| 自然条件下番茄成熟度机器人判别模型 |
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| 引用本文： | 尹建军,毛罕平,王新忠,沈宝国.自然条件下番茄成熟度机器人判别模型[J].农业机械学报,2009,40(10):146-150. |
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| 作者姓名： | 尹建军 毛罕平 王新忠 沈宝国 |
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| 作者单位： | 1. 江苏大学现代农业装备与技术省部共建教育部/江苏省重点实验室,镇江,212013
2. 江苏大学现代农业装备与技术省部共建教育部/江苏省重点实验室,镇江,212013;镇江机电高等职业技术学校,镇江,212013 |
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| 基金项目： | 国家自然科学基金资助项目(60575020、50805067);;中国博士后科学基金资助项目(20080441073) |
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| 摘 要： | 针对机器人采摘番茄因用途不同而进行选择性收获的问题,对人工选择的番茄图像样本集进行特征分析,从番茄的摄像机透视几何出发,提出将番茄表面红色调所占着色面积比与其他色调所占着色面积比的差值作为描述番茄成熟程度的主要分组特征。利用该特征并结合番茄着色区域整体色调均值和方差,用BP神经网络建立番茄成熟度的判别模型。通过模型测试和噪声水平测试表明,将着色面积比差值和色调均值作为模型的两个输入时,模型的准确判别率和抗干扰能力都是最佳的。模型测试的准确判别率为97.5%,当噪声水平在0.05以下时准确判别率可达到95.26%以上,可以为番茄自动收获作业提供一定的理论参考依据。
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| 关 键 词： | 农业机器人 番茄 计算机视觉 神经网络 成熟度 |
on Maturity of Harvesting-tomato for Robot under Natural Conditions |
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| Yin Jianjun,Mao Hanping,Wang Xinzhong,Shan Baoguo.on Maturity of Harvesting-tomato for Robot under Natural Conditions[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(10):146-150. |
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| Authors: | Yin Jianjun Mao Hanping Wang Xinzhong Shan Baoguo |
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| Institution: | 1;2;1.Key Laboratory of Modern Agricultural Equipment and Technology;Ministry of Education & Jiangsu Province;Jiangsu University;Zhenjiang;212013;China 2.Zhenjiang Vocational College of Mechanical & Electrical Technology;Zhenjiang 212013;China |
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| Abstract: | Aiming at the problems of selective harvesting-tomato for robot according to various purposes, feature extraction and analysis of tomato image from artificial selection were firstly performed. Proceeding from camera perspective geometry of tomato,difference value between rendering area ratio of red hue to whole tomato region and rendering area ratio of other hue to whole tomato region was presented by way of main grouping feature of judgment model to describe maturity of tomato.An automatic judgment model o... |
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| Keywords: | Agricultural robot Tomato Computer vision Neural network Maturity |
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