CN108633458A - A kind of matrimony vine picking method based on hand eye coordination - Google Patents
A kind of matrimony vine picking method based on hand eye coordination Download PDFInfo
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- CN108633458A CN108633458A CN201810473280.6A CN201810473280A CN108633458A CN 108633458 A CN108633458 A CN 108633458A CN 201810473280 A CN201810473280 A CN 201810473280A CN 108633458 A CN108633458 A CN 108633458A
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- matrimony vine
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- 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
Abstract
The invention discloses a kind of matrimony vine picking method based on hand eye coordination, including：Matrimony vine image is acquired, and matrimony vine space orientation processing is carried out to matrimony vine image, matrimony vine space coordinate is obtained, to obtain the space coordinate of matrimony vine branch；Crawl arm is moved according to the space coordinate of matrimony vine branch to matrimony vine branch, and crawl receipts carry out crawl to target matrimony vine branch and pull-up, Picker arm and picker move in the preset range of target matrimony vine branch；Acquire target matrimony vine image on target matrimony vine branch, obtain the space coordinate of target matrimony vine, and picking movement locus is planned according to the space coordinate of target matrimony vine, Picker arm moves to the initial end of picking movement locus, Picker arm is moved according to picking movement locus, and picker picks the matrimony vine on target matrimony vine branch.
Description
Technical field
The present invention relates to visual processes technologies and both arms control technology technical field, more particularly to one kind being based on hand eye coordination
Matrimony vine picking method.
Background technology
Fruit of Chinese wolfberry integration of drinking and medicinal herbs it is with a long history, be the rare traditional Chinese medicine having won fame both at home and abroad, early in《Sheng Nong's herbal classic》In just
It is listed in top grade.China matrimony vine cultivated area is at 1,000,000 mu or more at present.In addition to Ningxia, Hebei, Gansu cultivated area be not bright
Aobvious change is outside the pale of civilization, and the ground such as Xinjiang, Qinghai, Inner Mongol cultivated area is continuously increased.Matrimony vine picking is generally in summer, hot weather,
Working environment is poor, and worker efficiency is low.With the reduction of inner labour, the limitation for the conventional method manually picked shows, people
Work picking efficiency is low, of high cost, picking peak period manually for deficiency the problems such as it is increasingly serious.
Existing vibration is picking scheme, and picking process is rough, has damage to matrimony vine tree, influences matrimony vine tree yield, is reduced
The Chinese wolfberry fruit quality of subsequent growth.With the requirement that logistics and people live to higher quality, the following medlar fresh fruit can enter
The public visual field, traditional oscillatory type also cannot be satisfied new production requirement.There are uncontrollable factors in matrimony vine picking process, now
There are no specific solutions.
Invention content
Technical problems based on background technology, the present invention propose a kind of matrimony vine picking side based on hand eye coordination
Method；
A kind of matrimony vine picking method based on hand eye coordination proposed by the present invention, including：
S1, acquisition matrimony vine image, and matrimony vine space orientation processing is carried out to matrimony vine image, obtain matrimony vine space coordinate；
S2, space arrangement is carried out to matrimony vine space coordinate, is determined in same matrimony vine according to relative distance relationship between matrimony vine
Matrimony vine on branch obtains the spatial position of matrimony vine branch, and pre- crawl point is chosen on the matrimony vine branch for obtained spatial position,
Crawl arm moves to the surface of pre- crawl point according to pre- crawl point coordinates；
S3, acquisition matrimony vine branch image, and matrimony vine branch localization process is carried out to matrimony vine branch image, obtain target matrimony vine
Branch coordinate, crawl arm is moved according to target matrimony vine branch coordinate to target matrimony vine branch, until crawl arm and target branch of lycium chinensis mill
When the distance of item reaches pre-determined distance, crawl arm stop motion, crawl hand captures target matrimony vine branch；
S4, crawl arm and crawl Handball Association's adjusted position carry out pull-up to target matrimony vine branch, until target matrimony vine branch is drawn
When the height risen reaches preset plucking height, crawl arm and crawl hand stop carrying out pull-up, Picker arm to target matrimony vine branch
It is moved to picker in the preset range of target matrimony vine branch；
Target matrimony vine image on S5, acquisition target matrimony vine branch, matrimony vine space orientation processing is carried out to target matrimony vine image,
The space coordinate of target matrimony vine is obtained, and plans that picking movement locus, Picker arm move to according to the space coordinate of target matrimony vine
Pick the initial end of movement locus；
Vertical range between S6, acquisition picker and target matrimony vine branch, and judge picker and target matrimony vine
Whether vertical range is less than pre-determined distance threshold value between branch, and when judging result is to be, Picker arm is according to picking movement locus
It is moved, picker picks the matrimony vine on target matrimony vine branch.
