CN105875066A - Electronic and automatic pomegranate tree picking method - Google Patents
Electronic and automatic pomegranate tree picking method Download PDFInfo
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- CN105875066A CN105875066A CN201610300687.XA CN201610300687A CN105875066A CN 105875066 A CN105875066 A CN 105875066A CN 201610300687 A CN201610300687 A CN 201610300687A CN 105875066 A CN105875066 A CN 105875066A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
Abstract
The invention relates to an electronic and automatic pomegranate tree picking method. The electronic and automatic pomegranate tree picking method comprises the following steps of: (1) providing an electronic and automatic pomegranate tree picking platform positioned at the front of a pomegranate tree to be picked, wherein the picking platform comprises a CMOS (Complementary Metal Oxide Semiconductor) visual sensor, an image preprocessor, a fruit information detector and an AT89C51 single chip microprocessor; the CMOS visual sensor is used for shooting the pomegranate tree to be picked so as to obtain an image of the pomegranate tree; the image preprocessor is used for removing haze components in the image of the pomegranate tree so as to obtain a preprocessed image; the fruit information detector is used for executing image processing on the preprocessed image so as to determine whether each fruit on the pomegranate tree to be picked is ripe and the actual position of each fruit; the AT89C51 single chip microprocessor is connected with the fruit information detector and is used for determining a picking strategy of corresponding fruits on the basis of whether each fruit on the pomegranate tree to be picked is ripe and the actual position of each fruit; and (2) operating the platform.
Description
The present invention is Application No. 201510164663.1, filing date April 8 in 2015 day,
The divisional application of the patent of bright entitled " a kind of pomegranate tree electronization picking method automatically ".
Technical field
The present invention relates to electronics and pluck field, particularly relate to a kind of pomegranate tree electronization side of harvesting automatically
Method.
Background technology
Pomegranate tree, originates in a planting fruit-trees in the Western Regions, is one of fruit of liking of citizen, is of high nutritive value,
Pomegranate tree is also that people plant one of trees of viewing and admiring.The height of tree 2～4 meters, rugosity 10～30 centimeters.Stone
Pomegranate tree performance is graceful, and the florescence is up to the several months, and between annual five, June, full-blown flowers are in full bloom, if bright rosy clouds, premium
Like fire, the most bright-coloured, it is to integrate to eat and view and admire, Punica granatum L. wide adaptability in addition, premunition
By force, cultivation is easy, thus, the cultivated area of pomegranate tree is more wide in range.
Along with raising and the expanding economy of agriculture and forestry plantation level, pomegranate tree is planted from original
Dispersion plantation is to concentrating plantation development, and the most superhuge large-scale single-minded type pomegranate tree plantation is frequent
Occurring in various places, this makes the operation to pomegranate tree be converted into that mechanically actuated becomes from manual operation can
Energy.Mechanically actuated, in the application of pomegranate tree plant husbandry, can not only save a large amount of cost of labor, and
The efficiency of pomegranate tree plantation can be improved, thus improve the economic well-being of workers and staff of plantation owner.
But, in prior art, the mechanically actuated to pomegranate tree plantation still mainly is limited to machinery concentration
Spray medicine, machinery are concentrated and are irrigated and the aspect such as weeding concentrated by machinery, for needing most pomegranate tree in man-hour
Pluck, the diversity that the professional and fruit owing to plucking is distributed on pomegranate tree, it is still necessary to arrange very
Many harvestings personnel pluck in set time section, and this artificial Softening has harvesting and takes time and effort
Drawback.Prior art there is also the means that some electronics are plucked, but due to based on image procossing skill
Art, is easily affected by various haze weather.
Therefore, in order to overcome above-mentioned various drawback, need a kind of new pomegranate tree electronics to pluck scheme,
On the one hand can substitute traditional artificial Softening, the professional and fruit adapting to pomegranate tree harvesting divides
The feature of cloth diversity, it is right to realize according to the actual Maturity of fruit and position the most adaptively
Effective harvesting of each fruit；On the other hand, it is possible to overcome the haze weather interference to detection image,
Improve the reliability that electronics is plucked.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of pomegranate tree electronization picking method automatically,
The motor-drive technique quoting location technology builds the electromechanical equipment plucking platform, quotes targetedly
Image acquisition and treatment technology, obtain Maturity and the position of each fruit, so that it is determined that each
The harvesting drive scheme of fruit, plucks all mature fruits on each strain pomegranate tree flexibly, is carrying
While high picking efficiency, determine the haze influence factor to image always according to atmospheric attenuation model, and
Go hazeization to process the image gathered under various haze weather, widen the application plucking platform
Scope.
According to an aspect of the present invention, it is provided that a kind of pomegranate tree electronization picking method, the party automatically
Method comprises the following steps: 1) provide a kind of front being positioned at pomegranate tree to be plucked pomegranate tree electronization
Automatically plucking platform, described harvesting platform includes CMOS vision sensor, image pre-processor, really
Real information detector and AT89C51 single-chip microcomputer, described CMOS vision sensor is used for treating harvesting
Pomegranate tree shoots to obtain pomegranate tree image, and described image pre-processor is used for removing described Punica granatum L. tree graph
Haze composition in Xiang is to obtain pretreatment image, and described fruit information detector is for described pre-place
Reason image performs image procossing, the most ripe with each fruit on pomegranate tree to be plucked described in determining
And physical location, described AT89C51 single-chip microcomputer is connected with described fruit information detector, based on institute
State that each fruit on pomegranate tree to be plucked be whether ripe and physical location determines corresponding fruit
Pluck strategy；2) described platform is run.
