CN101683037A - Controller for fruit picking robot - Google Patents
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- CN101683037A CN101683037A CN 200810223380 CN200810223380A CN101683037A CN 101683037 A CN101683037 A CN 101683037A CN 200810223380 CN200810223380 CN 200810223380 CN 200810223380 A CN200810223380 A CN 200810223380A CN 101683037 A CN101683037 A CN 101683037A
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Abstract
The invention discloses a controller for a fruit picking robot, which comprises an image acquisition unit, a secondary processing unit and a primary processing unit, wherein the image acquisition unitis used for acquiring the image information of an area in which fruits are to be picked; the secondary processing unit finds out a suspected fruit area according to the image information, performs marking processing and characteristic extraction processing on the suspected fruit area so as to identify the existence of fruits, calculates position coordinate information of the fruits by utilizing apreset static positioning algorithm, and transmits the position coordinate information to the primary processing unit; and the primary processing unit receives the position coordinate information, converts the position coordinate information into control information of mechanical arms of the fruit picking robot, and transmits the control information to the mechanical arms of the robot to enable the robot to finish picking actions. The controller for the fruit picking robot in the invention is used as an embedded system, has the advantages of low power consumption, high integrity, good portability and the like, and can completely take the place of a conventional PC system to implement the application of an agricultural robot in a non-structural environment.
Description
Technical field
The present invention relates to a kind of agricultural harvesters device people's controller, specifically relate to a kind of under greenhouse picking fruit machine people's controller, belong to automation and robot field.
Background technology
Picking robot is one of the important equipment of 21 century precision agriculture, is the developing direction of following reading intelligent agriculture machinery.Portable picking robot is made of manipulator, end effector, travel mechanism, Vision Builder for Automated Inspection and control system etc.The version of manipulator and degree of freedom directly influence the complexity of picking robot Based Intelligent Control, the flexibility and the precision of operation.The independent navigation of travel mechanism and Vision Builder for Automated Inspection solve the autonomous walking and the target localization of picking robot, are the core and the key of entire machine robot system.Japan has successfully developed the watermelon picking robot, orange picking robot, grafting robot etc. at present in the prostatitis of walking aspect the agricultural robot research in the world.The U.S.'s current research solar energy weed-eradicating robot, in addition, also there is certain progress in China in the research of agricultural robot, Shanghai Communications University's intelligent combine that robot research has been finished, the grow seedlings development of streamline model machine of vegetable worksization, professor Ying Yibin of Zhejiang University has studied automatic grading of fruits robot etc.
Yet the control system of present nearly all agricultural robot all is to realize by PC, and this just exists cost too high, and traditional PC control system versatility is poor, and extensibility is not high, and there is the power consumption height in it, shortcoming such as volume is big, and is not portable.
Summary of the invention
Purpose of the present invention just is to provide a kind of picking fruit machine people's controller, to address the aforementioned drawbacks.
For achieving the above object, technical scheme of the present invention adopts a kind of picking fruit machine people's controller, and this controller comprises:
Image acquisition units is used to gather the image information of waiting to pluck the zone;
Inferior processing unit, find out doubtful fruit zone according to described image information, and doubtful fruit zone carried out mark is handled and feature extraction is handled, discern with this to have or not fruit, and use the location coordinate information of default static immobilization algorithm calculating fruit to be sent to Main Processor Unit;
Main Processor Unit, receive described location coordinate information, trajectory planning algorithm by being preset in Main Processor Unit is converted into control information to the man-machine tool arm of picking fruit machine with described location coordinate information, described control information is sent to the mechanical arm of robot, robot is finished pluck action.
Wherein, described main control unit is sent to described control information by the CAN bus mechanical arm of robot.
Wherein, described time processing unit adopts the TMS320DM642 processor, and described Main Processor Unit adopts the S3C2410A processor, and described TMS320DM642 processor communicates by HPI interface and described S3C2410A processor.
Wherein, described processing unit found out doubtful fruit zone by calculating pixel.
Wherein, described image acquisition units comprises the two-way camera, is used for two-way and gathers image information.
