Abstract
Grafting robots have been developed in the world, but some auxiliary works such as gap-inspecting for grafted seedlings still need to be done by human. An machine-vision system of gap inspection for grafted muskmelon seedlings was developed in this study. The image acquiring system consists of a CCD camera, a lens and a front white lighting source. The image of inspected gap was processed and analyzed by software of HALCON 12.0. The recognition algorithm for the system is based on principle of deformable template matching. A template should be created from an image of qualified grafted seedling gap. Then the gap image of the grafted seedling will be compared with the created template to determine their matching degree. Based on the similarity between the gap image of grafted seedling and the template, the matching degree will be 0 to 1. The less similar for the grafted seedling gap with the template the smaller of matching degree. Thirdly, the gap will be output as qualified or unqualified. If the matching degree of grafted seedling gap and the template is less than 0.58, or there is no match is found, the gap will be judged as unqualified; otherwise the gap will be qualified. Finally, 100 muskmelon seedlings were grafted and inspected to test the gap inspection system. Results showed that the gap inspection machine-vision system could recognize the gap qualification correctly as 98% of human vision. And the inspection speed of this system can reach 15 seedlings·min-1. The gap inspection process in grafting can be fully automated with this developed machine-vision system, and the gap inspection system will be a key step of a fully-automatic grafting robots.
Highlights
Grafting is a technique that graft branches or buds from one plant with appropriate parts of another plant that has a strong affinity
A machine-vision system for gap inspection of muskmelon grafted seedlings based on template matching was developed
The hardware of the system was selected and set up, and the gap inspection algorithm was developed based on the deformable template matching
Summary
Grafting is a technique that graft branches or buds from one plant with appropriate parts of another plant that has a strong affinity. A branch or bud named scion to be cultivated is supposed to be combined with a strong plant named rootstock, so that the scion can grow, blossom and bear. Grafting technology can solve the continuous cropping obstacles, increase yield and fruit quality [1]. Grafting robot technology has recently been developed. Some semi-automatic grafting robots for cucumber, tomato and watermelon have been.
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