fruit quality to obtain the maturity of the target fruit, and determining whether the maturity is within a preset target maturity range;

[0053] If the maturity is judged to be lower or higher than the target maturity interval, the target fruits below the target maturity interval are continuously monitored, and the target fruits above the target maturity interval are subjected to fruit drop treatment;

[0054] If the maturity is determined to be within the target maturity range, the target fruit is determined to be ready for picking, and the fruit position data of the target fruit is extracted;

[0055] Based on the marked branches, the marked maturity of the target fruit on the marked branches is obtained, and based on the marked maturity, the processed fruit that needs to be processed is obtained, and the processed position data of the processed fruit is extracted;

[0056] According to the fruit position data and the processed position data, the target fruit and the processed fruit are marked respectively in the digital orchard, and the processed mark of the processed fruit has a higher priority than the target mark of the target fruit;

[0057] The personnel position data of the pickers are obtained, and the picking route of the pickers is generated according to the processed mark and the target mark.

[0058] By adopting the above technical scheme, the maturity of the target fruit is obtained according to the fruit quality, and it is determined whether the maturity is in the target maturity range. When the maturity is lower than the target maturity range, the target fruit continues to be monitored. When the maturity is higher than the target maturity range, the target fruit is abandoned for monitoring and the fruit is dropped. When the maturity is in the target maturity range, it means that the target fruit can be picked, and it is marked in the digital orchard according to the fruit position data of the target fruit. Then, according to the maturity of the fruit on the marked branch, the processed fruit that needs to be dropped is obtained, and the processed fruit and the target fruit are marked according to the processed position data and fruit position data of the processed fruit, respectively, wherein the marking priority of the processed fruit is higher than the target mark of the target fruit, and then the fastest picking route is generated according to the personnel position data of the pickers. The picking efficiency of mature yellow peaches in the yellow peach orchard and the safety of the plants are improved.

[0059] In a second aspect, the present application provides a yellow peach picking positioning system based on visual recognition, the system comprising:

[0060] Image processing module: used to obtain image information of yellow peach plants blooming in the orchard, extract location data of flowers on the yellow peach plants based on the image information, and establish a digital orchard based on the location data;

[0061] Flower monitoring module: used to monitor the flowers on the yellow peach plants, obtain the growth data of the flowers during the flowering period, screen the flowers based on the growth data to obtain target flowers, and screen the position data in the digital orchard according to the target flowers to obtain target position data;

[0062] Growth analysis module: used for obtaining target fruits after the target flowers bear fruit, monitoring the target fruits, obtaining the growth status of the target fruits, analyzing the growth status, and obtaining the fruit quality of the target fruits;

[0063] Positioning update module: used to obtain the load-bearing capacity of the target branch corresponding to the target fruit, obtain the bending degree of the target branch based on the fruit mass and the load-bearing capacity, adjust the target position data based on the bending degree to obtain the fruit position data, and replace the target position data of the digital orchard based on the fruit position data;

[0064] Mature picking module: used to obtain the maturity of the target fruit based on the fruit quality, and judge whether the target fruit can be picked based on the maturity. If it can be picked, the fruit position data corresponding to the target fruit is sent to the pickers.

[0065] In summary, the present application includes at least one of the following beneficial technical effects:

[0066] 1. Obtain the picture information of the yellow peach plant when it blooms, obtain the location data of the yellow peach flower according to the picture information, and establish a digital orchard. Screen the flowers according to the flower growth data to obtain the target flowers that can eventually bear fruit, and screen the digital flowers in the digital orchard. When the target flowers bear fruit and obtain the target fruit, monitor the target fruit to obtain the growth status of the target fruit, obtain the fruit quality according to the growth status, and then obtain the corresponding degree of bending of the branches according to the fruit quality to obtain the fruit location data of the target fruit, replace the target location data with the fruit location data, and when the fruit is ripe, mark the target fruit in the digital orchard and send the corresponding fruit location data to the pickers. This improves the accuracy of the maturity and positioning recognition of the yellow peach fruit.