A kind of picking fruit machine people's control method, this method may further comprise the steps:
S1, image acquisition units collection wait to pluck the image information in zone;
S2, find out doubtful fruit zone according to the described image information of gathering;
S3, mark is handled and feature extraction is handled by described doubtful fruit zone is carried out, discerns with this to have or not fruit,
If find fruit, then use default static immobilization algorithm to calculate the location coordinate information of fruit;
If do not find fruit, proceed step S2;
S4, use default trajectory planning algorithm that described location coordinate information is converted into control information to the man-machine tool arm of picking fruit machine;
S5, described control information is sent to the mechanical arm of robot, robot is finished pluck action.
Wherein, described step S5 is the mechanical arm that described control information is sent to robot by the CAN bus.
Wherein, adopt the TMS320DM642 processor to finish described step S2 and step S3, adopt the S3C2410A processor to finish described step S4 and step S5, described TMS320DM642 processor communicates by HPI interface and described S3C2410A processor.
Wherein, described step S2 finds out doubtful fruit zone by calculating pixel.
Wherein, described step S1 gathers image information by two-way camera two-way.
Picking fruit machine people's of the present invention controller is as embedded system, have low in energy consumption, the integrated level height, advantages such as good portability can replace conventional P C system fully, realize the application of agricultural robot under the destructuring environment.The present invention has comprised TMS320DM642 and two processors of S3C2410A, and wherein, TMS320DM642 is responsible for the image of big data quantity and handles computing, and S3C2410A is responsible for controlling end effector, and two processors communicate by the HPI interface.Native system has been given full play to the ability of TMS320DM642 fast processing mass data and S3C2410A control ability easily, and computing and control can be carried out simultaneously, have improved efficient greatly.On the other hand, native system has very strong extensibility, just can be applied to many relevant farming machine philtrums as long as algorithm changed a little.
Description of drawings
Fig. 1 is a picking fruit machine people's of the present invention controller architecture schematic diagram;
Fig. 2 is a picking fruit machine people's of the present invention controller example structure schematic diagram;
Fig. 3 is the program structure schematic diagram of picking fruit machine people's of the present invention controller time processing unit;
Fig. 4 is the program structure schematic diagram of picking fruit machine people's of the present invention controller main control unit.
Among the figure: 3, Main Processor Unit; 4, inferior processing unit; 5, image acquisition units; 6, image acquisition units; 7, decoding unit; 8, CAN bus.
Embodiment
Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
Controller of the present invention is applicable to various fruit, and vegetables are plucked and use robot, are illustrated with cucumber picking robot below.
As shown in Figure 1, inferior processing unit 4 is selected 32 fixed DSP TMS320DM642 of high-performance for use, and the DM642 calculation function is powerful, and it is based upon on the extraordinary coding line structure of second generation high-performance, can 8 instructions of parallel processing, be highly suitable for Digital Image Processing.In this hardware design, its work dominant frequency is chosen as 600MHz, needs according to project, hardware system is except expanding necessary memory portion and video acquisition and broadcast part, multi-path digital I/O and multi-path asynchronous serial ports and functionality, network interface have mainly been expanded, the intercommunication mutually of convenient and outside navigation dolly and mechanical arm controller.
As shown in Figure 2, DM642 expands the external memory storage part by 64 EMIF (External MemoryInterface) interface.In native system, extended out the SDRAM (model is the MT48LC4M32B2 of Micron company, amounts to 2) of 32M Bytes, user's the code and the view data of collection when being used to deposit the program operation.Also extend out the FLASH (model is the Am29LV033C of AMD, amounts to 1) of a slice 4M Bytes, be used to deposit bootloader and application program of user.Under the situation that breaks away from emulation, behind system's electrifying startup, can automatically code among the FLASH and data be loaded among the SDRAM.The data width of SDRAM is 64, and the data width of FLASH is 8, corresponds respectively to the CE0 and the CE1 space that are used for outside expansion of DM642.In addition, DM642 has also expanded UART (Universal Asynchronous Receiver) and CPLD (Complex Programmable Logic Device) (model is the XC9572XL of Xilinx company, amounts to 1) by the EMIF interface.Wherein, UART is used for having expanded two-way RS232 serial ports, and one the tunnel is used for and navigation the communicating by letter of dolly, and other one the tunnel is used for and the communicating by letter of mechanical arm controller.CPLD is used for realizing the adhesive logic of FLASH and UART and the digital I/O that extends out.This two-part register also has been mapped to the CE1 space.
