CN101828469A - Binocular vision information acquiring device for cucumber picking robot - Google Patents
Binocular vision information acquiring device for cucumber picking robot Download PDFInfo
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- CN101828469A CN101828469A CN 201010135034 CN201010135034A CN101828469A CN 101828469 A CN101828469 A CN 101828469A CN 201010135034 CN201010135034 CN 201010135034 CN 201010135034 A CN201010135034 A CN 201010135034A CN 101828469 A CN101828469 A CN 101828469A
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Abstract
The invention discloses a binocular vision information acquiring device for a cucumber picking robot, comprising a U-shaped supporting rod, light sources and cameras. The U-shaped supporting rod is fixed on the body of the cucumber picking robot; the light sources are symmetrically fixed on two arms of the U-shaped supporting rod through light source connecting pieces; the cameras are symmetrically fixed on two arms of the U-shaped supporting rod through camera connecting pieces; and the light source on each arm of the U-shaped supporting rod is arranged a certain distance below the camera on the arm. The binocular vision information acquiring device for the cucumber picking robot can be adapted to various working conditions of the targets to be picked on different height and distance by adjusting the cameras and the position and the attitude of the light sources. The light sources and the cameras are arranged reasonably so that the illumination of the fields of the cameras are kept uniform, and the cucumber picking robot can visually identify and position the target more easily, accurately, reliably.
Description
Technical field
The present invention relates to field of machine vision, particularly relate to a kind of binocular vision information acquiring device for cucumber picking robot.
Background technology
The picking fruit machine is manually done in the complex environment, disturbs owing to be subjected to non-structural factor such as sunshine, stem, leaf, and very difficulty of target is plucked in identification and location.Because biology interior composition and content difference, it has different spectral reflection characteristics, by machine vision the object reflectance spectrum is carried out imaging and can obtain the different separately feature performance of target, thereby reduce the image intractability to a certain extent, improve accuracy of detection.In order accurately to obtain complete harvesting target information, increase the adaptive capacity of robot sensory perceptual system to environment, the technology for information acquisition that adopts spectral analysis and machine vision to combine is becoming the research focus.
At present picking robot is primarily aimed at and plucks the situation that fruit and background have obvious heterochromia, carries out the target extraction based on the visible light wave range spectral information.For other fruits situation close with the background colour system, it is significant to study multispectral harvesting target information extracting mode.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is at plucking the fruit situation close with the background colour system, utilizing picking fruit machine people accurately intactly to obtain the harvesting target information.
(2) technical scheme
For solving the problems of the technologies described above, a kind of a kind of binocular vision information acquiring device for cucumber picking robot according to embodiment of the present invention is provided, it comprises: the U type support bar that is fixed in robot body, be symmetrically fixed on the light source of described support bar two arms by the light source connector, be symmetrically fixed on the video camera of described support bar two arms by the video camera connector, the light source on every arm is positioned at this a distance, arm video camera below.
Preferably, described light source connector comprises light source gripper shoe and the light source base that is positioned on the described light source gripper shoe, described light source gripper shoe is connected by bolt with described support bar, described light source base is used to carry light source, described light source gripper shoe is provided with deep-slotted chip breaker, and described light source base is rotatable along this deep-slotted chip breaker.
Preferably, described video camera connector comprises camera support plate and the camera base that is positioned on the described camera support plate, described camera support plate is connected by bolt with described support bar, described camera base is used to carry video camera, described camera support plate is provided with translot, and described camera base moves to adjust the distance between two video cameras along this translot.
Preferably, described camera base is provided with deep-slotted chip breaker, and video camera moves to adjust the optical axis included angle of two video cameras along described deep-slotted chip breaker.
Preferably, two arms of described support bar have some screws of being positioned at differing heights to adjust the height of video camera and/or light source.
Preferably, described video camera is a UM-301 standard analog black and white camera.
Preferably, to install centre wavelength additional be that 850nm, width are the near infrared filter of 30nm to described camera lens.
Preferably, described light source is selected Zhujiang River P.L83 type DC24V Halogen lamp LED for use.
(3) beneficial effect
The present invention is by adjusting video camera, light source position, attitude, adapt to the various working of plucking target differing heights and distance, the reasonable Arrangement of while light source and video camera, guaranteed that camera field of view illumination is even, for the visual identity and the location of cucumber picking robot target reduced difficulty, improved the precision and the reliability of robot target identification simultaneously.
Description of drawings
Fig. 1 is the binocular vision information acquiring device for cucumber picking robot structural representation of the embodiment of the invention;
Fig. 2 is the light source connector structural representation of the binocular vision information acquiring device for cucumber picking robot of the embodiment of the invention;
Fig. 3 is the light source connector structural representation of the binocular vision information acquiring device for cucumber picking robot of the embodiment of the invention.
Wherein, 1: video camera; 2: the video camera connector; 3: light source; 4: the light source connector; 5: support bar; 6: the light source gripper shoe; 7: light source base; 8: the deep-slotted chip breaker on the light source gripper shoe; 9: the camera support plate; 10: camera base; 11: translot; 12: the deep-slotted chip breaker on the camera base.
