CN109964675A - Vine beta pruning robot device - Google Patents
Vine beta pruning robot device Download PDFInfo
- Publication number
- CN109964675A CN109964675A CN201711438661.2A CN201711438661A CN109964675A CN 109964675 A CN109964675 A CN 109964675A CN 201711438661 A CN201711438661 A CN 201711438661A CN 109964675 A CN109964675 A CN 109964675A
- Authority
- CN
- China
- Prior art keywords
- beta pruning
- shrub
- vine
- personal computer
- hedge trimmer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
Vine beta pruning robot device, including self-navigation module, pruning module and binocular stereo vision module；The self-navigation module includes creeper truck, PTZ camera, left and right wheel-drive and industrial personal computer；Pruning module includes agricultural machinery arm and end shrub and hedge trimmer, and agricultural machinery arm, for equipping end shrub and hedge trimmer, and guide tip shrub and hedge trimmer realize beta pruning movement；End shrub and hedge trimmer, for realizing beta pruning movement；Industrial personal computer includes extracting beta pruning point coordinate information for analyzing processing grape branch image information, planning mechanical arm track, and issue each joint motions instruction；Binocular stereo vision module includes two industrial cameras, image pick-up card and industrial personal computer, and two industrial cameras acquire vine image information, and image data is sent to industrial personal computer by image pick-up card and carries out image recognition and processing.The present invention can reduce labor intensity, improve working efficiency.
Description
The present invention relates to field in intelligent robotics, especially vine beta pruning robot device.
The relationship of trimming adjustable growth and result viny, to increase vintage.Annual wine-growing needs
Carry out the repeatedly beta pruning trainings such as the winter cuts, renewal pruning, summer cut.In vine planting process, beta pruning link heavy workload, task
It is heavy.Currently, beta pruning link is still based on manual work, Mechanization Level is very low, and labor intensity is very big, needs more efficiently
Labour-saving equipment rescues orchard worker from heavy hand labour.
Computer vision is to study outer aobvious or Macrovision function the Science and Technology of computer simulation biology, is to be related to people
The cross discipline of the multiple fields such as work intelligence, Neurobiology, computer science, image procossing and pattern-recognition.Computer
Vision technique is phase early 1970s in two application technologies acquirement Zhuo Youcheng of remote sensing image and biomedical picture analyzing
Start rise after effect, theoretical basis is the Marr theory of vision computing gradually formed the middle and later periods seventies.
Computer vision technique has lot of advantages compared with human vision, so that computer vision technique is led in agricultural
The application in domain has broad prospects.Research and application of the computer vision technique on agricultural machinery, started from for 20th century 70 years
For latter stage, main research is concentrated utilizes computer vision technique to agricultural product (such as apple, peach, perfume (or spice) with agricultural product sorting machine
Any of several broadleaf plants, tomato, cucumber etc.) Quality Detection and classification etc. are carried out, some have achieved practicability achievement.
In order to overcome large labor intensity, the ineffective deficiency of existing artificial grape beta pruning operation, the present invention is provided
The vine beta pruning robot device for reducing labor intensity, improving working efficiency.
The technical solution adopted by the present invention to solve the technical problems is:
Vine beta pruning robot device, the vine beta pruning robot device include self-navigation module, beta pruning mould
Block and binocular stereo vision module；
The self-navigation module includes creeper truck, PTZ camera, left and right wheel-drive and industrial personal computer；The holder
Video camera is mounted on creeper truck, and the PTZ camera is for obtaining vineyard road conditions image information；Industrial personal computer is for analyzing
Road conditions image information is handled, navigational parameter is obtained and issues navigational parameter to left and right wheel-drive；The left and right wheel-drive root
The walking mechanism of creeper truck is driven according to navigational parameter；
The pruning module includes agricultural machinery arm, end shrub and hedge trimmer, joint driver and industrial personal computer.Agricultural machinery
Arm, for equipping end shrub and hedge trimmer, and guide tip shrub and hedge trimmer realize beta pruning movement；End shrub and hedge trimmer, it is dynamic for realizing beta pruning
Make；Industrial personal computer handles grape branch image information for analyzing, extraction beta pruning point coordinate information, planning mechanical arm track, and under
Movement instruction is sent out to each joint control；Joint driver drives agricultural machinery arm and end shrub and hedge trimmer complete according to movement instruction
It is acted at beta pruning；
The binocular stereo vision module includes two industrial cameras, image pick-up card and industrial personal computer, two industry
Video camera acquires vine image information, and image data is sent to industrial personal computer by image pick-up card and carries out image recognition and place
Reason.