Preferably, step S1 is specifically included：
Matrimony vine image is acquired by binocular vision camera；
Matrimony vine in matrimony vine image is detached, and extracts the geometry of matrimony vine；
The real space coordinate that the space coordinate of the geometric center of matrimony vine geometry is substituted to matrimony vine, obtains matrimony vine space
Coordinate.
Preferably, described that target branch of lycium chinensis mill is obtained to matrimony vine branch image progress matrimony vine branch localization process in step S3
Coordinate, specifically includes：
Matrimony vine branch image is acquired by capturing monocular cam；
Denoising is carried out to matrimony vine branch image；
Matrimony vine branch part in matrimony vine branch image is extracted, target matrimony vine branch coordinate is obtained.
Preferably, in step S3, the crawl arm is moved according to target matrimony vine branch coordinate to target matrimony vine branch, until
The distance of crawl arm and target matrimony vine branch reaches pre-determined distance, specifically includes：
Crawl arm is moved according to target matrimony vine branch coordinate to target matrimony vine branch；
Obtain the distance of target matrimony vine branch and crawl arm in real time by capturing monocular cam；
The distance of target matrimony vine branch and crawl arm is compared with pre-determined distance, to judge target matrimony vine branch and
Whether the real-time range of crawl arm reaches pre-determined distance.
Preferably, step S4 is specifically included：
Crawl arm and crawl Handball Association's adjusted position carry out pull-up to target matrimony vine branch；
Obtain the height that target matrimony vine branch is pulled up in real time by binocular camera；
The height that target matrimony vine branch is pulled up is compared with preset plucking height, when target matrimony vine branch is drawn
When the height risen reaches preset plucking height, crawl arm and crawl hand stop carrying out pull-up, Picker arm to target matrimony vine branch
It is moved to picker in the preset range of target matrimony vine branch.
Preferably, step S4 further includes：When can not obtain what target matrimony vine branch was pulled up in real time by binocular camera
When height, judge to fail to target matrimony vine branch pull-up, after crawl mechanical arm returns to initial position, executes step S3.
Preferably, step S5, target matrimony vine image on the acquisition target matrimony vine branch carry out Chinese holly to target matrimony vine image
Qi space orientation is handled, and is obtained the space coordinate of target matrimony vine, is specifically included：
Target matrimony vine image on target matrimony vine branch is acquired by binocular camera；
Target matrimony vine in target matrimony vine image is detached, and extracts the geometry of target matrimony vine；
The real space coordinate that the space coordinate of the geometric center of target matrimony vine geometry is substituted to target matrimony vine, obtains
The space coordinate of target matrimony vine.
Preferably, step S6 is specifically included：
The vertical range distance between picker and target matrimony vine branch is obtained in real time by picking monocular cam；
Vertical range distance between picker and target matrimony vine branch is compared with pre-determined distance threshold value, when adopting
When vertical range distance between device and picking and target matrimony vine branch is less than pre-determined distance threshold value, Picker arm moves rail according to picking
Mark is moved, and picker picks the matrimony vine on target matrimony vine branch.
Preferably, further include step S7, the remaining Chinese holly on target matrimony vine branch is obtained in real time by picking monocular cam
Qi image judges whether there is remaining matrimony vine on target matrimony vine branch according to the remaining matrimony vine image on target matrimony vine branch, when
When judging result is no, Picker arm and picker move to initial position, terminate the picking to matrimony vine on target matrimony vine branch；
Otherwise, step S6 is executed.
