CN107984482A - A kind of intelligent matrimony vine picker and method based on TOF depth perceptions - Google Patents

A kind of intelligent matrimony vine picker and method based on TOF depth perceptions Download PDF

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Publication number
CN107984482A
CN107984482A CN201711451480.3A CN201711451480A CN107984482A CN 107984482 A CN107984482 A CN 107984482A CN 201711451480 A CN201711451480 A CN 201711451480A CN 107984482 A CN107984482 A CN 107984482A
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module
matrimony vine
air
microcontroller
tof
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王焕钦
万伟
虞发军
孙强
王程鹏
孔德义
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
    • A01D2046/268—Devices to shake the branches pneumatically powered
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Multimedia (AREA)
  • Image Processing (AREA)

Abstract

The present invention provides a kind of intelligent matrimony vine picker based on TOF depth perceptions, the device includes host computer, microcontroller, image information collecting module, depth information acquistion module, bionic mechanical hand, air-flow generation module, gas flow optimized module and air-flow release module, and described image information acquisition module, depth information acquistion module, air-flow generation module, gas flow optimized module and air-flow release module are installed in bionic mechanical on hand.The present invention also provides a kind of picking method of the intelligent matrimony vine picker based on TOF depth perceptions.The matrimony vine that the present invention is suitable under various agriculture techniques and complex background is intelligently picked, and has the advantages that picking efficiency is high, breakage rate is low, integrated level is high, reliability and strong antijamming capability and operation are quickly succinct.

Description

A kind of intelligent matrimony vine picker and method based on TOF depth perceptions
Technical field
The present invention relates to image recognition and processing technology field, is specifically a kind of intelligent Chinese holly based on TOF depth perceptions Qi picker and method.
Background technology
Matrimony vine belongs to Solanaceae category multiple-limb shrub plant, is rare medicinal material and invigorant, and the work(of " food and medicine consangunity " Can type local product resource.With the continuous renewal of health of people idea, the demand of matrimony vine is constantly increased, the cultivated area of matrimony vine Increase therewith.Matrimony vine growth has the characteristics that " unordered inflorescence, continuous flowers and fruits ", that is, blooms, result, maturation are carried out at the same time, picking Difficulty is larger.And the more category close planting types of matrimony vine plantation, planting density is 330/667 square meters, and line-spacing and spacing in the rows are relatively small, OK Away from generally 1.0-1.5 meters, rattan branch is intricate, is not suitable for large-scale picking mechanical into ground operation.
Manually the efficiency of picking matrimony vine is only 3-5kg/h, and costly up to 2000 yuan/667 square meters, accounts for production cost More than 50%.Current common medlar-picking machine is based on middle-size and small-size hand-held, although having simple in structure, small, weight Gently, the advantages of easy to carry, but work efficiency is relatively low, breakage rate is also higher.With Photoelectric Detection, image recognition, new material, The application in agricultural science and technology such as electronic technology, the intelligent medlar-picking machine of development of new is to promoting wolfberry industry development to have Important meaning.
The content of the invention
It is an object of the invention to provide a kind of picking efficiency is high, breakage rate is low, integrated level is high, reliability and anti-interference energy Power is strong and operates quick succinct intelligent matrimony vine picker and method based on TOF depth perceptions, suitable for differently Manage the matrimony vine picking under environment, different plantation techniques.
The technical scheme is that：
A kind of intelligent matrimony vine picker based on TOF depth perceptions, the device include host computer, microcontroller, image letter Cease acquisition module, depth information acquistion module, bionic mechanical hand, air-flow generation module, gas flow optimized module and air-flow release mould Block, described image information acquisition module, depth information acquistion module, air-flow generation module, gas flow optimized module and air-flow release Module is installed in bionic mechanical on hand；
The host computer is connected with microcontroller interactive signal, the signal output part of described image information acquisition module with it is upper The signal input part connection of machine, described image information acquisition module are connected with microcontroller interactive signal, the depth information Acquisition module is connected with microcontroller interactive signal, and the signal output part of the microcontroller and the signal of bionic mechanical hand are defeated Enter the signal input part connection at end, the signal input part of air-flow generation module, gas flow optimized module, the air-flow generation module Gas outlet is connected with the air inlet of gas flow optimized module, the gas outlet of the gas flow optimized module and the air inlet of air-flow release module Mouth connection.
