CN101356877A - Cucumber picking robot system and picking method in greenhouse - Google Patents
Cucumber picking robot system and picking method in greenhouse Download PDFInfo
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Abstract
The invention discloses a cucumber picking robot system in a greenhouse environment. The robot system comprises a binocular stereo vision system, a mechanical arm device and a robot mobile platform; the binocular stereo vision system is used for acquiring cucumber images, processing the images in real time and acquiring the position information of the acquired targets; the mechanical arm device is used for capturing and separating the acquired targets according to the position information of the acquired targets; and the robot mobile platform is used for independently moving in the greenhouse environment; wherein, the binocular stereo vision system comprises two black and white cameras, a dual-channel vision real-time processor, a lighting device and an optical filtering device; the mechanical arm device comprises an actuator, a motion control card and a joint actuator; and the robot mobile platform comprises a running mechanism, a motor actuator, a tripod head camera, a processor and a motion controller. The invention also discloses a cucumber picking method in the greenhouse environment. The method of combining machine vision and agricultural machinery is adopted to construct the cucumber picking robot system which is suitable for the greenhouse environment, thus realizing automatic robot navigation and automatic cucumber reaping, and reducing the human labor intensity.
Description
Technical field
The present invention relates to the intelligent robot technology field, particularly relate to cucumber picking robot system and harvesting method under a kind of greenhouse.
Background technology
Along with developing rapidly of calculator and automatic control technology, agricultural machinery will march toward increasingly automated, intelligent period.Robot has progressively penetrated in the agricultural production, and particularly in the production process of industrialized agriculture, the use of robot will become the important symbol of agricultural to automation and intelligent development.In the fruits and vegetables production operation, results are plucked 40% of the entire job amount that accounts for.The quality of plucking operation quality directly has influence on storage, processing and the sale of fruits and vegetables, thereby finally influences the market price and economic benefit.Owing to pluck the complexity of operation, the harvesting automaticity is still very low, and present domestic fruit and vegetable picking operation is still manual basically to be finished, especially in the greenhouse, working environment is relatively poor, and the labour intensity of harvest operation is big, and it is significant that therefore research is suitable for greenhouse picking fruit machine people.
Picking fruit machine people's top priority is identification and orients target, so that for harvest machinery provides reliable kinematic parameter, and finally finishes the harvesting of fruit.Therefore, the vision partial information handles accurately whether be directly connected to final harvesting robot execution precision and picking efficiency.Agricultural robot interrelates with certain non-structure environment again, working space complex structure, information ambiguity and weak robustness, and bigger than its application difficulty of general industry robot, this proposes higher requirement to the front-end vision perception.Compare with many fruits and vegetables (as apple, tomato, cherry, sweet orange), the cucumber color characteristic more approaches melon leaf, stem stalk in addition, the difficult point that target background is polynary, the approximate information stack becomes the fruit information extraction.
Summary of the invention
The problem that the embodiment of the invention will solve provides cucumber picking robot system and harvesting method under a kind of greenhouse, with the self-navigation of realization robot and the automatic results of cucumber.
For achieving the above object, the technical scheme of the embodiment of the invention provides cucumber picking robot system under a kind of greenhouse, and described system comprises:
The binocular tri-dimensional vision system is used to gather the cucumber image, is handled in real time, obtains the positional information of results target;
Robot arm device is used for the positional information according to described results target, the extracting of carrying out described results target with separate;
Robot moving platform is used for autokinetic movement under greenhouse;
Described binocular tri-dimensional vision system comprises:
Two Bs;
Binary channels vision real-time processor is connected with described two Bs, is used to finish two-path video collection, image recognition and coordinate computation;
Described robot arm device comprises:
Executing agency;
Motion control card is used for carrying out trajectory planning according to the positional information of described results target, and issues movement instruction;
Joint driver is used for according to described movement instruction, drives extracting and separating action that described executing agency realizes described results target;
Described robot moving platform comprises:
Running gear;
Motor driver is used to drive described running gear;
The The Cloud Terrace camera is used to obtain ambient image information;
Processor is used to analyze described image information, obtains and issue navigational parameter;
Motion controller is used for according to described navigational parameter, controls described motor driver and drives described executing agency and move.