In order to finish the collection of the required two-path video image of binocular identification, native system has designed the two-way analog video input, is respectively image acquisition units 5 and image acquisition units 6.(decoding unit adopts the TVP5150 decoding chip of TI company to the analog video signal that system collects the two-way image acquisition units by decoding unit 7, amount to 2) by the ITU-BT.656 format conversion 8 digital video frequency flow, send to the A of the VP2 mouth of DM642 respectively, in the B two paths.The row of image is synchronous, and field sync signal all is embedded among the EAV and SAV time-base signal of video data stream, and video port only needs video sampling clock and sample enable signal to get final product.DM642 can realize a few frame continuous acquisition of digital video image by programming.When a two field picture was being handled, other remaining buffering area can also be realized circle collection, thus the contradiction of the image that has solved the video acquisition of constant speed and speed change between handling.Native system has also been expanded the output of one road video by the VPOA mouth, is used for showing current processed frame image in real time, makes things convenient for real-time monitoring and processing in the project development process.After project was finished, this partial function could.Video output is realized by SAA7121 chip (the amounting to 1) coding of Phillips company.SAA7121 will become the analog signal of pal mode to export to external display screen from the digital signal encoding that the VP0A mouth of DM642 is exported.
As shown in Figure 2, Main Processor Unit 3 adopts the S3C2410A processors, and HPI interface and DM642 by DM642 communicate.Main Processor Unit 3 is mainly finished two tasks as the control section of system, and one is to communicate by HPI interface and DM642, and another task is the trajectory planning algorithm of operation mechanical arm and finishes control to mechanical arm by CAN bus 8.
For communicating by letter of energy and DM642 fast and stable, we design S3C2410A and DM642 utilizes the HPI interface to communicate.S3C2410A is as main frame, and DM642 is as slave.The HPI16 pattern of DM642 is adopted in this design, promptly adopts 16 HPI interface to finish the communication of the two.The data/address bus of S3C2410A: data[15:0], be used for data/address bus data[15:0 with DM642] interconnected transmitting-receiving data; The address bus of S3C2410A (altogether need 4): addr[4:1], wherein: addr[3:2] with the HCNTRL[1:0 of DM642] be connected, finish visit to the HPI register of DM642; Addr[1] be connected with the HHWIL of DM642, be used for showing that 16 bit data of transmission are high 16 bit data in 32 bit data or hang down 16 bit data; Addr[4] be connected with the HR/W of the HPI mouth of DM642, be used for finishing read-write operation to DM642; The memory space group chip selection signal nGCSx pin of S3C2410A is connected with the HCS of the HPI mouth of DM642, is used for finishing the sheet choosing of S3C2410A to DM642; Two pins of read/write signal enable pin nOE and nWE of S3C2410A are connected with HDS2 with the HDS1 of DM642 respectively, finish this function; Whether the nWAIT pin of S3C2410A is connected with the HRDY of the HPI mouth of DM642, be used to discern the present state of DM642 and be ready to; The external interrupt pin EINTx of S3C2410A is used for being connected with the HINT pin of HPI mouth.
Operation principle of the present invention:
After native system powers on, send order to the navigation dolly, it is walked along pre-determined route, DM642 starts default dynamic cucumber recognizer, and the image of single channel collection is carried out real-time analysis, the News Search cucumber.In case identify cucumber, DM642 will order dolly to stop.Treat that dolly stops fully, DM642 enables the two-way camera and gathers present image simultaneously, the static cucumber location algorithm that operation is default.Finish after the calculating to the cucumber fruits three-dimensional coordinate, these data are sent to S3C2410A by the HPI mouth.S3C2410A is responsible for these data are carried out the trajectory planning algorithm process, final decomposition computation becomes to send to the data flow in each joint of mechanical arm, send to each joint of mechanical arm by the CAN bus, make mechanical arm arrive the cucumber fruits place, finish cutting at last cucumber fruits.After cutting finished, the startup dolly that says the word again continued the News Search cucumber, so circulation.
DM642 global procedures flow chart as shown in Figure 3, in dynamic cucumber recognizer, by the road image of being gathered is carried out threshold process, characteristics according to cucumber itself, by calculating pixel and mode find doubtful cucumber zone, marked in this zone again and handle and the feature extraction processing, circularity and area parameters are set, finally identify and have or not cucumber according to the feature of cucumber fruits.If find cucumber, can send order and allow dolly stop, operation static immobilization algorithm; If do not find cucumber, can continue to carry out this algorithm.Dynamically the cucumber recognizer by cutting out and optimizing, can realize the processing speed of 25fps on DM642, can finish the identification to cucumber fruits in real time in the robot moving process.