More specifically, automatically pluck in platform in described pomegranate tree electronization, also include: power supply,
Including solar powered device, accumulator, switching switch and electric pressure converter, described switching switch with
Described solar powered device and described accumulator connect respectively, according to the decision of accumulator dump energy are
No being switched to described solar powered device to be powered by described solar powered device, described voltage turns
Parallel operation is connected with described switching switch, will be converted to 3.3V by the 5V voltage of switching switch input
Voltage；Pluck execution equipment, the fruit on pomegranate tree to be plucked described in plucking；Harvesting driving sets
Standby, it is used for driving described harvesting execution equipment；Real-time positioning equipment, is positioned at described harvesting execution equipment
On, for plucking the current location of execution equipment described in real-time positioning；Transceiver, with far-end
Agricultural management console sets up two-way wireless communication link, is used for receiving described agricultural management and controls
The control instruction that platform sends, described control instruction includes the current location of each strain pomegranate tree, also with
Described AT89C51 single-chip microcomputer connects plucks end signal with wireless transmission combination picture and pomegranate tree；North
Bucket star localizer, for the current north of the described harvesting platform that real-time reception the Big Dipper position location satellite sends
Bucket sing data；Pluck platform and drive equipment, divide with described transceiver and described the Big Dipper localizer
Do not connect, including dc motor, for the current location according to each strain pomegranate tree and the current Big Dipper
Sing data, drives the front of the current location of the described harvesting platform each strain pomegranate tree of arrival；Storage sets
Standby, it is used for prestoring preset ripeness degree threshold value and presetting judgement amount threshold, described preset ripeness degree
Threshold value is a gray value, is additionally operable to prestore pomegranate tree upper limit gray threshold, pomegranate tree lower limit gray scale
Threshold value, fruit upper limit gray threshold and fruit lower limit gray threshold, described pomegranate tree upper limit gray threshold
With described pomegranate tree lower limit gray threshold for by the pomegranate tree in image and background separation, described fruit
Upper limit gray threshold and described fruit lower limit gray threshold are used for the fruit in image and background separation,
It is additionally operable to prestore calibration line upper limit gray threshold and calibration line lower limit gray threshold, described calibration line
Upper limit gray threshold and described calibration line lower limit gray threshold are for by the calibration line in image and background
Separating, calibration line is given data in the position being taken in target；Described image pre-processor also wraps
Include: store sub-device, be used for prestoring sky upper limit gray threshold and sky lower limit gray threshold,
Described sky upper limit gray threshold and described sky lower limit gray threshold are for isolating the sky in image
Dummy section, is additionally operable to prestore presetted pixel value threshold value, and described presetted pixel value threshold value value is 0
Between 255；The sub-device of haze Concentration Testing, is positioned in air, detects described harvesting in real time
The haze concentration of platform position, and determine that haze removes intensity, described haze according to haze concentration
Remove intensity value between 0 to 1；Molecular device is drawn in region, connects described CMOS visual sensing
Device, to receive described pomegranate tree image, carries out gray processing and processes to obtain gray scale described pomegranate tree image
Change area image, be also connected, by gray value in described gray processing area image in institute with the sub-device of storage
State the pixel identification between sky upper limit gray threshold and described sky lower limit gray threshold and form ash
Degreeization sky sub pattern, from described gray processing area image be partitioned into described gray processing sky sub pattern with
Obtain gray processing non-sky subimage, based on described gray processing non-sky subimage at described beat
Correspondence position in image obtains the colour non-sky gap that sky subimage non-with described gray processing is corresponding
Image；Black channel obtains sub-device, draws molecular device with described region and is connected to obtain described colour
Non-sky subimage, for each pixel in described colour non-sky subimage, calculates its R, G,
B tri-Color Channel pixel value, the R of all pixels, G, B in described colour non-sky subimage
The color extracting the minimum Color Channel pixel value place of a numerical value in three Color Channel pixel values is led to
Road is as black channel；Overall air light value obtains sub-device, and device with described storage is connected to obtain
Obtain presetted pixel value threshold value, draw molecular device with described region and described black channel obtains sub-device and divides
Do not connect to obtain described pomegranate tree image and described black channel, by black in described pomegranate tree image
Passage pixel value forms set of pixels to be tested, by institute more than or equal to multiple pixels of presetted pixel value threshold value
State the gray value of the pixel in set of pixels to be tested with maximum gradation value as overall air light value；Greatly
Gas scattering light value obtains sub-device, draws molecular device and the described sub-device of haze Concentration Testing with described region
Part connects respectively, each pixel to described pomegranate tree image, extracts its R, G, B tri-color
In passage pixel value, minima is as target pixel value, uses the Gaussian filter keeping edge
EPGF (edge-preserving gaussian filter) described target pixel value is filtered process with
Obtain filtered target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel
Difference, uses EPGF to be filtered object pixel difference processing to obtain filtered target pixel value difference,
Filtered target pixel value is deducted filtered target pixel value difference and removes reference value to obtain haze, by haze
Removal intensity is multiplied by haze removal reference value removes threshold value to obtain haze, takes haze and removes threshold value and mesh
Minima in mark pixel value, as comparison reference, takes the maximum conduct in comparison reference and 0
The atmospheric scattering light value of each pixel；Medium transmission rate obtains sub-device, with described overall atmosphere light
Value obtains sub-device and described atmospheric scattering light value obtains sub-device and connects respectively, by each pixel
Atmospheric scattering light value to obtain except value, deducts described every to obtain except value divided by overall air light value by 1
The medium transmission rate of one pixel；The sub-device of sharpening Image Acquisition, with described region draw molecular device,
Described overall air light value obtains sub-device and described medium transmission rate obtains sub-device and connects respectively, will
1 deducts the medium transmission rate of each pixel to obtain the first difference, is multiplied by whole by described first difference
The pixel value of each pixel in described pomegranate tree image, to obtain product value, is deducted by body atmosphere light value
Described product value is to obtain the second difference, by described second difference divided by the medium transmission of each pixel
Rate to obtain the sharpening pixel value of each pixel, the picture of each pixel in described pomegranate tree image
