CN102696411B - Grape winter-pruning operation device based on machine vision - Google Patents
Grape winter-pruning operation device based on machine vision Download PDFInfo
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- CN102696411B CN102696411B CN201210110455XA CN201210110455A CN102696411B CN 102696411 B CN102696411 B CN 102696411B CN 201210110455X A CN201210110455X A CN 201210110455XA CN 201210110455 A CN201210110455 A CN 201210110455A CN 102696411 B CN102696411 B CN 102696411B
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- 240000006365 Vitis vinifera Species 0.000 title 1
- 241000219095 Vitis Species 0.000 claims abstract description 31
- 238000012549 training Methods 0.000 claims abstract description 16
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 11
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- 238000012545 processing Methods 0.000 claims abstract description 6
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- 238000010191 image analysis Methods 0.000 claims abstract description 4
- 241001237160 Kallima inachus Species 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
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Abstract
A grape winter-pruning operation device based on machine vision comprises an automatic navigation vehicle-mounted platform, an image collecting box, a training module and a pruning module. The image collecting box is installed on the automatic navigation vehicle-mounted platform and is divided into an operating area and a device area, the training module is installed on the operating area, the pruning module is installed on the device area, the automatic navigation vehicle-mounted platform comprises a pan-tilt camera, a driving wheel and a driven wheel, the training module comprises a slitting sow and a blower, the pruning module comprises a binocular camera, an agricultural pruning mechanical arm and an industrial control computer, the agricultural pruning mechanical arm is sequentially connected with a base, a shoulder joint, a large arm, an elbow joint, a small arm and a wrist joint from bottom to top, the wrist joint is connected with pruning shears at the tail end, the binocular camera is used for collecting grape vane images, the agricultural pruning mechanical arm is used for completing pruning operation, and the industrial control computer is used for image analysis processing and mechanical arm trajectory planning. The device can reduce labor strength and improve working efficiency.
Description
Technical field
The present invention relates to the Intelligent agricultural machinery field, especially a kind of grape winter is cut apparatus for work.
Background technology
Pruning viny can growth regulation and the relation of result, to increase vintage.Annual wine-growing need to carry out the winter cut, the repeatedly beta pruning training such as renewal pruning, summer are cut.In the vine planting process, beta pruning link workload is large, and task is heavy.At present, the beta pruning link is still take manual work as main, and Mechanization Level is very low, and labour intensity is very large, needs the equipment of high-effective and labour-saving more, and the orchard worker is saved out from heavy hand labour.
Machine vision is the research computer simulation biology Science and Technology of aobvious or macroscopical visual performance outward, relates to artificial intelligence, Neurobiology, computer science, image is processed and the cross discipline in a plurality of fields such as pattern-recognition.To be phase early 1970s obtain after fruitful and start to rise in remote sensing image and two application technologies of biomedical picture analyzing machine vision technique, and its theoretical foundation is the Marr theory of vision computing that forms gradually the middle and later periods seventies.Research and the application of computer vision technique on agricultural machinery, start from phase late 1970s, main research in concentrated and agricultural product sorting machine utilizes computer vision technique to carry out Quality Detection and classification etc. to agricultural product (as apple, peach, banana, tomato, cucumber etc.), and some has obtained the practicality achievement.
The algorithm research of processing for grape branch image at present is very few.We can encounter following problem during in the beta pruning operation in the applied for machines vision: in view of vine belongs to liane, growth fraction is freer, easily occurs crisscross between branch; Soil colour and winter grape branch color close; Winter, dead leaf blocked branch, affected branch IMAQ etc.This class problem makes background when gathering the vine image become complicated, and this has increased the algorithm difficulty while giving applied for machines visual identity grape branch., due to the image information redundancy, apply poor based on the beta pruning operation real-time of machine vision simultaneously.We need to improve vine beta pruning system based on machine vision these problem an urgent demands.