In the static immobilization algorithm, require the two-way camera to gather image simultaneously, and respectively every road image is carried out threshold process, area pixel and size appear according to cucumber, and find out the cucumber zone, and cucumber is extracted, and calculate the planar coordinate of cucumber.After calculating the planar coordinate of two-way image, carry out the binocular solid matching algorithm again, the ready-made binocular camera shooting leader of final basis is decided parameter, calculate the three-dimensional coordinate data of cucumber fruits, and with these data by the HPI interface, send to S3C2410A, make the usefulness of trajectory planning algorithm for S3C2410A.
S3C2410A global procedures framework and trajectory planning algorithm: combine the S3C2410A own characteristic, design and realized S3C2410A global procedures framework and cucumber three-dimensional coordinate data, the trajectory planning algorithm that mechanical arm is made by obtaining.S3C2410A global procedures flow chart as shown in Figure 4.
On the kinematics and dynamic (dynamical) basis of mechanical arm, set up the equation of motion of mechanical arm at joint space and cartesian space, according to the concrete environment of plucking cucumber, to the displacement of mechanical arm in motion process, speed and acceleration are planned.S3C2410A obtains after the position coordinates of target by the HPI interface, call the movement locus that planner calculates expection, determine trajectory parameters such as the path point that moves to target, duration, movement velocity, utilize these calculation of parameter to go out displacement, speed and the acceleration of manipulator motion again, generate movement locus at last, these trajectory parameters are dealt into each joint of mechanical arm by the CAN bus.
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, a kind of picking fruit machine people's controller is characterized in that, this controller comprises:
Image acquisition units is used to gather the image information of waiting to pluck the zone;
Inferior processing unit, find out doubtful fruit zone according to described image information, and doubtful fruit zone carried out mark is handled and feature extraction is handled, discern with this to have or not fruit, and use the location coordinate information of default static immobilization algorithm calculating fruit to be sent to Main Processor Unit;
Main Processor Unit, receive described location coordinate information, trajectory planning algorithm by being preset in Main Processor Unit is converted into control information to the man-machine tool arm of picking fruit machine with described location coordinate information, described control information is sent to the mechanical arm of robot, robot is finished pluck action.
2, picking fruit machine people's as claimed in claim 1 controller is characterized in that, described main control unit is sent to described control information by the CAN bus mechanical arm of robot.
3, picking fruit machine people's as claimed in claim 2 controller, it is characterized in that, described time processing unit adopts the TMS320DM642 processor, described Main Processor Unit adopts the S3C2410A processor, and described TMS320DM642 processor communicates by HPI interface and described S3C2410A processor.
4, picking fruit machine people's as claimed in claim 1 controller is characterized in that, described time processing unit is found out doubtful fruit zone by calculating pixel.
5, picking fruit machine people's as claimed in claim 1 controller is characterized in that, described image acquisition units comprises the two-way camera, is used for two-way and gathers image information.
6, a kind of picking fruit machine people's control method is characterized in that, this method may further comprise the steps:
S1, image acquisition units collection wait to pluck the image information in zone;
S2, find out doubtful fruit zone according to the described image information of gathering;
S3, mark is handled and feature extraction is handled by described doubtful fruit zone is carried out, discerns with this to have or not fruit,
If find fruit, then use default static immobilization algorithm to calculate the location coordinate information of fruit;
If do not find fruit, proceed step S2;
S4, use default trajectory planning algorithm that described location coordinate information is converted into control information to the man-machine tool arm of picking fruit machine;
S5, described control information is sent to the mechanical arm of robot, robot is finished pluck action.
7, picking fruit machine people's as claimed in claim 6 control method is characterized in that, described step S5 is the mechanical arm that described control information is sent to robot by the CAN bus.
8, picking fruit machine people's as claimed in claim 7 control method, it is characterized in that, adopt the TMS320DM642 processor to finish described step S2 and step S3, adopt the S3C2410A processor to finish described step S4 and step S5, described TMS320DM642 processor communicates by HPI interface and described S3C2410A processor.
9, picking fruit machine people's as claimed in claim 6 control method is characterized in that, described step S2 finds out doubtful fruit zone by calculating pixel.