Element value includes the R of each pixel in described pomegranate tree image, G, B tri-Color Channel pixel value,
Correspondingly, it is thus achieved that the sharpening pixel value of each pixel include the R of each pixel, G, B
Three Color Channel sharpening pixel values, the sharpening pixel value composition pretreatment image of all pixels；Institute
State fruit information detector to be connected respectively with described image pre-processor and described storage device, described fruit
Real information detector includes: the sub-device of wavelet filtering, is connected with described image pre-processor, to described
Pretreatment image performs wavelet filtering based on Harr Wavelets Filtering Algorithm, output filtering Punica granatum L. tree graph
Picture；Gray processing processes sub-device, and device with described wavelet filtering is connected, to described filtering pomegranate tree
Image performs gray processing and processes, it is thus achieved that gray processing pomegranate tree image；The sub-device of pomegranate tree identification, with institute
State the gray processing device of process and described storage device connects, respectively by described gray processing pomegranate tree image
Middle gray value is between described pomegranate tree upper limit gray threshold and described pomegranate tree lower limit gray threshold
Pixel identification also forms pomegranate tree pattern；The sub-device of calibration line identification, processes sub-device with described gray processing
Part and described storage device connect respectively, by gray value in described gray processing pomegranate tree image at described mark
Pixel identification between alignment upper limit gray threshold and described calibration line lower limit gray threshold also forms mark
Alignment pattern；The sub-device of fruit identification, divides with the described sub-device of pomegranate tree identification and described storage device
Do not connect, by gray value in described pomegranate tree pattern at described fruit upper limit gray threshold and described fruit
Pixel identification between lower limit gray threshold also forms multiple fruit pattern；The sub-device of fruit information gathering
Part, with the described sub-device of calibration line identification, the described sub-device of fruit identification and described storage device respectively
Connect, measure multiple fruit pattern respectively with the relative position of described calibration line pattern to determine each
The physical location of fruit, for each fruit pattern, statistical pixel gray value is less than or equal to described pre-
If the pixel quantity of Maturity threshold value, when the pixel quantity of statistics is more than or equal to described default judgement quantity
During threshold value, determine that the fruit that described fruit pattern is corresponding is maturation, when described pixel quantity is less than described
When presetting judgement amount threshold, determine that the fruit that described fruit pattern is corresponding is immaturity；Described
AT89C51 single-chip microcomputer drives equipment, described real-time positioning with described harvesting execution equipment, described harvesting
Equipment, described CMOS vision sensor, the described sub-device of pomegranate tree identification, described calibration line identification
Sub-device, the described sub-device of fruit identification and the described sub-device of fruit information gathering connect, respectively by institute
Whether state pomegranate tree pattern, described calibration line pattern, the plurality of fruit pattern, each fruit
Ripe and physical location is compound in described pretreatment image form combination picture, and is determining correspondence
The driving signal of corresponding fruit is given, based on corresponding fruit physical location and described harvesting during fruit maturation
The current location of execution equipment determines the content driving signal of corresponding fruit, is determining corresponding fruit not
Not providing the driving signal of corresponding fruit time ripe, the driving signal of described corresponding fruit is used for controlling institute
Stating to pluck drives the physical location plucking the corresponding fruit of execution equipment arrival described in device drives to realize
Harvesting to corresponding fruit；Wherein, described AT89C51 single-chip microcomputer sends multiple fruits by preset order
The driving signal of the multiple corresponding fruit that pattern is the most corresponding, and it is being sent all corresponding fruits
After driving signal, send pomegranate tree and pluck end signal.
More specifically, automatically pluck in platform in described pomegranate tree electronization, the sub-device of described wavelet filtering
Part, described gray processing process sub-device, the described sub-device of pomegranate tree identification, described calibration line identification
Device, the described sub-device of fruit identification and the described sub-device of fruit information gathering are respectively adopted different
Fpga chip realizes.
More specifically, automatically pluck in platform in described pomegranate tree electronization, the sub-device of described wavelet filtering
Part, described gray processing process sub-device, the described sub-device of pomegranate tree identification, described calibration line identification
Device, the described sub-device of fruit identification and the described sub-device of fruit information gathering be integrated into one piece integrated
On circuit board.
More specifically, automatically pluck in platform in described pomegranate tree electronization, the sub-device of described wavelet filtering
Part, described gray processing process sub-device, the described sub-device of pomegranate tree identification, described calibration line identification
Device, the described sub-device of fruit identification and the described sub-device of fruit information gathering are integrated into one piece
In fpga chip.
More specifically, automatically pluck in platform in described pomegranate tree electronization, described pomegranate tree image and
The resolution of described pretreatment image is all 3840 × 2160.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the structure automatically plucking platform according to the pomegranate tree electronization shown in embodiment of the present invention
Block diagram.
Fig. 2 is the fruit automatically plucking platform according to the pomegranate tree electronization shown in embodiment of the present invention
The block diagram of information detector.
Detailed description of the invention
Pomegranate tree electronization to the present invention plucks the embodiment of platform automatically below with reference to accompanying drawings
It is described in detail.
Punica granatum L. originates in the little sub-West Asia country such as Iran, Afghanistan.Today Iran, Afghanistan and Ah
Plug is visitd on the mountain of height above sea level 300-1000 rice of boundary and the Republic of Georgia, still has the wild stone of sheet
Pomegranate woods.
Punica granatum L. be mankind's introducing and planting fruit tree the earliest and HUAMU it, in China, India and Asia,
Africa, Europe are along various places, Mediterranean, all as cultivation of fruit tree, and the most with Africa.The U.S. mainly divides
Cloth is in California.Spain on the west and south Iberia Peninsula of Europe using Punica granatum L. as state
Flower, on 500,000 square kilometres of territories, whether before and after mountain region, plateau, rural room, town,
Or the park of coastal city, garden, plantation spy is many for Flos Granati.Punica granatum L. Iranian in original producton location and near
Area distribution is relatively wide, the many excellent kinds of selection-breeding.Punica granatum L. is beautiful because of its flowers and fruits, and cultivation is easy, deeply
Liked by people.