Summary of the invention
Cut the deficiency that labour intensity is large, operating efficiency is lower of operation in order to overcome the existing grape winter, the invention provides a kind of winter of grape based on machine vision of reducing labour intensity, increasing work efficiency to cut apparatus for work.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of winter of grape based on machine vision is cut apparatus for work, comprise self-navigation vehicular platform, IMAQ case, training module and beta pruning module, described IMAQ case is installed on the self-navigation vehicular platform, described IMAQ case divides operation area and two spaces, battery limits, the training module is installed on workspace, and the beta pruning module is installed on battery limits;
Described self-navigation vehicular platform comprises monopod video camera, driving wheel and driven pulley, and monopod video camera is installed on self-navigation vehicular platform dead ahead, is used for the acquisition approach image information; Motor driver is installed in the self-navigation vehicular platform, is used for driving running gear; Described motor driver is connected with travel driving motor, described travel driving motor and driving wheel interlock;
Described training module comprises cast-cutting saw and hair-dryer, and cast-cutting saw is used for cutting long branch, and hair-dryer is for the residual dead leaf that blows off before beta pruning, and cutting machine and hair-dryer all have motor driver to control, and motor driver is connected with the motor of being connected with cutting motor;
Described beta pruning module comprises binocular camera, agriculture beta pruning mechanical arm and industrial computer, connect successively pedestal, shoulder joint, large arm, elbow joint, forearm and wrist joint in agricultural beta pruning mechanical arm from bottom to top, described wrist joint is connected with the end shrub and hedge trimmer, binocular camera is used for gathering grape branch image, agricultural beta pruning mechanical arm is used for completing the beta pruning operation, and industrial computer is used for image analysis processing and mechanical arm trajectory planning.
Further, described IMAQ case comprises wall, top cover and equipment room, and described wall is the single pure white vision collecting wall of one side, is used for the isolation complex background; Hair-dryer is arranged at the top cover middle; Two high-frequency florescent lamp pipes are equipped with as the top light source in the hair-dryer both sides; Be provided with two high-frequency florescent lamps in equipment room end face dead ahead as positive light source; Positive front portion, equipment room bottom surface is provided with agriculture beta pruning mechanical arm; Be provided with binocular camera in agriculture beta pruning mechanical arm both sides; Be provided with industrial computer in dead astern, equipment room bottom surface.
Wall, top cover and position, equipment room both sides of the edge are provided with the cast-cutting saw installing space, and described cast-cutting saw installing space is separated by dividing plate.
Load two IMAQ casees in left and right at least on a self-navigation vehicular platform.
Described top cover adopts bolt to fix with being connected of wall, equipment room.
Beneficial effect of the present invention is mainly manifested in: in cutting operational method in the grape winter based on machine vision, aspect IMAQ, the interference problem in the time of can effectively solving complex background for target branch IMAQ, simplified image recognition algorithm; Aspect operating efficiency, reduced the image information data amount, the real-time, the accuracy that have strengthened the identification of grape branch and pruned.
Description of drawings
Fig. 1 is the general structure schematic diagram of cutting apparatus for work the grape winter;
Fig. 2 is the wall schematic diagram of cutting apparatus for work the grape winter;
Fig. 3 is the top cover upward view of cutting apparatus for work the grape winter;
Fig. 4 a is the equipment room structural representation of cutting apparatus for work the grape winter;
Fig. 4 b is the end view of Fig. 4 a.
Fig. 5 is the workflow diagram of the grape winter cutting apparatus for work.
Wherein, 1, self-navigation vehicular platform; 2, IMAQ case; 3, training module; 4, beta pruning module; 5, wall; 6, top cover; 7, equipment room; 8, monopod video camera; 9, driving wheel; 10, driven pulley; 11, cast-cutting saw; 12, hair-dryer; 13, binocular camera; 14, agriculture beta pruning mechanical arm; 15, industrial computer; 16, top light source; 17, positive light source; 18, pedestal; 19, shoulder joint; 20, large arm; 21, elbow joint; 22, forearm; 23, wrist joint; 24, end shrub and hedge trimmer.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing and the present embodiment.
With reference to Fig. 1～Fig. 5, a kind of winter of grape based on machine vision is cut apparatus for work, comprises self-navigation vehicular platform 1, IMAQ case 2, training module 3, beta pruning module 4.IMAQ case of the present invention is installed on self-conductance vehicle-mounted navigation platform, and minute operation area and two spaces, battery limits, be comprised of wall 5, top cover 6, equipment room 7 three parts.Training module 3 is installed on workspace, and beta pruning module 4 is installed on battery limits.
