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Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations

文献类型： 外文期刊

作者： Luo, Kun 1 ; Zhang, Xuechen 4 ; Cao, Chengmao 4 ; Wu, Zhengmin 5 ; Qin, Kuan 4 ; Wang, Chuan 6 ; Li, Weiqing 4 ; Chen, Le 4 ; Chen, Wei 6 ;

作者机构： 1.Tongling Univ, Coll Mech Engn, Tongling, Peoples R China

2.Tongling Univ, Key Lab Construct Hydraul Robots Anhui Higher Educ, Tongling, Peoples R China

3.Tongling Univ, Adv Copper Based Mat Ind Gener Technol Res Ctr Anh, Tongling, Peoples R China

4.Anhui Agr Univ, Sch Engn, Hefei, Peoples R China

5.Anhui Agr Univ, State Key Lab Tea Plant Biol & Utilizat, Hefei, Peoples R China

6.Anhui Acad Agr Sci, Inst Agr Engn, Hefei, Peoples R China

关键词： tea shoots; continuous picking; two-dimensional imaging; low-damage picker; You Only Look Once

期刊名称：FRONTIERS IN PLANT SCIENCE （ 影响因子：5.6； 五年影响因子：6.8 ）

ISSN： 1664-462X

年卷期： 2023 年 14 卷

页码：

收录情况： SCI

摘要： To address the current problems of large positioning error, low picking efficiency, and high cost of tea shoot picking, a continuous and precise harvesting scheme for tea shoots based on a two-dimensional (2D) perspective is designed in this study. A high-speed harvesting method for tea shoots in a standardized tea plantation assembly line type was proposed. First, a 2D view recognition model of tea shoot tips in a multi-disturbance environment was constructed, and accurate picking point coordinates were determined by combining a skeleton algorithm and curve growth. To avoid the losses of recognition accuracy caused by the mistaken clamping of blades and vibrations during harvester operations, accurate control of the harvester was realized by combining path planning and the S-curve speed control function. The recognition accuracy for the verification set of the recognition model was 99.9%, and the mean average precision (0.5:0.95) value was 0.97. The test results show that the error between the actual picking point position and the position determined by the model was within +/- 3 mm, and the picking success rate was 83.6%. Therefore, we can realize fast and accurate picking of tea shoots and lay the foundation for continuous tea picking in the future by simplifying the identification and picking process.

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