The trend increasingly centralization that current pomegranate tree produces, each plantation only plant several even
A type of pomegranate tree, the enormous amount of pomegranate tree.So planting patterns of feature, at the machine of use
In the case of tool operation, efficiency and the benefit of plantation can be improved.But, due to the specialty of picking fruit
Property and the dispersibility of fruit growth, substitute the artificial electronics plucked completely and pluck scheme and implement more tired
Difficult.Even if there is some electronics to pluck scheme, also due to use means based on image procossing,
Cannot avoid the interference to image of the various haze weather, the application conditions causing electronics to be plucked is more severe
Carve.
The present invention has built a kind of pomegranate tree electronization and has automatically plucked platform, uses all-electronic side
Formula realizes the harvesting of the pomegranate tree to fixed type, uses remote handle except plucking the replacing of pomegranate tree
Beyond control, whole picking process need not other manual operations and participates in, and meanwhile, uses image to locate in advance
Reason equipment eliminates the haze composition in detection image so that the harvesting platform of the present invention can be suitably used for respectively
Plant haze weather.
Fig. 1 is the structure automatically plucking platform according to the pomegranate tree electronization shown in embodiment of the present invention
Block diagram, described harvesting platform is positioned at the front of pomegranate tree to be plucked, including: CMOS visual sensing
Device 1, image pre-processor 2, fruit information detector 3 and AT89C51 single-chip microcomputer 4, described CMOS
Vision sensor 1 is used for treating harvesting pomegranate tree and shoots to obtain pomegranate tree image, and described image is located in advance
Reason device 2 for removing the haze composition in described pomegranate tree image to obtain pretreatment image, described fruit
Real information detector 3, for described pretreatment image is performed image procossing, is waited to pluck described in determining
Whether each fruit on pomegranate tree ripe and physical location, described AT89C51 single-chip microcomputer 4
It is connected with described fruit information detector 3, based on each fruit on described pomegranate tree to be plucked is
No maturation and physical location determine the harvesting strategy of corresponding fruit.
Then, the concrete structure continuing the electronization of the pomegranate tree to present invention harvesting platform automatically enters
The explanation of one step.
Described harvesting platform also includes: power supply, including solar powered device, accumulator, cuts
Change switch and electric pressure converter, described switching switch and described solar powered device and described accumulator
Connect respectively, according to accumulator dump energy decide whether to be switched to described solar powered device with by
Described solar powered device is powered, and described electric pressure converter is connected with described switching switch, leading to
The 5V voltage crossing switching switch input is converted to 3.3V voltage.
Described harvesting platform also includes: pluck execution equipment, be used for plucking described in pomegranate tree to be plucked
Fruit；Pluck driving equipment, be used for driving described harvesting execution equipment；Real-time positioning equipment, position
On described harvesting execution equipment, for plucking the current location of execution equipment described in real-time positioning.
Described harvesting platform also includes: transceiver, sets up with the agricultural management console of far-end
Two-way wireless communication link, for receiving the control instruction that described agricultural management console sends,
Described control instruction includes the current location of each strain pomegranate tree, also with described AT89C51 single-chip microcomputer 4
Connect and pluck end signal with wireless transmission combination picture and pomegranate tree.
Described harvesting platform also includes: the Big Dipper localizer, for real-time reception the Big Dipper position location satellite
Current the Big Dipper data of the described harvesting platform sent.
Described harvesting platform also includes: plucks platform and drives equipment, with described transceiver and described
The Big Dipper localizer connects respectively, including dc motor, and current for according to each strain pomegranate tree
Position and current the Big Dipper data, drive described harvesting platform to arrive the current location of each strain pomegranate tree
Front.
Described harvesting platform also includes: storage device, is used for prestoring preset ripeness degree threshold value with pre-
If judgement amount threshold, described preset ripeness degree threshold value is a gray value, is additionally operable to prestore Punica granatum L.
Tree upper limit gray threshold, pomegranate tree lower limit gray threshold, fruit upper limit gray threshold and fruit lower limit ash
Degree threshold value, described pomegranate tree upper limit gray threshold and described pomegranate tree lower limit gray threshold are for by image
In pomegranate tree and background separation, described fruit upper limit gray threshold and described fruit lower limit gray threshold
For by the fruit in image and background separation, be additionally operable to prestore calibration line upper limit gray threshold and
Calibration line lower limit gray threshold, described calibration line upper limit gray threshold and described calibration line lower limit gray scale threshold
Value is for by the calibration line in image and background separation, and calibration line is in the position being taken in target
Primary data.