Wherein, described binocular tri-dimensional vision system also comprises lighting device, is used to provide be suitable for gathering in the crops the photoenvironment that identification of targets is plucked; Four light sources that described lighting device comprises that symmetric array distributes and the DC power supplier of adaptive energy output, described power module is used for providing power supply to described four light sources.
Wherein, described binocular tri-dimensional vision system also comprises optical filtering equipment, be installed on the camera lens of described two Bs respectively before; Described optical filtering equipment is near infrared spectrum wave band, peak transmittance greater than 90% narrow-band interference filter.
Wherein, described binocular tri-dimensional vision system also comprises support, and described support is fixed on the described robot moving platform in the sleeve mode, and supports described binocular tri-dimensional vision system, finishes the lifting and the rotation of described binocular tri-dimensional vision system as required.
Wherein, described robot arm device adopts the 5DOF design, comprises pedestal rotation, shoulder joint pitching, elbow joint pitching, wrist joint pitching and wrist joint rotation.
Wherein, adopt network interface to be connected between described binocular tri-dimensional vision system and the robot arm device, communicate with the RS232 serial ports.
Wherein, adopt the RS232 serial ports to be connected between described binocular tri-dimensional vision system and the robot moving platform, communicate.
The technical scheme of the embodiment of the invention also provides cucumber harvesting method under a kind of greenhouse, said method comprising the steps of:
S1. the people's mobile platform that starts the machine moves along leading line, and the right video camera of binocular tri-dimensional vision system carries out the collection of single channel real-time video;
S2. the right camera review of every frame is searched for fast, judged visual field fruit quantity, maturity and size;
S3. after searching the results target, the robot moving platform stop motion starts the binary channels video acquisition;
S4. left and right cameras is obtained the near-infrared image of the results target in the scene synchronously, determines respectively to gather in the crops in the image of the left and right sides extracting point position of target;
S5. judge in the video camera public view field scope whether corresponding match point is arranged;
S6. when corresponding match point, carry out three-dimensional information according to the parallax of left and right sides image-capture point and rebuild;
S7. binary channels vision real-time processor calculates target and grasps the coordinate of point to binocular stereo vision system coordinates initial point, with nearest extracting point target as current harvesting object, and by the relative position relation of described binocular tri-dimensional vision system initial point and robot arm device initial point, draw the positional information of the results target corresponding, be sent to the motion control card of robot arm device with robot arm device;
S8. the motion control card of robot arm device carries out trajectory planning to described positional information, and provides the optimal movement parameter in each joint, and guiding executing agency accurately plucks.
Wherein, before described step S1, also comprise: change the working environment of cucumber picking robot system, adopt the lateral conductor cultivation mode.
Wherein, after described step S8, also comprise: repeating step S4～S9, a plurality of results targets in the described scene domain are plucked continuously, until there not being the corresponding point that grasps, carry out step S1 again.
Compared with prior art, technical scheme of the present invention has following advantage:
1, the cucumber picking robot system adopts modular design concept, and is simple in structure, and the integrated level height helps to improve the adaptive capacity to environment and the operating efficiency of robot.
2, the photoenvironment scheme reduces the influence of natural daylight to image effectively, improves the Image Acquisition quality.
3, the information obtaining mode that adopts light filter to combine with the high sensitivity video camera extracts features of fruits from green background, reduces the image intractability to a great extent, improves accuracy of detection.
4, select big baseline distance, convergence type binocular tri-dimensional vision model for use, improve the close-in target The measuring precision, provide an effective solution for part hides the fruit detection.
5, the design of binocular tri-dimensional vision system and robot arm device is more suitable for the greenhouse working environment of high temperature, humidity all based on the embedded processing platform, has advantages such as integration capability is strong, good stability, fast operation, system cost is low, power consumption is little.
Description of drawings
Fig. 1 is a kind of cucumber picking robot system architecture schematic diagram of the embodiment of the invention;
Fig. 2 is the structural representation of a kind of binocular tri-dimensional vision system of the embodiment of the invention;
Fig. 3 is a kind of greenhouse cucumber cropping pattern schematic diagram of the embodiment of the invention;
Fig. 4 is a kind of cucumber picking robot functional block diagram of the embodiment of the invention;
Fig. 5 is the flow chart of cucumber harvesting method under a kind of greenhouse of the embodiment of the invention.
