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Swift, non-destructive detection approaches should address the problem of insufficient sensitivity when attempting to obtain and perceive live crab information in low-light environments caused by the crab’s phototaxis. We propose a learning-based low-illumination image enhancer (LigED) for effective enhanced lighting and elimination of darkness in images. The camera response function was combined with the reflectance ground-truth mechanism of image decomposition. Self-attention units were then introduced in the reflectance restoration network to adjust the illumination to avoid visual defects, thus jointly strengthening the adaptability of dark-light enhancement and ability to perceive crab information. Convolutional neural network (CNN)-based detection methods can further enhance the algorithm’s robustness to light and adaptability to different environments, which motivated the development of a scalable lightweight live crab detector (EfficientNet-Det0) utilizing the two-stage compound scaling CNN approach. The lightness order error and natural image quality evaluator based on the proposed methods were 251.26 and 11.60, respectively. The quality of average precision detection increased by 13.84–95.40%. The fastest detection speed of a single image was 91.74/28.41 f·s−1 using a common GPU/CPU, requiring only 15.1 MB of storage, which advocates for the utilization of LigED and EfficientNet-Det0 for the efficient detection of underwater live crabs.

The aim of this study is to build a kinetic energy model to recognise aggressive behaviours in pigs. Pig mixing experiments were performed 10 times. In each experiment, 7 pigs from 3 pens were mixed and then videos of the first 3 h after mixing and the 3 h after 24 h were selected as experimental data. A 30 h data of 5 groups of pigs were used as training set and a 30 h data of another 5 groups of pigs as test set. Firstly, according to connected area and adhesion index, aggressive pigs were separated from the herd and then key frame sequences with aggression were extracted. Secondly, head and 4 kink points of pigs were selected as feature points. By analysing motion of these points, kinetic energy of 2 aggressive pigs was calculated and kinetic energy difference between adjacent frames was selected as features. Finally, these features were trained by using hierarchical clustering to obtain the thresholds of high and medium aggression. These thresholds were used to design the rule of aggression recognition. By using the proposed algorithm, high aggression could be recognised with an accuracy of 95.8%, a sensitivity of 92.8%, specificity of 96.7% and precision of 90.2%, and medium aggression could be recognised with an accuracy of 92.3%, a sensitivity of 92.6%, specificity of 91.9% and precision of 93.0%. The results indicate that this algorithm can be used to recognise aggressive behaviours of pigs.

Under the complex agricultural operation environment, reliable navigation system is the basic guarantee to realize the agricultural robot automated operation. This study focuses on improving navigation accuracy and control accuracy and conducts related research on autonomous navigation control of agricultural robots. This article discusses the advantages of using strict convergence criteria and combining Sage–Husa adaptive filtering with strong tracking Kalman filtering and then proposes an improved adaptive Kalman filter algorithm. The new algorithm can effectively suppress the filter divergence, improve the dynamic performance of the filter, and ensure its better filtering accuracy and strong adaptive ability to improve navigation accuracy of GPS. Further variable structure switching method is used to prevent proportional integral differential (PID) controller integral saturation phenomenon, which effectively solves the controller over-saturation problem. And combining this method with an improved adaptive filtering algorithm not only can effectively inhibit control interference but also achieve the anti-saturation effect, thereby enhancing the stability and accuracy of the control system. Finally, the simulation and experiment of the new method show that the proposed method greatly improves the ability of the filter to suppress divergence and control precision.

For yield measurement of an apple orchard or the mechanical harvesting of apples, there needs to be accurate identification of the target apple fruit. However, in a natural scene, affected by the apple&rsquo, s growth posture and camera position, there are many kinds of apple images, such as overlapped apples, mutual shadows or leaves, stems, etc. It is a challenge to accurately locate overlapped apples. They will influence the positioning time and recognition efficiency and then affect the harvesting efficiency of apple-harvesting robots or the accuracy of orchard yield measurement. In response to this problem, an overlapped circle positioning method based on local maxima is proposed. First, the apple image is transformed into the Lab color space and segmented by the K-means algorithm. Second, some morphological processes, like erosion and dilation, are implemented to abstract the outline of the apples. Then image points are divided into central points, edge points, or outer points. Third, a fast algorithm is used to calculate every internal point&rsquo, s minimum distance from the edge. Then, the centers of the apples are obtained by finding the maxima among these distances. Last, the radii are acquired by figuring out the minimum distance between the center and the edge. Thus, positioning is achieved. Experimental results showed that this method can locate overlapped apples accurately and quickly when the apple contour was complete, and this has certain practicability.