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, the embodiment of the invention provides a kind of binocular vision information acquiring device for cucumber picking robot, it comprises: the U type support bar 5 that is fixed in robot body, be symmetrically fixed on the light source 3 of 5 liang of arms of described support bar by light source connector 4, be symmetrically fixed on the video camera 1 of 5 liang of arms of described support bar by video camera connector 2, the light source 3 on every arm is positioned at this a distance, arm video camera 5 below.Two arms of described support bar 5 have some screws of being positioned at differing heights to adjust the height of video camera 1 and/or light source 3, make the visual field of video camera 1 can adapt to harvesting target distribution height, rationally adjust the distance of light source 3 and video camera 1 simultaneously, can guarantee that light source 3 can fully illuminate video camera 1.
As shown in Figure 2, described light source connector 4 comprises light source gripper shoe 6 and the light source base 7 that is positioned on the described light source gripper shoe 6, described light source gripper shoe 6 and described support bar 5 are connected by bolt, described light source base 7 is used to carry light source 3, described light source gripper shoe 6 is provided with deep-slotted chip breaker 8, described light source base 7 is rotatable along this deep-slotted chip breaker 8, adjusts light source direction of illumination angle with this, guarantees that light intensity evenly, fully in the video camera public view field.
As shown in Figure 3, described video camera connector 2 comprises camera support plate 9 and the camera base 10 that is positioned on the described camera support plate 9, described camera support plate 9 and described support bar 5 are connected by bolt, described camera base 10 is used to carry video camera 1, described camera support plate 9 is provided with translot 11, and described camera base 10 moves to adjust the distance between two video cameras 1 along this translot 11.Described camera base 10 is provided with deep-slotted chip breaker 12, and video camera moves to adjust the optical axis included angle of two video cameras 1 around a hold-down screw rotation along described deep-slotted chip breaker 12.The pose of video camera 1 is adjustable in certain limit, thereby can guarantee that two video camera public view field change with the change of sighting distance under the different operating modes.
Studies show that cucumber is strong reflection in the 760nm～900nm scope of near infrared band, its luminance factor blade exceeds 30%, and should almost remain unchanged by each reflectivity of zone.The present invention selects the U.S. UM-301 of UNIQ company standard analog black and white camera for use, and this video camera is near infrared band than common camera responsive 4 times.Simultaneously installing centre wavelength additional at camera lens is 850nm, and bandwidth is the near infrared filter light of 30nm, and the filtering veiling glare guarantees that near infrared band is in the imaging of video camera photo-sensitive cell in the required reflectance spectrum.Because required near infrared light intensity of wave is limited in the available light under greenhouse, can pass through the video camera blur-free imaging for making target, therefore need select suitable secondary light source for use, improve target reflectance spectrum intensity.The present invention selects Zhujiang River P.L83 type DC24V, 300W Halogen lamp LED for use.
Need pass through system parameter calibration based on vision cucumber picking robot target identification and positioning system, determine the optimizer system structural parameters.According to plucking factors such as cucumber distribution height scope, video camera sighting distance in the operating mode, determine that video camera selects lens focus for use; Make to guarantee to pluck under the precision prerequisite, adjust two camera optical axis angles and make public view field reach maximum; Comprehensive adjustment camera aperture, the intensity of light source, irradiating angle make that camera field of view illumination is even, and required near infrared band light intensity abundance helps target and background segment simultaneously.
The present invention is directed to and pluck distribution, the sighting distance 60-80cm of target, determine video camera apart from ground level 105cm apart from ground level 70-120cm, 25 ° of two camera optical axis angles, light source is apart from video camera below 10cm.
As can be seen from the above embodiments, the embodiment of the invention the present invention is directed to the spectral reflection characteristic of cucumber and its background cauline leaf by employing, and cucumber fruits target distribution feature, by selecting suitable light source and video camera model parameter, it is carried out reasonable mounting arrangements, made up harvesting target detection recognition device.The present invention is by adjusting video camera, light source position, attitude, adapt to the various working of plucking target differing heights and distance, the reasonable Arrangement of while light source and video camera, guaranteed that camera field of view illumination is even, for the visual identity of cucumber picking robot target and the Processing Algorithm of location have reduced difficulty, improved the precision and the reliability of robot target identification simultaneously.This apparatus structure is simple, installs easily, adjusts; Low cost, easy to process; Have better versatility, can satisfy other binocular vision information and obtain demand.
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 improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (8)
1. binocular vision information acquiring device for cucumber picking robot, it is characterized in that, described information acquisition device comprises: the U type support bar that is fixed in robot body, be symmetrically fixed on the light source of described support bar two arms by the light source connector, be symmetrically fixed on the video camera of described support bar two arms by the video camera connector, the light source on every arm is positioned at this a distance, arm video camera below.