Described image pre-processor 2 also includes with lower component:
Store sub-device, be used for prestoring sky upper limit gray threshold and sky lower limit gray threshold,
Described sky upper limit gray threshold and described sky lower limit gray threshold are for isolating the sky in image
Dummy section, is additionally operable to prestore presetted pixel value threshold value, and described presetted pixel value threshold value value is 0
Between 255；
The sub-device of haze Concentration Testing, is positioned in air, detects described harvesting platform place in real time
The haze concentration of position, and determine that intensity removed by haze according to haze concentration, intensity removed by described haze
Value is between 0 to 1；
Molecular device is drawn in region, connects described CMOS vision sensor 1 to receive described Punica granatum L. tree graph
Picture, carries out gray processing and processes to obtain gray processing area image, also with storage described pomegranate tree image
Sub-device connects, by gray value in described gray processing area image at described sky upper limit gray threshold and
Pixel identification between described sky lower limit gray threshold also forms gray processing sky sub pattern, from described
Gray processing area image is partitioned into described gray processing sky sub pattern to obtain gray processing non-sky null subgraph
Picture, obtains based on described gray processing non-sky subimage correspondence position in described beat image
The colour non-sky subimage that sky subimage non-with described gray processing is corresponding；
Black channel obtains sub-device, draws molecular device with described region and is connected to obtain described colour non-
Sky subimage, for each pixel in described colour non-sky subimage, calculates its R, G, B
Three Color Channel pixel values, the R, G, B tri-of all pixels in described colour non-sky subimage
Color Channel pixel value extracts the Color Channel at the minimum Color Channel pixel value place of a numerical value
As black channel；
Overall air light value obtains sub-device, and device with described storage is connected to obtain presetted pixel value
Threshold value, draws molecular device with described region and described black channel obtains sub-device and is connected respectively to obtain
Described pomegranate tree image and described black channel, by big for black channel pixel value in described pomegranate tree image
Set of pixels to be tested is formed, by described pixel to be tested in the multiple pixels equal to presetted pixel value threshold value
Concentrate the gray value of the pixel with maximum gradation value as overall air light value；
Atmospheric scattering light value obtains sub-device, draws molecular device and the inspection of described haze concentration with described region
Survey sub-device to connect respectively, each pixel to described pomegranate tree image, extract its R, G, B
In three Color Channel pixel values, minima is as target pixel value, uses the Gaussian smoothing filter keeping edge
Ripple device EPGF (edge-preserving gaussian filter) is filtered place to described target pixel value
Target pixel value, to obtain filtered target pixel value, is deducted filtered target pixel value to obtain target by reason
Pixel value difference, uses EPGF to be filtered object pixel difference processing to obtain filtered target pixel
Difference, deducts filtered target pixel value filtered target pixel value difference to obtain haze and removes reference value,
Haze is removed intensity be multiplied by haze remove reference value with obtain haze remove threshold value, take haze remove threshold
Minima in value and target pixel value, as comparison reference, takes the maximum in comparison reference and 0
It is worth the atmospheric scattering light value as each pixel；
Medium transmission rate obtains sub-device, obtains sub-device and described air with described overall air light value
Scattering light value obtains sub-device and connects respectively, by big divided by entirety for the atmospheric scattering light value of each pixel
Gas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1；
The sub-device of sharpening Image Acquisition, draws molecular device, described overall air light value with described region
Obtain sub-device and described medium transmission rate obtains sub-device and connects respectively, deduct each pixel by 1
Medium transmission rate to obtain the first difference, described first difference is multiplied by overall air light value to obtain
Product value, deducts described product value to obtain by the pixel value of each pixel in described pomegranate tree image
Second difference, by described second difference divided by the medium transmission rate of each pixel to obtain each picture
The sharpening pixel value of element, in described pomegranate tree image, the pixel value of each pixel includes described Punica granatum L.
The R of each pixel in tree Image, G, B tri-Color Channel pixel value, correspondingly, it is thus achieved that every
The sharpening pixel value of one pixel includes the R of each pixel, G, B tri-Color Channel sharpening
Pixel value, the sharpening pixel value composition pretreatment image of all pixels.
As in figure 2 it is shown, described fruit information detector 3 and described image pre-processor 2 and described deposit
Storage equipment connects respectively, and described fruit information detector 3 includes with lower component:
The sub-device of wavelet filtering 31, is connected with described image pre-processor 2, to described pretreatment image
Perform wavelet filtering based on Harr Wavelets Filtering Algorithm, output filtering pomegranate tree image；
Gray processing processes sub-device 32, and device 31 sub-with described wavelet filtering is connected, to described filtering
Pomegranate tree image performs gray processing and processes, it is thus achieved that gray processing pomegranate tree image；
The sub-device of pomegranate tree identification 33, processes sub-device 32 and described storage device with described gray processing
Connect respectively, by gray value in described gray processing pomegranate tree image at described pomegranate tree upper limit gray threshold
And pixel identification between described pomegranate tree lower limit gray threshold form pomegranate tree pattern；
The sub-device of calibration line identification 34, processes sub-device 32 and described storage device with described gray processing
Connect respectively, by gray value in described gray processing pomegranate tree image at described calibration line upper limit gray threshold
And pixel identification between described calibration line lower limit gray threshold form calibration line pattern；
The sub-device of fruit identification 35, divides with the described sub-device of pomegranate tree identification 33 and described storage device
Do not connect, by gray value in described pomegranate tree pattern at described fruit upper limit gray threshold and described fruit
Pixel identification between lower limit gray threshold also forms multiple fruit pattern；
The sub-device of fruit information gathering 36, knows with the described sub-device of calibration line identification 34, described fruit
Small pin for the case device 35 and described storage device connect respectively, measure multiple fruit pattern respectively with described mark
The relative position of alignment pattern is to determine the physical location of each fruit, for each fruit figure
Case, statistical pixel gray value is less than or equal to the pixel quantity of described preset ripeness degree threshold value, when statistics
When pixel quantity is more than or equal to described default judgement amount threshold, determine the fruit that described fruit pattern is corresponding
Actually ripe, when described pixel quantity is less than described default judgement amount threshold, determine described fruit
The fruit that pattern is corresponding is immaturity.
Described AT89C51 single-chip microcomputer 4 drives equipment, institute with described harvesting execution equipment, described harvesting
State real-time positioning equipment, described CMOS vision sensor 1, the described sub-device of pomegranate tree identification 33,
The described sub-device of calibration line identification 34, the described sub-device of fruit identification 35 and described fruit information gathering
Sub-device 36 connects respectively, by described pomegranate tree pattern, described calibration line pattern, the plurality of fruit
Real pattern, the most ripe and physical location of each fruit are compound in described pretreatment image with shape
One-tenth combination picture, and provide the driving signal of corresponding fruit when determining corresponding fruit maturation, based on right
The current location answering fruit physical location and described harvesting to perform equipment determines the driving letter of corresponding fruit
Number content, do not provide the driving signal of corresponding fruit when determining corresponding fruit immaturity, described right
The driving signal answering fruit drives harvesting execution equipment described in device drives to arrive for controlling described harvesting
Reach the physical location of corresponding fruit to realize the harvesting to corresponding fruit.