Feeding is an important and also a heavy work in river crab farming, uniform feeding is necessary for raising river crab on the whole pond. The overall scheme of automatic bait casting system carried by paddlewheel catamaran is proposed based on RTK-GPS navigation positioning device. The feeding device equipped with the controllable flow velocity of bait feeder, distance adjustable thrower and bait weight measurable device which could perform variable feeding is designed to solve the problem of nonuniform distribution of the feed. The hardware and software system of automatic feeding device are designed. Then the calculation and simulation for the modeling of the feeding device are pefromed. The test results show that the system linear track positioning accuracy is less than 30 cm, and automatic continuous feeding speed is up to 240 m2/min. The results of this study provide technology reference for further study of automatic uniform feeding on the whole pond in river crab aquaculture.

In order to address the issues of nonuniform feeding and high labor cost plaguing the process of farming Chinese river crabs, the present study proposes a multifunctional automatic river crabs feeding boat based on Advanced RISC Machine (ARM) and Global Positioning System / Inertial Navigation System (GPS/INS) integrated navigation. This paper proposes a new calculation method based on real time point insertion. This method calculates the current target position of the boat in the real time according to the position of the boat and the turning points of the current route. A new turning and route-switching strategy is also presented in this paper to improve the ship's operational efficiency and prevent the ship from veering off the target route due to its high speed. Considering the boat's unique movement characteristics including non-linearity, large delay and underdamped nature, a route-speed dual-loop control algorithm is designed based on fuzzy Proportion Integration Differentiation (PID) method. Through analyzing the bait distribution associated with the feeding machine, the present study proposes an inner-spiral-based full coverage traversal method and a travel distance optimization model so as to improve the uniformity of the automatic feeding. Results show that the speed overshoot is no more than 5% and the steady-state error can be kept within 3%. Compared with the finite point method, the real time point insertion method decreases the peak route deviation errors by 82.82% and 84.14% while turning and going straight.

In this work, potassium-containing Cu2SnS3 thin films (KxCu2−xSnS3) were fabricated by a simple and low-cost ultrasonic spray pyrolysis method on glass substrates with different potassium doping concentration. Effects of various potassium concentrations on the structural, morphological and optical properties of the films were systematically investigated. The results indicate that potassium doping can well enhance the growth of particle size and decrease the band gap of the film from to 1.55 to 1.26 eV. Solar cell devices with a structure of glass/FTO/K2−xCu2SnS3/CdS/ZnO/AZO have been prepared and obvious solar cell device performance improvement has been observed by 2 at% potassium doping. This potassium-containing Cu2SnS3 thin films could be a promising absorber material for high efficiency solar cell.

The recognition of apple fruits in plastic bags is easy to be affected by reflected and refracted light. In order to weaken the influence of light, a method based on block classification is proposed. The method adopts watershed algorithm to segment original images into irregular blocks based on edge detection results of R–G grayscale images firstly. Compared with the watershed algorithm based on gradient images, the segmentation method can preserve fruits edge and reduce the number of blocks by 20.31%, because graying image method, R–G, filters most of leaves and edge detection operator insures that the edge of fruits are detected accurately. Next, these blocks are classified into fruit blocks and non-fruit blocks by support vector machine on the basis of the color and texture features extracted from blocks. Compared with the image recognition method based on pixel classification, the proposed method can restrain the interference of light caused by plastic bags effectively. The false negative rate (FNR) and false positive rate (FPR) of the method based on pixel classification are 21.71 and 14.53% respectively. The FNR and FPR of the proposed method are 4.65 and 3.50% respectively.

The aim of this study is to develop a computer vision-based method to automatically detect aggressive behaviors among pigs. Ten repetitions of the same experiment were performed. In each of the experiment, 7 piglets were mixed from three litters in two pigpens and captured on video for a total of 6 h. From these videos, the first 3 h of video after mixing were recorded as a training set, and the 3 h of video after 24 h were recorded as a validation set. Connected area and adhesion index were used to locate aggressive pigs and to extract key frame sequences. The two pigs in aggression were regarded as a whole rectangle according to their characteristics of continuous and large-proportion adhesion. The acceleration feature was extracted by analyzing the displacement change of four sides of this rectangle between adjacent frames, and hierarchical clustering was used to calculate its threshold. Based on this feature, the recognition rules of medium and high aggression were designed. Testing 10 groups of pigs, the accuracy of recognizing medium aggression was 95.82% with a sensitivity of 90.57% and with a specificity of 96.95%, and the accuracy of recognizing high aggression was 97.04% with a sensitivity of 92.54% and with a specificity of 97.38%. These results indicate that the acceleration can be used to recognize pigs’ aggressive behaviors.