The intelligent matrimony vine picker based on TOF depth perceptions, described image information acquisition module include double Mesh camera, first interface circuit and the first Shockproof damping component, the signal output part of the binocular camera pass through first interface electricity The signal input part of road and host computer connects, and the binocular camera is connected by first interface circuit and microcontroller interactive signal Connect, the first Shockproof damping component is arranged on below the installation site of binocular camera, for carrying out shockproof subtract to binocular camera Shake is handled.
The intelligent matrimony vine picker based on TOF depth perceptions, the depth information acquistion module include TOF Camera, second interface circuit, the second Shockproof damping component and active temperature-control circuit, the TOF camera connect by second Mouth circuit is connected with microcontroller interactive signal, and the second Shockproof damping component is arranged under the installation site of TOF camera Side, for carrying out Shockproof damping processing to TOF camera, the active temperature-control circuit connects with microcontroller interactive signal Connect, for the temperature of TOF camera to be monitored and managed.
The intelligent matrimony vine picker based on TOF depth perceptions, the air-flow generation module use air pressure Contracting machine, the gas outlet of the air compressor are connected with the air inlet of gas flow optimized module, and the signal of the air compressor is defeated The signal output part for entering end and microcontroller connects.
The intelligent matrimony vine picker based on TOF depth perceptions, the gas flow optimized module include pneumatic electricity Magnet valve, the air inlet of the air-operated solenoid valve are connected with the gas outlet of air-flow generation module, the gas outlet of the air-operated solenoid valve Connected with the air inlet of air-flow release module, the signal input part of the air-operated solenoid valve and the signal output part of microcontroller connect Connect.
The intelligent matrimony vine picker based on TOF depth perceptions, the air-flow release module use nozzle, institute The air inlet for stating nozzle is connected with the gas outlet of gas flow optimized module.
The intelligent matrimony vine picker based on TOF depth perceptions, described image information acquisition module and depth Data obtaining module is arranged in metallic shield.
The intelligent matrimony vine picker based on TOF depth perceptions, the active temperature-control circuit include Temperature sensor and radiator, the signal output part of the temperature sensor and the signal input part of microcontroller connect, and are used for The temperature of TOF camera is monitored, the signal input part of the radiator and the signal output part of microcontroller connect, for working as TOF When the temperature of camera is higher than predetermined threshold value, cooling processing is carried out to TOF camera.
A kind of picking method of the intelligent matrimony vine picker based on TOF depth perceptions, this method include with Lower step：
A, after the microcontroller receives the operational order that host computer sends over, control biomimetics manipulator movement, by image Information acquisition module is sent to matrimony vine region to be picked；
B, the microprocessor control image information collecting module is treated the gray level image in picking matrimony vine region and is acquired, described The gray level image in the matrimony vine region to be picked collected is uploaded to microcontroller and is handled by image information collecting module, and on Host computer is reached to be displayed and saved；
C, the microcontroller is determined in matrimony vine region to be picked on matrimony vine branch according to the half-tone information in matrimony vine region to be picked Ripe matrimony vine area, and determine the matrimony vine maturity in the ripe matrimony vine area；
D, the microprocessor control depth information acquistion module is acquired the depth information in ripe matrimony vine area, the depth The depth information in the ripe matrimony vine area collected is uploaded to microcontroller and is handled by data obtaining module；
E, the depth information in ripe matrimony vine area is uploaded to host computer and is displayed and saved by the microcontroller, at the same according into The depth information control biomimetics manipulator in ripe matrimony vine area precisely grasps matrimony vine branch, and according to the matrimony vine in ripe matrimony vine area Maturity control air-flow generation module produces the compressed gas of certain pressure intensity；
F, air-flow is sprayed to ripe matrimony vine by the microprocessor control gas flow optimized module conducting, the air-flow release module Area, the matrimony vine in ripe matrimony vine area is blown off from branch, completes picking；
G, the gray level image in the ripe matrimony vine area after picking is uploaded to host computer and carried out by described image information acquisition module in real time Display and save.
