王冰心,王孙安,于德弘.基于选择性注意机制的果实簇识别与采摘顺序规划[J].农业机械学报,2016,47(11):1-7.
Wang Bingxin,Wang Sun’an,Yu Dehong.Fruit Cluster Recognition and Picking Sequence Planning Based on Selective Attention[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):1-7.
摘要点击次数: 1202
全文下载次数: 957
基于选择性注意机制的果实簇识别与采摘顺序规划   [下载全文]
Fruit Cluster Recognition and Picking Sequence Planning Based on Selective Attention   [Download Pdf][in English]
投稿时间:2016-04-17  
DOI:10.6041/j.issn.1000-1298.2016.11.001
中文关键词:  采摘机器人  选择性注意  目标识别  顺序规划
基金项目:国家自然科学基金项目(51375368)和陕西省农业科技创新与攻关项目(2015NY008)
作者单位
王冰心 西安交通大学 
王孙安 西安交通大学 
于德弘 西安交通大学 
中文摘要:基于仿生学思想设计了一种果实簇识别与采摘顺序规划方法。该方法以Itti视觉注意基本模型为基础,通过改进视觉特征整合方法,构建依赖先验知识的视觉显著图,改善果实簇的识别效果;借鉴“赢者取全”的生物神经竞争机制和采摘专业人员的操作经验,设计距离、面积和显著度加权择优的采摘顺序规划策略,提高采摘工作效率。试验结果表明,设计的算法能够识别20余种常见果蔬,识别正确率达到93.36%;果实簇的采摘顺序规划结果符合人工采摘的专家经验。
Wang Bingxin  Wang Sun’an  Yu Dehong
Xi’an Jiaotong University,Xi’an Jiaotong University and Xi’an Jiaotong University
Key Words:harvesting robot  selective attention  target recognition  sequence planning
Abstract:To improve algorithm versatility and picking efficiency, recognizing more kinds of fruits or vegetables and planning picking sequence for fruit clusters in visual field have become hotspots and trends of harvesting robot research. Primates can find objects and shift attention through visual selective attention mechanism, which has similarities with harvesting robots to recognize targets and to plan picking sequence. Hence, by adopting the idea and technology of bionics, a new visual selective attention based method was proposed for fruit cluster recognition and picking sequence planning. According to Itti visual attention computational model, this algorithm changed computing process for color feature maps, and improved feature integration method for building color conspicuity map and saliency map by introducing priori knowledge about fruits and vegetables. Using the reference of the biological neural network competition mechanism called Winner Take All and artificial expertise from professional picking operators, distance, area and saliency were adopted to design the weighted preferential picking sequence strategy for fruit clusters. The experimental results showed that the proposed method in this paper achieved recognition of more than 23 kinds of familiar fruits and vegetables. Recognition correctness was higher than 93.36%. In addition, the results of picking sequence planning showed that its planning way was consistent with artificial expertise from manual picking operation.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器