Wherein, 1, robot moving platform; 2, robot arm device; 3, binocular tri-dimensional vision system; 4, support; 11, control centre; 12, crawler type car body; 13, monopod video camera; 21, pedestal; 22, shoulder joint; 23, big arm; 24, elbow joint; 25, forearm; 26, wrist joint; 27, end effector; 31, black and white Hyper HAD ccd video camera (left side); 32, black and white Hyper HAD ccd video camera (right side); 33, lighting source; 34, narrow-band interference optical filtering equipment; 35, DC power supplier; 36, binary channels vision real-time processor; 37, pluck object.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, cucumber picking robot of the present invention system comprises robot moving platform 1, robot arm device 2 and binocular tri-dimensional vision system 3.
Binocular tri-dimensional vision system 3 comprises that two black and white Hyper HAD ccd video cameras (31,32), four light source are lighting device that symmetric array distributes 33, two narrow-band interference optical filtering equipment 34, a DC power supplier 35 and a binary channels vision real-time processor 36, as shown in Figure 2.Whole system is supported by support 4, fixes in the sleeve mode, finishes the lifting and the rotation of system as required, and maximum lifting distance is 1000mm, satisfies the demand that information is obtained substantially.
Above-mentioned black and white Hyper HAD ccd video camera (31,32) is selected the UM-300 series video camera of U.S. UNIQ company for use, this serial video camera than common camera responsive 4 times of near infrared band.Two black and white Hyper HAD ccd video cameras (31,32) are installed on the horizonal base plate of wing shapes by governor motion, base plate slightly is wider than the video camera size, governor motion is used for adjusting the displacement and the yaw angle of video camera, twin camera is convergence type binocular tri-dimensional vision model, at close-in target certainty of measurement is preferably arranged.
Above-mentioned lighting device 33 is converted with halogen spot light by the photography of four Philips companies, and every colour temperature is 5500K, and the luminous energy peak value is near 1000nm, and the zone covers visible light near infrared band, is applicable to the harvesting identification operation of cucumber.Lighting device is independent of twin camera (31,32) system, and four light sources are formed an integral body by connector, mutual as required adjustable angle.
Above-mentioned DC power supplier 35 is made up of four groups of 24V, 10AH lithium battery and photo-sensitive cell, for lighting source provides stable output current.Photo-sensitive cell is according to the illumination situation of environment, and the electric current output that divides four grades to adjust battery voluntarily guarantees that video image obtains quality thereby control field luminance.
Above-mentioned binary channels vision real-time processor 36 is the special-purpose embedded image processing platform of development and Design voluntarily, and kernel adopts American TI Company TMS320DM642 digital signal processing chip, finishes two-path video parallel acquisition, image recognition and coordinate computation.
The image information acquisition method of above-mentioned binocular tri-dimensional vision system:
The working environment of appropriate change robot and the cropping pattern of cucumber, (dimensional units: mm) as shown in Figure 3.Convenient in operation field smooth running, results for guaranteeing robot, smooth sclerosis is carried out in the zone between the green cucumber ridge, the wide 900mm of hard surface, cucumber row spacing 600mm, crop single file cultivation in the ridge, spacing in the rows 400mm, ripening fruits is distributed in the overhead above zone of 600mm.For fruit is separated easily with cauline leaf, the present invention adopts a kind of lateral conductor cropping pattern, promptly use the polypropylene plastics stockline, the upper end twines in the wooden crossbeam in rattan teapoy top, the lower end is tensioned around one and is fixed on the bobbin of ground, and the backguy vertical height is that 1800mm, inclination angle are 70 °, and cucumber vine is grown along backguy, climing when melon near crossbeam, guarantee that by transferring lateral conductor ripening fruits concentrates on apart from (being the field range of video camera) in vertical ground 600～1200mm scope.Because backguy insufficient strength, cucumber leaf is serious because of gravity sag, very easily cause blocking of fruit, add two cross bars to increase support at height 600mm and 1200mm place to backguy for this reason, a fine rule is respectively drawn at the 15mm place, both sides that with the lateral conductor is the center in addition between between two cross bars, leaf is separated be convenient to robot identification behind the cross bar and pluck.