[0067] 2. Obtain the biological characteristics of the yellow peach plant, obtain the branch toughness of the yellow peach plant based on the biological characteristics, and combine the branch toughness and branch thickness to obtain the load-bearing capacity of each target branch. Then obtain the leaf size of each leaf, obtain the leaf weight based on the leaf size, obtain the fruit weight based on the fruit quality, and then obtain the load value of the target branch based on the number of leaves and fruits on the target branch, and obtain the bending degree of the target branch based on the load value and load-bearing capacity. Improve the real-time and accuracy of the spatial position changes of yellow peach fruits during the growth process. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 This is a flowchart of a method for picking and locating yellow peaches based on visual recognition provided in an embodiment of the present application;

[0069] Figure 2 It is a sub-step flow chart of step S100 in a yellow peach picking and positioning method based on visual recognition provided in an embodiment of the present application;

[0070] Figure 3 It is a sub-step flow chart of step S200 in a yellow peach picking and positioning method based on visual recognition provided in an embodiment of the present application;

[0071] Figure 4 It is a sub-step flow chart of step S200 in a yellow peach picking and positioning method based on visual recognition provided in an embodiment of the present application;

[0072] Figure 5 It is a sub-step flow chart of step S300 in a yellow peach picking and positioning method based on visual recognition provided in an embodiment of the present application;

[0073] Figure 6 It is a sub-step flow chart of step S200 in a yellow peach picking and positioning method based on visual recognition provided in an embodiment of the present application;

[0074] Figure 7 It is a sub-step flow chart of step S400 in a yellow peach picking and positioning method based on visual recognition provided in an embodiment of the present application;

[0075] Figure 8 It is a sub-step flow chart of step S500 in a yellow peach picking and positioning method based on visual recognition provided in an embodiment of the present application;

[0076] Fig. 9 This is a module block diagram of a yellow peach picking and positioning system based on visual recognition provided in an embodiment of the present application.

[0077] Description of the accompanying drawings: 1. Image processing module; 2. Flower monitoring module; 3. Growth analysis module; 4. Positioning update module; 5. Mature picking module. DETAILED DESCRIPTION

[0078] The following combination Figure 1-Figure 9 The present application is further described in detail, but the embodiments of the present invention are not limited thereto.

[0079] In the embodiments of the present application, a yellow peach picking positioning method and system based on visual recognition are disclosed.

[0080] In this embodiment, a yellow peach picking positioning method based on visual recognition is provided, and the method comprises the following steps:

[0081] S100: Acquire image information of yellow peach plants blooming in the orchard, extract location data of flowers on the yellow peach plants based on the image information, and establish a digital orchard based on the location data;

[0082] S200: monitoring flowers on yellow peach plants to obtain growth data of the flowers during flowering, screening the flowers based on the growth data to obtain target flowers, and screening the position data in the digital orchard according to the target flowers to obtain target position data;

[0083] S300: when the target flower bears fruit, a target fruit is obtained, the target fruit is monitored to obtain a growth condition of the target fruit, and the growth condition is analyzed to obtain a fruit quality of the target fruit;

[0084] S400: Obtain the load-bearing capacity of the target branch corresponding to the target fruit, obtain the bending degree of the target branch based on the fruit quality and the load-bearing capacity, adjust the target position data based on the bending degree to obtain the fruit position data, and replace the target position data of the digital orchard based on the fruit position data;

[0085] S500: Based on the quality of the fruit, the maturity of the target fruit is obtained, and based on the maturity, whether the target fruit can be picked is determined. If the target fruit can be picked, the fruit position data corresponding to the target fruit is sent to the picker.

[0086] It should be pointed out that the above steps are only a preferred implementation order. In the specific implementation process, some steps can be replaced without affecting the overall implementation effect.

[0087] The steps of obtaining the picture information of the flowering yellow peach plants in the orchard, extracting the position data of the flowers on the yellow peach plants based on the picture information, and establishing the digital orchard based on the position data are as follows:

[0088] S101: Acquire image information of yellow peach plants blooming in an orchard, and obtain a flower image and a plant image in the image information based on the image information;

[0089] S102: Based on the plant picture, obtaining the planting position and contour data of the yellow peach plant, establishing a digital orchard based on the planting position and contour data, and generating digital plants in the digital orchard;

[0090] S103: Based on the flower image, obtain the position data of each flower and generate a digital flower, and place the digital flower on the digital plant based on the position data.