Wherein, described AT89C51 single-chip microcomputer 4 sends multiple fruit patterns correspondence respectively by preset order
The driving signal of multiple corresponding fruits, and after the driving signal being sent all corresponding fruits,
Send pomegranate tree and pluck end signal.
Alternatively, in described harvesting platform, at the sub-device of described wavelet filtering 31, described gray processing
Manage sub-device 32, the described sub-device of pomegranate tree identification 33, the described sub-device of calibration line identification 34, institute
State the sub-device of fruit identification 35 and the described sub-device of fruit information gathering 36 is respectively adopted different
Fpga chip realizes, or the sub-device of described wavelet filtering 31, described gray processing process sub-device
32, the described sub-device of pomegranate tree identification 33, the described sub-device of calibration line identification 34, described fruit are known
Small pin for the case device 35 and the described sub-device of fruit information gathering 36 are integrated on one piece of surface-mounted integrated circuit,
Such as, it is integrated in one piece of fpga chip, and alternatively, described pomegranate tree image and described
The resolution of pretreatment image all elects 3840 × 2160 as.
It addition, haze image can remove haze by what a series of images processing equipment realized image,
To obtain the image of sharpening, improve the visibility of image.These image processing equipments perform not respectively
Same image processing function, the principle formed based on haze, reach to remove the effect of haze.Haze figure
The sharpening of picture processes all has great using value, military domain bag for dual-use field
Including military and national defense, remote sensing navigation etc., civil area includes road monitoring, target following and automatic Pilot
Deng.
The process that haze image is formed can be described by atmospheric attenuation process, in haze image and reality
The medium of the available overall air light value of the relation between image i.e. sharpening image and each pixel passes
Defeated rate is stated, i.e. in the case of known haze image, according to overall air light value and each picture
The medium transmission rate of element, can solve sharpening image.
There are some and have in the solving of medium transmission rate for overall air light value and each pixel
Effect and through the means of checking, such as, for the medium transmission rate of each pixel, need to obtain whole
Body atmosphere light value and the atmospheric scattering light value of each pixel, and the atmospheric scattering light value of each pixel
Can be at the Gaussian smoothing that each pixel pixel value in haze image is carried out twice holding edge
Filtering and obtain, therebetween, the intensity that haze is removed is adjustable；And the acquisition pattern of entirety air light value has
Two kinds, a kind of mode is, (i.e. can make in haze image by obtaining the black channel of haze image
The black channel value of some pixels is the lowest, black channel is R, and G, B tri-is in Color Channel
A kind of), in haze image, the multiple pixels bigger than normal by finding black channel pixel value are found
The pixel of gray value maximum obtains, and gray value that will search out, gray value is maximum pixel is made
For overall air light value, participate in the sharpening of each pixel in haze image and process；It addition, it is overall
Air light value also can obtain in the following manner: calculates the gray value of each pixel in haze image, will
The gray value of the pixel that gray value is maximum is as overall air light value.
Relation between concrete haze image and real image i.e. sharpening image, and parameters
Between relation can be found in above content.
By the discussion to haze image formation basic theory, build between haze image and sharpening image
Relation, represent this relation by multiple parameters, subsequently by the multiple parameter values obtained and haze figure
The image that picture the most reducible acquisition definition is higher, owing to some statistical means have been used in the acquisition of parameter
And empirical means, the image that the most described definition is higher can not be fully equivalent to real image, but
Have and considerable degree of gone haze effect, provide effectively for the every field operation under haze weather
Ensure.
The pomegranate tree electronization using the present invention plucks platform, automatically for existing manually to pluck pattern
Be main pomegranate tree pluck platform inefficiency, relatively costly and use electronics Softening cannot gram
Take the technical problem of haze weather impact, by introducing wireless technology, location technology and motor technology be
Pluck platform and make reliable electromechanical facility, more it is essential that the feature plucked for pomegranate tree, have
Formulate high-precision image procossing scheme pointedly to identify owning on same strain pomegranate tree
The Maturity of pomegranate tree and physical location, lay the first stone for pomegranate tree picking mechanical, improve Punica granatum L.
The automatization level of tree picking operations, more it is essential that by high-precision haze composition removal mechanisms at work,
Effectively overcome the adverse effect that electronics is plucked by various haze weather.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (2)
1. a pomegranate tree electronization picking method automatically, the method comprises the following steps:
1) the pomegranate tree electronization in a kind of front being positioned at pomegranate tree to be plucked is provided automatically to pluck platform,
Described harvesting platform include CMOS vision sensor, image pre-processor, fruit information detector and
AT89C51 single-chip microcomputer, described CMOS vision sensor is used for treating harvesting pomegranate tree shooting to obtain
Pomegranate tree image, described image pre-processor for remove haze composition in described pomegranate tree image with
Obtaining pretreatment image, described fruit information detector is for performing at image described pretreatment image
Whether reason, with each fruit on pomegranate tree to be plucked described in determining maturation and physical location, institute
State AT89C51 single-chip microcomputer to be connected with described fruit information detector, based on described pomegranate tree to be plucked
Whether each fruit ripe and physical location determines the harvesting strategy of corresponding fruit；
2) described platform is run.