In order to guarantee the Image Acquisition quality, the illumination of the one visual field is even, according to field range and target shape, determine the relative position of light source and video camera, the incident angle of light source, adopting four light sources is that center, both sides light source are 75 ° of symmetry friendships to array distribution with two video camera public view field; Its two visuals field illumination is stable, and the photo-sensitive cell in the DC power supplier is independently adjusted electric current output according to the power of natural daylight by four grades, thereby the output energy of control light source guarantees field luminance.
The black and white Hyper HAD ccd video camera that optical filtering equipment is housed obtains cucumber near-infrared simulated spectra image, after binary channels vision real-time processor A/D module converts, is stored on the sheet internal memory of appointment among the SDRAM with digital image form, handles for image and uses.
Binary channels vision real-time processor adopts the system call scheme of multithreading, multitask, static configuration 4 threads, finish two-way IMAQ, image recognition and coordinate computation respectively, the synchronous of cross-thread passes through the realization of SCOM (synchronous communication mechanism) module, thereby solved the contradiction between constant speed IMAQ and the processing of speed change image.
The binocular tri-dimensional vision system at first carries out the two-way IMAQ, respectively the left and right cameras image is carried out two dimensional character after the storage and extracts, and the principle of parallax based on binocular stereo vision recovers three-dimensional information from two dimensional character then, for manipulator motion provides foundation.
Primary and secondary structure is adopted in the control of cucumber picking robot of the present invention system, and its functional block diagram as shown in Figure 4.The binocular tri-dimensional vision system is finished collection, extraction, analysis and the calculating of two-path video image information as master control system, coordinates and information exchange from system; Robot arm device is as trajectory planning and the control of being responsible for executing agency from system; Robot moving platform realizes that from system navigation information extracts and path trace as another.
Adopt network interface and RS232 serial ports to realize both intercommunications mutually as interface between above-mentioned binocular tri-dimensional vision system and the robot arm device.The relative position information of target and manipulator is plucked in vision system output, and receiving target grasps, the cutting start stop signal.
Adopt the RS232 serial ports to be connected between above-mentioned binocular tri-dimensional vision system and the robot ambulation platform, the motion control instruction of vision system output car body, the current motion state information of reception car body.
Adopt a kind of greenhouse cucumber automatic testing method of said system scheme, referring to Fig. 5, its concrete steps are as follows:
S1, the people's mobile platform that starts the machine move along leading line, and the right video camera of binocular vision system carries out the collection of single channel real-time video;
S2, the right camera review of every frame is searched for fast, judged fruit quantity, maturity and size;
S3, define and pluck target post command robot moving platform and stop, starting the binary channels video acquisition;
S4, left and right cameras are obtained the cucumber near-infrared image in the scene synchronously, carry out respectively that target is cut apart, attributional analysis and feature extraction, determine the extracting point position of cucumber in the image of the left and right sides;
S5, judge in the video camera public view field scope whether corresponding match point is arranged;
S6, if grasp not Satisfying Matching Conditions of point, finish the binary channels video acquisition, step 1) again, otherwise, carry out the three-dimensional information reconstruction by the trigonometry principle based on the parallax of left and right sides image-capture point;
The target of calculating S7, binary channels image processor grasps X, Y, the Z coordinate of point to the binocular vision system origin of coordinates, with nearest extracting point target as current harvesting object, and, be sent to the motion control card of robot arm device by demarcating the corresponding coordinate information of relative position relation release mechanical arm of gained vision system initial point with the mechanical arm initial point;
S8, motion control card carry out providing the optimal movement parameter in each joint behind the trajectory planning to the positional information that sends, thereby guide manipulator accurately to pluck;
S9, repeating step S4～S8, this stop a plurality of targets within the vision are plucked continuously, until not plucking target step S1 again.