Described self-navigation vehicular platform 1 comprises monopod video camera 8, driving wheel 9 and driven pulley 10, and cradle head controllor 8 is installed on self-navigation vehicular platform headstock dead ahead, is used for the acquisition approach image information; Motor driver is installed in the self-navigation vehicular platform, is used for driving running gear; Described motor driver is connected with travel driving motor, described travel driving motor and driving wheel interlock; Described motor driver by industrial computer by the motion control card control.
Described training module 3 comprises cast-cutting saw 11 and hair-dryer 12, cast-cutting saw 11 is used for cutting long branch, hair-dryer 12 is for the residual dead leaf that blows off before beta pruning, and cutting machine 11 and hair-dryer 12 all have motor driver to control, and motor driver is connected with the motor of being connected with cutting motor.Described motor driver by industrial computer by the motion control card control.
Described beta pruning module comprises binocular camera 13, agriculture beta pruning mechanical arm 14 and industrial computer 15, connect successively pedestal 18, shoulder joint 19, large arm 20, elbow joint 21, forearm 22 and wrist joint 23 in agricultural beta pruning mechanical arm 14 from bottom to top, described wrist joint is connected with the end shrub and hedge trimmer, the design of employing 5DOF, i.e. pedestal 18 rotations, shoulder joint 19 pitching, elbow joint 21 pitching, wrist joint 23 pitching, wrist joint 23 rotations.Binocular camera 13 is used for gathering grape branch image, and image pick-up card is used for transmitting image information, and agriculture beta pruning mechanical arm 14 is used for completing the beta pruning operation, and industrial computer 15 is used for image analysis processing and mechanical arm trajectory planning.
Described IMAQ case 2 comprises wall 5, top cover 6 and equipment room 7
Further, described IMAQ case 2 comprises wall 5, top cover 6 and equipment room 7, and described wall 5 is the single pure white vision collecting wall of one side, is used for the isolation complex background; Hair-dryer 12 is arranged at top cover 6 middles; Two high-frequency florescent lamp pipes are equipped with as top light source 17 in hair-dryer 12 both sides; Be provided with two high-frequency florescent lamps in equipment room 7 end face dead aheads as positive light source 16; Positive front portion, equipment room bottom surface is provided with agriculture beta pruning mechanical arm 14; Be provided with binocular camera 13 in agriculture beta pruning mechanical arm 14 both sides; Be provided with industrial computer 15 in dead astern, equipment room bottom surface.
In addition, top cover 6 with adopting the fixing beta pruning operational method of the present invention of bolt being connected of wall 5, equipment room 7 is:
(1), open self-navigation and training.Self-navigation vehicular platform 1 moves along vineyard single-pass road, and the grape winter cuts apparatus for work 2 and also moves thereupon.The cast-cutting saw 11 long branches of cutting, make the branch length that enters workspace reasonable, is convenient to follow-up beta pruning operation; Hair-dryer 12 dead leaf that blows off, eliminate dead leaf and block interference when gathering grape branch image.
(2), the grape winter cuts apparatus for work 2 and moves to proportional space position (general displacement is the width of a wall), and cast-cutting saw 11 stops, and hair-dryer 12 stops.
(3), gather grape branch image.Top light source 16 and positive light source 17 provide active light source (positive light source 17 can manually be realized angle, position adjustment), eliminate the shade on wall, open binocular camera 13.
(4), analyzing and processing grape branch image.The image information that binocular camera 13 collects is sent to industrial computer 15 by image pick-up card.
15 pairs of image informations of industrial computer are carried out the treatment steps such as image pretreatment, figure image intensifying, image segmentation, image recognition.Do with trunk and identify target in morphologic difference according to the vine lopwood, analyze and definite beta pruning point, extract beta pruning point three-dimensional coordinate information.
(5), agriculture beta pruning mechanical arm 14 movement locus of planning.According to beta pruning point three-dimensional coordinate information, 15 pairs of agriculture beta pruning mechanical arms 14 of industrial computer carry out movement locus planning, calculate each joint optimal movement parameter.
(6), complete the beta pruning operation.Industrial computer 15 sending controling instructions, realize the action control in agriculture beta pruning mechanical arm 14 each joints is finally realized the beta pruning operation by motion control card.
(7), agriculture beta pruning mechanical arm 14 recovers original pose.After the beta pruning operation was complete, agriculture beta pruning mechanical arm 14 was retracted to equipment room 7, recovers original pose, and sent the beta pruning END instruction to industrial computer 15.