2. the method for claim 1, it is characterised in that described harvesting platform also includes:
Power supply, including solar powered device, accumulator, switching switch and electric pressure converter,
Described switching switch is connected, according to accumulator respectively with described solar powered device and described accumulator
Dump energy decides whether to be switched to described solar powered device with by described solar powered device
Power supply, described electric pressure converter is connected with described switching switch, with by the 5V by switching switch input
Voltage is converted to 3.3V voltage；
Pluck execution equipment, the fruit on pomegranate tree to be plucked described in plucking；
Pluck driving equipment, be used for driving described harvesting execution equipment；
Real-time positioning equipment, is positioned on described harvesting execution equipment, holds for plucking described in real-time positioning
The current location of row equipment；
Transceiver, sets up two-way wireless communication link with the agricultural management console of far-end,
For receiving the control instruction that described agricultural management console sends, described control instruction includes each
The current location of strain pomegranate tree, is also connected with described AT89C51 single-chip microcomputer with wireless transmission combination picture
End signal is plucked with pomegranate tree；
The Big Dipper localizer, the described harvesting platform sent for real-time reception the Big Dipper position location satellite
Current the Big Dipper data；
Pluck platform and drive equipment, connect respectively with described transceiver and described the Big Dipper localizer
Connect, including dc motor, for the current location according to each strain pomegranate tree and current Big Dipper star number
According to, drive the front of the current location of the described harvesting platform each strain pomegranate tree of arrival；
Storage device, is used for prestoring preset ripeness degree threshold value and presetting judgement amount threshold, described
Preset ripeness degree threshold value is a gray value, is additionally operable to prestore pomegranate tree upper limit gray threshold, Punica granatum L.
Tree lower limit gray threshold, fruit upper limit gray threshold and fruit lower limit gray threshold, on described pomegranate tree
Limit gray threshold and described pomegranate tree lower limit gray threshold are for dividing the pomegranate tree in image and background
From, described fruit upper limit gray threshold and described fruit lower limit gray threshold are for by the fruit in image
And background separation, it is additionally operable to prestore calibration line upper limit gray threshold and calibration line lower limit gray scale threshold
Value, described calibration line upper limit gray threshold and described calibration line lower limit gray threshold are for by image
Calibration line and background separation, calibration line is given data in the position being taken in target；
Described image pre-processor also includes:
Store sub-device, be used for prestoring sky upper limit gray threshold and sky lower limit gray scale threshold
Value, described sky upper limit gray threshold and described sky lower limit gray threshold are for isolating in image
Sky areas, is additionally operable to prestore presetted pixel value threshold value, and described presetted pixel value threshold value value exists
Between 0 to 255；
The sub-device of haze Concentration Testing, is positioned in air, detects described harvesting platform in real time
The haze concentration of position, and determine that intensity removed by haze according to haze concentration, described haze is removed
Intensity value is between 0 to 1；
Molecular device is drawn in region, connects described CMOS vision sensor to receive described pomegranate tree
Image, described pomegranate tree image is carried out gray processing process to obtain gray processing area image, also with deposit
Store up sub-device to connect, by gray value in described gray processing area image at described sky upper limit gray threshold
And pixel identification between described sky lower limit gray threshold form gray processing sky sub pattern, from institute
State gray processing area image and be partitioned into described gray processing sky sub pattern to obtain gray processing non-sky gap
Image, obtains based on described gray processing non-sky subimage correspondence position in described beat image
Obtain the colour non-sky subimage that sky subimage non-with described gray processing is corresponding；
Black channel obtains sub-device, draws molecular device with described region and is connected to obtain described coloured silk
Color non-sky subimage, for each pixel in described colour non-sky subimage, calculates its R,
G, B tri-Color Channel pixel value, R, the G of all pixels in described colour non-sky subimage,
The color extracting the minimum Color Channel pixel value place of a numerical value in B tri-Color Channel pixel value is led to
Road is as black channel；
Overall air light value obtains sub-device, and device with described storage is connected presets picture to obtain
Element value threshold value, draw with described region molecular device and described black channel obtain sub-device be connected respectively with
Obtain described pomegranate tree image and described black channel, by black channel pixel in described pomegranate tree image
Value forms set of pixels to be tested, by described to be tested more than or equal to multiple pixels of presetted pixel value threshold value
Set of pixels has the gray value of pixel of maximum gradation value as overall air light value；
Atmospheric scattering light value obtains sub-device, draws molecular device with described region and described haze is dense
Degree detects sub-device and connects respectively, and each pixel to described pomegranate tree image extracts its R, G,
In B tri-Color Channel pixel value, minima is as target pixel value, uses the Gaussian smoothing keeping edge
Described target pixel value is filtered processing to obtain filtered target pixel value by wave filter EPGF, will
Target pixel value deducts filtered target pixel value to obtain object pixel difference, uses EPGF to target
Pixel value difference is filtered processing to obtain filtered target pixel value difference, is deducted by filtered target pixel value
Filtered target pixel value difference removes reference value to obtain haze, haze is removed intensity and is multiplied by haze removal
Reference value removes threshold value to obtain haze, takes the minima work that haze is removed in threshold value and target pixel value
For comparison reference, take the atmospheric scattering as each pixel of the maximum in comparison reference and 0
Light value；
Medium transmission rate obtains sub-device, obtains sub-device and described with described overall air light value
Atmospheric scattering light value obtains sub-device and connects respectively, by the atmospheric scattering light value of each pixel divided by whole
Body atmosphere light value, to obtain except value, deducts described except value is to obtain the medium transmission of each pixel by 1
Rate；
The sub-device of sharpening Image Acquisition, draws molecular device, described overall air with described region
Light value obtains sub-device and described medium transmission rate obtains sub-device and connects respectively, deducts each by 1
The medium transmission rate of pixel to obtain the first difference, described first difference is multiplied by overall air light value with