[0091] In use, taking a yellow peach orchard in a certain area as an example, when the yellow peach trees in the yellow peach orchard are in bloom, the picture information in the yellow peach orchard is obtained, and after processing, the flower picture and the plant picture are obtained. Taking one of the plants as an example, the planting position and contour data of the plant are obtained according to the plant picture of the plant. The yellow peach plant is planted at the edge of the orchard, and according to the contour data, it is obtained that it has multiple branches, etc., and a digital orchard is established based on the above data, and a digital plant of the yellow peach plant is generated in the digital orchard, and the digital plant is consistent with the yellow peach plant in data. According to the flower picture, the position data of each flower is obtained. If there are five yellow peach flowers on a branch of the above yellow peach plant, the corresponding digital flowers are generated on the digital plant according to the position data of the five yellow peach flowers.

[0092] The steps of monitoring the flowers on the yellow peach plants, obtaining the growth data of the flowers during the flowering period, and screening the flowers based on the growth data to obtain the target flowers are specifically as follows:

[0093] S201: monitoring flowers on yellow peach plants to obtain growth data of the flowers during flowering, analyzing the growth data to obtain growth environment data, plant nutrient data, and pollination data of the flowers during flowering;

[0094] S202: Analyze the growth environment data based on the growth environment data to obtain the environmental impact generated during the growth of the flower;

[0095] S203: Analyze the plant nutrient data based on the plant nutrient data to obtain the flower nutrient supply value of the plant to each flower, and obtain the nutrient impact produced during the growth of the flower based on the flower nutrient supply value;

[0096] S204: Analyze the pollination data based on the pollination data to obtain the pollination times and pollination quality of each flower, and obtain the pollination impact on the growth of the flower based on the pollination times and pollination quality;

[0097] S205: Combining environmental influences, nutrient influences, and pollination influences, the fruiting probability of each flower is obtained, and the flowers are screened based on the fruiting probability to obtain target flowers.

[0098] In application, taking a yellow peach plant in a yellow peach orchard in a certain area as an example, the flowers on the yellow peach plant are monitored, and the growth environment data, plant nutrient data and pollination data are obtained respectively. According to the analysis of the growth environment data, it is obtained that the ambient temperature is suitable, the humidity is suitable, and there is sufficient sunlight, etc., and the environmental impact when the flowers grow in this environment is excellent; according to the analysis of the plant nutrient data, it is obtained that the nutrients of the plant are sufficient, and the flowers can obtain sufficient nutrients on the branches and trunks of the plant, and then the nutrient impact when the flowers grow is obtained; according to the analysis of the pollination data, it is obtained that 30 out of 50 flowers on the yellow peach plant are not pollinated, and the pollination impact when the flowers grow is further obtained; combining the above environmental impacts, nutrient impacts and pollination impacts, it is obtained that 15 out of 50 flowers on the plant can bear fruit, and these 15 flowers are used as target flowers.

[0099] The steps of analyzing the plant nutrient data to obtain the flower nutrient supply value of the plant to each flower and obtaining the nutrient impact on the flower growth based on the flower nutrient supply value are as follows:

[0100] S211: based on the plant nutrient data, obtaining the total amount of nutrients absorbed by the root system of the yellow peach plant from the soil;

[0101] S212: based on the plant picture, obtaining the number of branches and trunks of the yellow peach plant, the branch thickness value, and the number of flowers and leaf buds on each branch and trunk;

[0102] S213: Obtaining the nutrient dosage on each branch based on the number of branches, the thickness of the branches, and the number of flowers and leaf buds on each branch;

[0103] S214: Based on the number of flowers and leaf buds on each branch, the nutrient allocation is divided twice to obtain the flower nutrient supply value that each flower can obtain, and the nutrient impact generated during the flower growth process is obtained based on the flower nutrient supply value.

