苹果采摘机器人夜间识别方法  

Image Recognition at Night for Apple Picking Robot

作　　者：赵德安[1] 刘晓洋[1] 陈玉[1] 姬伟[1] 贾伟宽[1] 胡婵莉 

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《农业机械学报》2015年第3期15-22,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA10Z254);高等学校博士学科点专项科研基金资助项目(20133227110024);江苏高校优势学科建设工程资助项目(PAPD)

摘　　要：提出了一种适用于苹果采摘机器人夜间识别的方法。在图像采集阶段,通过对比不同光源的照明效果,选用白炽灯作为照明光源并采用2盏白炽灯从不同角度照明的方式削弱图像中的阴影。在图像分割阶段,对比白天图像的分割方法,提出改进R-G色差分割法。此外针对夜间图像中的高亮反光区,采用二次分割的方法提取出水果表面的高亮反光区以此对分割后的图像进行修补,以得到完整的分割结果。经统计不考虑果实的遮挡和粘连,夜间苹果正确识别率达到83.7%。The paper presents a method of image recognition for apple picking robot at night. In the stage of image acquisition, comparing different lighting effects of light source, the proposed method selected the incandescent lamp as artificial lighting. And two lamps were placed in different sites to weaken shadow with 60° angle. In the stage of image segmentation, comparing the image recognition methods adopted in daytime, the improved R - G image recognition method was proposed. Referring to reflective areas in the surface of apples, twice segmentation method was proposed to separate reflective areas from images to repair segmented images above. The first segmentation aimed to determine the areas in where apples were located. The second segmentation aimed to determine the reflective areas in the determined areas of first segmentation. Taking no account of sheltered and adhesive apples, the rate of identification on the basis of the statistic of 60 images acquired at night can reach to 83.7%. This paper verified the ability of image recognition for apple picking robot at night and discussed the feasibility of apple picking at night.

关 键 词：苹果 采摘 夜间 图像识别 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]