Further, the agricultural machinery arm using 5DOF design, including from bottom to top sequentially connected waist joint,
Shoulder joint, large arm, elbow joint, forearm and wrist joint, the wrist joint are connect with the end shrub and hedge trimmer.
Further, the end shrub and hedge trimmer plane mechanism secondary using two bar three, the secondary plane machine of two bar three
The connecting rod and cutter of structure link.
Further, the binocular stereo vision device further includes lighting device, for providing the illumination of beta pruning operation
Environment；The lighting device is formed using four high-frequency florescent lamps and DC power supplier.
The binocular stereo vision device further includes bracket, and the bracket is mounted on the creeper truck, two works
Industry video camera and four high-frequency florescent lamps are rack-mount, and the bracket is designed using tube-in-tube structure, adjustably adjust branch
Frame height.
Vine beta pruning robot device's control program uses the distributed control mode of upper and lower computer.Host computer
Using industrial personal computer as master controller, it is mainly responsible for device management and image procossing, kinematic calculation, trajectory planning etc..Under
Position machine use multiple driver, be mainly responsible for each joint pitching and rotation, the trimming of end shrub and hedge trimmer, left and right sidesing driving wheel row
It walks.Host computer is mutually communicated by CAN bus with slave computer.Technical concept of the invention are as follows: can using computer vision technique
To improve productivity, the automation and intelligence of agricultural production and management are realized.The present invention is known using computer vision technique
Other vine limb, the characteristic information of limb and bud is extracted by image procossing, determines beta pruning point with this, is further real
The existing automatic beta pruning operation of robot lays the foundation.Beta pruning operation is carried out by computer vision methods, with high-efficient, operation is soft
Property, cost savings the advantages that, be realize grape beta pruning industry automation, intelligentized effective ways.
Beneficial effects of the present invention are mainly manifested in: can be substituted existing artificial, semi-artificial beta pruning operation mode, be realized
Vine beta pruning operation is automated, working efficiency is greatly improved, reduces labor intensity, saves labor cost.
Fig. 1 is the vine pruning device structural schematic diagram of the embodiment of the present invention；
Fig. 2 is vine beta pruning robot end's shrub and hedge trimmer structural schematic diagram of the embodiment of the present invention；
Fig. 3 is the live beta pruning operation schematic diagram based on machine vision of the embodiment of the present invention；
Fig. 4 is vine beta pruning robot device's overall control figure of the embodiment of the present invention；
Fig. 5 is the vine beta pruning work operations process figure of the embodiment of the present invention.
Wherein, 1, self-navigation module；2, pruning module；3, binocular stereo vision device；4, creeper truck；5, holder images
Machine；6, industrial personal computer；7, preceding bull wheel；8, waist joint；9, shoulder joint；10, large arm；11, elbow joint；12, forearm；13, wrist joint；14
End shrub and hedge trimmer；15, CCD industrial camera；16, high-frequency florescent lamp；17, bracket；18, connecting rod；19, cutter；20, it cuts
Piece.
The invention will be further described for lower mask body combination attached drawing.
Referring to Fig.1, vine beta pruning robot device, including self-navigation module 1, pruning module 2, binocular stereo vision
Device 3.
