CN104697996A - System for automatically recognizing and picking mature fruit of lychees in natural environment - Google Patents
System for automatically recognizing and picking mature fruit of lychees in natural environment Download PDFInfo
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- CN104697996A CN104697996A CN201310662132.6A CN201310662132A CN104697996A CN 104697996 A CN104697996 A CN 104697996A CN 201310662132 A CN201310662132 A CN 201310662132A CN 104697996 A CN104697996 A CN 104697996A
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Abstract
The invention discloses a system for automatically recognizing and picking mature fruit of lychees in the natural environment, belonging to the technical field of machine vision detection. The system is characterized by comprising an ARM (advanced RISC machine) controller (1), an image capture card (2), a display module (3), a keyboard input module (4), a PLC (programmable logic controller) (5), a power module (6), a fruit character database (7), a light source irradiation module (8), a CCD (charge-coupled device) camera (9), a movable guide rail (10), a horizontal moving unit (11), a vertical lifting unit (12) and a grabbing and picking unit (13). Compared with the prior art, the system has the advantages of simple structure, convenience in installation and debugging, high reliability, high measurement accuracy, low power consumption, easiness in popularization and promotion, convenience in maintenance, and the like.
Description
Technical field
The invention belongs to mechanical vision inspection technology field, in particular, belong to lichee ripening fruits in a kind of physical environment and automatically identify and picker system.
Background technology
Along with the development of computer science and automatic control technology, fruit and vegetable picking robot has progressively been applied in agricultural production operation process.The developed countries such as Japan, the U.S. are devoted to the research of picking robot always, and China also achieves certain achievement at this area research.The automatic picking robot of fruit, first will identify ripening fruits exactly in operation, then could position its particular location and perform relevant harvesting action.
Current picking robot referent mainly contains sweet orange, apple, tomato, cucumber, oranges and tangerines, strawberry etc., the recognition methods of vision system mainly concentrates on by color model or gray feature segmentation image, finds target, or use when image acquisition the equipment such as filter plate to obtain comparatively simple image, then find target according to shape facility.Existing method rests on theoretical research stage mostly at present, to single fruit, unobstructed, color and luster difference is large etc., and case study is more, to different light rays, to block and the situation such as many fruits relates to less, the identification problem how solving such environmental effects is picking robot development problems faced.
Summary of the invention
The present invention, in order to effectively solve above technical matters, gives lichee ripening fruits in a kind of physical environment and automatically identifies and picker system.
In a kind of physical environment of the present invention, lichee ripening fruits identifies and picker system automatically, it is characterized in that: comprise ARM controller, image pick-up card, display module, input through keyboard module, PLC, power module, features of fruits database, light source irradiation module, CCD camera, moving guide rail, horizontal movement unit, VTOL (vertical take off and landing) unit, capture picking units; Wherein:
Described ARM controller respectively with described image pick-up card, described display module, described input through keyboard module, described PLC, described power module, described features of fruits database is connected, described PLC respectively with described ARM controller, described horizontal movement unit, described VTOL (vertical take off and landing) unit, described crawl picking units is connected, described image pick-up card respectively with described ARM controller, described light source irradiation module is connected, described light source irradiation module respectively with described image pick-up card, described CCD camera is connected, described CCD camera respectively with described light source irradiation module, described moving guide rail is connected.
The present invention gives lichee ripening fruits in a kind of physical environment automatically to identify and picker system, by analyzing the colouring information feature of the fruit of lichee, carpopodium and leaf, background interference is removed by thresholding method in YCbCr color model, by method identification litchi fruits and the carpopodium of fuzzy clustering, and carry out automatic capturing harvesting after positioning.The present invention is compared with prior art: have that system architecture is simple, installation and debugging convenient, system reliability is high, measuring accuracy is high, low in energy consumption, be easy to penetration and promotion, the advantage such as easy to maintenance.
