CN105165255A - Intelligent cotton picker system based on computer vision technology and method thereof - Google Patents
Intelligent cotton picker system based on computer vision technology and method thereof Download PDFInfo
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- CN105165255A CN105165255A CN201510556986.5A CN201510556986A CN105165255A CN 105165255 A CN105165255 A CN 105165255A CN 201510556986 A CN201510556986 A CN 201510556986A CN 105165255 A CN105165255 A CN 105165255A
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Abstract
An intelligent cotton picker system based on the computer vision technology comprises an image acquisition module, a data storage module, an image processing module, a control module and an execution module; the image acquisition module uses a camera main control plate to control a binocular camera to photograph original images of cotton at regular time; the data storage module stores the original images through status push, and provides the original image data for the image processing module through status pop; the image processing module acquires a cotton space coordinate information set in the original images through information extraction of the original images, selects space coordinates nearest the binocular camera from the space coordinate information set, and using the space coordinates as the position of target cotton; the control module controls the execution module to reach the position of the target cotton according to the position of the target cotton; and the execution module is used for executing cotton picking actions and storing the picked cotton into a cotton storage box. The complexity of control procedures is reduced, and the cotton picking efficiency is raised.
Description
Technical field
The present invention relates to intelligent cotton picking technical field, be specifically related to a kind of intelligent cotton picker system based on computer vision technique and method thereof.
Background technology
Cotton is one of major economic crops of China, widely uses in industries such as China's weaving, medical treatment; Traditional artificial cotton picking mode seriously governs cotton picking efficiency and plucks cost, but it is also very difficult to realize cotton picking mechanization completely, textile industry requires very high to acquisition quality on the one hand, and cotton variety and cropping system also constrain the research of universal machine on the other hand; Traditional cotton picker has backpack cotton picker, Handheld cotton picker and large-scale self propelled cotton picker etc., and backpack cotton picker plucks quality generally, and labour intensity is very large, and the cotton of plucking in addition has cotton leaf impurity; Handheld electric cotton picker harvesting quality is high, but labour intensity is large; Large-scale self propelled cotton picker picking efficiency is high, but plucks of poor quality, has much cotton leaf impurity in the cotton of plucking on the one hand, and the fibre length of cotton cannot reach the requirement of textile industry on the other hand; Therefore, traditional artificial cotton picking mode seriously governs cotton picking efficiency and plucks cost; And although mechanization improves cotton picking efficiency, pluck quality generally, there is the shortcoming that cotton fiber length is not enough and cotton picking cleannes are inadequate; For the present situation that Cotton in China is received, in order in the balance finding cotton picking efficiency and cotton picking quality, the development of intelligent cotton picker is extremely urgent.
As Chinese invention patent CN101152716A, the patent No.: CN200610141979.X, discloses a kind of cotton picking robot of electromechanical integration, is a kind of supermatic cotton field harvest machinery.This cotton picking robot is suspended on tractor, cotton picking robot to be taken pictures acquisition view data by camera under computer control in cotton field, view data obtains the space coordinates of cotton in cotton field after treatment, computer exports control signal driving device arm action according to this coordinate parameters and puts in place, thus realizes multiple mechanical arm cotton picking simultaneously in cotton field.This cotton picking robot, one-time investment is little, and the doping of institute cotton picking flower is few, and environmentally safe, is applicable to size cotton field, all applicable in cotton picking early stage, mid-term and later stage, greatly reduces the labour intensity of cotton grower.Its weak point is that operating efficiency is lower, and the setting in control system is comparatively loaded down with trivial details, inconvenient operation.
Summary of the invention
Technical problem to be solved by this invention is to improve a kind of intelligent cotton picker system based on computer vision technique and method thereof, to cotton position can be detected quickly and accurately and reliable, efficient, high-quality cotton picking, thus can be low with on the basis of reduction harvesting cost in raising cotton picking efficiency, improve and pluck quality, make cotton fiber length and cotton picking cleannes arrive requirement.
Technical problem to be solved by this invention realizes by the following technical solutions:
Based on an intelligent cotton picker system for computer vision technique, comprising: image capture module, data memory module, image processing module, control module and Executive Module;
Described image capture module utilizes camera master control borad to control the original image of binocular camera BR collection cotton;
Described data memory module is stored described original image by stack-incoming operation, and by Pop operations, described raw image data is supplied to described image processing module;
Described image processing module carries out the extraction of depth information to described original image by computer vision technique, obtain the spatial coordinated information collection of all cottons in described original image, and the locus coordinate concentrating binocular camera described in selected distance nearest from described spatial coordinated information is as target cotton position;
Described control module is the integrated monolithic machine of 32, connects single-chip microcomputer and binocular camera by camera master control borad;
Described control module is according to described target cotton position, described Executive Module is driven to reach described target cotton position by control step motor, wherein control module comprises feedback element, feedback element obtains the physical location that described Executive Module reaches, and compare with described target cotton position, the difference of acquisition feeds back to described control module;
Described control module controls described Executive Module according to the difference that described feedback element obtains and finally arrives described target cotton position;
Described Executive Module is a six degree of freedom manipulator, for performing the cotton picking action command that control module sends, and plucked cotton is put into cotton storage tank.
