A Separating Method of Adjacent Apples Based on Machine Vision and Chain Code Information

Part 1: Decision Support Systems, Intelligent Systems and Artificial Intelligence ApplicationsInternational audienceFruit location is an important parameter for apple harvesting robot to conduct picking task. However, it is difficult to obtain coordinates of each apple under natural conditions. One of the major challenges is detecting adjacent fruits accurately. Previous studies for adjacent detection have shortcomings such as vast computation, difficulty in implementation and over-segmentation. In this paper, we propose a novel and effective separating method for adjacent apples recognition based on chain code information and obtain the centroid coordinates of each fruit. Firstly, those valid regions of fruit are extracted by pre-processing the initial image. Secondly, chain code information is obtained by following the contour of extracted regions. Thirdly, through observing the changing law of chain code difference and adopting local optimum principle, concave points are found. Finally, the best point pairs are determined with different matching principles, and those adjacent apples are separated exactly. The experimental results show that the average rate of successful separation is greater than 91.2% with the proposed method, which can meet the requirements of applications in harvesting robots

Auto Recognition of Navigation Path for Harvest Robot Based on Machine Vision

International audienceAn algorithm of generating navigation path in orchard for harvesting robot based on machine vision was presented. According to the features of orchard images, a horizontal projection method was adopted to dynamically recognize the main trunks area. Border crossing points between the tree and the earth were detected by scanning the trunks areas, and these points were divided into two clusters on both sides. Resorting to least-square fitting, two border lines were extracted. The central clusters were gained by the two lines and this straight line was regarded as the navigation path.Matlab simulation result shows that the algorithm could effectively extract navigation path in complex orchard environment, and correct recognition rate was 91.7%. The method is proved to be stable and reliable, and with the deviation rate of simulation navigation angle compared with the artificial recognition angle is around 2%

CIGR E-Journal Volume 3

Rosana G. Moreira, Editor-in-Chief; Texas A&M UniversityTECHNICAL ARTICLES: (1) P. Bruscoli, E. Bresci and F. Preti. Diagnostic Analysis of an Irrigation System in the Andes Region. Vol. III, February 2001. (2) T. Fischer, M. Gaderer, P. Lamp, W. Schoelkopf, and R. Ziegler. Processes and Economics for Energetic Use of Cotton Plant Residues. Vol. III, February 2001. (3) B. G. Kakou, H. Shimizu and S. Nishimura. Residual Strength of Colluvium and Stability Analysis of Farmland slope. Vol. III, March 2001. (4) P. N. Rodrigues, L. S. Pereira, A. Zairi, H. El Amami, H. A. Slatni, J. L. Teixeira, and T. Machado. Deficit Irrigation of Cereals and Horticultural Crops: Simulation of Strategies to Cope with Droughts. Vol. III, March 2001. (5) H. El Amami, A. Zairi, L. S. Pereira, T. Machado, A. Slatni, and P. Rodrigues. Deficit Irrigation of Cereals and Horticultural Crops: Economic Analysis. Vol. III, March 2001. (6) T. Tomson and A. Nova. Geographically Dispersed Wind Turbines on the West-Estonian Coast. Vol. III, April 2001. (7) L. Wiset, G. Srzednicki, R. Driscoll, C. Nimmuntavin, and P. Siwapornak. Effects of High Temperature Drying on Rice Quality. Vol. III, May 2001. (8) M. Horynski. The Effects of Field Intensity and Pneumatic Pressure on the Dielectric Constant of Rye Kernels. Vol. III, May 2001. (9) S. Lynikiene. Carrot Seed Preparation in a Corona Discharge Field. Vol. III, July 2001. (10) V. Anbumozhi, K. Matsumoto, and E. Yamaji. Sustaining Agriculture through Modernization of Irrigation Tanks: An Opportunity and a Challenge for Tamilnadu, India. Vol. III, August 2001. (11) A. Munack, O. Schroeder, J. Krahl, and J. Buenger. Comparison of Relevant Exhaust Gas Emissions from Biodiesel and Fossil Diesel Fuel. Vol. III, August 2001. (12) K. Maertens, M. Reyniers, and J. De Baerdemaeker. Design of a Dynamic Grain Flow Model for a Combine Harvester. Vol. III, September 2001. (13) D. Shitanda, Y. Nishiyama, and S. Koide. Performance Analysis of Impellor and Rubber Roll Husker Using Different Varieties of Rice. Vol. III, September 2001. (14) T. Nishizu, Y. Ikeda, Y. Torikata, S. Manmoto, T. Umehara, and T. Mizukami. Automatic, Continuous Food Volume Measurement with a Helmholtz Resonator. Vol. III, October 2001. (15) A. Sumorek and W. Pietrzyk. The Influence of Electric Field on the Energy Consumption of Convective Drying Processes. Vol. III. October 2001. (16) T. Nagano, H. Horino, T. Mitsuno, and N. Shimizu. Changes in Surface Runoff Due to Crust Formation and Land Conservation Techniques: The Case of On-Farm Study in Niger, West Africa. Vol. III, October 2001. (17) J. Li and M. Rao. Crop Yield as Affected by Uniformity of Sprinkler Irrigation System. Vol. III, October 2001. (18) K. Imou, M. Ishida, T. Okamoto, Y. Kaizu, A. Sawamura, and N. Sumida. Ultrasonic Doppler Sensor for Measuring Vehicle Speed in Forward and Reverse Motions Including Low Speed Motions. Vol. III, October 2001. (19) D.M. Bulanon, T. Kataoka, Y. Ota, and T. Hiroma. A Machine Vision System for the Apple Harvesting Robot. Vol. III, December 2001. (20) R. Medjo Eko and G. Riskowski. A Procedure for Processing Mixtures of Soil, Cement, and Sugar Cane Bagasse. Vol. III, December 2001. (21) A. Pozeliene. Influence of Electric Field on the Quality of Flaxseed. Vol. III, December 2001. (22) Y. Kaizu, T. Okamoto and K. Imou. System for Automatic Separation of Ex Vitro Micropropagated Sugarcane. Vol. III, December 2001. (23) M. Gebreselassie, O. Kaufman, and J. Hahn. Optimization of Transport Capacity for Fodder-Straw in Syria. Vol. III, December 2001...INVITED ARTICLES: (1) A-L. Raoult-Wack and N. Bricas. Food Sector Development: Multifunctionality and Ethics. Vol. III, January 2001. (2) I. Naas. Precision Animal Production. Vol. III, January 2001. (3) W. Chancellor. Synergistic Cooperation in the Food System. Vol. III, February 2001. (4) L. Cortez, I. N??s and O. Braunbeck. Agricultural Engineering Education Programs in Brazil. Vol. III, April 2001. (5) A. Munack and H. Speckmann. Communication Technology is the Backbone of Precision Agriculture. Vol. III, May 2001. (6) T. Friedrich. Agricultural Sprayer Standards and Prospects for Development of Standards for other Farm Machinery. Vol. III, May 2001. (7) W. Chancellor. Global Energy Flows and their Food System Components. Vol. III. December 2001. (8) B. Stout and G. Best. Effective Energy Use and Climate Change: Needs of Rural Areas in Developing Countries. Vol. III. December 2001