Beneficial effects of the present invention are：
1st, the present invention is suitable for the matrimony vine accurate intelligent picking of the varying environment under various plantation techniques.
2nd, the TOF camera precision that the present invention uses is high, can reach 5mm, and the complicated capture picked under background is captured There is adaptable, high resolution with harsh picking condition.
3rd, the present invention can be directed to different the application environments resolution capability of conditioning instrumentation and sensitivity, and to not at any time Plant with plant height has arbitrary adjustability.
4th, bionic mechanical hand of the invention has precision high, grasps the advantages of firm, the thin sugared and hydrophobic material of its surface coating Material remains to keep good mobility after repeatedly picking for a long time.
5th, there is the present invention perfect precision controlling to design, and the high-adaptability of TOF camera also ensure that the precision of sampling, scheme As information acquisition module and depth information acquistion module are effectively maintained under various complex background environment by feedback control Intelligence sample.
6th, the present invention has perfect design of Electromagnetic Shielding, and image information collecting module and depth information acquistion module use Metal-back shields, while bionic mechanical hand uses flexible material antidetonation, improves crawl precision.
7th, the present invention can be used cooperatively with common vibration-type medlar-picking machine device, it is easy to accomplish various landform and various plantations Under the conditions of matrimony vine intelligently pick.
8th, in operation control, the present invention realizes friendly operation interface using host computer, each for operating personnel's selection Kind function and setting various parameters, and real-time display system state and matrimony vine picking result.
9th, the present invention disclosure satisfy that various different planting conditions demands, has mechanization degree height, high sensitivity, differentiates energy The advantages that power is high, reliability is high, antijamming capability is high, integrated level is high, precision is high, operation is fast and convenient.
Brief description of the drawings
Fig. 1 is the device of the invention structure diagram；
Fig. 2 is the bionic mechanical hand portion scheme of installation of the present invention；
Fig. 3 is the image information collecting modular structure schematic diagram of the present invention；
Fig. 4 is the depth information acquistion module structure diagram of the present invention；
Fig. 5 is that the air-flow of the present invention produces, controls, discharges structure diagram；
Fig. 6 is the gas flow optimized modular structure schematic diagram of the present invention；
Fig. 7 is the air-operated solenoid valve structure diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawings the present invention is further illustrated with specific embodiment.
As shown in Figure 1, a kind of intelligent matrimony vine picker based on TOF depth perceptions, including host computer 10, microcontroller Device 20, image information collecting module 30, depth information acquistion module 40, bionic mechanical hand 50, air-flow generation module 60, air-flow control Molding block 70 and air-flow release module 80.
Host computer 10 is connected with 20 interactive signal of microcontroller；The signal output part of image information collecting module 30 with it is upper The signal input part connection of position machine 10, image information collecting module 30 are connected with 20 interactive signal of microcontroller；Depth information Acquisition module 40 is connected with 20 interactive signal of microcontroller；The signal output part of microcontroller 20 and the letter of bionic mechanical hand 50 The signal input part connection of number input terminal, the signal input part of air-flow generation module 60, gas flow optimized module 70；Air-flow produces mould The gas outlet of block 60 is connected with the air inlet of gas flow optimized module 70, gas outlet and the air-flow release module of gas flow optimized module 70 80 air inlet connection.
