CN101828469B - 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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- CN101828469B CN101828469B CN 201010135034 CN201010135034A CN101828469B CN 101828469 B CN101828469 B CN 101828469B CN 201010135034 CN201010135034 CN 201010135034 CN 201010135034 A CN201010135034 A CN 201010135034A CN 101828469 B CN101828469 B CN 101828469B
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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
Fruit picking robot works in the complex environment, disturbs owing to being subject to the non-structural factor such as sunshine, stem, leaf, and identification and location harvesting target are very difficult.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 separately different feature performance of target, thereby reduce to a certain extent the image intractability, improve accuracy of detection.For the complete harvesting target information of Obtaining Accurate, increase the robot perception system to the adaptive capacity of environment, the technology for information acquisition that adopts spectral analysis and machine vision to combine is becoming study hotspot.
Picking robot has the situation of obvious heterochromia mainly for harvesting fruit and background at present, carries out target based on the visible light wave range spectral information and extracts.For other fruits situation close with the background colour system, study multispectral harvesting target information extracting mode significant.
Summary of the invention
The technical problem that (one) will solve
The technical problem to be solved in the present invention is for plucking the fruit situation close with the background colour system, utilizing fruit picking robot 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-shaped support bar that is fixed in robot body, be symmetrically fixed on the light source of described support bar two arms by light source coupler, 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; Described video camera connector comprises the camera support plate and is positioned at camera base on the described camera support plate, and camera base is provided with deep-slotted chip breaker, video camera along described deep-slotted chip breaker around a hold-down screw rotary moving to adjust the optical axis included angle of two video cameras; Described light source coupler 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 and described support bar are bolted, described light source base is used for the carrying 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 and described support bar are bolted, described camera base is used for the carrying video camera, described camera support plate is provided with translot, and described camera base moves to adjust distance between two video cameras along this translot.
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 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.
(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 visual identity and the location of cucumber picking robot target reduced difficulty, improved simultaneously precision and the reliability of robot target identification.
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 coupler structural representation of the binocular vision information acquiring device for cucumber picking robot of the embodiment of the invention;
Fig. 3 is the video camera connecting-piece structure schematic diagram 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: light source coupler; 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 for explanation 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-shaped 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 coupler 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, so that can adapting to, the visual field of video camera 1 plucks the target distribution height, rationally adjust simultaneously the distance of light source 3 and video camera 1, can guarantee that light source 3 can fully illuminate video camera 1.
As shown in Figure 2, described light source coupler 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 is bolted with described support bar 5, described light source base 7 is used for carrying 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 the light source irradiation orientation 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 is bolted with described support bar 5, described camera base 10 is used for carrying video camera 1, described camera support plate 9 is provided with translot 11, and described camera base 10 moves to adjust distance between two video cameras 1 along this translot 11.Described camera base 10 is provided with deep-slotted chip breaker 12, video camera along described deep-slotted chip breaker 12 around a hold-down screw rotary moving to adjust the optical axis included angle of two video cameras 1.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 of near infrared band～900nm scope, and 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, 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 to select suitable secondary light source, improve target reflectance spectrum intensity.The present invention selects Zhujiang River P.L83 type DC24V, 300W Halogen lamp LED.
Need to 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 the factors such as cucumber distribution height scope, video camera sighting distance in the operating mode, determine that video camera selects lens focus; So that guarantee to pluck under the precision prerequisite, adjust two camera optical axis angles so that public view field reaches maximum; Comprehensive camera aperture, the intensity of light source, the irradiating angle adjusted is so that camera field of view illumination is even, and simultaneously required near infrared band light intensity is sufficient, is conducive to target and background segment.
The present invention is directed to and pluck target apart from distribution, the sighting distance 60-80cm of ground level 70-120cm, determine video camera apart from ground level 105cm, 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 installation arrange, 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 simultaneously precision and the reliability of robot target identification.This apparatus structure is simple, easily installs, adjusts; Low cost, easy to process; Have better versatility, can satisfy other binocular vision acquisition of information demands.
The above only is preferred embodiment 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 (6)
1. binocular vision information acquiring device for cucumber picking robot, it is characterized in that, described information acquisition device comprises: the U-shaped support bar that is fixed in robot body, be symmetrically fixed on the light source of described support bar two arms by light source coupler, 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; Described video camera connector comprises the camera support plate and is positioned at camera base on the described camera support plate, and camera base is provided with deep-slotted chip breaker, video camera along described deep-slotted chip breaker around a hold-down screw rotary moving to adjust the optical axis included angle of two video cameras; Described light source coupler 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 and described support bar are bolted, described light source base is used for the carrying 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.
2. 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 and described support bar are bolted, described camera base is used for the carrying video camera, described camera support plate is provided with translot, and described camera base moves to adjust distance between two video cameras along this translot.
3. 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.
4. such as each described binocular vision information acquiring device for cucumber picking robot of claim 1-3, it is characterized in that, described video camera is UM-301 standard analog black and white camera.
5. binocular vision information acquiring device for cucumber picking robot as claimed in claim 4 is characterized in that, it is that 850nm, width are the near infrared filter of 30nm that described camera lens installs centre wavelength additional.
6. binocular vision information acquiring device for cucumber picking robot as claimed in claim 5 is characterized in that, described light source is selected Zhujiang River P.L83 type DC24V Halogen lamp LED.
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| 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 |
| 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 |
| 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 |
| WO2020010544A1 (en) * | 2018-07-11 | 2020-01-16 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling lighting device, and aircraft and system |
| 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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| 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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| 鲍官军等.机器视觉在黄瓜采摘机器人中的应用研究.《浙江工业大学学报》.2010,第38卷(第1期),第114-118页. * |
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