[0104] In application, taking a yellow peach plant in a yellow peach orchard in a certain area as an example, according to the plant nutrient data of the plant, through sampling analysis and calculation of the soil around the plant, it is estimated that the total amount of nutrients absorbed by the yellow peach plant from the soil is A, and according to the plant picture, the number of branches of the plant is 3, and the branch thickness values ​​of each branch are 1, 2, and 3 respectively. The number of flowers on each branch is 10, and the number of leaf buds is 12. According to the above content, the nutrient amounts that can be allocated to these five branches are A / 6, A / 3, and A / 2 respectively. Taking the branch with a nutrient amount of A / 2 as an example, according to the number of flowers on the branch is 10 and the number of leaf buds is 12, the flower nutrient supply value that each flower can obtain is A / 44. According to the numerical value of the flower nutrient supply value, the nutrient impact of each flower during the growth process is obtained.

[0105] The steps of monitoring the target fruit, obtaining the growth status of the target fruit, analyzing the growth status, and obtaining the fruit quality of the target fruit are specifically as follows:

[0106] S301: monitoring the target fruit to obtain orchard image information of the target fruit during its growth process, and obtaining leaf images on the yellow peach plant based on the orchard image information;

[0107] S302: Based on the leaf image, the leaf image is analyzed to obtain a leaf lushness value, and the amount of sunlight blocked is obtained according to the lushness value;

[0108] S303: based on the shielding amount, obtaining the amount of light that each target fruit can receive, and based on the amount of light, obtaining the initial accumulation amount of the fruit;

[0109] S304: based on the lushness value, obtaining the amount of light exposure to the leaves of the yellow peach plant, and obtaining the amount of organic matter accumulation in the yellow peach plant based on the influence of the amount of light exposure to the leaves;

[0110] S305: Based on the organic matter accumulation amount, the initial accumulation amount is corrected to obtain the fruit accumulation amount of the target fruit, the growth status of the target fruit is obtained based on the fruit accumulation amount, and the fruit quality of the target fruit is obtained according to the growth status.

[0111] In use, a yellow peach plant in a yellow peach orchard in a certain area is taken as an example. After the flowers on the yellow peach plant begin to bear fruit, the target fruit is monitored to obtain the leaf image on the yellow peach plant. According to the leaf image, the leaf lushness value is 10, indicating that the leaf is very lush. According to the lushness value, the amount of sunlight blocked is 20. According to the amount of sunlight blocked 20, the amount of light for the fruit is 10. According to the amount of light, the initial accumulation of the target fruit itself can be obtained as 5. According to the amount of blocking 20, the amount of light for the leaf is 20, and the organic matter accumulation of the organic matter accumulated by the leaf for the yellow peach plant is further obtained as 10. Then, according to the organic matter accumulation, the initial accumulation is corrected to obtain the fruit accumulation of 10. According to the fruit accumulation, the growth condition of the target fruit is good, and the fruit quality of the target fruit is further obtained.

[0112] The steps of obtaining the amount of light received by each target fruit based on the amount of occlusion and obtaining the initial accumulation amount of the fruit based on the amount of light received by the fruit are as follows:

[0113] S311: Based on the orchard picture information, count the number of target fruits visible in the orchard picture information to obtain the number of visible fruits;

[0114] S312: based on the target flowers, obtaining the target flower number of the target flowers, matching the visible fruit number with the target flower number to obtain a matching difference, and obtaining the hidden fruit number of the hidden fruits blocked by leaves according to the matching difference;

[0115] S313: based on the shielding amount, obtaining a first shielding amount of the visible fruit shielded by the leaves, and based on the first shielding amount, obtaining a first initial accumulation amount of the visible fruit;

[0116] S314: Based on the occlusion amount, a second occlusion amount of the hidden fruit blocked by the leaves is obtained, and based on the second occlusion amount, a second initial accumulation amount of the hidden fruit is obtained, and the initial accumulation amount of the target fruit is obtained by combining the first initial accumulation amount and the second initial accumulation amount.

