Based On The LabVIEW Tomatoes Binocular Visual Identification And Positioning Technology Research

With the decrease of the agricultural population and the increasing of the population aging,the research of the device automation in the agricultural field has become more and more important.Tomato is one of the crops with a wide range and high economic value in our country.The artificial picking process is a bottleneck which restricts the development of the industry because of its high cost and low efficiency.Under this background,this paper presents a new method of automatic recognition and location system of Tomato Fruits Based on visual information theory,which is developed by LabVIEW.In this paper,the following aspects are mainly studied:1)The analysis of the geometric model of camera imaging,after discussion between the image coordinate,camera coordinate and world coordinate system conversion method.Compared with the traditional calibration method,two-step method,self calibration method and calibration method by high precision of Zhang Zhengyou calibration method to complete the calibration of the binocular camera,access to the internal and external parameters of the camera,calculated distortion coefficient of the visual system,the rotation matrix R and the shift vector t,for subsequent image acquisition and coordinate get hit good foundation.2)The method of image information acquisition based on color and shape was studied.Were treated under field and laboratory conditions of tomato fruit image,using image preprocessing method can effectively remove the image noise,discussed three kinds of color model under natural conditions and laboratory conditions of tomato fruit and background color,color distribution characteristics based on the calculation and comparison of images of a line,the choice of R channel-channel mode for gray image,using modified between class variance maximum(Ostu method)gets the image binarization threshold T,using morphological method of target area to improve.The correlation of image information is analyzed,and the area ratio algorithm based on edge detection is proposed to extract the location of tomato fruit and calculate the geometric information of the image.3)Complete the disparity in laboratory conditions based on the principle of binocular vision for sounding the calculation,by binocular disparity map and three-dimensional coordinate finish the calculation of the depth of the tomato fruit,for subsequent tomato fruit automatic picking provides according to their location.According to the design requirements,the overall structure of the tomato fruit identification and positioning system was completed,the experiment was carried out under different conditions and the results were analyzed.LabVIEW 2011 platform in the development of the system more convenient to realize the image acquisition and image processing algorithm,interactive graphics programming improves the efficiency of system design,design of the system has a friendly interface for user operation.