Based on a method for the intelligent cotton picker system of computer vision technique, be applied on the cotton picker of band cotton storage tank, carry out as follows:
Step 1, with the central point in binocular camera between two cameras for initial point o, take the earth as reference planes, the direction of advancing with described cotton picker is x-axis, with the normal perpendicular to described reference planes for y-axis, obtain z-axis according to right-hand rule, thus set up o-xyz coordinate system; Then the position coordinates of described cotton storage tank in described o-xyz coordinate system is initial coordinate (x0, y0, z0);
Step 2, definition cyclic variable are i, and initialize i=1;
Step 3, described image capture module utilize camera master control borad to control i-th original image of binocular camera BR collection cotton;
Step 4, described data memory module store described i-th original image by pop down process, be treated to described image processing module provide described i-th original image by popping;
Step 4, described image processing module carry out the extraction of the depth information of cotton to described i-th original image by computer vision technique, obtain the spatial coordinated information collection of all cottons in described i-th original image;
Step 5, described image processing module are concentrated from described spatial coordinated information and are chosen the spatial coordinated information nearest with described binocular camera as target cotton position coordinates and be supplied to described control module;
Step 6, described control module read described target cotton position coordinates by serial communication, and the rotation number of turns of calculated step motor, thus control step motor drives described Executive Module to move to described target cotton position coordinates from described initial coordinate (x0, y0, z0);
Step 7, described feedback element obtain the actual position coordinate of described Executive Module, and carry out asking difference to calculate with described target cotton position coordinates, and the difference of acquisition feeds back to described control module;
Step 8, described control module judge whether described difference is 0, if 0, then control described Executive Module and carry out cotton picking operation; Otherwise, control described Executive Module according to described difference and move to described target cotton position coordinates from actual position coordinate, and return step 7 and perform;
Step 9, described Executive Module are the manipulator of a six degree of freedom, and after the action of execution cotton picking, reset to described initial coordinate (x0, y0, z0) place, thus plucked cotton is put into cotton storage tank from described target cotton position coordinates;
Step 10, by the value assignment of i+1 to i, and feedback step 3 order perform.
The invention has the beneficial effects as follows:
1. the image that a pair camera that binocular camera utilizes relative position to be similar to eyes gathers, provides raw information more accurately for obtaining cotton depth information; Single-chip microcomputer controls binocular camera shooting by camera master control borad, with compared with conputer controlled, greatly saves the volume of Financial cost and cotton picking equipment;
2. be use calculator and relevant device to simulate the one of biological vision by computer vision technique, the depth information of cotton is obtained by the image of process binocular camera collection, thus obtain the locus coordinate set of all cottons in described original image, instead of artificial searching target cotton, and the exact space position coordinate of cotton is provided;
3. BR gathers image, provides target cotton positional information in real time, ensures the accuracy of target cotton position, provides accurate data for the six degree of freedom manipulator controlled in real time and accurately control arrives target cotton position;
4. a more than cotton in piece image data, may be comprised, the locus coordinate that described in selected distance, binocular camera is nearest from the coordinate set of described locus is as target cotton position, select cotton target priority process nearest in image, higher cotton picking efficiency can be ensured;
5. drive six degree of freedom manipulator to arrive target cotton position by control module, then perform cotton picking action, instead of the action of artificial cotton picking, thus greatly reduce hand labor intensity;
6. feedback element is the actual position coordinate of six degree of freedom manipulator and target cotton location comparison, and difference is fed back to control system, thus ensure that manipulator arrives the accuracy of target cotton position;
7. the cotton picking action of six degree of freedom manipulator is relatively softr, and cotton fiber length can be prevented to be destroyed, and ensure cotton picking cleannes, namely the cotton after harvesting gets back to initial coordinate is cotton storage tank position, unclamps six degree of freedom manipulator, completes a cotton picking;
8. the setting of initial coordinate, after each cotton picking action is completed, first motion is to initial position, reduces the complexity of control program, improves cotton picking efficiency;
9. camera master control borad controls the original image that camera BR gathers cotton, under the prerequisite extracting cotton spatial position precision can not be affected, save the space of data memory module, and improve the speed of image procossing, ensure that real-time cotton picking may with cotton picking efficiency.
