Fast Location of Table Grapes Picking Point Based on Infrared Tube

Yanjun Zhu,Ping Liu,Tongxun Zhang,Lipeng Liu,Xiang Li

doi:10.3390/inventions7010027

Abstract

This study investigates the low mechanization level of grape picking, and the problems associated with the difficult location of grape picking points in three-dimensional space. A method for rapidly locating the picking points of table grapes based on an infrared tube was proposed in this paper. Firstly, the Otsu algorithm and the maximum connected domain were used to obtain the image of the target grape, which realized the fast recognition and segmentation of the target grape in two-dimensional space. Secondly, a location device for grape-picking points based on an infrared tube was designed, which resolved the technical problem related to the difficulty of locating picking points in three-dimensional space, and realized the accurate positioning of picking points for table grapes. Finally, the experimental results show that the proposed method can quickly and accurately locate the picking points of table grapes in three-dimensional space. The average running time of the proposed algorithm is 0.61 s, and the success rate of location identification is 90.0%. It provides a feasible scheme for the mechanized picking of table grapes.

Highlights

As the world’s largest fruit and vegetable output and consumption country, the picking of fruits and vegetables is mainly artificial in China
And accurately locating grape-picking points is the key to realizing automatic mechanical picking of table grapes, which is of great significance to ensure picking quality, improve competitiveness and increase farmers’ income [5,6,7,8]
This paper proposed a fast and accurate location method of the table grape picking point based on the infrared tubes

Summary

Introduction

As the world’s largest fruit and vegetable output and consumption country, the picking of fruits and vegetables is mainly artificial in China. Accurately locating picking points plays an important role in mechanical picking. China is one of the countries with the largest grape outputs in the world. And accurately locating grape-picking points is the key to realizing automatic mechanical picking of table grapes, which is of great significance to ensure picking quality, improve competitiveness and increase farmers’ income [5,6,7,8]. Only the stone fruit (e.g., peach, apricot) and the kernel fruit (e.g., apple, pear) in two-dimensional space were recognized and segmented. The picking location method of the stone fruit and the kernel fruit is not suitable for berries

Methods

Results

Conclusion