Self-navigation module 1 is based on creeper truck 4, including PTZ camera 5, left and right wheel-drive (do not show, position in figure
In in 4 car body of creeper truck), industrial personal computer 6.Self-navigation module 1 uses preceding 7 motor driven of bull wheel, the servo-actuated movement side of remaining wheel
Formula.The PTZ camera 5 for being mounted on 4 front of creeper truck obtains road conditions image information in real time；Industrial personal computer 6 is for analyzing processing road
Condition image information obtains navigational parameter and issues navigational parameter to left and right wheel-drive；Left and right driver control left and right sidesing driving wheel
Speed come realize creeper truck advance, control the speed difference of left and right sidesing driving wheel realize creeper truck turn to.
Pruning module 2 includes waist joint 8, shoulder joint 9, large arm 10, elbow joint 11, forearm 12, wrist joint 13, end pruning
Cut 14, joint driver (not showing in figure, be located at each intra-articular), industrial personal computer 6.According to beta pruning job requirements, the choosing of agricultural machinery arm
It is designed with 5DOF, i.e., the rotation of waist joint 8,9 pitching of shoulder joint, 11 pitching of elbow joint, 13 pitching of wrist joint, wrist joint 13 revolve
Turn.When agricultural machinery arm receives beta pruning point three-dimensional coordinate information, industrial personal computer carries out trajectory planning and calculates each joint motions ginseng
Number sends movement instruction to each joint driver, drives agricultural machinery arm and the realization of end shrub and hedge trimmer 14 to cut by joint driver
Branch operation.The plane mechanism design secondary using two bar three of end shrub and hedge trimmer 14.Industrial personal computer 6 sends beta pruning signal to shrub and hedge trimmer and drives
Device (is not shown in the figure, be located on the shrub and hedge trimmer of end), controls solenoid valve by solid-state relay.Solenoid valve control connecting rod is mobile,
Connecting rod pushes cutter rotation, makes blade folding up and down, to realize that beta pruning acts.
Binocular stereo vision device 3 include two CCD industrial cameras 15, twin-channel image pick-up card (do not show in figure,
In industrial personal computer 6), four high-frequency florescent lamps 16 and industrial personal computer 6.Channel Image capture card is inserted into the PCI slot of industrial personal computer, and two
CCD industrial camera 15 is connected with image pick-up card.Two CCD industrial cameras 15 and four high-frequency florescent lamps 16 are installed
On bracket 17, bracket 17 is designed using tube-in-tube structure, is needed to complete bracket 17 according to scene and is gone up and down, maximum lifting distance reaches
500mm.Bracket is fixed in the middle part of creeper truck.
The image-pickup method of above-mentioned binocular stereo vision device is as follows:
It is uniform in order to guarantee to acquire ambient lighting, four equidistant array distributions of high-frequency florescent lamp are imaged in CCD industry
Machine periphery.Binocular CCD industrial camera is symmetrically installed centered on bracket, forms stereoscopic vision.Binocular stereo vision device is first
First at different angles, two-way Image Acquisition is carried out.Then, acquired image is transmitted to industrial personal computer by image pick-up card,
Industrial personal computer carries out the analysis and processing of image according to Morphology Algorithm, extracts the three-dimensional coordinate information of beta pruning point.Then, industrial personal computer
Mechanical arm track is planned according to three-dimensional coordinate information is supervised, and issues each joint motions instruction.Finally, joint driver drives agriculture
Industry mechanical arm and end shrub and hedge trimmer complete beta pruning operation.
The technical solution of the embodiment of the present invention also provides the pruning method under greenhouse, and the method includes following steps
It is rapid:
1, start self-navigation module, creeper truck is moved along leading line.
2, it opens binocular camera and carries out real-time image acquisition.After searching vine, creeper truck stop motion.
