CN104285588A - Machine vision based wild Chinese prickly ash picking robot - Google Patents
Machine vision based wild Chinese prickly ash picking robot Download PDFInfo
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- CN104285588A CN104285588A CN201410494570.0A CN201410494570A CN104285588A CN 104285588 A CN104285588 A CN 104285588A CN 201410494570 A CN201410494570 A CN 201410494570A CN 104285588 A CN104285588 A CN 104285588A
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Abstract
The invention discloses a machine vision based wild Chinese prickly ash picking robot which comprises a walking mechanism, a visual recognition and positioning device, a picking device, a collecting device and a control device. The walking mechanism is composed of four wheels, a chassis, two worm wheel speed reducing motors and bearing seats, wherein the worm wheel speed reducing motors are fixed under the chassis through motor seats, power output shafts of the worm wheel speed reducing motors are connected with rear wheels through couplers and bearings and fixed to the chassis through the bearing seats. The picking device composed of a five-freedom-degree mechanical arm is fixed to the middle of the chassis, the visual recognition and positioning device is fixed to a small arm of the picking device, a handle is fixed to the front end of the chassis, the collecting device is fixed to the front side of the chassis, and the control device is fixed to the rear end of the chassis. The machine vision based wild Chinese prickly ash picking robot can perform automatic recognition and positioning, picking and collection of Chinese prickly ash and has the advantages of being high in production efficiency and automation degree and reducing manual labor.
Description
Technical field
The invention belongs to agricultural machinery field, refer more particularly to the pepper picking machine people based on machine vision.
Background technology
Chinese prickly ash is a kind of economic crops that China extensively plants.Current results are mainly plucked by artificial hand and by the simple tool such as aerial ladder, fruit picking cutter slave recovery.The gather research of machinery of woods fruit is still in the starting stage in China, has no ripe advanced practical facility report.The harvesting approach adopted in prior art, though can improve efficiency of crop preferably to Chinese prickly ash, but required manual labor is still huge.In most picking mechanical, also lack collection process.
Summary of the invention
The present invention is intended to the defect overcoming prior art, provides a kind of pepper picking machine people based on machine vision, can realize the automatic identification to Pericarpium Zanthoxyli fruit, harvesting, automaticity is high, and to the preliminary magazins' layout of fruit, manual labor reduces, and enhances productivity.
In order to solve the problems of the technologies described above, the invention provides following technical scheme:
A kind of pepper picking machine people based on machine vision, comprise running gear, visual identity positioner, picker, gathering unit, control device, described running gear is made up of four wheels, chassis, two worm gear reducer motors, bearing blocks, whirlpool worm gear reducer motor is fixed on below chassis by motor cabinet, its power take-off is connected with trailing wheel by shaft coupling, bearing, is fixed on chassis by bearing block; The picker that 5DOF mechanical arm is formed is fixed with in the middle part of described chassis, the forearm of described picker is fixed with visual identity positioner, described chassis front end fixed handle, is fixed with gathering unit on front side of described chassis, and the described extreme end of chassis is fixed with control device.
Further, described 5DOF mechanical arm is made up of pillar, large arm, forearm, wrist joint and corresponding servo drive motor, lower rod end and chassis are bolted, pillar is provided with servomotor four, servomotor four is provided with bearing by harmonic reduction gear and connects, bearing is connected with large arm by harmonic reduction gear, and servomotor one is equipped with in junction; Large arm is flexibly connected with forearm, and joint is equipped with servomotor two, and forearm is connected with wrist joint, and joint is provided with servomotor three, wrist joint is equipped with the end effector for Pericarpium Zanthoxyli fruit.
Further, described end effector by determining comb, dynamic comb, belt, belt pulley one, belt pulley two, direct current generator and frame are formed, frame side is welded with erection joint, dynamic comb is arranged in frame by bearing, bearing block, be fixed with belt pulley one in one end of dynamic comb shaft, the side of frame is provided with direct current generator, and direct current generator power take-off is provided with belt pulley two, be connected by belt with the belt pulley one on dynamic comb shaft, determine comb and be fixed in frame.
Further, described visual identity positioner is made up of double camera and image recognition locating module, and two CCD camera is installed on forearm, and image recognition locating module is arranged in electronic control box.Two CCD camera is transferred to image recognition locating module after obtaining image, image recognition locating module carries out wiping out background to image, burn into expands, left images is demarcated, locates, set up space coordinates model treatment, and the space coordinates of Pericarpium Zanthoxyli fruit string is sent to control device.