2. binocular vision information acquiring device for cucumber picking robot as claimed in claim 1, it is characterized in that, described light source connector comprises light source gripper shoe and the light source base that is positioned on the described light source gripper shoe, described light source gripper shoe is connected by bolt with described support bar, described light source base is used to carry light source, described light source gripper shoe is provided with deep-slotted chip breaker, and described light source base is rotatable along this deep-slotted chip breaker.
3. binocular vision information acquiring device for cucumber picking robot as claimed in claim 1, it is characterized in that, described video camera connector comprises camera support plate and the camera base that is positioned on the described camera support plate, described camera support plate is connected by bolt with described support bar, described camera base is used to carry video camera, described camera support plate is provided with translot, and described camera base moves to adjust the distance between two video cameras along this translot.
4. binocular vision information acquiring device for cucumber picking robot as claimed in claim 3 is characterized in that described camera base is provided with deep-slotted chip breaker, and video camera moves to adjust the optical axis included angle of two video cameras along described deep-slotted chip breaker.
5. binocular vision information acquiring device for cucumber picking robot as claimed in claim 1 is characterized in that, two arms of described support bar have some screws of being positioned at differing heights to adjust the height of video camera and/or light source.
6. as each described binocular vision information acquiring device for cucumber picking robot of claim 1-5, it is characterized in that described video camera is a UM-301 standard analog black and white camera.
7. binocular vision information acquiring device for cucumber picking robot as claimed in claim 6 is characterized in that, it is that 850nm, width are the near infrared filter of 30nm that described camera lens installs centre wavelength additional.
8. binocular vision information acquiring device for cucumber picking robot as claimed in claim 7 is characterized in that, described light source is selected Zhujiang River P.L83 type DC24V Halogen lamp LED for use.
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| CN 201010135034 CN101828469B (en) | 2010-03-26 | 2010-03-26 | Binocular vision information acquiring device for cucumber picking robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102608969A (en) * | 2012-03-02 | 2012-07-25 | 北京理工大学 | Cascade robot hand and eye registration control method based on infrared optical alignment |
| CN104346614A (en) * | 2014-09-04 | 2015-02-11 | 四川农业大学 | Watermelon image processing and positioning method under real scene |
| CN106610666A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Assistant robot based on binocular vision, and control method of assistant robot |
| CN108834576A (en) * | 2018-06-07 | 2018-11-20 | 华南农业大学 | A kind of citrus picking robot and its implementation based on binocular vision |
| CN110720210A (en) * | 2018-07-11 | 2020-01-21 | 深圳市大疆创新科技有限公司 | Lighting device control method, device, aircraft and system |
| CN111492802A (en) * | 2020-05-15 | 2020-08-07 | 四川省农业科学院经济作物育种栽培研究所 | Intelligent asparagus picking robot |
| TWI710844B (en) * | 2019-05-17 | 2020-11-21 | 鑫立捷股份有限公司 | Synchronous adjustment auxiliary lighting method and system for infrared camera |
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| CN1490594A (en) * | 2003-08-22 | 2004-04-21 | 湖南大学 | Multiple free degree artificial threedimensional binocular vision apparatus |
| CN101356877A (en) * | 2008-09-19 | 2009-02-04 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
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| CN1490594A (en) * | 2003-08-22 | 2004-04-21 | 湖南大学 | Multiple free degree artificial threedimensional binocular vision apparatus |
| CN101356877A (en) * | 2008-09-19 | 2009-02-04 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102608969A (en) * | 2012-03-02 | 2012-07-25 | 北京理工大学 | Cascade robot hand and eye registration control method based on infrared optical alignment |
| CN102608969B (en) * | 2012-03-02 | 2014-04-23 | 北京理工大学 | Cascade robot hand and eye registration control method based on infrared optical alignment |
| CN104346614A (en) * | 2014-09-04 | 2015-02-11 | 四川农业大学 | Watermelon image processing and positioning method under real scene |
| CN104346614B (en) * | 2014-09-04 | 2018-06-01 | 四川农业大学 | Watermelon image procossing and localization method under a kind of outdoor scene |
| CN106610666A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Assistant robot based on binocular vision, and control method of assistant robot |
| CN108834576A (en) * | 2018-06-07 | 2018-11-20 | 华南农业大学 | A kind of citrus picking robot and its implementation based on binocular vision |
| CN108834576B (en) * | 2018-06-07 | 2021-03-26 | 华南农业大学 | Citrus picking robot based on binocular vision and implementation method thereof |
| CN110720210A (en) * | 2018-07-11 | 2020-01-21 | 深圳市大疆创新科技有限公司 | Lighting device control method, device, aircraft and system |
| US11920762B2 (en) | 2018-07-11 | 2024-03-05 | SZ DJI Technology Co., Ltd. | Method for controlling illuminating device, and apparatus, aircraft, and system thereof |
| TWI710844B (en) * | 2019-05-17 | 2020-11-21 | 鑫立捷股份有限公司 | Synchronous adjustment auxiliary lighting method and system for infrared camera |
| CN111492802A (en) * | 2020-05-15 | 2020-08-07 | 四川省农业科学院经济作物育种栽培研究所 | Intelligent asparagus picking robot |
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