The present invention using double mechanical arms, binocular camera, monocular cam cooperating, imitate robot arm, hand binocular work(
Can, realize matrimony vine picking.Binocular camera imitates hand eye coordination process of the matrimony vine plucker in picking process, to greatest extent
Guarantee machine picking matrimony vine work smoothly complete.In the process of grasping, using the monocular cam captured on hand to crawl
Process carries out real-time tracking and regulation and control.In picking process, picking process is carried out using the monocular cam on picker
Real-time tracking and regulation and control.Prevent the distance between picker and matrimony vine target branch is excessive from can not pick fruit, apart from too small
The case where damaging matrimony vine branch occurs, and to protect matrimony vine tree, while also avoiding the damage of mechanical arm, ensures picking process safety
It completes.Picker only being needed replacing simultaneously, picking to various crop and fruit can be completed, this law scheme flexibility is good, can
To meet subsequent production requirement, without redesigning, cost is reduced, the product design time is decreased.
Description of the drawings
Fig. 1 is a kind of flow diagram of the matrimony vine picking method based on hand eye coordination proposed by the present invention.
Specific implementation mode
Referring to Fig.1, a kind of matrimony vine picking method based on hand eye coordination proposed by the present invention, including：
Step S1 acquires matrimony vine image, and carries out matrimony vine space orientation processing to matrimony vine image, obtains matrimony vine space seat
Mark, specifically includes：
Matrimony vine image is acquired by binocular vision camera；
Matrimony vine in matrimony vine image is detached, and extracts the geometry of matrimony vine；
The real space coordinate that the space coordinate of the geometric center of matrimony vine geometry is substituted to matrimony vine, obtains matrimony vine space
Coordinate.
Step S2 carries out space arrangement to matrimony vine space coordinate, is determined in same according to relative distance relationship between matrimony vine
Matrimony vine on matrimony vine branch obtains the spatial position of matrimony vine branch, chooses on the matrimony vine branch for obtained spatial position and grabs in advance
It takes a little, crawl arm moves to the surface of pre- crawl point according to pre- crawl point coordinates.
In concrete scheme, by binocular vision camera, acquires matrimony vine image and localization process is carried out to matrimony vine image,
Matrimony vine space coordinate is obtained, space arrangement is carried out to matrimony vine space coordinate, is determined same according to relative distance relationship between matrimony vine
Matrimony vine on matrimony vine branch, obtains the spatial position of matrimony vine branch, in this way, apish double by binocular vision camera
Eye, positions matrimony vine branch, after the position coordinates for obtaining matrimony vine branch, selects a crawl point on matrimony vine branch, grabs
Take arm can be according to the coordinate motion that crawl is put to the surface of crawl point.
Step S3 acquires matrimony vine branch image, and carries out matrimony vine branch localization process to matrimony vine branch image, obtains target
Matrimony vine branch coordinate, crawl arm is moved according to target matrimony vine branch coordinate to target matrimony vine branch, until crawl arm and target Chinese holly
When the distance of Qi branch reaches pre-determined distance, crawl arm stop motion, crawl hand captures target matrimony vine branch, specific to wrap
It includes：
Matrimony vine branch image is acquired by capturing monocular cam；
Denoising is carried out to matrimony vine branch image；
Matrimony vine branch part in matrimony vine branch image is extracted, target matrimony vine branch coordinate is obtained；
Crawl arm is moved according to target matrimony vine branch coordinate to target matrimony vine branch；
Obtain the distance of target matrimony vine branch and crawl arm in real time by capturing monocular cam；
The distance of target matrimony vine branch and crawl arm is compared with pre-determined distance, to judge target matrimony vine branch and
Whether the real-time range of crawl arm reaches pre-determined distance.
In concrete scheme, matrimony vine branch image is acquired by the monocular cam being arranged on crawl arm, to extract
Matrimony vine branch part, obtains target matrimony vine branch coordinate, and crawl arm is transported according to target matrimony vine branch coordinate to target matrimony vine branch
It is dynamic, while the distance of target matrimony vine branch and crawl arm is monitored in real time by monocular cam, to make crawl arm and
The crawl hand being arranged on crawl arm reaches crawl position and is captured to target matrimony vine branch.