[0117] In application, taking a yellow peach plant in a yellow peach orchard in a certain area as an example, after processing the fruit image information, it is obtained that the number of visible fruits that can be directly seen on the yellow peach plant is 5. According to the target number of flowers on the yellow peach plant is 8, it is obtained that there are 3 yellow peaches hidden under the leaves, and the number of hidden fruits is 3. According to the occlusion amount, the first occlusion amount of the 5 visible fruits respectively blocked by the leaves is 20%, and the first initial accumulation amount of visible fruits obtained according to the first occlusion amount is 9, and the second occlusion amount of hidden fruits obtained according to the occlusion amount is 90%, and the second initial accumulation amount of hidden fruits obtained according to the second occlusion amount is 3, and the initial accumulation amount of fruits on the yellow peach plant is 12 by combining the first initial accumulation amount and the second initial accumulation amount.

[0118] The steps of obtaining the load-bearing capacity of the target branches corresponding to the target fruits and obtaining the bending degree of the target branches in combination with the fruit quality and the load-bearing capacity are specifically as follows:

[0119] S401: obtaining biological characteristics of the yellow peach plant, and analyzing the biological characteristics to obtain the branch and trunk toughness of the yellow peach plant;

[0120] S402: combining the branch toughness and the branch thickness value, obtaining the load-bearing capacity of the target branch corresponding to the target fruit;

[0121] S403: Acquire the blade size of each blade, and obtain the blade weight of each blade based on the blade size;

[0122] S404: Obtain the number of leaves and fruits on the target branch, obtain the fruit weight based on the fruit mass, and obtain the load value of the target branch by combining the number of leaves, the number of fruits, the leaf weight and the fruit weight;

[0123] S405: combining the load value and the load-bearing capacity, obtaining a bending degree of the target branch under the load value;

[0124] S406: Based on the bending degree, determine whether the bending degree exceeds the limit curvature set for the target branch. If it is determined that the bending degree exceeds the limit curvature, mark the target branch to obtain a marked branch.

[0125] In application, a yellow peach plant in a yellow peach orchard in a certain area is taken as an example. The biological characteristics of the yellow peach plant are obtained to obtain the branch toughness of the yellow peach plant as 10, and the branch thickness value of one of the branches of the yellow peach plant is 3, so its load-bearing capacity is 30, and the size of each leaf on the branch is obtained to obtain the weight of each leaf as 0.5. According to the fruit mass, the weight of each fruit is 5. Then the number of leaves on the branch is 12, and the number of fruits on the branch is 2, so the load value of the branch is 16. According to the load-bearing capacity 30 and the load value 16, the bending degree of the branch is 53%. If the limit bending degree of the branch is 50%, it means that the branch may break, and the branch is marked.

[0126] The steps of obtaining the maturity of the target fruit based on the fruit quality, judging whether the target fruit can be picked based on the maturity, and sending the fruit position data corresponding to the target fruit to the picker if the target fruit can be picked are as follows:

[0127] S501: Analyze the fruit quality based on the fruit quality to obtain the maturity of the target fruit, and determine whether the maturity is within a preset target maturity range;

[0128] S502: If it is determined that the maturity is lower or higher than the target maturity range, the target fruits whose maturity is lower than the target maturity range are continuously monitored, and the target fruits whose maturity is higher than the target maturity range are subjected to fruit drop treatment;

[0129] S503: If it is determined that the maturity is within the target maturity range, it is determined that the target fruit can be picked, and the fruit position data of the target fruit is extracted;

[0130] S504: based on the marked branches, obtaining the marked maturity of the target fruit on the marked branches, obtaining the processed fruit that needs to be processed based on the marked maturity, and extracting the processed position data of the processed fruit;

[0131] S505: marking the target fruit and the processed fruit in the digital orchard according to the fruit position data and the processed fruit position data, respectively, and the processed mark of the processed fruit has a higher priority than the target mark of the target fruit;

[0132] S506: Acquire the personnel position data of the pickers, and generate the picking route of the pickers according to the processed mark and the target mark.