Obtain product value, the pixel value of each pixel in described pomegranate tree image is deducted described product value with
Obtain the second difference, described second difference is each to obtain divided by the medium transmission rate of each pixel
The sharpening pixel value of individual pixel, in described pomegranate tree image, the pixel value of each pixel includes described
The R of each pixel in pomegranate tree image, G, B tri-Color Channel pixel value, correspondingly, it is thus achieved that
The sharpening pixel value of each pixel include the R of each pixel, G, B tri-Color Channels are clear
Clearization pixel value, the sharpening pixel value composition pretreatment image of all pixels；
Described fruit information detector is connected respectively with described image pre-processor and described storage device,
Described fruit information detector includes:
The sub-device of wavelet filtering, is connected with described image pre-processor, to described pretreatment image
Perform wavelet filtering based on Harr Wavelets Filtering Algorithm, output filtering pomegranate tree image；
Gray processing processes sub-device, and device with described wavelet filtering is connected, to described filtering stone
Pomegranate tree Image performs gray processing and processes, it is thus achieved that gray processing pomegranate tree image；
The sub-device of pomegranate tree identification, processes sub-device with described gray processing and described storage device is divided
Do not connect, by gray value in described gray processing pomegranate tree image at described pomegranate tree upper limit gray threshold and
Pixel identification between described pomegranate tree lower limit gray threshold also forms pomegranate tree pattern；
The sub-device of calibration line identification, processes sub-device with described gray processing and described storage device is divided
Do not connect, by gray value in described gray processing pomegranate tree image at described calibration line upper limit gray threshold and
Pixel identification between described calibration line lower limit gray threshold also forms calibration line pattern；
The sub-device of fruit identification, with the described sub-device of pomegranate tree identification and described storage device difference
Connect, by gray value in described pomegranate tree pattern under described fruit upper limit gray threshold and described fruit
Limit the pixel identification between gray threshold and form multiple fruit pattern；
The sub-device of fruit information gathering, with the described sub-device of calibration line identification, described fruit identification
Sub-device and described storage device connect respectively, measure multiple fruit pattern respectively with described demarcation line chart
The relative position of case is to determine the physical location of each fruit, for each fruit pattern, statistics
Grey scale pixel value is less than or equal to the pixel quantity of described preset ripeness degree threshold value, when the pixel quantity of statistics
During more than or equal to described default judgement amount threshold, determine that fruit that described fruit pattern is corresponding is for becoming
Ripe, when described pixel quantity is less than described default judgement amount threshold, determine described fruit pattern pair
The fruit answered is immaturity；
Described AT89C51 single-chip microcomputer and described harvesting execution equipment, described harvesting drive equipment, described
Real-time positioning equipment, described CMOS vision sensor, the described sub-device of pomegranate tree identification, described mark
The sub-device of alignment identification, the described sub-device of fruit identification and the described sub-device of fruit information gathering connect respectively
Connect, by described pomegranate tree pattern, described calibration line pattern, the plurality of fruit pattern, each fruit
The most ripe real and physical location is compound in described pretreatment image form combination picture, and
Provide the driving signal of corresponding fruit when determining corresponding fruit maturation, based on corresponding fruit physical location and
The current location of described harvesting execution equipment determines the content driving signal of corresponding fruit, right determining
Not providing the driving signal of corresponding fruit when answering fruit immaturity, the driving signal of described corresponding fruit is used
Harvesting execution equipment described in device drives is driven to arrive the actual bit of corresponding fruit in controlling described harvesting
Put to realize the harvesting to corresponding fruit；
Wherein, described AT89C51 single-chip microcomputer sends multiple fruit patterns correspondence respectively by preset order
The driving signal of multiple corresponding fruits, and after the driving signal being sent all corresponding fruits, send out
Go out pomegranate tree and pluck end signal；
The sub-device of described wavelet filtering, described gray processing process sub-device, the described sub-device of pomegranate tree identification
Part, the described sub-device of calibration line identification, the described sub-device of fruit identification and described fruit information gathering
Device is integrated in one piece of fpga chip；
The resolution of described pomegranate tree image and described pretreatment image is all 3840 × 2160.
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| CN201610300687.XA CN105875066A (en) | 2015-04-08 | 2015-04-08 | Electronic and automatic pomegranate tree picking method |
| CN201510164663.1A CN104704990B (en) | 2015-04-08 | 2015-04-08 | A kind of pomegranate tree electronization picking method automatically |
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| CN105929752A (en) * | 2016-06-22 | 2016-09-07 | 吴童 | Robot-based lychee picking control system |
| CN107637273A (en) * | 2017-04-27 | 2018-01-30 | 解晗 | Automatic picking robot |
| CN107862253B (en) * | 2017-10-20 | 2021-07-16 | 武汉科技大学 | Wolfberry picking effect evaluation method |
| CN107862326A (en) * | 2017-10-30 | 2018-03-30 | 昆明理工大学 | A kind of transparent apple recognition methods based on full convolutional neural networks |
| CN108718709B (en) * | 2018-06-05 | 2020-12-29 | 宁波大学 | Automatic strawberry picking machine |
| CN108901366B (en) * | 2018-06-19 | 2021-03-02 | 华中农业大学 | Heaven and earth integrated orange picking method |
| CN116616045B (en) * | 2023-06-07 | 2023-11-24 | 山东农业工程学院 | Picking method and picking system based on plant growth |
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| CN100591202C (en) * | 2008-05-05 | 2010-02-24 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN101493313B (en) * | 2009-02-27 | 2011-01-05 | 中国农业大学 | Image processing process for ripe fruit identification and positioning |
| CN201600330U (en) * | 2009-09-23 | 2010-10-06 | 中国农业大学 | System for recognizing and locating mature pineapples |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN102124866B (en) * | 2011-01-19 | 2013-05-29 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN102170574B (en) * | 2011-05-23 | 2012-12-26 | 北京工业大学 | Real-time video defogging system |
| CN103039200A (en) * | 2012-12-31 | 2013-04-17 | 辛慰 | Tomato picker used for greenhouse |
| CN104199453B (en) * | 2014-09-27 | 2016-08-17 | 江苏华宏实业集团有限公司 | For patrolling and examining the intelligent robot of electric instrument |
| CN104317302B (en) * | 2014-09-28 | 2017-03-15 | 江苏华宏实业集团有限公司 | Intelligent underwater robot system |
| CN104330410B (en) * | 2014-11-04 | 2015-11-25 | 南通宏大机电制造有限公司 | Be positioned at the crop disease and insect detection system on unmanned plane |
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