The Key Technique Studies On Fruit And Vegetables Recognition And Location System Under Nature Scenes

Fruit harvesting is a labor-concentrated job. In many countries, withthe senility and lack of labor, the cost of manual harvesting takes a lion'sshare within the total cost of yielding the fruit and vegetables. Yet, ourcountry is a great agricultural country, is rich in yield, variety and exportquantity. But generally speaking, nowadays, the harvesting of the fruitand vegetables mostly depends on the manpower that is high cost but lowefficiency. So, the realization of automatic harvesting is extremely urgent.It is a crucial step in realizing the robotic harvesting by using thecomputer vision to segment and recognize the fruit under nature scenes.However, due to the fact that the growth of the fruit under nature scenesbear high randomcity, thus, in order to implement an intact recognitionsystem, we need to resolve six problems including the efficientrecognition of the fruit object under nature illumination, in shadows, when the fruit object partially occluded or similar background colorpossessed; as well as the precise location of the fruit object center andabscission point.Aimed at the puzzles mentioned above, the main tasks we have doneare as follows:(1) Put forward two new color models LHM and YNM according tothe characteristics of each model, adopted the LHM model afteranalyzing the experimental result. By the principal of the classificationand the clustering characteristic of LHM, we settled the recognition of thefruit partially occluded, under nature illumination or shadow successfully.(2) Got two texture features: entropy and energy which candistinguish the fruit and the background by making use of the Gray levelco-occurrence matrix. Integrating the color and texture features as thefollowing step, we solved the recognition of the fruit whose color issimilar to the background.(3) Constructed geometry models for the fruit and vegetables, workout the difficulty of locating the center of the fruit; Brought forward thenovel conception of geometrical emendation and fruit harvesting,resolved the location of the fruit which covered the situation that the fruitare partially occluded, develop naturally hang and unnaturally hang.