CN111011003A - Strawberry picking system - Google Patents
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- CN111011003A CN111011003A CN201911102988.1A CN201911102988A CN111011003A CN 111011003 A CN111011003 A CN 111011003A CN 201911102988 A CN201911102988 A CN 201911102988A CN 111011003 A CN111011003 A CN 111011003A
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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
- A01D46/30—Robotic devices for individually picking crops
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a strawberry picking system, which comprises: the device comprises image acquisition equipment, a controller, a power supply, a ranging sensor and a strawberry picking device, wherein the power supply is used for providing electric energy required by the image acquisition equipment, the controller, the ranging sensor and the strawberry picking device; the image acquisition equipment is electrically connected with the controller, acquires image information of an acquisition area, transmits the image information to the controller for processing, and obtains the three-dimensional space position of the mature strawberry after the image information is processed by the controller; the distance measuring sensor is electrically connected with the controller and is used for detecting the distance between the strawberry picking device and the strawberries; the controller is electrically connected with the strawberry picking device to drive the strawberry picking device to pick strawberries. The strawberry picking machine effectively solves the problem of labor force deficiency, reduces the production cost of strawberries, and effectively improves the picking efficiency of strawberries.
Description
Technical Field
The invention belongs to the technical field of strawberry picking, and particularly relates to a strawberry picking system.
Background
Strawberry is perennial evergreen herb, belongs to Rosaceae, and has rich fruit nutritive value. The workload of strawberry picking accounts for 60% of the strawberry planting production, the strawberries need to be picked as soon as possible after being mature, the mature strawberries are young and tender and easy to damage, and the strawberries cannot be directly contacted with hands in the whole picking process.
At present, the traditional manual direct hand picking is still used as a main part for strawberry picking, and few people use auxiliary picking equipment for picking. When the hands are used for picking the fruits directly, people need to stoop and squat frequently, and the bodies are seriously injured after long-time work. The working principle of the auxiliary picking equipment is that the clamp holder is manually aligned to the mature strawberries and cut off to be clamped, and then the strawberries are transported to a handheld position through a small-sized transmission device, so that the mature strawberries are picked. When the auxiliary picking equipment is used for picking, picking personnel need to hold the picking equipment for a long time, so that severe burden is imposed on hands, hands need to be frequently changed or the hands need to be rested for relieving the aching pain of the hands, and due to the limitation of the working principle, the picking efficiency can be seriously influenced.
Therefore, how to provide a strawberry picking system with high working efficiency is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of this, the invention provides a strawberry picking system, which effectively solves the problem of insufficient labor force, reduces the production cost of strawberries, and effectively improves the picking efficiency of strawberries.
In order to achieve the purpose, the invention adopts the following technical scheme:
a strawberry picking system comprising: image acquisition equipment, a controller, a power supply, a distance measuring sensor and a strawberry picking device, wherein,
the power supply is used for providing electric energy required by the image acquisition equipment, the controller, the distance measuring sensor and the strawberry picking device;
the image acquisition equipment is electrically connected with the controller, acquires image information of an acquisition area, transmits the image information to the controller for processing, and obtains the three-dimensional space position of the mature strawberry after the image information is processed by the controller;
the distance measuring sensor is electrically connected with the controller and is used for detecting the distance between the strawberry picking device and the strawberries;
the controller is electrically connected with the strawberry picking device to drive the strawberry picking device to pick strawberries.
Preferably, the mobile terminal further comprises a wireless communication module, and the controller is connected with the mobile terminal through the wireless communication module. The wireless communication module is used, so that real-time remote running state monitoring can be performed, a user can conveniently confirm the running state of the machine, remote data updating can also be performed, and updating and upgrading of a built-in program of the machine are facilitated.
Preferably, the method for acquiring the three-dimensional space position of the mature strawberry by processing the image information of the acquisition area by the controller comprises the following steps:
s1: converting the acquired image into an HSV image, and segmenting the strawberry shape based on a color image threshold segmentation algorithm to acquire a strawberry contour;
s2: inputting the strawberry contour into a neural network, judging the goodness of fit of the strawberries, eliminating the interference of other objects in the image of the acquisition area, and realizing the identification of the mature strawberries;
s3: and (3) fitting the minimum circumscribed circle by using a minEnclosingcircle, solving a central coordinate, and combining diffuse reflection infrared distance measurement to realize acquisition of the three-dimensional space position of the mature strawberry.
