基于机器视觉的柑橘果形测控系统设计OA
Design of Citrus Fruit Shape Measurement and Control System Based on Machine Vision
针对柑橘果形特征中圆度和果径检测精度低、姿态定位时间长的问题,设计了一种嵌入式快速检测与控制系统.系统以 STM32 单片机为系统控制核心,测量了单目相机图像的半径误差和形状误差,并采用高斯滤波、数字图像形态学、Hu 矩和 Canny 算法,对动态的柑橘图像进行姿态识别与柑橘果形检测.检测结果表明:视觉检测系统半径误差控制在 1.8%以内,形状误差为 2.71%～3.69%;在 5 个/s 柑橘的检测速度下,柑橘圆度和果径的在线分级正确率分别为 81%和 91.92%.本研究结合机器视觉无损检测技术,实现了动态下柑橘圆度和果径特征的综合检测与分级.
Aiming at the problems of low detection accuracy of roundness and fruit diameter and long attitude positioning time in citrus fruit shape features,an embedded fast detection and control system was designed.The system used STM32 micro-controller as the system control core,and measured the radius error and shape error of the monocular camera im-age.The dynamic citrus images were processed in real time using Gaussian filtering,digital image morphology,Hu mo-ments and Canny algorithm.Experiments shows that the radius error of the visual detection system is controlled within 1.8%,and the shape error is 2.71%-3.69%.Under the conveying speed of 5 citrus per second,the online grading ac-curacy of citrus roundness and fruit diameter are 81%and 91.92%,respectively.This study combined the machine vi-sion non-destructive testing technology to realize the comprehensive detection and classification of citrus roundness and fruit diameter characteristics under dynamic conditions.
王志宇;文韬;李浪;聂齐毅;刘豪;龚中良
中南林业科技大学 机电工程学院, 长沙 410004
农业科学
机器视觉STM32Hu矩圆度果径柑橘
machine visionSTM32Hu momentsroundnessfruit diametercitrus
《农机化研究》 2024 (001)
120-125 / 6
湖南省自然科学基金项目(2020JJ4142);湖南省林业杰青培养科研项目(XLK2021-7);湖南省教育厅科学研究重点项目(20A515)
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