[0133] In application, a yellow peach plant in a yellow peach orchard in a certain area is taken as an example, and the three target fruits on the yellow peach plant are taken as an example. According to the fruit quality of the three target fruits, the maturity of the three target fruits is 2, 6, and 9 respectively, and the preset target maturity interval is 5-8. The maturity of the first target fruit is lower than the target maturity interval, indicating that it is not yet mature, so it continues to be monitored. The maturity of the third target fruit exceeds the target maturity interval, indicating that it is too mature and can no longer be eaten, so it is processed by fruit drop; and the second target fruit is just in the target maturity interval, indicating that it needs to be picked in time. After analyzing the marked branches, it is found that the marked branches are about to break, and there are two fruits on the marked branches, one of which is not yet mature, and the other is already mature. The over-mature target fruit is marked as the processed fruit, and the target fruit and the processed fruit in the orchard are marked separately. The processed fruit needs to be processed first, and the personnel location data of the pickers is obtained to generate the fastest picking route for the pickers to the target fruit.

[0134] An embodiment of the present invention provides a yellow peach picking and positioning system based on visual recognition. The system is based on any one of the yellow peach picking and positioning methods based on visual recognition as described above, and the system includes:

[0135] Image processing module 1: used to obtain image information of yellow peach plants blooming in the orchard, extract the location data of the flowers on the yellow peach plants based on the image information, and establish a digital orchard based on the location data;

[0136] Flower monitoring module 2: used to monitor the flowers on the yellow peach plants, obtain the growth data of the flowers during the flowering period, screen the flowers based on the growth data to obtain the target flowers, and screen the location data in the digital orchard according to the target flowers to obtain the target location data;

[0137] Growth analysis module 3: used to obtain target fruits after the target flowers bear fruit, monitor the target fruits, obtain the growth status of the target fruits, analyze the growth status, and obtain the fruit quality of the target fruits;

[0138] Positioning update module 4: used to obtain the load-bearing capacity of the target branch corresponding to the target fruit, obtain the bending degree of the target branch based on the fruit quality and the load-bearing capacity, adjust the target position data based on the bending degree, obtain the fruit position data, and replace the target position data of the digital orchard based on the fruit position data;

[0139] Mature picking module 5: used to obtain the maturity of the target fruit based on the fruit quality, and judge whether the target fruit can be picked based on the maturity. If it can be picked, the fruit position data corresponding to the target fruit is sent to the picker.

[0140] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A yellow peach picking and positioning method based on visual recognition, characterized in that: The following steps are involved: Acquire image information of yellow peach plants blooming in an orchard, extract location data of flowers on the yellow peach plants based on the image information, and establish a digital orchard based on the location data; Monitor the flowers on the yellow peach plants to obtain growth data of the flowers during flowering, screen the flowers based on the growth data to obtain target flowers, and screen the position data in the digital orchard according to the target flowers to obtain target position data; When the target flowers bear fruit and obtain target fruits, the target fruits are monitored to obtain the growth status of the target fruits, and the growth status is analyzed to obtain the fruit quality of the target fruits; Obtain the load-bearing capacity of the target branch corresponding to the target fruit, obtain the bending degree of the target branch based on the fruit mass and the load-bearing capacity, adjust the target position data based on the bending degree to obtain fruit position data, and replace the target position data of the digital orchard based on the fruit position data; Based on the fruit quality, the maturity of the target fruit is obtained, and based on the maturity, it is determined whether the target fruit can be picked. If the target fruit can be picked, the fruit position data corresponding to the target fruit is sent to the pickers.

2. The yellow peach picking and positioning method based on visual recognition according to claim 1 is characterized in that: The steps of obtaining picture information of yellow peach plants blooming in an orchard, extracting position data of flowers on the yellow peach plants based on the picture information, and establishing a digital orchard based on the position data are specifically as follows: Acquire image information of yellow peach plants blooming in an orchard, and obtain flower images and plant images in the image information based on the image information; Based on the plant picture, the planting position and contour data of the yellow peach plant are obtained, a digital orchard is established based on the planting position and the contour data, and digital plants are generated in the digital orchard; Based on the flower picture, the position data of each flower is obtained and a digital flower is generated, and the digital flower is placed on the digital plant based on the position data.