It can be carried out between host computer 10 and microcontroller 20 by the common PORT COM such as serial ports, SPI, IIC or USB Data communication, in the present embodiment, using the data communication of serial ports realization between the two.Host computer 10 is responsible for providing human-computer interaction Interface, realizes the control operation to matrimony vine picking, and the picking result of Real Time Observation matrimony vine.Host computer 10 can be Desktop PC Machine, portable notebook computer or embedded platform.In the present embodiment, host computer 10 using Samsung production based on The S3C2440 microprocessors of ARM cores, running frequency 400MHz, runs 5.0 real time operating systems of WinCE.Host computer 10 The human-computer interaction interface of offer uses the LabVIEW software programmings of NI companies, for the control of picking, status display and picking As a result display.Microcontroller 20 is based on general programmable dsp chip（The TMS320 series produced such as TI companies）, high-performance FPGA/CPLD chips（Such as the Startix series that altera corp produces, the Virtex series of Xilinx companies production）Or specially With the operation control integrated circuit plate of the designs such as dsp chip.In the present embodiment, microcontroller 20 uses and is based on altera corp The arithmetic control circuit plate of the Cyclone V Series Universals fpga chip design of production.Microcontroller 20 has high speed, supports to float The performance of point processing, to ensure the real-time of control.And control I/O sufficiently strong in selected 10 data processing performance of host computer In the case of stomatopod is enough, host computer 10 and microcontroller 20 in the present invention can also be only completed at the same time with single host computer 10 Function, without using extra microcontroller 20.
Unlike other common agriculture picking mechanicals, the present invention uses bionic mechanical hand, and bionic mechanical hand is mould The function that the form of bionical thing, structure, control principle manufacture and design more is concentrated, the more efficient machine with biological characteristic Tool, sugar and hydrophobic material are dredged in surface coating, and use flexible material antidetonation.
As shown in Fig. 2, image information collecting module 30, depth information acquistion module 40, air-flow generation module 60, air-flow control Molding block 70 and air-flow release module 80 are installed on bionic mechanical hand 50.
As shown in figure 3, image information collecting module 30 includes binocular camera 31, first interface circuit 32 and first is shockproof subtracts Shake component 33；The signal output part of binocular camera 31 is connected by first interface circuit 32 with the signal input part of host computer 10； Binocular camera 31 is connected by first interface circuit 32 with 20 interactive signal of microcontroller；First Shockproof damping component 33 is set Below the installation site of binocular camera 31, for carrying out Shockproof damping processing to binocular camera 31, to prevent vibrations to binocular The precision of camera 31 has an impact.
As shown in figure 4, depth information acquistion module 40 includes TOF camera 41, second interface circuit 42, the second Shockproof damping Component 43 and active temperature-control circuit 44；TOF camera 41 is believed by the way that second interface circuit 42 and microcontroller 20 are interactive Number connection；Second Shockproof damping component 43 is arranged on below the installation site of TOF camera 41, for preventing TOF camera 41 Damping processing is shaken, to prevent vibrations from being had an impact to the precision of TOF camera 41；Active temperature-control circuit 44 is passed including temperature Sensor 441 and radiator 442, the signal output part of temperature sensor 441 are connected with the signal input part of microcontroller 20, are used for The temperature of TOF camera 41 is monitored, the signal input part of radiator 442 is connected with the signal output part of microcontroller 20, for working as When the temperature of TOF camera 41 is higher than predetermined threshold value, cooling processing is carried out to TOF camera 41.
TOF is Time Of Flight, is the flight time, by continuously transmitting light pulse to target, then uses camera On sensor receive from object return light, by detect these transmitting and receive light pulse flight（Back and forth）Time comes To object distance.TOF camera 41 launches a branch of illumination light, utilizes the phase place change for launching lightwave signal and reflecting light signal To carry out range measurement.Wherein, the wavelength of illumination module is usually near infrared band, and needs to carry out high frequency modulation.TOF feels Optical mode group is similar with regular handset camera module, is made of components such as chip, camera lens, wiring boards, each picture of TOF sensitive chips Specific phase between round-trip camera and object of the member to launching light wave records respectively, is extracted by data processing unit Phase difference, depth information is calculated by formula.The depth data measurement range that TOF camera 41 can gather is 0.15-5m, and It can be used under complex environment background.The resolution ratio of TOF camera 41 is 640*480, and the precision of resolution is 5mm, is used Temperature range is between -20 ° to 50 °, and TOF camera 41 uses dust-proof sediment prevention design, water proof and dust proof grade reached IP67 etc. Level, and TOF camera 41 is taken the initiative the mode of heat dissipation, can meet the normal use under various harsh environments completely.
