Flower core recognition and location of pineapple flower inducing robot based on RGBD

ZHANG Zhi-jun; HUANG Can-hui; LAN Hao-ji

doi:10.7641/CTA.2024.30495

Abstract：At present,the night pineapple flower promotion operation is extremely dependent on labor,which is costly and inefficient.The working mode of artificial flower promotion restricts the development of pineapple planting industry,and the development of robots and machine vision help to efficiently complete the task of pineapple flower promotion.In order to solve the problems of pineapple flower core recognition at night,such as lack of light at night,difficulty in identifying pineapple and weeds mixed with each other and inaccurate positioning,an object detection algorithm based on RGBD is proposed for flower core recognition and location of pineapple flower inducing robot in this paper.Firstly,the proposed algorithm adaptently corrects the uneven illumination of the night image through the gamma function based on the HSV color space.Secondly,the YOLOv8 object detection algorithm is used to realize the fast recognition of the pineapple flower core,and the predicted coordinates of the flower core are obtained.Then the depth estimation of the prediction box is realized based on the depth information of the RGBD image.Finally,the spatial coordinates of the flower core are obtained through coordinate conversion,and the robot is guided to complete the flower prompt operation.In this paper,the algorithm was verified on the night pineapple image dataset,the accuracy of flower core recognition is 94.9％,and 26 frames per second can be processed,which meet the requirements of real-time flower prompt operation.