Lub tshuab lub zeem muag uas muaj peev xwm nrhiav tau thiab txheeb xyuas cov paj huab tais hauv pawg ntawm cov paj ntoo ntawm cov ntoo hauv cov vaj txiv ntoo tau tsim los ntawm Penn State cov kws tshawb fawb-ib kauj ruam tseem ceeb hauv kev txhim kho lub tshuab pollination neeg hlau-hauv kev tshawb fawb thawj zaug. .
Kua blossoms loj hlob nyob rau hauv pawg ntawm plaub mus rau rau lub paj txuas nrog cov ceg, thiab lub paj paj yog lub npe hu ua huab tais paj. Lub paj no qhib thawj zaug hauv pawg thiab feem ntau loj hlob cov txiv ntoo loj tshaj plaws. Yog li, nws yog lub hom phiaj tseem ceeb ntawm lub tshuab pollination neeg hlau, raws li tus kws tshawb fawb Long He, tus pab xibfwb ntawm kev ua liaj ua teb thiab bio engineering.
Kab pollination ib txwm tau tso siab rau kev tsim cov kua txiv apple. Txawm li cas los xij, cov pov thawj qhia tias cov kev pabcuam pollination, ob qho tib si los ntawm cov honeybees hauv tsev thiab cov tsiaj qus pollinators, tsis yog qhov kev xav tau nce ntxiv, Nws tau sau tseg. Vim colony collapse disorder, honeybees thoob plaws ntiaj teb tau tuag ntawm qhov txaus ntshai. Yog li ntawd, cov neeg tsim khoom xav tau lwm txoj hauv kev pollination.
Txoj kev tshawb no yog qhov tseeb ua los ntawm Nws pab pawg tshawb fawb hauv College of Agricultural Sciences, uas tau mob siab rau tsim cov tshuab neeg hlau kom ua tiav cov haujlwm ua liaj ua teb siv zog xws li nceb nceb, txiv apples pruning thiab ntsuab-txiv hmab txiv ntoo thinning. Lub hom phiaj tseem ceeb ntawm txoj haujlwm no, Nws tau piav qhia, yog txhawm rau txhim kho kev kawm tob-raws li kev pom kev uas tuaj yeem txheeb xyuas tau meej thiab nrhiav tau huab tais paj hauv cov ntoo ntoo.
"Peb xav tias qhov txiaj ntsig no yuav muab cov ntaub ntawv tseem ceeb rau lub tshuab pollination robotic, uas yuav ua rau kom muaj txiaj ntsig zoo thiab rov ua dua tshiab ntawm cov txiv apples kom ua tiav cov txiaj ntsig ntawm cov txiv hmab txiv ntoo zoo," Nws hais. "Hauv Pennsylvania, peb tseem tuaj yeem tso siab rau muv kom pollinate txiv apples, tab sis nyob rau lwm thaj chaw uas muv tuag-offs tau hnyav dua, cov neeg cog qoob loo yuav xav tau cov cuab yeej no sai dua tom qab."
Xinyang Mu, tus kws kho mob cov tub ntxhais kawm hauv Department of Agricultural Biological Engineering, tau ua tus thawj coj ntawm huab tais paj kev kawm. Mu siv Mask R-CNN-qhov kev kawm tob tob hauv computer uas ua haujlwm pixel-theem segmentation txhawm rau txheeb xyuas cov khoom uas tau pom ib nrab los ntawm lwm yam khoom-los txheeb xyuas thiab nrhiav tus huab tais paj hauv lub tshuab tsis pom kev.
Txhawm rau tsim lub Mask R-CNN-raws li tus qauv nrhiav pom, nws tau ntes ntau pua lub paj paj pawg duab. Tom qab ntawd nws tau tsim ib lub vaj paj segmentation algorithm los txheeb xyuas thiab nrhiav tus huab tais paj los ntawm cov ntaub ntawv nyoos ntawm cov duab paj. Kev tshawb fawb tau ua nyob rau ntawm Penn State's Fruit Research thiab Extension Center, Biglerville.
Gala thiab Honeycrisp Kua ntau yam raug xaiv rau qhov kev xeem. Cov ntoo sim tau cog rau xyoo 2014 nrog tsob ntoo sib nrug li ntawm 5 feet (Gala) thiab 6 1/2 ko taw (Honeycrisp). Cov ntoo no tau kawm nyob rau hauv siab spindle canopy architecture, nrog qhov siab nruab nrab ntawm 13 feet. Cov duab-acquisition system nrog lub koob yees duab tau mounted ntawm lub tsheb siv hluav taws xob maneuvered ntawm kab ntoo.
Kev cob qhia lub tshuab lub zeem muag kom nrhiav tau huab tais paj yog qhov nyuaj, Mu tau taw qhia, vim tias lawv yog tib yam loj, xim thiab zoo li lub paj paj nyob rau hauv pawg, thiab huab tais paj feem ntau pom cov paj nyob ib puag ncig vim lawv txoj haujlwm hauv nruab nrab.
Txhawm rau ua kom tiav cov kev xav tau ntawm kev hloov pauv kev kawm rau Mask R-CNN tus qauv kev cob qhia, cov duab nyoos tau sau rau hauv ob chav kawm ua ntej: ib tus paj thiab paj occluded. Txhawm rau txhim kho qhov tseeb, cov ntaub ntawv qhia kev cob qhia tau nthuav dav los ntawm plaub zaug siv cov ntaub ntawv-augmentation mus kom ze, Mu piav qhia.
Nws tau hais tias "Yuav kom paub qhov txawv huab tais paj los ntawm cov paj tom qab, lub paj tseem ceeb tshaj plaws nyob rau hauv txhua pawg paj tau tsom, lossis hauv cheeb tsam," nws hais. "Lub zeem muag pom tau pom cov paj pawg sib cais raws li ob-seem paj ntom ntom daim duab qhia txoj hauv kev. Hauv txhua pawg paj uas tau pom, lub paj - lossis lub npog ntsej muag - ntawm qhov chaw nruab nrab feem ntau tau txiav txim siab ua lub hom phiaj huab tais paj. "
Hauv kev tshawb pom tsis ntev los no tau luam tawm hauv Ntse Agricultural Technology, cov kws tshawb fawb tau qhia txog qib siab ntawm huab tais paj-nrhiav qhov tseeb uas tshwm sim los ntawm Mu's algorithm. Piv nrog rau kev ntsuas los ntawm cov kws tshawb fawb txheeb xyuas huab tais paj ntawm lub qhov muag-hu ua qhov tseeb hauv av ntsuas los ntawm cov kws tshawb fawb-lub tshuab pom huab tais paj nrhiav qhov tseeb txawv ntawm 98.7% mus rau 65.6%.