In the present embodiment, the minimum precision of TOF camera 41 is 1mm, and working range 0-2m, can meet each completely Matrimony vine intelligently picking under the complicated planting environment of kind and plantation technique.Due to can seriously generate heat when TOF camera 41 uses outdoors, And there are the phenomenon that high temperature crashes, so needing to add active temperature-control circuit 44 when using outdoors, in TOF camera 41 Nearby being equipped with can be with the temperature sensor 441 of thermometric, when 41 temperature of TOF camera exceeds the temperature of system setting, mounted in TOF41 Radiator 442 near camera is started to work, its temperature is reduced.
Image information collecting module 30 and depth information acquistion module 40 are arranged in metallic shield, and metallic shield is Cube-shaped structure, by image information collecting module 30 and the overall encirclement of depth information acquistion module 40, prevents strong light to camera Various particles in heat dissipation and environment have an impact the stabilization of camera and imaging.Metallic shield using ferrimagnet, Stainless steel material, copper or aluminium are made.
As shown in figure 5, air-flow generation module 60 uses air compressor 61, gas flow optimized module 70 includes air-operated solenoid valve 71, air-flow release module 80 uses nozzle 81；The gas outlet of air compressor 61 is connected with the air inlet of air-operated solenoid valve 71, gas The gas outlet of moving electromagnetic valve 71 is connected with the air inlet of nozzle 81；The signal input part of air compressor 61 and microcontroller 20 Signal output part connects；The signal input part of air-operated solenoid valve 71 is connected with the signal output part of microcontroller 20.
As shown in fig. 6, gas flow optimized module 70 is mainly made of triode, diode, resistance and air-operated solenoid valve 71, use In the opening and closing for being precisely controlled air-operated solenoid valve 71, to reach accurate intelligent control.
It is the structure of air-operated solenoid valve 71 as shown in Figure 7：1- air inlets in Fig. 7, the normally opened gas outlets of 2-, the normally closed outlets of 4- Mouthful, 3,5- exhaust outlets, air inlet connection air-flow generation module 60, normally opened gas outlet connects air-flow release module with normally closed gas outlet 80.When energized, piston can be under the action of electromagnetic force toward moving down, and normally opened gas outlet and normally closed gas outlet can be by air inlets Air-flow exports, and exhaust outlet need not connect when in use.
A kind of picking method of the intelligent matrimony vine picker based on TOF depth perceptions, comprises the following steps：
S1, picking operations personnel send operational order by host computer 10 to microcontroller 20, and microcontroller 20 receives upper After the operational order that machine 10 sends over, control biomimetics manipulator 50 moves, and image information collecting module 30 is sent to waiting to pick Matrimony vine region.
S2, microcontroller 20 control the binocular camera 31 in image information acquisition module 30 to treat the ash for picking matrimony vine region Degree image be acquired, binocular camera 31 by the gray level image in the matrimony vine region to be picked collected be uploaded to microcontroller 20 into Row processing, and be uploaded to host computer 10 and displayed and saved.
S3, microcontroller 20 determine matrimony vine branch in matrimony vine region to be picked according to the half-tone information in matrimony vine region to be picked On ripe matrimony vine area, and determine the matrimony vine maturity in ripe matrimony vine area.
TOF camera 41 in S4,20 controlling depth data obtaining module 40 of microcontroller believes the depth in ripe matrimony vine area Breath is acquired, and the depth information in the ripe matrimony vine area collected is uploaded to microcontroller 20 and is handled by TOF camera 41.
The depth information in ripe matrimony vine area is uploaded to host computer 10 and is displayed and saved by S5, microcontroller 20, at the same time Matrimony vine branch is precisely grasped according to the depth information control biomimetics manipulator 50 in ripe matrimony vine area, and according to ripe matrimony vine The matrimony vine maturity control air compressor 61 in area produces the compressed gas of certain pressure intensity.