Further, described gathering unit is made up of blower fan, blower motor, conveyance conduit, collecting box, conveyance conduit one end is connected with end effector, the other end and collecting box are fixed, described collecting box is the drawing and pulling type structure that internal layer and shell are formed, the nearly blower fan side of described collecting box internal layer is network structure, installs blower fan at collecting box side.
Further, described control device is made up of electronic controller case and accumulator, electronic controller case comprises and is arranged on image recognition locating module in electronic controller case and motor drive module, image recognition locating module gathers the image that CCD camera transmission comes, process, identify the Pericarpium Zanthoxyli fruit in image, then its position coordinates is calculated, will the coordinates transmission of fruit be calculated to motor drive module; Motor drive module drives each servomotor to rotate.Thus make mechanical arm action, and drive end effector to move to Pericarpium Zanthoxyli fruit position to pluck.
Compared with prior art, the present invention has following beneficial effect:
The present invention is based on the pepper picking machine people of machine vision, automatically can identify location to Pericarpium Zanthoxyli fruit, pluck and collect.High with existing harvesting harvesting approach phase specific efficiency, automaticity also improves greatly simultaneously, reduces the work of manpower greatly.
Accompanying drawing explanation
Fig. 1 is the front view of the pepper picking machine people that the present invention is based on machine vision.
Fig. 2 is the left view of the pepper picking machine people that the present invention is based on machine vision.
Fig. 3 is the plan structure schematic diagram of the pepper picking machine people that the present invention is based on machine vision.
Fig. 4 be the pepper picking machine people that the present invention is based on machine vision look up structural representation.
Fig. 5 is the schematic diagram of end effector of the present invention.
Fig. 6 is the schematic diagram of control device of the present invention.
Mark in figure: 1. end effector, 2. wrist joint, 3. servomotor three, 4. conveyance conduit, 5. forearm, 6. double camera, 7 servomotors two, 8. collecting box, 9. handle, 10. blower fan, 11. blower motors, 12. chassis, 13. wheels, 14. servomotors one, 15. pillars, 16. servomotors four, 17. bearings, 18. electronic control box, 19. accumulatoies, 20. large arm, 21. worm gear reducer motors, 22. bearing blocks, 23. dynamic comb, 24. belts, 25 direct current generators, 26. belt pulleys one, 27. erection joints, 28. frames, 29. determine comb, 30 belt pulleys two, 31, identify locating module, 32 motor drive modules.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
As shown in figures 1 to 6, a kind of pepper picking machine people based on machine vision, comprise running gear, visual identity positioner, picker, gathering unit, control device, described running gear is made up of four wheels 13,12, two, chassis worm gear reducer motor 21, bearing block 22, whirlpool worm gear reducer motor 21 is fixed on below chassis 12 by motor cabinet, its power take-off is connected with trailing wheel by shaft coupling, bearing, is fixed on chassis by bearing block 22.Front axle is fixed on below chassis 12 by bearing, bearing block 22, and its front-wheel is connected by bearing with front axle, and namely two front-drive are separate, thus avoids the use of differential mechanism.Two worm gear reducer motors drive two rear wheel respectively, realize the forward-reverse of car body and turn to by the speed discrepancy controlling two driving wheels.When two driving wheels simultaneously synchronized rotate forward time, car body advances; Otherwise car body retreats.When left driving wheel rotating speed be forward greater than the right side move in turn time, car body turn right to; Otherwise, turn left to.The picker that 5DOF mechanical arm is formed is fixed with in the middle part of described chassis 12, the forearm of described picker is fixed with visual identity positioner, described chassis front end fixed handle 9, is fixed with and gathering unit on front side of described chassis, and the described extreme end of chassis is fixed with control device.
Described 5DOF mechanical arm is made up of pillar 15, large arm 20, forearm 5, wrist joint 2 and corresponding servo drive motor, pillar 15 lower end and chassis 12 are bolted, pillar 15 upper end is provided with servomotor 4 16, and servomotor four is provided with bearing 17 by harmonic reduction gear and connects.Bearing is connected with large arm 20 by harmonic reduction gear, and servomotor 1 is equipped with in junction.Large arm 20 is flexibly connected with forearm 5, and joint is equipped with servomotor 27, by harmonic reduction gear, under the driving of the drive circuit of control device, realizes the rotation of large arm and forearm controllable angle.Forearm is connected with wrist joint, and joint is provided with servomotor 33, and by harmonic reduction gear, under the driving of control device driver, the controllable angle that can realize forearm and wrist rotates.Thus under the effect of control device driver, the arbitrary motion of mechanical arm in its working space can be realized, thus make its end effector can close to Pericarpium Zanthoxyli fruit.The end effector 1 for Pericarpium Zanthoxyli fruit wrist joint is equipped with.