Step S4, crawl arm and crawl Handball Association's adjusted position carry out pull-up to target matrimony vine branch, until target matrimony vine branch
When the height being pulled up reaches preset plucking height, crawl arm and crawl hand stop carrying out pull-up to target matrimony vine branch, adopt
It plucks arm and picker moves in the preset range of target matrimony vine branch, specifically include：
Crawl arm and crawl Handball Association's adjusted position carry out pull-up to target matrimony vine branch；
Obtain the height that target matrimony vine branch is pulled up in real time by binocular camera；
The height that target matrimony vine branch is pulled up is compared with preset plucking height, when target matrimony vine branch is drawn
When the height risen reaches preset plucking height, crawl arm and crawl hand stop carrying out pull-up, Picker arm to target matrimony vine branch
It is moved to picker in the preset range of target matrimony vine branch, further includes：When can not in real time be obtained by binocular camera
When the height that target matrimony vine branch is pulled up, judge to fail to target matrimony vine branch pull-up, crawl mechanical arm returns to initial position
Afterwards, step S3 is executed.
Step S5 acquires target matrimony vine image on target matrimony vine branch, and matrimony vine space orientation is carried out to target matrimony vine image
Processing obtains the space coordinate of target matrimony vine, and plans picking movement locus, Picker arm fortune according to the space coordinate of target matrimony vine
The initial end for moving picking movement locus, specifically includes：
Target matrimony vine image on target matrimony vine branch is acquired by binocular camera；
Target matrimony vine in target matrimony vine image is detached, and extracts the geometry of target matrimony vine；
The real space coordinate that the space coordinate of the geometric center of target matrimony vine geometry is substituted to target matrimony vine, obtains
The space coordinate of target matrimony vine.
In concrete scheme, crawl arm and crawl hand position carry out pull-up to target matrimony vine branch, and pass through binocular camera shooting
The height that machine is in real time pulled up target matrimony vine branch is monitored, to make target matrimony vine branch be pulled up to preset picking
Highly, Picker arm and picker move in the preset range of target matrimony vine branch, then acquire target by binocular camera
Target matrimony vine image on matrimony vine branch extracts the space coordinate of target matrimony vine, and is planned according to the space coordinate of target matrimony vine
Picking movement locus illustrates to capture when that can not obtain the height that target matrimony vine branch is pulled up in real time by binocular camera
Arm and crawl hand fail to target matrimony vine branch pull-up, and crawl mechanical arm returns to initial position, re-executes step S3.
Step S6 obtains the vertical range between picker and target matrimony vine branch, and judges picker and target
Whether vertical range is less than pre-determined distance threshold value between matrimony vine branch, and when judging result is to be, Picker arm is moved according to picking
Track is moved, and picker picks the matrimony vine on target matrimony vine branch, specifically includes：
The vertical range distance between picker and target matrimony vine branch is obtained in real time by picking monocular cam；
Vertical range distance between picker and target matrimony vine branch is compared with pre-determined distance threshold value, when adopting
When vertical range distance between device and picking and target matrimony vine branch is less than pre-determined distance threshold value, Picker arm moves rail according to picking
Mark is moved, and picker picks the matrimony vine on target matrimony vine branch.
In concrete scheme, picker and target Chinese holly are obtained by the picking monocular cam being arranged in Picker arm in real time
Vertical range distance between Qi branch, to carry out real-time tracking and regulation and control to picking process.Prevent picker and matrimony vine
Distance between target branch is excessive can not pick fruit, distance too Small loss matrimony vine branch the case where occur, to protect Chinese holly
Qi Shu, while the damage of mechanical arm is also avoided, ensure that picking process is completed safely.
Step S7 obtains the remaining matrimony vine image on target matrimony vine branch, according to mesh in real time by picking monocular cam
Remaining matrimony vine image on mark matrimony vine branch judges whether there is remaining matrimony vine on target matrimony vine branch, when judging result is no
When, Picker arm and picker move to initial position, terminate the picking to matrimony vine on target matrimony vine branch；Otherwise, step is executed
Rapid S6.