3, industrial personal computer is analyzed and processed acquired image.Image is successively carried out image preprocessing, image enhancement,
The processing steps such as image segmentation, image recognition.Target is identified according to the difference of vine limb and trunk morphologically, is analyzed
And determine beta pruning point.
4, industrial personal computer calculates three-dimensional coordinate information of the beta pruning point under world coordinates.Believed according to beta pruning point three-dimensional coordinate
Breath, industrial personal computer carry out Motion trajectory to agricultural machinery arm, calculate each joint optimal movement parameter.
5, industrial personal computer sends control instruction to each joint driver, and each joint driver is realized to agricultural machinery arm and end
Beta pruning operation is completed in the control of shrub and hedge trimmer.
6, step 3~5 are repeated, after all beta pruning points in the binocular stereo vision device visual field complete beta pruning, repeat to walk
Rapid 1.
Vine beta pruning robot device and pruning method under greenhouse of the present invention, pass through computer vision skill
Art, robot technology etc. realize self-navigation and automatic beta pruning, have many advantages, such as that high-efficient, operation is flexible, cost savings, are
Realize vine beta pruning operation automation, intelligentized effective ways.
Claims (7)
1. vine beta pruning robot device, it is characterised in that: the vine beta pruning robot device includes self-navigation mould
Block, pruning module and binocular stereo vision module.
2. self-navigation module described in includes creeper truck, PTZ camera, left and right wheel-drive and industrial personal computer；The holder is taken the photograph
Camera is mounted on creeper truck, and the PTZ camera is for obtaining vineyard road conditions image information；Industrial personal computer is at analysis
Line of reasoning condition image information obtains navigational parameter and issues navigational parameter to left and right wheel-drive；The left and right wheel-drive according to
Navigational parameter drives the walking mechanism of creeper truck.
3. pruning module described in includes agricultural machinery arm, end shrub and hedge trimmer, joint driver and industrial personal computer, agricultural machinery arm,
For equipping end shrub and hedge trimmer, and guide tip shrub and hedge trimmer realize beta pruning movement；End shrub and hedge trimmer, for realizing beta pruning movement；
Industrial personal computer extracts beta pruning point coordinate information, plans mechanical arm track, and lower shipping for analyzing processing grape branch image information
It is dynamic to instruct to each joint control；Joint driver drives agricultural machinery arm and the completion of end shrub and hedge trimmer to cut according to movement instruction
Branch movement；The binocular stereo vision module includes two industrial cameras, image pick-up card and industrial personal computer, and two industry are taken the photograph
Camera acquires vine image information, and image data is sent to industrial personal computer by image pick-up card and carries out image recognition and place
Reason.
4. vine beta pruning robot device as described in claim 1, it is characterised in that: the agricultural machinery arm uses 5
Freedom degree design, including sequentially connected waist joint, shoulder joint, large arm, elbow joint, forearm and wrist joint from bottom to top, it is described
Wrist joint is connect with the end shrub and hedge trimmer.
5. vine beta pruning robot device as claimed in claim 1 or 2, it is characterised in that: the end shrub and hedge trimmer are adopted
With the secondary plane mechanism of two bar three, the connecting rod and cutter of the secondary plane mechanism of two bar three link.
6. vine beta pruning robot device as claimed in claim 1 or 2, it is characterised in that: the binocular stereo vision
Device further includes lighting device, for providing the light environment of beta pruning operation；The lighting device uses four high frequency fluorescence
Lamp and DC power supplier composition.