Described end effector by determining comb 29, dynamic comb 23, belt 24, belt pulley 1, belt pulley 2 30 and frame 28 are formed, frame side is welded with erection joint 27, for junctor mechanical arm.Dynamic comb 23 is arranged in frame 28 by bearing, bearing block, is fixed with belt pulley 1 in one end of dynamic comb shaft.The side of frame is provided with direct current generator 25, and direct current generator 25 power take-off is provided with belt pulley 2 30, is connected by belt 24 with the belt pulley determined on comb shaft, determines comb and is fixed in frame.
Described visual identity positioner is made up of double camera 6 and image recognition locating module 31.Two CCD camera is installed on forearm 5, and image recognition locating module is arranged in electronic control box 18.Image recognition locating module is transferred to after two CCD camera obtains image, image recognition locating module carries out wiping out background to image, burn into expands, left images is demarcated, locates, set up space coordinates model treatment, the space coordinates of Pericarpium Zanthoxyli fruit string is sent to drive unit, for drive circuit provides information.
Described gathering unit is made up of blower fan 10, blower motor 11, conveyance conduit 4, collecting box 8, and conveyance conduit 4 one end is connected with end effector 1, and the other end and collecting box 8 are fixed.Pericarpium Zanthoxyli fruit under harvesting is transported to collecting box 8 by conveyance conduit 4 by end effector 1.Described collecting box is interior and the drawing and pulling type structure of shell formation, when fruit fills collecting box, can extract internal layer out, be taken out by fruit.The nearly blower fan side of collecting box internal layer is network structure, is convenient to discharge foreign material.The blower fan 10 installed at collecting box side produces negative pressure, fruit is attracted to collecting box, is discharged by the impurity such as the tiny branches and leaves mixed in fruit simultaneously by blower fan exhaust outlet.
Described control device is made up of electronic controller case case 18 and accumulator 19, installs image recognition locating module 31 and motor drive module in electronic control box.Motor drive module forms primarily of multipath servo motor driver 32, and picture recognition module is made up of Programmable Logic Controller DSP and FPGA.Image recognition locating module gathers the image that CCD camera transmission comes, and processes, identifies the Pericarpium Zanthoxyli fruit in image, then calculate its position coordinates, will calculate the coordinates transmission of fruit to motor drive module; Motor drive module drives each servomotor to rotate, thus makes mechanical arm action, and drives end effector to move to Pericarpium Zanthoxyli fruit position to pluck.Its power supply is primarily of the supply of electrical network 220V alternating current, and when not having electrical network to supply, available battery is powered.After 220V alternating current enters, be 24V by rectification, transformation, supply electronic-controlled installation uses and charge in batteries.
The present invention can identify location automatically to Pericarpium Zanthoxyli fruit, plucks and collects.High with existing harvesting harvesting approach phase specific efficiency, automaticity also improves greatly simultaneously, reduces the work of manpower greatly.
The foregoing is only explanation embodiments of the present invention; be not limited to the present invention, for a person skilled in the art, within the spirit and principles in the present invention all; any amendment of doing, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the pepper picking machine people based on machine vision, comprise running gear, visual identity positioner, picker, gathering unit, control device, it is characterized in that: described running gear is made up of four wheels, chassis, two worm gear reducer motors, bearing blocks, whirlpool worm gear reducer motor is fixed on below chassis by motor cabinet, its power take-off is connected with trailing wheel by shaft coupling, bearing, is fixed on chassis by bearing block; The picker that 5DOF mechanical arm is formed is fixed with in the middle part of described chassis, the forearm of described picker is fixed with visual identity positioner, described chassis front end fixed handle, is fixed with gathering unit on front side of described chassis, and the described extreme end of chassis is fixed with control device.
2. a kind of pepper picking machine people based on machine vision according to claim 1, it is characterized in that, described 5DOF mechanical arm is made up of pillar, large arm, forearm, wrist joint and corresponding servo drive motor, lower rod end and chassis are bolted, pillar is provided with servomotor four, servomotor four is provided with bearing by harmonic reduction gear and connects, and bearing is connected with large arm by harmonic reduction gear, and servomotor one is equipped with in junction; Large arm is flexibly connected with forearm, and joint is equipped with servomotor two, and forearm is connected with wrist joint, and joint is provided with servomotor three, wrist joint is equipped with the end effector for Pericarpium Zanthoxyli fruit.
