基于阈值识别的温室黄瓜整体自动落蔓装置研究  

Study on the integral automatic vine dropping device of cucumber in greenhouse based on threshold recognition

作　　者：郎秀丹 史宇亮 李天华[3] 陈明东 Lang Xiudan;Shi Yuliang;Li Tianhua;Chen Mingdong(College of Mechanical and Electrical Engineering,Qingdao Agricultural University,Qingdao,266109,China;College of Horticulture,Qingdao Agricultural University,Qingdao,266109,China;College of Mechanical and Engineering,Shandong Agricultural University,Tai'an,271018,China)

机构地区：[1]青岛农业大学机电工程学院,青岛市266109 [2]青岛农业大学园艺学院,青岛市266109 [3]山东农业大学机械与电子工程学院,山东泰安271018

出　　处：《中国农机化学报》2024年第6期106-112,共7页Journal of Chinese Agricultural Mechanization

基　　金：山东省农业重大应用技术创新项目(662/2318120)。

摘　　要：针对长季节黄瓜作物人工落蔓强度大、成本高和效率低等问题,设计一种基于冠层高度阈值识别的温室黄瓜整体自动落蔓装置。为保证黄瓜冠层特征提取的正确率,对8:00、12:00和18:00实时采集的黄瓜冠层图像进行预处理,基于Otsu算法获得平滑黄瓜冠层二值图像。采用霍夫变换算法识别黄瓜冠层顶端绳束,并利用统计学方法归纳出感兴趣区域中HSV色彩空间绿色部分各分量取值范围,研究感兴趣区域中绿色像素点占总像素点的比值变化规律。为防止黄瓜卷须缠绕秧蔓冠层顶端水平绳束,以黄瓜植株高度184~185 cm为落蔓控制目标,确定感兴趣区域绿色像素占比的平均值0.162~0.182为整体落蔓装置的落蔓阈值范围。结果表明,植株高度184~185 cm和高于185 cm落蔓次数占总试验次数比例分别为90%和10%。高于185 cm落蔓组中,最高植株距离顶端绳束(195 cm)的距离为9.2 cm,无黄瓜卷须缠绕黄瓜秧蔓冠层顶端水平绳束现象,采用感兴趣区域绿色像素点占比确定黄瓜落蔓阈值方法,能够满足黄瓜生产实际要求。Aiming at the problems of high intensity,high cost and low efficiency of artificial falling vine of cucumber crops in long season,a greenhouse cucumber automatic falling vine device based on canopy height threshold recognition was designed.In order to ensure the accuracy of cucumber canopy feature extraction,cucumber canopy images collected at 8:00,12:00 and 18:00 were preprocessed,and smooth cucumber canopy binary images were obtained based on Otsu algorithm.The Hough transform algorithm was used to identify the rope bundle at the top of cucumber canopy,and the value range of each component of the green part of HSV color space in the region of interest was summarized by statistical method,and the change rule of the ratio of green pixels to the total pixels in the region of interest was studied.In order to prevent cucumber tendrils from entangling the horizontal rope bundle at the top of vine canopy,cucumber plant height 184-185 cm was taken as the toppling control target,and the average proportion of green pixels in the region of interest was determined to be 0.162-0.182 as the toppling threshold range of the overall toppling device.The results showed that 90% and 10% of the total test times were from 184-185 cm and above 185 cm,respectively.In the group higher than 185 cm,the distance between the highest plant and the top rope bundle(195 cm)was 9.2 cm,and no cucumber tendrils were entangled in the horizontal rope bundle at the top of the canopy of yellow melon vine.The method of determining the threshold of cucumber vine by the proportion of green pixels in the region of interest could meet the actual requirements of cucumber production.

关 键 词：落蔓 图像处理 黄瓜秧蔓冠层 霍夫变换 HSV色彩空间 

分 类 号：S224.3[农业科学—农业机械化工程]