Effective biomass detection methods utilizing computer vision techniques should be capable of handling large differences in object posture and various degrees of mutual overlap/occlusion in object scenes. We propose an automatic coarse-to-fine joint detection and instance segmentation network (JDSNet) that can perform real-time detection and instance segmentation on underwater non-structural live crabs in real-time. The method was adapted to non-structural objects and mobile devices by applying the anchor-free mechanism and center-ness strategy of the fully convolutional one-stage prediction head and the improved energy-efficient backbone IVoVNet-19-DW with identity mapping and channel attention. This approach avoided the complicated computations related to the anchor-based mechanism and effectively generated the features of various receiving domains, jointly improving the memory access speed and accuracy of predicting the bounding boxes of different instances. A novel spatial attention-guided mask branch was then added to focus on irregular occluded object pixels and conduct precise pixel-level mask segmentation within the predicted coarse instance-aware rectangular-bounding boxes. The experimental analysis using the proposed method resulted in a quality of detection F1 and segmentation Dic of 97.7% and 94.6%, respectively. The fastest detection speed of a single image was 48.07/13.32 fps (~10 times faster than the existing network Mask RCNN) on a commonly configured GPU/CPU, requiring only 7.04 MB of storage (~25 times smaller than Mask RCNN). It indicates that JDSNet can segment various non-structural live crabs and perform biomass statistics robustly and efficiently, exhibiting significance for precision feeding applications in automatic feeding boats.

Crab farming mainly adopts the pattern of aquatic feeding, which is a hard work for farmers. To reduce the labor intensity and production costs for farmers, it is great significance to develop an automatic aquatic-cleaning boat with visual navigation. In visual navigation system, image segmentation is a difficult problem. In this paper, we combine the advantages of pulse coupled neural network in image segmentation with the global optimization characteristic of harmony search algorithm, an image segmentation algorithm of optimized pulse coupled neural network based on harmony search (HS-PCNN) is proposed. In order to improve the operating efficiency and segmentation accuracy of PCNN, this new algorithm can optimize the weighted combination of PCNN maximum Shannon entropy and minimum cross entropy by harmony search (HS), and evaluate the optimization effect of parameters by using yield function. Experimental results show that the proposed method can provide a more effective method for the aquatic image segmentation in crab pond.

BPNN is used to classify pixels based on their color and position.The main body and edge of fruits are recognized respectively.The position information is represented as the relativity of adjacent pixels.The method can reduce the influence of Shadows and faculae effectively. This paper proposes a method to segment apples on trees at night for apple-harvesting robots based on color and position of pixels. Images of apples acquired under artificial light with low illumination at night include less color information than daytime images, so it is necessary to take position of pixels into consideration. The new method has two main steps. Firstly, color components of sampled pixels in RGB and HSI color space are used to train a neural network model to segment the apples. However, the segmentation results are incomplete and not able to guide apple-harvesting robots accurately, because partial edge regions of apples are dark in shadows and difficult to be recognized due to uneven illumination. Secondly, the color and position of pixels around segmented regions and pixels on the boundary of segmented regions are taken into consideration to segment the edge regions of apples. The union of two segmentation results is the final result. The complete recognition can increase the accuracy of location by about 6.5%, which verified the validity and feasibility of the method.

Chinese river crabs are important aquatic products in China, and the accurate operation of aquatic plants cleaning workboat is an urgent need for solving various problems in the aquaculture process. In order to achieve the accurate navigation positioning, this article introduces the visual-aided navigation system and combines the advantages of particle filter in nonlinear and non-Gaussian systems. Meanwhile, the generalized regression neural network is used to adjust the particle weights so that the samples are closer to the posterior density, thus avoiding the phenomenon of particle degradation and keeping the diversity of particles. In order to improve the network performance, the fruit fly optimization algorithm is introduced to adjust the smoothing factor of transfer function for the generalized regression neural network model layer. On this basis, the location filtering navigation method based on fruit fly optimization algorithm-generalized regression neural network-particle filter is proposed. According to the simulation results, the meanR of root-mean-square error of the proposed fruit fly optimization algorithm-generalized regression neural network- particle filter method decreases by 12.39% and 6.87%, respectively, compared with those of particle filter and generalized regression neural network methods, and the meanT of running time decreases by 16.04% and 9.14%, respectively. From the repeated experiments on the aquatic plants cleaning workboat in crab ponds, the latitude error of the proposed method decreases by 23.45% and 12.68%, respectively, and that the longitude error decreases by 29.11% and 17.65%, respectively, compared with those of particle filter and generalized regression neural network methods. It is proved that our proposed method can effectively improve the navigation positioning accuracy of aquatic plants cleaning workboat.