3. The yellow peach picking and positioning method based on visual recognition according to claim 2 is characterized in that: The steps of monitoring the flowers on the yellow peach plants to obtain the growth data of the flowers during the flowering period, and screening the flowers based on the growth data to obtain the target flowers are specifically as follows: Monitoring the flowers on the yellow peach plants to obtain the growth data of the flowers during the flowering period, and analyzing the growth data to obtain the growth environment data, plant nutrient data and pollination data of the flowers during the flowering period; Based on the growth environment data, the growth environment data is analyzed to obtain the environmental impact produced during the growth of the flower; Based on the plant nutrient data, the plant nutrient data is analyzed to obtain a flower nutrient supply value of the plant to each flower, and based on the flower nutrient supply value, the nutrient impact produced during the growth of the flower is obtained; Based on the pollination data, the pollination data is analyzed to obtain the pollination times and pollination quality of each flower, and based on the pollination times and pollination quality, the pollination impact produced during the growth of the flower is obtained; The environmental influence, the nutrient influence and the pollination influence are combined to obtain the fruit probability of each flower, and the flowers are screened based on the fruit probability to obtain the target flowers.

4. The yellow peach picking and positioning method based on visual recognition according to claim 3 is characterized in that: The steps of analyzing the plant nutrient data to obtain the flower nutrient supply value of the plant to each flower, and obtaining the nutrient impact on the flower growth based on the flower nutrient supply value are specifically as follows: Based on the plant nutrient data, the total amount of nutrients absorbed by the root system of the yellow peach plant from the soil is obtained; Based on the plant picture, the number of branches and trunks of the yellow peach plant, the branch thickness value, and the number of flowers and leaf buds on each branch and trunk are obtained; Obtaining the nutrient dosage on each branch based on the number of branches, the branch thickness value, and the number of flowers and leaf buds on each branch; Based on the number of flowers and leaf buds on each branch, the nutrient dosage is divided twice to obtain the flower nutrient supply value that each flower can obtain, and the nutrient impact produced during the flower growth process is obtained based on the flower nutrient supply value.

5. The yellow peach picking and positioning method based on visual recognition according to claim 1 is characterized in that: The steps of monitoring the target fruit to obtain the growth status of the target fruit, and analyzing the growth status to obtain the fruit quality of the target fruit are specifically: The target fruit is monitored to obtain orchard image information of the target fruit during its growth process, and a leaf image on a yellow peach plant is obtained based on the orchard image information; Based on the leaf image, the leaf image is analyzed to obtain a leaf lushness value, and the amount of sunlight blocked is obtained according to the lushness value; Based on the shielding amount, the amount of light that each target fruit can receive is obtained, and based on the amount of light that the fruit can receive, an initial accumulation amount of the fruit is obtained; Based on the lush value, the amount of light exposure to the leaves of the yellow peach plant is obtained, and based on the influence of the amount of light exposure to the leaves, the amount of organic matter accumulation in the yellow peach plant is obtained; Based on the organic matter accumulation amount, the initial accumulation amount is corrected to obtain the fruit accumulation amount of the target fruit, based on the fruit accumulation amount, the growth condition of the target fruit is obtained, and according to the growth condition, the fruit quality of the target fruit is obtained.

6. The yellow peach picking and positioning method based on visual recognition according to claim 5 is characterized in that: The steps of obtaining the amount of light received by each target fruit based on the amount of shielding, and obtaining the initial accumulation amount of the fruit based on the amount of light received by the fruit are specifically as follows: Based on the orchard picture information, counting the number of target fruits visible in the orchard picture information to obtain the number of visible fruits; Based on the target flowers, a target flower number of the target flowers is obtained, the visible fruit number is matched with the target flower number to obtain a matching difference, and the hidden fruit number of the hidden fruits blocked by leaves is obtained according to the matching difference; Based on the obstruction amount, a first obstruction amount of visible fruit obstructed by leaves is obtained, and based on the first obstruction amount, a first initial accumulation amount of visible fruit is obtained; Based on the occlusion amount, a second occlusion amount of the hidden fruit blocked by the leaves is obtained, and based on the second occlusion amount, a second initial accumulation amount of the hidden fruit is obtained, and the initial accumulation amount of the target fruit is obtained by combining the first initial accumulation amount and the second initial accumulation amount.