(8), start cast-cutting saw 11 and hair-dryer 12.After receiving the beta pruning END instruction, industrial computer 15 sends instruction to motion control card, starts cast-cutting saw 11 and hair-dryer 12, starts the training work of next operating position.
(9), start self-navigation vehicular platform 1.Industrial computer 15 sends the enabled instruction of self-navigation vehicular platform, and self-navigation vehicular platform 1 starts to move to next operating position and beta pruning.So analogize, repeat operation.
(10), the beta pruning end of job.After single vine is all completed the beta pruning operation, shut down.
In the present embodiment, cast-cutting saw 11 adopts the timber cast-cutting saw of 1380W.
The high-frequency florescent lamp pipe that top light source 16 is 30kHz by two 20W stroboscopics forms, and is distributed in side by side on top cover 6.Positive light source 17 is main adopts two high-frequency florescent lamps to steep, and two lamp light angles can manually be adjusted, and, in conjunction with actual photoenvironment, eliminate shadow interference.
Image pick-up card adopts the Morphis image pick-up card, and binocular camera 13 adopts the CCD industrial camera of 44W pixel.It is anterior that binocular camera 13 is fixed on the equipment room bottom surface, and image pick-up card inserts the PCI groove in industrial computer 15, and industrial computer 15 is fixed on equipment room 7 rear portions, bottom surface.
Motion control card adopts the general motion control card of pci bus based on TMS320F2812.Motion control card inserts the PCI groove in industrial computer 14.
Interference problem when a kind of winter of grape based on machine vision that the present invention relates to cuts apparatus for work and can effectively solve complex background and gather for the target branch, simplified image recognition algorithm, improve operating efficiency, strengthened real-time, the accuracy of the identification of grape branch and beta pruning.
Embodiment recited above is described the preferred embodiment of the present invention; not the spirit and scope of the present invention limit; for those skilled in the art; under the prerequisite that does not break away from design concept of the present invention; various modification and the improvement that can make technical scheme of the present invention, all fall into protection scope of the present invention.
Claims (4)
1. the winter of the grape based on machine vision is cut apparatus for work, it is characterized in that: comprise self-navigation vehicular platform, IMAQ case, training module and beta pruning module, described IMAQ case is installed on the self-navigation vehicular platform, described IMAQ case divides operation area and two spaces, battery limits, the training module is installed on workspace, and the beta pruning module is installed on battery limits;
Described self-navigation vehicular platform comprises monopod video camera, driving wheel and driven pulley, and monopod video camera is installed on self-navigation vehicular platform dead ahead, is used for the acquisition approach image information; Motor driver is installed in the self-navigation vehicular platform, is used for driving running gear; Described motor driver is connected with travel driving motor, described travel driving motor and driving wheel interlock;
Described training module comprises cast-cutting saw and hair-dryer, and cast-cutting saw is used for cutting long branch hair-dryer, and for the residual dead leaf that blows off before beta pruning, cutting machine and hair-dryer all have motor driver to control, and motor driver is connected with the motor of being connected with cutting motor;
Described beta pruning module comprises binocular camera, agriculture beta pruning mechanical arm and industrial computer, connect successively pedestal, shoulder joint, large arm, elbow joint, forearm and wrist joint in agricultural beta pruning mechanical arm from bottom to top, described wrist joint is connected with the end shrub and hedge trimmer, binocular camera is used for gathering grape branch image, agricultural beta pruning mechanical arm is used for completing the beta pruning operation, and industrial computer is used for image analysis processing and mechanical arm trajectory planning; Described IMAQ case comprises wall, top cover and equipment room, and described wall is the single pure white vision collecting wall of one side, is used for the isolation complex background; Hair-dryer is arranged at the top cover middle; Two high-frequency florescent lamp pipes are equipped with as the top light source in the hair-dryer both sides; Be provided with two high-frequency florescent lamps in equipment room end face dead ahead as positive light source; Positive front portion, equipment room bottom surface is provided with agriculture beta pruning mechanical arm; Be provided with binocular camera in agriculture beta pruning mechanical arm both sides; Be provided with industrial computer in dead astern, equipment room bottom surface.