10, picking fruit machine people's as claimed in claim 6 control method is characterized in that, described step S1 gathers image information by two-way camera two-way.
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| CN102339062A (en) * | 2011-07-11 | 2012-02-01 | 西北农林科技大学 | Navigation and remote monitoring system for miniature agricultural machine based on DSP (Digital Signal Processor) and binocular vision |
| CN103481296A (en) * | 2013-09-10 | 2014-01-01 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
| CN104469166A (en) * | 2014-12-26 | 2015-03-25 | 国网重庆市电力公司电力科学研究院 | Image collecting control device and method |
| CN104704982A (en) * | 2015-01-06 | 2015-06-17 | 山东农业大学 | Leafy vegetable harvesting robot system and control method |
| CN107094429A (en) * | 2017-07-03 | 2017-08-29 | 彭紫薇 | A kind of multiaxis fruit picking robot |
| CN107972026A (en) * | 2016-10-25 | 2018-05-01 | 深圳光启合众科技有限公司 | Robot, mechanical arm and its control method and device |
| CN108073097A (en) * | 2016-11-11 | 2018-05-25 | 昆山艾派精密工业有限公司 | The image processing apparatus of industrial robot |
| CN108575283A (en) * | 2018-04-27 | 2018-09-28 | 广州大学 | A kind of control method and control system of pineapple picking robot |
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| CN114885672A (en) * | 2022-03-31 | 2022-08-12 | 重庆市农业科学院 | Common head cabbage picking method and common head cabbage picking system |
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| CN103481296A (en) * | 2013-09-10 | 2014-01-01 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
| CN104469166A (en) * | 2014-12-26 | 2015-03-25 | 国网重庆市电力公司电力科学研究院 | Image collecting control device and method |
| CN104469166B (en) * | 2014-12-26 | 2018-09-18 | 国网重庆市电力公司电力科学研究院 | A kind of Image Acquisition control device and method |
| CN104704982A (en) * | 2015-01-06 | 2015-06-17 | 山东农业大学 | Leafy vegetable harvesting robot system and control method |
| CN107972026A (en) * | 2016-10-25 | 2018-05-01 | 深圳光启合众科技有限公司 | Robot, mechanical arm and its control method and device |
| CN108073097A (en) * | 2016-11-11 | 2018-05-25 | 昆山艾派精密工业有限公司 | The image processing apparatus of industrial robot |
| CN108073097B (en) * | 2016-11-11 | 2021-06-11 | 昆山艾派精密工业有限公司 | Image processing device of industrial robot |
| CN107094429A (en) * | 2017-07-03 | 2017-08-29 | 彭紫薇 | A kind of multiaxis fruit picking robot |
| CN108575283A (en) * | 2018-04-27 | 2018-09-28 | 广州大学 | A kind of control method and control system of pineapple picking robot |
| CN108656110A (en) * | 2018-05-14 | 2018-10-16 | 北京禾泽方圆智能科技有限公司 | Picking robot controller and framework method based on finite-state automata framework |
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| WO2020172992A1 (en) * | 2019-02-25 | 2020-09-03 | 上海交通大学 | Method for harvesting hidden vegetables and fruits on basis of depth association perception algorithm |
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| CN113204512A (en) * | 2021-05-08 | 2021-08-03 | 山东英信计算机技术有限公司 | Data transmission method, system, medium and equipment based on UART bus |
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| CN113099847A (en) * | 2021-05-25 | 2021-07-13 | 广东技术师范大学 | Fruit picking method based on fruit three-dimensional parameter prediction model |
| CN114885672A (en) * | 2022-03-31 | 2022-08-12 | 重庆市农业科学院 | Common head cabbage picking method and common head cabbage picking system |
| CN114885672B (en) * | 2022-03-31 | 2024-02-09 | 重庆市农业科学院 | Common head cabbage picking system |
| CN115316129A (en) * | 2022-08-12 | 2022-11-11 | 华南农业大学 | Self-adaptive bionic picking device based on binocular vision recognition and cluster fruit picking method |
| CN115316129B (en) * | 2022-08-12 | 2024-03-12 | 华南农业大学 | Self-adaptive bionic picking device based on binocular vision recognition and fruit stringing picking method |
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| CN116616045B (en) * | 2023-06-07 | 2023-11-24 | 山东农业工程学院 | Picking method and picking system based on plant growth |
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