The invention discloses a mulberry
twig clamping and positioning method and
system, belongs to the technical field of intelligent
mulberry leaf picking equipment, and aims to solve the technical problems that an existing RGB camera is easily interfered by illumination, and picking damage is caused due to the fact that a
demarcation point of a tender
branch and an old
branch is difficult to accurately recognize. According to the method and
system, 500-600 nm visible light and 750-900 nm near-
infrared band images are synchronously collected through a multispectral imaging device, HSV
color space parameters are extracted, and a
color gradient model is established; by analyzing the gradient change rate of the
hue value H and the saturation degree S and combining the curvature change rate and the near-
infrared reflectivity difference value, the transition boundary of the tender and old branches is accurately judged, and the three-dimensional coordinates of the clamping datum point are generated by dynamically shifting 5-15 mm towards the side of the tender branches. According to the scheme, the limitation of single
hue detection is broken through, the
xylem recognition capability is enhanced by utilizing multispectral information, the clamping accuracy is improved, the method is suitable for automatic operation of a top-remaining picking mode in large-scale silkworm and mulberry planting, the picking efficiency can be effectively improved, and
branch damage can be reduced.