Accompanying drawing explanation
Accompanying drawing 1 is that in physical environment of the present invention, lichee ripening fruits identifies the structural representation with picker system automatically.
Embodiment
Fig. 1 is that in physical environment of the present invention, lichee ripening fruits identifies the structural representation with picker system automatically, and in physical environment, lichee ripening fruits automatically identifies and to comprise ARM controller 1, image pick-up card 2, display module 3, input through keyboard module 4, PLC5, power module 6, features of fruits database 7, light source irradiation module 8, CCD camera 9, moving guide rail 10, horizontal movement unit 11, VTOL (vertical take off and landing) unit 12 with picker system, captures picking units 13; Wherein:
Described ARM controller 1 respectively with described image pick-up card 2, described display module 3, described input through keyboard module 4, described PLC5, described power module 6, described features of fruits database 7 is connected, described PLC5 respectively with described ARM controller 1, described horizontal movement unit 11, described VTOL (vertical take off and landing) unit 12, described crawl picking units 13 is connected, described image pick-up card 2 respectively with described ARM controller 1, described light source irradiation module 8 is connected, described light source irradiation module 8 respectively with described image pick-up card 2, described CCD camera 9 is connected, described CCD camera 9 respectively with described light source irradiation module 8, described moving guide rail 10 is connected.
Claims (1)
1. in physical environment, lichee ripening fruits identifies and a picker system automatically, it is characterized in that: comprise ARM controller (1), image pick-up card (2), display module (3), input through keyboard module (4), PLC (5), power module (6), features of fruits database (7), light source irradiation module (8), CCD camera (9), moving guide rail (10), horizontal movement unit (11), VTOL (vertical take off and landing) unit (12), capture picking units (13); Wherein:
Described ARM controller (1) respectively with described image pick-up card (2), described display module (3), described input through keyboard module (4), described PLC (5), described power module (6), described features of fruits database (7) is connected, described PLC (5) respectively with described ARM controller (1), described horizontal movement unit (11), described VTOL (vertical take off and landing) unit (12), described crawl picking units (13) is connected, described image pick-up card (2) respectively with described ARM controller (1), described light source irradiation module (8) is connected, described light source irradiation module (8) respectively with described image pick-up card (2), described CCD camera (9) is connected, described CCD camera (9) respectively with described light source irradiation module (8), described moving guide rail (10) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310662132.6A CN104697996A (en) | 2013-12-06 | 2013-12-06 | System for automatically recognizing and picking mature fruit of lychees in natural environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310662132.6A CN104697996A (en) | 2013-12-06 | 2013-12-06 | System for automatically recognizing and picking mature fruit of lychees in natural environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104697996A true CN104697996A (en) | 2015-06-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310662132.6A Pending CN104697996A (en) | 2013-12-06 | 2013-12-06 | System for automatically recognizing and picking mature fruit of lychees in natural environment |
Country Status (1)
| Country | Link |
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| CN (1) | CN104697996A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970189A (en) * | 2017-03-23 | 2017-07-21 | 中北大学 | The testing and analysis system and method for a kind of fruit freshness |
| CN108279238A (en) * | 2018-01-30 | 2018-07-13 | 深圳春沐源控股有限公司 | A kind of fruit maturity judgment method and device |
| 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 |
| CN110223349A (en) * | 2019-05-05 | 2019-09-10 | 华南农业大学 | A kind of picking independent positioning method |
-
2013
- 2013-12-06 CN CN201310662132.6A patent/CN104697996A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970189A (en) * | 2017-03-23 | 2017-07-21 | 中北大学 | The testing and analysis system and method for a kind of fruit freshness |
| CN108279238A (en) * | 2018-01-30 | 2018-07-13 | 深圳春沐源控股有限公司 | A kind of fruit maturity judgment method and device |
| 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 |
| CN110223349A (en) * | 2019-05-05 | 2019-09-10 | 华南农业大学 | A kind of picking independent positioning method |
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Application publication date: 20150610 |