Because the carpopodium combination power of the matrimony vine of differing maturity is of different sizes, after air-flow size is adjusted, you can by maturation Matrimony vine is blown off from branch, to achieve the purpose that intelligent accurate is picked.
S6, microcontroller 20 control air-operated solenoid valve 71 to turn on, and air-flow is sprayed to ripe matrimony vine area by nozzle 81, by maturation The matrimony vine in matrimony vine area is blown off from branch, completes picking.
The gray level image in the ripe matrimony vine area after picking is uploaded to host computer 10 and is shown by S7, binocular camera 31 in real time And preservation, picking result is observed at any time for picking operations personnel.
In conclusion the present invention can carry out ripe matrimony vine quickly to identify, position and capture, realize to ripe Chinese holly The precise positioning picking of Qi, has the advantages that efficient, breakage rate is low etc..Bionic mechanical hand 50 is by being placed on the binocular of its front end Camera 31 and TOF camera 41, the branches and leaves on matrimony vine tree, flower, ripe matrimony vine and prematurity matrimony vine are identified, and will be obtained Image and depth distance information are passed to microcontroller 20, and microcontroller 20 determines the maturity of matrimony vine according to fruit color, will locate The depth distance information for the ripe matrimony vine managed is passed to bionic mechanical hand 50, then simulates manually picking matrimony vine by bionic mechanical hand 50 Action, to making choice property of matrimony vine intelligence pick.The present invention can realize matrimony vine accurate " target " picking and most preferably adopt Pluck phase picking, it is ensured that fruit quality is excellent, breakage rate is low, picking rate is high.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention The various modifications and improvement that case is made, should all fall into the protection domain that claims of the present invention determines.

Claims (9)

  1. A kind of 1. intelligent matrimony vine picker based on TOF depth perceptions, it is characterised in that：The device includes host computer （10）, microcontroller（20）, image information collecting module（30）, depth information acquistion module（40）, bionic mechanical hand（50）, gas Flow generation module（60）, gas flow optimized module（70）With air-flow release module（80）, described image information acquisition module（30）, it is deep Spend data obtaining module（40）, air-flow generation module（60）, gas flow optimized module（70）With air-flow release module（80）It is respectively mounted In bionic mechanical hand（50）On；
    The host computer（10）With microcontroller（20）Interactive signal connects, described image information acquisition module（30）Signal Output terminal and host computer（10）Signal input part connection, described image information acquisition module（30）With microcontroller（20）Interaction Formula signal connects, the depth information acquistion module（40）With microcontroller（20）Interactive signal connects, the microcontroller （20）Signal output part and bionic mechanical hand（50）Signal input part, air-flow generation module（60）Signal input part, gas Flow control module（70）Signal input part connection, the air-flow generation module（60）Gas outlet and gas flow optimized module（70） Air inlet connection, the gas flow optimized module（70）Gas outlet and air-flow release module（80）Air inlet connection.
  2. 2. the intelligent matrimony vine picker according to claim 1 based on TOF depth perceptions, it is characterised in that：It is described Image information collecting module（30）Including binocular camera（31）, first interface circuit（32）With the first Shockproof damping component（33）, The binocular camera（31）Signal output part pass through first interface circuit（32）With host computer（10）Signal input part connection, The binocular camera（31）Pass through first interface circuit（32）With microcontroller（20）Interactive signal connects, and described first is shockproof Dampening assembly（33）It is arranged on binocular camera（31）Installation site below, for binocular camera（31）Carry out at Shockproof damping Reason.
  3. 3. the intelligent matrimony vine picker according to claim 1 based on TOF depth perceptions, it is characterised in that：It is described Depth information acquistion module（40）Including TOF camera（41）, second interface circuit（42）, the second Shockproof damping component（43）And master Dynamic formula temperature-control circuit（44）, the TOF camera（41）Pass through second interface circuit（42）With microcontroller（20）It is interactive Signal connects, the second Shockproof damping component（43）It is arranged on TOF camera（41）Installation site below, for TOF phases Machine（41）Carry out Shockproof damping processing, the active temperature-control circuit（44）With microcontroller（20）Interactive signal connects Connect, for TOF camera（41）Temperature be monitored and manage.
