张万里,丁为民,刘瑛璎,仲高艳,徐谐庆.基于机器视觉的莲子去芯位置的定位方法[J].湖南农业大学学报:自然科学版,2021,47(4):.
基于机器视觉的莲子去芯位置的定位方法
  
DOI:
中文关键词:  莲子  去芯  莲芯定位  机器视觉  图像处理
英文关键词:lotus seed  removing plumule  coring plumule positioning  machine vision  image processing
基金项目:国家自然科学基金项目(31370701)
作者单位
张万里,丁为民,刘瑛璎,仲高艳,徐谐庆 1.南京农业大学工学院江苏 南京 2100312.江苏省智能化农业装备重点实验室江苏 南京 210031 
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中文摘要:
      提出一种基于机器视觉的莲子去芯位置定位的方法,并搭建试验平台进行去芯验证。采集4个产地、不同尺寸的莲子,用2个相互垂直的摄像头采集凹槽内莲子图像,对图像进行裁剪和灰度处理后,通过莲子头部和尾部的灰度特征差异识别莲子朝向;对沿长轴尾部向上的莲子图像进行二值化处理,经腐蚀运算以消除边缘杂质,缩放以增大特征点的曲率,利用角点检测确定莲子去芯位置坐标后进行坐标换算,计算机械手移动距离,实现莲子去芯作业。试验表明:莲子理想去芯位置为莲子尾部凸点,莲子朝向判别成功率约97%,尾部凸点识别准确率约97%,整体识别成功率约94%,去芯成功率约93%,单颗莲子图像处理平均时间约78 ms,平均去芯时间约0.5 s。若以尾部凸点识别成功数为基数计算,则莲子去芯成功率可达98.9%。
英文摘要:
      In this paper, a coring plumule positioning method of lotus seeds is proposed based on machine vision. A test platform is built to verify the coring plumule location. The lotus seeds with different sizes from four producing areas are collected and two vertical cameras are selected as image acquisition devices to capture lotus seed images fixed in the groove. After image clipping and gray processing, the orientation of lotus seed was identified by gray feature difference between head and tail of lotus seed. After binarization of the image of lotus seed along the tail of the long axis, the image is etched to eliminate edge impurities, and scaled to increase the curvature of feature points. The corner detection algorithm is used to determine the plumule coordinates of the lotus seeds which is positioned correctly. Then calculate the moving distance of manipulator by coordinate conversion to realize the lotus seed coring operation. The results show that the ideal coring position of lotus seed is the tail bump of lotus seed. The success rate of identifying whether lotus seeds are located correctly is about 97%, the accuracy rate of identifying tail bump coordinates is about 97%, the success rate of overall identification is about 94%, and the success rate of coring is about 93%. The average processing time of single lotus seed image was about 78 ms, and the average cored time was about 0.5 s. If the number of successful identification of the tail convex points is taken as the base number, the success rate of coring from the tail bump of lotus seed is 98.9%.
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