Research on Grape Harvesting Domain Calculation Method Based on Machine Vision
Fresh grape picking relies on manual labor,which has problems of high workload,labor shortage and high production costs,which restricts the large-scale development of the industry.It is urgent to develop intelligent picking equipment to improve production efficiency.The accurate positioning of the picking domain for grape fruit clusters is an important aspect of the visual system research for picking equipment.Based on the fusion of color space and Hough line detection algorithm,we studied the target extraction and picking domain calculation of trellis grape images.After analyzing the color characteristics of grape fruit string images,the target area was segmented.Morphological algorithms were applied to the target area to calculate the centroid and minimum bounding rectangle of the image.The region of interest for the fruit stem was constructed using the intersection point of the rectangle and the centroid line,as well as the length and width of the rectangle.The fruit stem target was segmented and extracted.The Hough line detection algorithm was used to calculate the line within the region,and the longest line area was used as the fruit stem picking area.According to the test results,the accuracy rate of image segmentation in the region of interest of the fruit stem was 96%,the accuracy rate of fruit stem extraction was 92%,and the accuracy rate of picking domain calculation was 92%.The algorithm used had small data processing capacity and fast calculation speed,which could serve as the theoretical basis for developing grape picking robots,yield calculation,growth monitoring and other equipment.
国家科技期刊平台
NSTL
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