  4. 4. the intelligent matrimony vine picker according to claim 1 based on TOF depth perceptions, it is characterised in that：It is described Air-flow generation module（60）Using air compressor（61）, the air compressor（61）Gas outlet and gas flow optimized module （70）Air inlet connection, the air compressor（61）Signal input part and microcontroller（20）Signal output part connect Connect.
  5. 5. the intelligent matrimony vine picker according to claim 1 based on TOF depth perceptions, it is characterised in that：It is described Gas flow optimized module（70）Including air-operated solenoid valve（71）, the air-operated solenoid valve（71）Air inlet and air-flow generation module （60）Gas outlet connection, the air-operated solenoid valve（71）Gas outlet and air-flow release module（80）Air inlet connection, institute State air-operated solenoid valve（71）Signal input part and microcontroller（20）Signal output part connection.
  6. 6. the intelligent matrimony vine picker according to claim 1 based on TOF depth perceptions, it is characterised in that：It is described Air-flow release module（80）Using nozzle（81）, the nozzle（81）Air inlet and gas flow optimized module（70）Gas outlet connect It is logical.
  7. 7. the intelligent matrimony vine picker according to claim 1 based on TOF depth perceptions, it is characterised in that：It is described Image information collecting module（30）And depth information acquistion module（40）It is arranged in metallic shield.
  8. 8. the intelligent matrimony vine picker according to claim 3 based on TOF depth perceptions, it is characterised in that：It is described Active temperature-control circuit（44）Including temperature sensor（441）And radiator（442）, the temperature sensor（441）'s Signal output part and microcontroller（20）Signal input part connection, for monitoring TOF camera（41）Temperature, the radiator （442）Signal input part and microcontroller（20）Signal output part connection, for working as TOF camera（41）Temperature higher than pre- If during threshold value, to TOF camera（41）Carry out cooling processing.
  9. 9. a kind of picking method of intelligent matrimony vine picker based on TOF depth perceptions according to claim 1, its It is characterized in that, this method comprises the following steps：
    A, the microcontroller（20）Receive host computer（10）After the operational order sended over, control biomimetics manipulator（50） It is mobile, by image information collecting module（30）Send to matrimony vine region to be picked；
    B, the microcontroller（20）Control image information acquisition module（30）The gray level image for treating picking matrimony vine region carries out Collection, described image information acquisition module（30）The gray level image in the matrimony vine region to be picked collected is uploaded to microcontroller （20）Handled, and be uploaded to host computer（10）Displayed and saved；
    C, the microcontroller（20）Branch of lycium chinensis mill in matrimony vine region to be picked is determined according to the half-tone information in matrimony vine region to be picked Ripe matrimony vine area on bar, and determine the matrimony vine maturity in the ripe matrimony vine area；
    D, the microcontroller（20）Controlling depth data obtaining module（40）The depth information in ripe matrimony vine area is acquired, The depth information acquistion module（40）The depth information in the ripe matrimony vine area collected is uploaded to microcontroller（20）Carry out Processing；
    E, the microcontroller（20）The depth information in ripe matrimony vine area is uploaded to host computer（10）Displayed and saved, together When according to the depth information control biomimetics manipulator in ripe matrimony vine area（50）Matrimony vine branch is precisely grasped, and according to maturation The matrimony vine maturity control air-flow generation module in matrimony vine area（60）Produce the compressed gas of certain pressure intensity；
    F, the microcontroller（20）Control gas flow optimized module（70）Conducting, the air-flow release module（80）Air-flow is sprayed To ripe matrimony vine area, the matrimony vine in ripe matrimony vine area is blown off from branch, completes picking；
    G, described image information acquisition module（30）The gray level image in the ripe matrimony vine area after picking is uploaded to host computer in real time （10）Displayed and saved.
CN201711451480.3A 2017-12-27 2017-12-27 A kind of intelligent matrimony vine picker and method based on TOF depth perceptions Pending CN107984482A (en)

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