7. The yellow peach picking and positioning method based on visual recognition according to claim 4 is characterized in that: The step of obtaining the load-bearing capacity of the target branch corresponding to the target fruit, and obtaining the bending degree of the target branch in combination with the fruit mass and the load-bearing capacity, is specifically as follows: Obtaining biological characteristics of yellow peach plants, and analyzing the biological characteristics to obtain branch and trunk toughness of the yellow peach plants; Combining the branch toughness and the branch thickness value, the load-bearing capacity of the target branch corresponding to the target fruit is obtained; Acquiring a blade size of each blade, and obtaining a blade weight of each blade based on the blade size; Obtaining the number of leaves and the number of fruits on the target branch, obtaining the fruit weight based on the fruit mass, and obtaining the load value of the target branch by combining the number of leaves, the number of fruits, the leaf weight and the fruit weight; Combining the load value and the load-bearing capacity, obtaining the bending degree of the target branch under the load value; Based on the bending degree, it is determined whether the bending degree exceeds the limit curvature set for the target branch. If it is determined that the bending degree exceeds the limit curvature, the target branch is marked to obtain a marked branch.

8. The yellow peach picking and positioning method based on visual recognition according to claim 7 is characterized in that: The steps of obtaining the maturity of the target fruit based on the fruit quality, judging whether the target fruit can be picked based on the maturity, and sending the fruit position data corresponding to the target fruit to the picker if the target fruit can be picked are specifically: Based on the fruit quality, analyzing the fruit quality to obtain the maturity of the target fruit, and determining whether the maturity is within a preset target maturity range; If the maturity is judged to be lower or higher than the target maturity interval, the target fruits below the target maturity interval are continuously monitored, and the target fruits above the target maturity interval are subjected to fruit drop treatment; If the maturity is determined to be within the target maturity range, the target fruit is determined to be ready for picking, and the fruit position data of the target fruit is extracted; Based on the marked branches, the marked maturity of the target fruit on the marked branches is obtained, and based on the marked maturity, the processed fruit that needs to be processed is obtained, and the processed position data of the processed fruit is extracted; According to the fruit position data and the processed position data, the target fruit and the processed fruit are marked respectively in the digital orchard, and the processed mark of the processed fruit has a higher priority than the target mark of the target fruit; The personnel position data of the pickers are obtained, and the picking route of the pickers is generated according to the processed mark and the target mark.

9. A yellow peach picking and positioning system based on visual recognition, the system using a yellow peach picking and positioning method based on visual recognition as claimed in any one of claims 1 to 8, characterized in that: The system comprises: Image processing module: used to obtain image information of yellow peach plants blooming in the orchard, extract location data of flowers on the yellow peach plants based on the image information, and establish a digital orchard based on the location data; Flower monitoring module: used to monitor the flowers on the yellow peach plants, obtain the growth data of the flowers during the flowering period, screen the flowers based on the growth data to obtain target flowers, and screen the position data in the digital orchard according to the target flowers to obtain target position data; Growth analysis module: used for obtaining target fruits after the target flowers bear fruit, monitoring the target fruits, obtaining the growth status of the target fruits, analyzing the growth status, and obtaining the fruit quality of the target fruits; Positioning update module: used to obtain the load-bearing capacity of the target branch corresponding to the target fruit, obtain the bending degree of the target branch based on the fruit mass and the load-bearing capacity, adjust the target position data based on the bending degree to obtain the fruit position data, and replace the target position data of the digital orchard based on the fruit position data; Mature picking module: used to obtain the maturity of the target fruit based on the fruit quality, and judge whether the target fruit can be picked based on the maturity. If it can be picked, the fruit position data corresponding to the target fruit is sent to the pickers.

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