3. a kind of pepper picking machine people based on machine vision according to claim 2, it is characterized in that, described end effector is by determining comb, dynamic comb, belt, belt pulley one, belt pulley two, direct current generator and frame are formed, frame side is welded with erection joint, dynamic comb passes through bearing, bearing block is arranged in frame, belt pulley one is fixed with in one end of dynamic comb shaft, the side of frame is provided with direct current generator, direct current generator power take-off is provided with belt pulley two, be connected by belt with the belt pulley one on dynamic comb shaft, determine comb to be fixed in frame.
4. a kind of pepper picking machine people based on machine vision according to claim 1, it is characterized in that, described visual identity positioner is made up of double camera and image recognition locating module, and two CCD camera is installed on forearm, and image recognition locating module is arranged in electronic control box; Two CCD camera is transferred to image recognition locating module after obtaining image, image recognition locating module carries out wiping out background to image, burn into expands, left images is demarcated, locates, set up space coordinates model treatment, and the space coordinates of Pericarpium Zanthoxyli fruit string is sent to control device.
5. a kind of pepper picking machine people based on machine vision according to claim 1, it is characterized in that, described gathering unit is made up of blower fan, blower motor, conveyance conduit, collecting box, conveyance conduit one end is connected with end effector, the other end and collecting box are fixed, described collecting box is the drawing and pulling type structure that internal layer and shell are formed, and the nearly blower fan side of described collecting box internal layer is network structure, installs blower fan at collecting box side.
6. a kind of pepper picking machine people based on machine vision according to claim 1, it is characterized in that, described control device is made up of electronic controller case and accumulator, electronic controller case comprises and is arranged on image recognition locating module in electronic controller case and motor drive module, image recognition locating module gathers the image that CCD camera transmission comes, process, identify the Pericarpium Zanthoxyli fruit in image, again its position coordinates is calculated, will the coordinates transmission of fruit be calculated to motor drive module; Motor drive module drives each servomotor to rotate.
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| CN201410494570.0A CN104285588A (en) | 2014-09-25 | 2014-09-25 | Machine vision based wild Chinese prickly ash picking robot |
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| CN201410494570.0A CN104285588A (en) | 2014-09-25 | 2014-09-25 | Machine vision based wild Chinese prickly ash picking robot |
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| CN201410494570.0A Pending CN104285588A (en) | 2014-09-25 | 2014-09-25 | Machine vision based wild Chinese prickly ash picking robot |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104956850A (en) * | 2015-08-05 | 2015-10-07 | 张永清 | Honeysuckle picking robot |
| CN104996095A (en) * | 2015-06-11 | 2015-10-28 | 重庆市林业科学研究院 | Method for threshing zanthoxylum bungeanum by using hair brush and application |
| CN105729476A (en) * | 2016-05-04 | 2016-07-06 | 成都贝森伟任科技有限责任公司 | Part gripping device with self-checking function |
| CN105729496A (en) * | 2016-05-04 | 2016-07-06 | 成都贝森伟任科技有限责任公司 | Automatic grabbing device with self-cleaning capability |
| CN105729457A (en) * | 2016-05-04 | 2016-07-06 | 成都贝森伟任科技有限责任公司 | Part capturing terminal |
| CN105766220A (en) * | 2016-03-24 | 2016-07-20 | 山东国兴智能科技有限公司 | Carding type branched fruit picking robot |
| CN106737551A (en) * | 2016-12-30 | 2017-05-31 | 叶强 | A kind of automatic installation bolt robot of automobile chassis |
| CN107548842A (en) * | 2017-09-20 | 2018-01-09 | 仁怀市春华秋实科技有限公司 | A kind of silkwood implantation methods |
| CN108391507A (en) * | 2018-05-10 | 2018-08-14 | 石河子大学 | A kind of safflower picking robot |
| CN108405377A (en) * | 2018-05-24 | 2018-08-17 | 干鑫驰 | A kind of multi-functional vegetable and fruit sorting device |
