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首页提升夜间效率:苹果收割机器人夜视图像预处理技术
提升夜间效率:苹果收割机器人夜视图像预处理技术
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本文档探讨了"夜视图像在苹果收割机器人中的预处理方法"这一关键主题,针对苹果收割机器人低下的工作效率问题进行深入研究。由于农业机器人在夜间工作时受到光照、温度、湿度等多种因素的影响,导致其在黑暗环境中作业的能力受限,从而影响整体效率。为了提升机器人的夜间作业能力,研究人员着重考虑了延长操作时间,提出了一种全天候的操作模式。 在技术上,他们选择并测试了三种不同的人造光源,包括白炽灯、荧光灯和LED灯,以优化夜间图像采集。通过对比分析,这些光源对苹果夜视图像的捕捉效果各有优劣。实验结果显示,白炽灯在夜间的照明效果最佳,对于苹果收割机器人来说,它能提供足够的光照以清晰地识别和定位苹果。 在图像预处理阶段,论文详细地解析了夜视图像的颜色特征,通过直观的视觉和差异图像方法来识别和去除噪声。作者发现,苹果夜视图像中主要存在高斯噪声以及少量的盐和胡椒噪声,这是常见于夜间成像的混合噪声类型。预处理技术对于降低这些噪声的影响至关重要,有助于后续的图像识别和目标检测算法的准确执行。 此外,这项研究不仅提供了关于如何选择合适光源以改善夜间视觉性能的技术指导,还展示了通过预处理技术优化苹果收割机器人在复杂照明条件下的工作性能的方法论。这对于推动农业机器人技术的商业化进程具有实际意义,为同类研究者和工程师提供了宝贵的经验和参考依据。 这篇研究论文旨在解决苹果收割机器人在夜间环境中的效率问题,通过细致的实验和预处理技术,为提高机器人在全时段作业中的性能奠定了基础,对于农业自动化领域的未来发展具有重要价值。
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158 March, 2018 Int J Agric & Biol Eng Open Access at https://www.ijabe.org Vol. 11 No.2
Preprocessing method of night vision image application in apple
harvesting robot
Weikuan Jia
1,3
, Yuanjie Zheng
1,4*
, De’an Zhao
2
, Xiang Yin
3
, Xiaoyang Liu
2
, Ruicheng Du
3
(1. School of Information Science and Engineering, Shandong Normal University, Jinan 250358, China;
2. Key Laboratory of Facility Agriculture Measurement and Control Technology and Equipment of Machinery Industry,
Jiangsu University, Zhenjiang 212013, China;
3. School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China;
4. Institute of Life Sciences and Key Lab of Intelligent Information Processing, Shandong Normal University, Jinan 250014, China)
Abstract: Due to the low working efficiency of apple harvesting robots, there is still a long way to go for commercialization.
The machine performance and extended operating time are the two research aspects for improving efficiencies of harvesting
robots, this study focused on the extended operating time and proposed a round-the-clock operation mode. Due to the
influences of light, temperature, humidity, etc., the working environment at night is relatively complex, and thus restricts the
operating efficiency of the apple harvesting robot. Three different artificial light sources (incandescent lamp, fluorescent lamp,
and LED lights) were selected for auxiliary light according to certain rules so that the apple night vision images could be
captured. In addition, by color analysis, night and natural light images were compared to find out the color characteristics of
the night vision images, and intuitive visual and difference image methods were used to analyze the noise characteristics. The
results showed that the incandescent lamp is the best artificial auxiliary light for apple harvesting robots working at night, and
the type of noise contained in apple night vision images is Gaussian noise mixed with some salt and pepper noise. The
preprocessing method can provide a theoretical and technical reference for subsequent image processing.
Keywords: apple harvesting robot, night vision image, preprocessing method, color analysis, noise analysis
DOI: 10.25165/j.ijabe.20181102.2822
Citation: Jia W K, Zheng Y J, Zhao D A, Yin X, Liu X Y, Du R C. Preprocessing method of night vision image application
in apple harvesting robot. Int J Agric & Biol Eng, 2018; 11(2): 158–163.
1 Introduction
According to the statistics of the Food and Agriculture
Organization (FAO) of the United Nations, apples are ranked
second in global fruit production. These statistics also show that
China is the largest apple producer with an apple planting area and
production exceeding 50% of the world and keeping an increasing
tend during recent years. In the whole process of apple
production, harvesting work is time-consuming and laborious and
has strong seasonality. At present, apple harvesting is usually
completed by manual operation, which is a highly labor-intensive
task. In addition, the urbanization and gradual population aging
also cause an acute shortage of agricultural labor in recent years.
All the above factors restrict apple production and contribute to
losses in agricultural production. To alleviate these contradictions,
Received date: 2017-06-06 Accepted date: 2018-02-08
Biographies: Weikuan Jia, PhD, Lecturer, research interests: agricultural
information, artificial intelligence, Email: jwk_1982@163.com; De’an Zhao,
PhD, Professor, research interests: agricultural robots, intelligent control, Email:
dazhao@ujs.edu.cn; Xiang Yin, PhD, Lecturer, research interests: agricultural
information, navigation control, Email: yinxiang2013@yahoo.co.jp; Xiaoyang
Liu, PhD candidate, research interests: agricultural robots, agricultural
information, Email: 774294228@qq.com; Ruicheng Du, Professor, research
interests: agricultural machinery, Email: drc@sdut.edu.cn.
*Corresponding author: Yuanjie Zheng, PhD, Professor, research interests:
intelligent information processing, artificial intelligence. School of Information
Science and Engineering, Engineering, Shandong Normal University, No.1,
Daxue Road, Changqing District, Jinan 250358, China. Email: yjzheng@
sdnu.edu.cn.
fortunately, fruit and vegetable harvesting robot technology is
improving.
Nowadays, agricultural robots
[1,2]
or harvesting robots
[3-7]
have
reached a new level. Moreover, the related studies of apple
harvesting robot have also been carried out gradually and achieved
good results
[8-10]
. For example, AFPM, one type of apple
harvesting robot that was developed by a Belgian scholar for apple
sizes of 6-11 cm in diameter, has a harvesting rate of approximately
80% and a harvest cycle of approximately 9 s, which is the general
development level in the current agricultural world
[8]
. In China,
the new generation prototype was co-developed by the Chinese
Academy of Agricultural Machinery Sciences and Jiangsu
University; under laboratory conditions, the harvesting rate also
reaches 80% and the harvesting speed is 15 s per apple, which
represents the highest level achieved
[9]
. Currently, due to the
lower harvesting efficiency, the apple harvesting robot is still in the
laboratory research stage. In general, there are two factors for
improving harvesting efficiency under the unstructured
environment of an orchard. One is the self-performance
improvement of apple harvesting robots, such as the monocular
vision
[11]
and binocular vision
[12]
, recognition and tracking of
dynamic fruit
[13]
, manipulator obstacle avoidance
[14]
, path
planning
[15]
, green apple recognintion
[16]
, and so on. Another one
is longer working time to implement the round-the-clock operation.
The key problem of night working is how to capture and deal
with the apple night vision image. Related studies of this subject
are few; however, with the help of many scholars, some progress
has been attained in recent years. Payne captures night vision
images of mangos which are nearly mature enough, and the number
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