2. the winter of the grape based on machine vision as claimed in claim 1 is cut apparatus for work, it is characterized in that: wall, top cover and position, equipment room both sides of the edge are provided with the cast-cutting saw installing space, and described cast-cutting saw installing space is separated by dividing plate.
3. the winter of the grape based on machine vision as claimed in claim 2 is cut apparatus for work, it is characterized in that: load each IMAQ case of left and right at least on a self-navigation vehicular platform.
4. the winter of the grape based on machine vision as claimed in claim 3 is cut apparatus for work, it is characterized in that: described top cover adopts bolt to fix with being connected of wall, equipment room.
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| CN201210110455XA CN102696411B (en) | 2012-04-13 | 2012-04-13 | Grape winter-pruning operation device based on machine vision |
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| CN201210110455XA CN102696411B (en) | 2012-04-13 | 2012-04-13 | Grape winter-pruning operation device based on machine vision |
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| CN102696411A CN102696411A (en) | 2012-10-03 |
| CN102696411B true CN102696411B (en) | 2013-11-13 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103081730B (en) * | 2013-02-05 | 2014-09-10 | 青岛农业大学 | Hydraulic transmission type fruit tree flower thinning machine based on machine vision and flower thinning method |
| CN103999635B (en) * | 2014-05-21 | 2016-01-06 | 浙江工业大学 | Based on intelligent automatic cutting type tea picking machine and the method for work of machine vision |
| CN105373050B (en) * | 2015-12-10 | 2018-01-30 | 山东农业大学 | A kind of control device and control method of tall and big trees pruning mechanical arm |
| CN107567853A (en) * | 2017-10-31 | 2018-01-12 | 安吉县新星文化培训学校 | A kind of quick clipping device of greenbelt |
| CN109247153A (en) * | 2018-08-31 | 2019-01-22 | 靖西海越农业有限公司 | A kind of fertile mandarin orange branch pruning intelligent robot based on Internet of Things |
| CN112287728A (en) * | 2019-07-24 | 2021-01-29 | 鲁班嫡系机器人（深圳）有限公司 | Intelligent agent trajectory planning method, device, system, storage medium and equipment |
| CN110679316B (en) * | 2019-11-08 | 2024-03-26 | 浙江工业大学 | Grape winter pruning system suitable for T-shaped cultivation mode |
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| DE2944218A1 (en) * | 1979-11-02 | 1981-05-14 | Armin 6530 Bingen Pieroth | Hedge, bush or vine cutter - has cutter bars consisting of band saws guided between fingers and running between drive and guide pulleys |
| EP0974262A1 (en) * | 1998-07-22 | 2000-01-26 | Bacchini Sandro | Apparatus for the automated pruning of three-like plants, particularly vines and the like |
| AU6547101A (en) * | 2000-08-28 | 2002-03-07 | Colin Anthony McArther | Improved vine pruning machine |
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| NL1024702C2 (en) * | 2003-11-04 | 2005-05-09 | Agrotechnology And Food Innova | System is for removal of parts of a plant and employs an autonomous robot comprising a vehicle movable over a rail with aid of wheels |
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| CN201854579U (en) * | 2010-09-28 | 2011-06-08 | 高密市益丰机械有限公司 | Rear-mounted profiling grape tip clipping machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202819064U (en) * | 2012-04-13 | 2013-03-27 | 浙江工业大学 | Grape winter pruning operation device based on machine vision |
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2012
- 2012-04-13 CN CN201210110455XA patent/CN102696411B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2944218A1 (en) * | 1979-11-02 | 1981-05-14 | Armin 6530 Bingen Pieroth | Hedge, bush or vine cutter - has cutter bars consisting of band saws guided between fingers and running between drive and guide pulleys |
| EP0974262A1 (en) * | 1998-07-22 | 2000-01-26 | Bacchini Sandro | Apparatus for the automated pruning of three-like plants, particularly vines and the like |
| AU6547101A (en) * | 2000-08-28 | 2002-03-07 | Colin Anthony McArther | Improved vine pruning machine |
| US6698176B2 (en) * | 2002-01-07 | 2004-03-02 | Phillip Ray Scott | Multiple saw pruning apparatus |
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| NL1024702C2 (en) * | 2003-11-04 | 2005-05-09 | Agrotechnology And Food Innova | System is for removal of parts of a plant and employs an autonomous robot comprising a vehicle movable over a rail with aid of wheels |
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