| CN108575295A (en) * | 2018-01-19 | 2018-09-28 | 江苏大学 | A kind of lightweight fruit picking robot mechanical arm |
| CN108834579A (en) * | 2018-08-10 | 2018-11-20 | 遵义华邦农业科技开发有限公司 | A kind of pepper picking device |
| CN108848901A (en) * | 2018-07-28 | 2018-11-23 | 河南东润电子有限公司 | A kind of picking machine people |
| CN108858210A (en) * | 2018-09-18 | 2018-11-23 | 西北农林科技大学 | A kind of control system of the picking robot using drum type brake elastic driver |
| CN108848902A (en) * | 2018-08-16 | 2018-11-23 | 西北农林科技大学 | A kind of efficient Chinese prickly ash picker of hand-held working adjustable angle |
| CN108908308A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of greenhouse picking robot |
| CN109588400A (en) * | 2019-01-03 | 2019-04-09 | 甘肃农业大学 | A kind of electricity drive formula pesticide spraying machinery arm and control method |
| CN110248536A (en) * | 2016-09-21 | 2019-09-17 | 裕盛机器人技术公司 | Robot harvesting system |
| CN110946004A (en) * | 2018-09-27 | 2020-04-03 | 北京印刷学院 | Walking type mechanical arm auxiliary manual strawberry picking machine |
| CN116030368A (en) * | 2023-01-17 | 2023-04-28 | 西昌学院 | Threshold-adaptive pepper fruit identification method and pepper picking equipment |
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| CN104996095A (en) * | 2015-06-11 | 2015-10-28 | 重庆市林业科学研究院 | Method for threshing zanthoxylum bungeanum by using hair brush and application |
| CN104956850A (en) * | 2015-08-05 | 2015-10-07 | 张永清 | Honeysuckle picking robot |
| CN104956850B (en) * | 2015-08-05 | 2017-06-06 | 张永清 | A kind of Honeysuckle picking machine device people |
| CN105766220A (en) * | 2016-03-24 | 2016-07-20 | 山东国兴智能科技有限公司 | Carding type branched fruit picking robot |
| CN105766220B (en) * | 2016-03-24 | 2018-06-12 | 山东国兴智能科技有限公司 | A kind of combing formula branch shape fruit picking robot |
| CN105729476A (en) * | 2016-05-04 | 2016-07-06 | 成都贝森伟任科技有限责任公司 | Part gripping device with self-checking function |
| CN105729496A (en) * | 2016-05-04 | 2016-07-06 | 成都贝森伟任科技有限责任公司 | Automatic grabbing device with self-cleaning capability |
| CN105729457A (en) * | 2016-05-04 | 2016-07-06 | 成都贝森伟任科技有限责任公司 | Part capturing terminal |
| CN105729496B (en) * | 2016-05-04 | 2020-05-08 | 惠安恒久升电子科技有限公司 | Automatic grabbing device with self-purification ability |
| CN110248536A (en) * | 2016-09-21 | 2019-09-17 | 裕盛机器人技术公司 | Robot harvesting system |
| CN106737551A (en) * | 2016-12-30 | 2017-05-31 | 叶强 | A kind of automatic installation bolt robot of automobile chassis |
| CN107548842A (en) * | 2017-09-20 | 2018-01-09 | 仁怀市春华秋实科技有限公司 | A kind of silkwood implantation methods |
| CN108575295A (en) * | 2018-01-19 | 2018-09-28 | 江苏大学 | A kind of lightweight fruit picking robot mechanical arm |
| CN108391507A (en) * | 2018-05-10 | 2018-08-14 | 石河子大学 | A kind of safflower picking robot |
| CN108405377A (en) * | 2018-05-24 | 2018-08-17 | 干鑫驰 | A kind of multi-functional vegetable and fruit sorting device |
| CN108405377B (en) * | 2018-05-24 | 2020-10-23 | 温州焕宏纺织品有限公司 | Multi-functional vegetables fruit letter sorting equipment |
| CN108848901A (en) * | 2018-07-28 | 2018-11-23 | 河南东润电子有限公司 | A kind of picking machine people |
| CN108834579A (en) * | 2018-08-10 | 2018-11-20 | 遵义华邦农业科技开发有限公司 | A kind of pepper picking device |
| CN108848902A (en) * | 2018-08-16 | 2018-11-23 | 西北农林科技大学 | A kind of efficient Chinese prickly ash picker of hand-held working adjustable angle |
| CN108858210A (en) * | 2018-09-18 | 2018-11-23 | 西北农林科技大学 | A kind of control system of the picking robot using drum type brake elastic driver |
| CN110946004A (en) * | 2018-09-27 | 2020-04-03 | 北京印刷学院 | Walking type mechanical arm auxiliary manual strawberry picking machine |
| CN108908308A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of greenhouse picking robot |
| CN109588400A (en) * | 2019-01-03 | 2019-04-09 | 甘肃农业大学 | A kind of electricity drive formula pesticide spraying machinery arm and control method |
| CN116030368A (en) * | 2023-01-17 | 2023-04-28 | 西昌学院 | Threshold-adaptive pepper fruit identification method and pepper picking equipment |
| CN116030368B (en) * | 2023-01-17 | 2024-01-26 | 西昌学院 | Threshold-adaptive pepper fruit identification method and pepper picking equipment |
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Application publication date: 20150121 |