Research On Chinese Wolfberry Recognition And Positioning Method Based On Binocular Vision

China’s Chinese wolfberry production ranks first in the world,but the picking of Chinese wolfberry fruit is still done manually,which not only has a high cost but also a low picking efficiency.Therefore,in the rapid development of agricultural mechanization today,it is very helpful to study an automated Chinese wolfberry picking robot for the development of the Chinese wolfberry industry in the direction of mechanization and intelligence.As the most important visual system on the picking robot,the accuracy of identifying and locating Chinese wolfberry directly determines the working efficiency of the Chinese wolfberry picking robot.This paper summarizes the domestic and foreign fruit and vegetable picking robot recognition positioning method in the analysis,based on the theoretical analysis and experimental combination of a variety of Locating Method Chinese wolfberry fruit indepth study.The main research work and results completed are summarized as follows:1)Overall process planning of Chinese wolfberry identification and positioning.Based on workflow Chinese wolfberry picking robot on the study design process identification and location of the Chinese wolfberry,and completed the preparatory work medlar image acquisition and calibration of binocular cameras,etc.,after experimental verification and analysis to provide help.2)Identify Chinese wolfberry fruits based on color features.In this paper,the Chinese wolfberry is identified based on the color characteristics of the Chinese wolfberry fruit.The RGB color space,HSV color space and BP neural network are respectively tested for the recognition of Chinese wolfberry.The Chinese wolfberry recognition method based on BP neural network has the highest recognition rate and the most universality.it is good.3)Detection of Chinese wolfberry fruits based on deep learning.In this paper,based on the Faster R-CNN algorithm to detect Chinese wolfberry,based on the original Faster RCNN algorithm to improve to adapt to the feature extraction of Chinese wolfberry fruit.The accuracy of the final test result is 86.3%4)Position Chinese wolfberry based on binocular vision.In this paper,the projection method is used to determine the two-dimensional coordinates of the Chinese wolfberry fruit image,and then the three-dimensional coordinates of the Chinese wolfberry fruit are calculated by binocular stereo vision technology.After experimental verification,the positioning error of the Chinese wolfberry fruit is 5mm.