Accompanying drawing explanation
Fig. 1 is present system schematic diagram;
Fig. 2 is the inventive method flow chart.
Embodiment
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the present invention further.
As shown in Figure 1, a kind of intelligent cotton picker system based on computer vision technique, comprising: image capture module, data memory module, image processing module, control module and Executive Module;
Image capture module utilizes camera master control borad to control the original image of binocular camera BR collection cotton, and the original image collected is delivered to data memory module; The image that a pair camera that binocular camera utilizes relative position to be similar to eyes gathers, provides raw information more accurately for obtaining cotton depth information;
Data memory module is stored original image by stack-incoming operation, and by Pop operations, raw image data is supplied to image processing module, adopts multi-channel data acquisition board, can accelerate transmission and the storage speed of data;
Image processing module carries out the extraction of depth information to original image by computer vision technique, obtain the spatial coordinated information collection of all cottons in original image, and the locus coordinate concentrating selected distance binocular camera nearest from spatial coordinated information is as target cotton position, instead of artificial searching target cotton, and the exact space position coordinate of cotton is provided, improves the efficiency of cotton picking;
Control module is the integrated monolithic machine of 32, connects single-chip microcomputer and binocular camera by camera master control borad; Control module is according to target cotton position, Executive Module is driven to reach target cotton position by control step motor, wherein control module comprises feedback element, feedback element obtains the physical location that Executive Module reaches, and compare with target cotton position, obtain difference feed back to control module, to control in real time, accurately control manipulator reach target cotton position;
Control module controls Executive Module according to the difference that feedback element obtains and finally arrives target cotton position;
Executive Module is a six degree of freedom manipulator, for performing cotton picking action, and plucked cotton is transported to cotton storage tank mouth, unclamping color cotton pawl makes cotton fall into cotton storage tank, complete a cotton picking action, manipulator closes up cotton picking, so can not destroy cotton fiber length during cotton picking by three pawls, also the impurity such as cotton leaf are not had, so cleannes are very high.
As shown in Figure 2, said system is applied on the cotton picker of band cotton storage tank, and carry out cotton picking control operation as follows:
Step 1, with the central point in binocular camera between two cameras for initial point o, take the earth as reference planes, with the direction of cotton picker advance for x-axis, with the normal perpendicular to reference planes for y-axis, obtain z-axis according to right-hand rule, thus set up o-xyz coordinate system; Then the position coordinates of cotton storage tank in o-xyz coordinate system is initial coordinate (x0, y0, z0);
Step 2, definition cyclic variable are i, and initialize i=1;
Step 3, image capture module utilize camera master control borad to control i-th original image of binocular camera BR collection cotton;
Step 4, data memory module store i-th original image by pop down process, be treated to image processing module provide i-th original image by popping;
Step 4, image processing module carry out the extraction of the depth information of cotton to i-th original image by computer vision technique, thus obtain the three-dimensional information of cotton, namely obtain the spatial coordinated information collection of all cottons in i-th original image;
Step 5, due to multiple cotton may be had in piece image, choose the spatial coordinated information nearest with binocular camera as target cotton position coordinates be supplied to control module so image processing module is concentrated from spatial coordinated information;
Step 6, control module read target cotton position coordinates by serial communication, and the rotation number of turns of calculated step motor, thus control step motor drives Executive Module to move to target cotton position coordinates from initial coordinate (x0, y0, z0);
Step 7, feedback element obtain the actual position coordinate of Executive Module, and carry out asking difference to calculate with target cotton position coordinates, and the difference of acquisition feeds back to control module;
Step 8, control module judge whether difference is 0, if 0, then control Executive Module and carry out cotton picking operation; Otherwise, control Executive Module according to difference and move to target cotton position coordinates from actual position coordinate, and return step 7 and perform;
Step 9, Executive Module are the manipulator of a six degree of freedom, and after the action of execution cotton picking, reset to initial coordinate (x0, y0, z0) place, thus plucked cotton is put into cotton storage tank from target cotton position coordinates;
Step 10, by the value assignment of i+1 to i, and feedback step 3 order perform.