In concrete scheme, the remaining matrimony vine image on target matrimony vine branch is obtained in real time by picking monocular cam,
When judging there is no remaining matrimony vine on target matrimony vine branch according to the remaining matrimony vine image on target matrimony vine branch, Picker arm and
Picker moves to initial position, terminates the picking to matrimony vine on target matrimony vine branch.
Present embodiment imitates robot arm, hand binocular using double mechanical arms, binocular camera, monocular cam cooperating
Function, realize matrimony vine picking.Binocular camera imitates hand eye coordination process of the matrimony vine plucker in picking process, maximum
The guarantee machine picking matrimony vine work of limit smoothly completes.In the process of grasping, the monocular cam pair using crawl on hand
Crawl process carries out real-time tracking and regulation and control.In picking process, using the monocular cam on picker to picking process
Carry out real-time tracking and regulation and control.Prevent the distance between picker and matrimony vine target branch is excessive from can not pick fruit, distance
Too the case where Small loss matrimony vine branch, occurs, and to protect matrimony vine tree, while also avoiding the damage of mechanical arm, ensures picking process
Safety is completed.Picker is only needed replacing simultaneously, and picking to various crop and fruit, this law scheme flexibility can be completed
It is good, subsequent production requirement can be met, without redesigning, cost is reduced, decrease the product design time.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of matrimony vine picking method based on hand eye coordination, which is characterized in that including：
S1, acquisition matrimony vine image, and matrimony vine space orientation processing is carried out to matrimony vine image, obtain matrimony vine space coordinate；
S2, space arrangement is carried out to matrimony vine space coordinate, is determined in same matrimony vine branch according to relative distance relationship between matrimony vine
On matrimony vine, obtain the spatial position of matrimony vine branch, pre- crawl point, crawl chosen on the matrimony vine branch for obtained spatial position
Arm moves to the surface of pre- crawl point according to pre- crawl point coordinates；
S3, acquisition matrimony vine branch image, and matrimony vine branch localization process is carried out to matrimony vine branch image, obtain target matrimony vine branch
Coordinate, crawl arm are moved according to target matrimony vine branch coordinate to target matrimony vine branch, until crawl arm and target matrimony vine branch
When distance reaches pre-determined distance, crawl arm stop motion, crawl hand captures target matrimony vine branch；
S4, crawl arm and crawl Handball Association's adjusted position carry out pull-up to target matrimony vine branch, are pulled up until target matrimony vine branch
Height is when reaching preset plucking height, and crawl arm and crawl hand stop carrying out pull-up to target matrimony vine branch, Picker arm and adopts
Device and picking moves in the preset range of target matrimony vine branch；
Target matrimony vine image on S5, acquisition target matrimony vine branch, carries out matrimony vine space orientation processing to target matrimony vine image, obtains
The space coordinate of target matrimony vine, and plan that picking movement locus, Picker arm move to picking according to the space coordinate of target matrimony vine
The initial end of movement locus；
Vertical range between S6, acquisition picker and target matrimony vine branch, and judge picker and target matrimony vine branch
Between vertical range whether be less than pre-determined distance threshold value, when judging result be when, Picker arm according to picking movement locus carry out
Movement, picker pick the matrimony vine on target matrimony vine branch.
2. the matrimony vine picking method according to claim 1 based on hand eye coordination, which is characterized in that step S1, it is specific to wrap
It includes：
Matrimony vine image is acquired by binocular vision camera；
Matrimony vine in matrimony vine image is detached, and extracts the geometry of matrimony vine；
The real space coordinate that the space coordinate of the geometric center of matrimony vine geometry is substituted to matrimony vine obtains matrimony vine space seat
Mark.
3. the matrimony vine picking method according to claim 1 based on hand eye coordination, which is characterized in that described in step S3
Matrimony vine branch localization process is carried out to matrimony vine branch image and obtains target matrimony vine branch coordinate, is specifically included：
Matrimony vine branch image is acquired by capturing monocular cam；
Denoising is carried out to matrimony vine branch image；
Matrimony vine branch part in matrimony vine branch image is extracted, target matrimony vine branch coordinate is obtained.