Greenhouse cucumber automatic testing method provided by the present invention combines the spectral signature of cucumber and shape facility and realizes that target is cut apart, feature extraction, the locus that draws target again by the binocular stereo vision principle, and the guiding manipulator is plucked.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1, cucumber picking robot system under a kind of greenhouse is characterized in that, described system comprises:
The binocular tri-dimensional vision system is used to gather the cucumber image, is handled in real time, obtains the positional information of results target;
Robot arm device is used for the positional information according to described results target, the extracting of carrying out described results target with separate;
Robot moving platform is used for autokinetic movement under greenhouse;
Described binocular tri-dimensional vision system comprises:
Two Bs;
Binary channels vision real-time processor is connected with described two Bs, is used to finish two-path video collection, image recognition and coordinate computation;
Described robot arm device comprises:
Executing agency;
Motion control card is used for carrying out trajectory planning according to the positional information of described results target, and issues movement instruction;
Joint driver is used for according to described movement instruction, drives extracting and separating action that described executing agency realizes described results target;
Described robot moving platform comprises:
Running gear;
Motor driver is used to drive described running gear;
The The Cloud Terrace camera is used to obtain ambient image information;
Processor is used to analyze described image information, obtains and issue navigational parameter;
Motion controller is used for according to described navigational parameter, controls described motor driver and drives described executing agency and move.
2, cucumber picking robot system under the greenhouse as claimed in claim 1 is characterized in that, described binocular tri-dimensional vision system also comprises lighting device, is used to provide be suitable for gathering in the crops the photoenvironment that identification of targets is plucked; Four light sources that described lighting device comprises that symmetric array distributes and the DC power supplier of adaptive energy output, described power module is used for providing power supply to described four light sources.
3, cucumber picking robot system under the greenhouse as claimed in claim 1 is characterized in that, described binocular tri-dimensional vision system also comprises optical filtering equipment, be installed on the camera lens of described two Bs respectively before; Described optical filtering equipment is near infrared spectrum wave band, peak transmittance greater than 90% narrow-band interference filter.
4, cucumber picking robot system under the greenhouse as claimed in claim 1, it is characterized in that, described binocular tri-dimensional vision system also comprises support, described support is fixed on the described robot moving platform in the sleeve mode, and support described binocular tri-dimensional vision system, finish the lifting and the rotation of described binocular tri-dimensional vision system as required.
5, cucumber picking robot system under the greenhouse as claimed in claim 1 is characterized in that, described robot arm device adopts the 5DOF design, comprises pedestal rotation, shoulder joint pitching, elbow joint pitching, wrist joint pitching and wrist joint rotation.
6, cucumber picking robot system under the greenhouse as claimed in claim 1 is characterized in that, adopts network interface to be connected with the RS232 serial ports between described binocular tri-dimensional vision system and the robot arm device, communicates.
7, cucumber picking robot system under the greenhouse as claimed in claim 1 is characterized in that, adopts the RS232 serial ports to be connected between described binocular tri-dimensional vision system and the robot moving platform, communicates.
8, cucumber harvesting method under a kind of greenhouse is characterized in that, said method comprising the steps of:
S1. the people's mobile platform that starts the machine moves along leading line, and the right video camera of binocular tri-dimensional vision system carries out the collection of single channel real-time video;
S2. the right camera review of every frame is searched for fast, judged visual field fruit quantity, maturity and size;
S3. after searching the results target, the robot moving platform stop motion starts the binary channels video acquisition;
S4. left and right cameras is obtained the near-infrared image of the results target in the scene synchronously, determines respectively to gather in the crops in the image of the left and right sides extracting point position of target;
S5. judge in the video camera public view field scope whether corresponding match point is arranged;
S6. when corresponding match point, carry out three-dimensional information according to the parallax of left and right sides image-capture point and rebuild;
S7. binary channels vision real-time processor calculates target and grasps the coordinate of point to binocular stereo vision system coordinates initial point, with nearest extracting point target as current harvesting object, and by the relative position relation of described binocular tri-dimensional vision system initial point and robot arm device initial point, draw the positional information of the results target corresponding, be sent to the motion control card of robot arm device with robot arm device;
S8. the motion control card of robot arm device carries out trajectory planning to described positional information, and provides the optimal movement parameter in each joint, and guiding executing agency accurately plucks.
9, cucumber harvesting method under the greenhouse as claimed in claim 8 is characterized in that, before described step S1, also comprises: change the working environment of cucumber picking robot system, adopt the lateral conductor cultivation mode.
10, cucumber harvesting method under the greenhouse as claimed in claim 8 is characterized in that, after described step S8, also comprise: repeating step S4～S9, a plurality of results targets in the described scene domain are plucked continuously,, carry out step S1 again until there not being the corresponding point that grasps.
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