More than show and describe general principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (2)
1. based on an intelligent cotton picker system for computer vision technique, it is characterized in that comprising: image capture module, data memory module, image processing module, control module and Executive Module;
Described image capture module utilizes camera master control borad to control the original image of binocular camera BR collection cotton;
Described data memory module is stored described original image by stack-incoming operation, and by Pop operations, described raw image data is supplied to described image processing module;
Described image processing module carries out the extraction of depth information to described original image by computer vision technique, obtain the spatial coordinated information collection of all cottons in described original image, and the locus coordinate concentrating binocular camera described in selected distance nearest from described spatial coordinated information is as target cotton position;
Described control module is the integrated monolithic machine of 32, connects single-chip microcomputer and binocular camera by camera master control borad;
Described control module is according to described target cotton position, described Executive Module is driven to reach described target cotton position by control step motor, wherein control module comprises feedback element, feedback element obtains the physical location that described Executive Module reaches, and compare with described target cotton position, the difference of acquisition feeds back to described control module;
Described control module controls described Executive Module according to the difference that described feedback element obtains and finally arrives described target cotton position;
Described Executive Module is a six degree of freedom manipulator, for performing the cotton picking action command that control module sends, and plucked cotton is put into cotton storage tank.
2. utilize a method for the intelligent cotton picker system based on computer vision technique described in claim 1, be applied on the cotton picker of band cotton storage tank, it is characterized in that carrying out as follows:
Step 1, with the central point in binocular camera between two cameras for initial point o, take the earth as reference planes, the direction of advancing with described cotton picker is x-axis, with the normal perpendicular to described reference planes for y-axis, obtain z-axis according to right-hand rule, thus set up o-xyz coordinate system; Then the position coordinates of described cotton storage tank in described o-xyz coordinate system is initial coordinate (x0, y0, z0);
Step 2, definition cyclic variable are i, and initialize i=1;
Step 3, described image capture module utilize camera master control borad to control i-th original image of binocular camera BR collection cotton;
Step 4, described data memory module store described i-th original image by stacked process, be treated to described image processing module provide described i-th original image by popping;
Step 4, described image processing module carry out the extraction of the depth information of cotton to described i-th original image by computer vision technique, obtain the spatial coordinated information collection of all cottons in described i-th original image;
Step 5, described image processing module are concentrated from described spatial coordinated information and are chosen the spatial coordinated information nearest with described binocular camera as target cotton position coordinates and be supplied to described control module;
Step 6, described control module read described target cotton position coordinates by serial communication, and the rotation number of turns of calculated step motor, thus control step motor drives described Executive Module to move to described target cotton position coordinates from described initial coordinate (x0, y0, z0);
Step 7, described feedback element obtain the actual position coordinate of described Executive Module, and carry out asking difference to calculate with described target cotton position coordinates, and the difference of acquisition feeds back to described control module;
Step 8, described control module judge whether described difference is 0, if 0, then control described Executive Module and carry out cotton picking operation; Otherwise, control described Executive Module according to described difference and move to described target cotton position coordinates from actual position coordinate, and return step 7 and perform;
Step 9, described Executive Module are the manipulator of a six degree of freedom, and after the action of execution cotton picking, reset to described initial coordinate (x0, y0, z0) place, thus plucked cotton is put into cotton storage tank from described target cotton position coordinates;
Step 10, by the value assignment of i+1 to i, and feedback step 3 order perform.
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| CN109197160A (en) * | 2018-09-12 | 2019-01-15 | 华南农业大学 | A kind of guava picking robot and its implementation |
| CN110402683A (en) * | 2019-07-30 | 2019-11-05 | 盐城正邦环保科技有限公司 | A kind of intelligent cotton picker and its control method |
| CN113330915A (en) * | 2021-05-26 | 2021-09-03 | 华南农业大学 | Self-adaptive cotton harvesting method based on binocular vision recognition and intelligent mechanical harvesting device |
| CN114885661A (en) * | 2022-05-09 | 2022-08-12 | 五邑大学 | Chinese yam harvesting device, method and storage medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105940864A (en) * | 2016-06-30 | 2016-09-21 | 江西农业大学 | Rubber roller type automatic oil tea fruit harvester |
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| CN110402683A (en) * | 2019-07-30 | 2019-11-05 | 盐城正邦环保科技有限公司 | A kind of intelligent cotton picker and its control method |
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| CN113330915A (en) * | 2021-05-26 | 2021-09-03 | 华南农业大学 | Self-adaptive cotton harvesting method based on binocular vision recognition and intelligent mechanical harvesting device |
| CN113330915B (en) * | 2021-05-26 | 2022-08-30 | 华南农业大学 | Self-adaptive cotton harvesting method based on binocular vision recognition and intelligent mechanical harvesting device |
| CN114885661A (en) * | 2022-05-09 | 2022-08-12 | 五邑大学 | Chinese yam harvesting device, method and storage medium |
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