4. the matrimony vine picking method according to claim 1 based on hand eye coordination, which is characterized in that described in step S3
Crawl arm is moved according to target matrimony vine branch coordinate to target matrimony vine branch, until the distance of crawl arm and target matrimony vine branch reaches
To pre-determined distance, specifically include：
Crawl arm is moved according to target matrimony vine branch coordinate to target matrimony vine branch；
Obtain the distance of target matrimony vine branch and crawl arm in real time by capturing monocular cam；
The distance of target matrimony vine branch and crawl arm is compared with pre-determined distance, to judge target matrimony vine branch and crawl
Whether the real-time range of arm reaches pre-determined distance.
5. the matrimony vine picking method according to claim 1 based on hand eye coordination, which is characterized in that step S4, it is specific to wrap
It includes：
Crawl arm and crawl Handball Association's adjusted position carry out pull-up to target matrimony vine branch；
Obtain the height that target matrimony vine branch is pulled up in real time by binocular camera；
The height that target matrimony vine branch is pulled up is compared with preset plucking height, is pulled up when target matrimony vine branch
Height is when reaching preset plucking height, and crawl arm and crawl hand stop carrying out pull-up to target matrimony vine branch, Picker arm and adopts
Device and picking moves in the preset range of target matrimony vine branch.
6. the matrimony vine picking method according to claim 5 based on hand eye coordination, which is characterized in that step S4 further includes：
When the height that target matrimony vine branch is pulled up can not be obtained in real time by binocular camera, judge to target matrimony vine branch pull-up
Failure executes step S3 after crawl mechanical arm returns to initial position.
7. the matrimony vine picking method according to claim 1 based on hand eye coordination, which is characterized in that step S5, it is described to adopt
Collect target matrimony vine image on target matrimony vine branch, matrimony vine space orientation processing is carried out to target matrimony vine image, obtains target matrimony vine
Space coordinate, specifically include：
Target matrimony vine image on target matrimony vine branch is acquired by binocular camera；
Target matrimony vine in target matrimony vine image is detached, and extracts the geometry of target matrimony vine；
The real space coordinate that the space coordinate of the geometric center of target matrimony vine geometry is substituted to target matrimony vine, obtains target
The space coordinate of matrimony vine.
8. the matrimony vine picking method according to claim 1 based on hand eye coordination, which is characterized in that step S6, it is specific to wrap
It includes：
The vertical range distance between picker and target matrimony vine branch is obtained in real time by picking monocular cam；
Vertical range distance between picker and target matrimony vine branch is compared with pre-determined distance threshold value, when picking fills
Set between target matrimony vine branch vertical range distance be less than pre-determined distance threshold value when, Picker arm according to picking movement locus into
Row movement, picker pick the matrimony vine on target matrimony vine branch.
9. the matrimony vine picking method according to claim 1 based on hand eye coordination, which is characterized in that further include step S7,
The remaining matrimony vine image on target matrimony vine branch is obtained in real time by picking monocular cam, according to surplus on target matrimony vine branch
Remaining matrimony vine image judges whether there is remaining matrimony vine on target matrimony vine branch, and when judging result is no, Picker arm and picking fill
It sets and moves to initial position, terminate the picking to matrimony vine on target matrimony vine branch；Otherwise, step S6 is executed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810473280.6A CN108633458B (en) | 2018-05-17 | 2018-05-17 | Wolfberry picking method based on hand-eye coordination |
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| CN201810473280.6A CN108633458B (en) | 2018-05-17 | 2018-05-17 | Wolfberry picking method based on hand-eye coordination |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579702A (en) * | 2018-12-19 | 2019-04-05 | 合肥工业大学 | A kind of fructus lycii branch pull-up point position intelligent locating method |
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| CN105960937A (en) * | 2015-06-24 | 2016-09-28 | 冯世英 | All pneumatic matrimony vine harvester application method |
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| CA1141970A (en) * | 1980-04-11 | 1983-03-01 | Fred Fandrich | Apparatus for harvesting seed bearing cones |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
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| CN108633458B (en) | 2021-08-10 |
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