7. vine beta pruning robot device as claimed in claim 1 or 2, it is characterised in that: the binocular stereo vision
Device further includes bracket, and the bracket is mounted on the creeper truck, two industrial cameras and four high-frequency florescent lamp peaces
It on bracket, is designed using tube-in-tube structure, adjustably adjusts support height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711438661.2A CN109964675A (en) | 2017-12-27 | 2017-12-27 | Vine beta pruning robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711438661.2A CN109964675A (en) | 2017-12-27 | 2017-12-27 | Vine beta pruning robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109964675A true CN109964675A (en) | 2019-07-05 |
Family
ID=67072373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711438661.2A Pending CN109964675A (en) | 2017-12-27 | 2017-12-27 | Vine beta pruning robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109964675A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110679316A (en) * | 2019-11-08 | 2020-01-14 | 浙江工业大学 | Grape winter pruning system suitable for T type cultivation mode |
| CN110679317A (en) * | 2019-11-08 | 2020-01-14 | 浙江工业大学 | Grape winter pruning car |
| CN111950391A (en) * | 2020-07-23 | 2020-11-17 | 中国农业科学院农业信息研究所 | Fruit tree bud recognition method and device |
| CN112841014A (en) * | 2021-02-25 | 2021-05-28 | 深圳市五谷网络科技有限公司 | Dragon fruit planting vehicle |
-
2017
- 2017-12-27 CN CN201711438661.2A patent/CN109964675A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110679316A (en) * | 2019-11-08 | 2020-01-14 | 浙江工业大学 | Grape winter pruning system suitable for T type cultivation mode |
| CN110679317A (en) * | 2019-11-08 | 2020-01-14 | 浙江工业大学 | Grape winter pruning car |
| CN110679316B (en) * | 2019-11-08 | 2024-03-26 | 浙江工业大学 | Grape winter pruning system suitable for T-shaped cultivation mode |
| CN110679317B (en) * | 2019-11-08 | 2024-04-02 | 浙江工业大学 | Grape pruning car in winter |
| CN111950391A (en) * | 2020-07-23 | 2020-11-17 | 中国农业科学院农业信息研究所 | Fruit tree bud recognition method and device |
| CN112841014A (en) * | 2021-02-25 | 2021-05-28 | 深圳市五谷网络科技有限公司 | Dragon fruit planting vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202818996U (en) | Grapevine pruning robot system | |
| CN102657037A (en) | Pruning robot system for grape vines | |
| CN109964675A (en) | Vine beta pruning robot device | |
| Feng et al. | Design and test of tomatoes harvesting robot | |
| Kitamura et al. | Recognition and cutting system of sweet pepper for picking robot in greenhouse horticulture | |
| CN106017477B (en) | Visual navigation system of orchard robot | |
| Dewi et al. | Visual servoing design and control for agriculture robot; a review | |
| CN102613041B (en) | Grape bagging robot system based on machine vision | |
| CN102696411B (en) | Grape winter-pruning operation device based on machine vision | |
| CN107094429A (en) | A kind of multiaxis fruit picking robot | |
| CN101356877A (en) | Cucumber picking robot system and picking method in greenhouse | |
| CN111418349B (en) | Intelligent fruit picking robot and method for realizing fruit picking | |
| CN102239756B (en) | Intelligent farming robot in greenhouse | |
| Ji et al. | Research on key technology of truss tomato harvesting robot in greenhouse | |
| CN104584779A (en) | Apple maturity automatic detection and picking robot based on binocular vision | |
| CN109247153A (en) | A kind of fertile mandarin orange branch pruning intelligent robot based on Internet of Things | |
| CN108064560A (en) | The automatic picker system of fruit and method based on Kinect depth of field cameras | |
| CN204498792U (en) | A kind of ripe apples degree based on binocular vision detects and picking robot automatically | |
| CN209527208U (en) | A kind of strawberry picking machine | |
| CN216058333U (en) | Intelligent movement fruit picking robot | |
| CN115316129B (en) | Self-adaptive bionic picking device based on binocular vision recognition and fruit stringing picking method | |
| CN108093868A (en) | A kind of picker system based on embedded intelligence control and binocular machine vision | |
| CN107509399A (en) | A kind of green intelligent weed-eradicating robot | |
| CN202819064U (en) | Grape winter pruning operation device based on machine vision | |
| CN207269304U (en) | A kind of green intelligent weed-eradicating robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190705 |