This paper proposes a vision-aided navigation system based on GPS navigation system, aimed at achieving the function of target positioning for the fully automatic workboat of crab breeding. The system gets the exact coordinates of the target through combining its GPS coordinates with its relative coordinates obtained by camera calibration in Kalman filtering algorithm after segmenting and identifying the target in HSI color space of the image. Experimental results show that the proposed vision-aided navigation system can improve the navigation accuracy and robustness of the automatic navigation system of the fully automatic workboat.

Recently the picking technology of high value crops has become a new research hot spot, and the image segmentation and recognition are still the key link of fruit picking robot. In order to realize the lotus image recognition, this paper proposes a new feature extraction method combined with shape and color, and uses the K-Means clustering algorithm to get lotus recognition model. Before the feature extraction, the existing pulse coupled neural network segmentation algorithm, combined with morphological operation, is used to achieve nice segmentation image, including lotus, lotus flower, lotus leaf and stems. Then in the feature extraction processing, the chromatic aberration method and the moment invariant algorithm are selected to extract the color and shape features of the segmented images, in which principal component analysis algorithm is selected to reduce the dimension of the color and shape features to achieve principal components of lotus, lotus flower, lotus leaf and stems. In the experiment, K-Means clustering algorithm is used to get lotus recognition model and four clustering centers according to above principal components of training samples about lotus, lotus flower, lotus leaf and stems; then the testing experiment is applied to validate the recognition model. Experimental results shows that the correct recognition rate is 90.57 % about 53 testing samples of lotus, and the average recognition time is 0.0473 s, which further indicates that the feature extraction algorithm is applicable to lotus feature extraction, and K-Means algorithm is simple, reliable and feasible, providing a theoretical basis for positioning and picking of lotus harvest robot.

In order to improve the image denoising ability, the wavelet transform (WT) and independent component analysis (ICA) are both introduced into image denoising in this paper. Although these two algorithms have their own advantages in image denoising, they are unable to reduce noises completely, which makes it difficult to achieve ideal effect. Therefore, a new image denoising method is proposed based on the combination of WT with ICA (WT-ICA). For verifying the WT-ICA denoising method, we adopt four image denoising methods for comparison: median filtering (MF), wavelet soft thresholding (WST), ICA, and WT-ICA. From the experimental results, it is shown that WT-ICA can significantly reduce noises and get lower-noise image. Moreover, the average of WT-ICA denoising image’s peak signal to noise ratio (PSNR) is improved by 20.54% compared with noisy image and 11.68% compared with the classical WST denoising image, which demonstrates its advantage. From the performance of texture and edge detection, denoising image by WT-ICA is closer to the original image. Therefore, the new method has its unique advantage in image denoising, which lays a solid foundation for the realization of further image processing task.

In this paper, the de-noising problem of night vision images is studied for apple harvesting robots working at night. The wavelet threshold method is applied to the de-noising of night vision images. Due to the fact that the choice of wavelet threshold function restricts the effect of the wavelet threshold method, the fuzzy theory is introduced to construct the fuzzy threshold function. We then propose the de-noising algorithm based on the wavelet fuzzy threshold. This new method can reduce image noise interferences, which is conducive to further image segmentation and recognition. To demonstrate the performance of the proposed method, we conducted simulation experiments and compared the median filtering and the wavelet soft threshold de-noising methods. It is shown that this new method can achieve the highest relative PSNR. Compared with the original images, the median filtering de-noising method and the classical wavelet threshold de-noising method, the relative PSNR increases 24.86%, 13.95%, and 11.38% respectively. We carry out comparisons from various aspects, such as intuitive visual evaluation, objective data evaluation, edge evaluation and artificial light evaluation. The experimental results show that the proposed method has unique advantages for the de-noising of night vision images, which lay the foundation for apple harvesting robots working at night.