The acquired image is converted into an HSV image, and the strawberry shape is segmented through a color image threshold segmentation algorithm, so that the strawberry contour is acquired; inputting the outline shape into a neural network, eliminating the interference of other objects in the image of the acquisition area, and realizing the high-efficiency identification of the mature strawberry; the method is simple and easy to implement, and therefore the strawberries can be picked quickly and accurately by the strawberry picking device conveniently, and the working efficiency is improved.
Preferably, the strawberry picking device comprises an elevated guide rail, a mechanical arm mechanism, a collecting mechanism and a clamping shear, wherein the top end of the mechanical arm mechanism is movably arranged on the elevated guide rail, and the bottom end of the mechanical arm mechanism is connected with the clamping shear; the top end of the collecting mechanism is movably arranged on the elevated guide rail and is positioned on one side of the mechanical arm mechanism. The mechanical arm mechanism and the collecting mechanism can move on the elevated guide rail, so that the strawberries can be picked and collected automatically.
Preferably, the elevated guide rail comprises a support, a longitudinal guide rail and a transverse screw rod, the longitudinal guide rail is arranged on two sides of the top end of the support, a sliding wheel is connected to the longitudinal guide rail in a sliding mode, one end of the sliding wheel is connected with a driving motor in a transmission mode, and the other end of the sliding wheel is connected with the transverse screw rod. The transverse guide rod can move stably along the longitudinal guide rail under the action of the driving motor.
Preferably, the mechanical arm mechanism comprises a first linear stepping motor and a mechanical arm, the first linear stepping motor is installed on the transverse screw in a transmission mode, and the bottom end of the first linear stepping motor is connected with the mechanical arm. Under the drive of the first linear stepping motor, the mechanical arm can stably move along the transverse screw rod.
Preferably, the mechanical arm comprises a plurality of connecting rods and a digital steering engine, the connecting rods are connected through rotating shafts, and the output end of the digital steering engine is in transmission connection with the rotating shafts. Under the effect of digital steering wheel, can realize the flexible of arm to the convenience is got the clamp of strawberry.
Preferably, the mechanical arm with the junction of pressing from both sides the scissors installs digital steering wheel, conveniently adjusts the position of pressing from both sides the scissors to improve the accuracy that the strawberry clamp was got.
Preferably, press from both sides and cut including shell, clamp and cut motor, left arm lock and right arm lock, press from both sides and cut the motor and install inside the shell, left side arm lock with right arm lock one end is connected with the gear, and the clamp splice is installed to the other end bottom, and the scissors is installed at the top, and two gear meshes mutually, a gear pass through the axis of rotation with the shell rotates to be connected, another gear with the output transmission that the motor was cut to the clamp is connected. Under the effect of the clamping and shearing motor, the left clamping arm and the right clamping arm are opened and closed simultaneously, so that the picking action and the placing action of the strawberries are conveniently completed.
Preferably, the collecting mechanism comprises a second linear stepping motor, a collecting rod and a collecting disc, the second linear stepping motor is installed on the transverse screw in a transmission mode, the bottom end of the second linear stepping motor is connected with the collecting rod, and the collecting disc is detachably installed on the collecting rod. Under the effect of second linear stepping motor, the collecting tray can be followed horizontal screw rod steady movement to the convenience is to the collection of strawberry.
The invention has the beneficial effects that:
according to the invention, the images are processed by the controller, the acquisition of the three-dimensional space position of the mature strawberries is realized, the method is simple and easy to implement, so that the strawberries can be picked quickly and accurately by the strawberry picking device, the mechanical arm mechanism can move along the transverse screw rod, and the transverse screw rod can slide along the longitudinal guide rail, so that the position of the mechanical arm mechanism can be adjusted conveniently, the automatic picking of the strawberries is realized conveniently, the problem of insufficient labor force is effectively solved, the production cost of the strawberries is reduced, and the picking.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic structural diagram of the mechanical arm mechanism of the invention.
Fig. 3 is a schematic structural diagram of the collecting mechanism of the invention.
Fig. 4 is a schematic structural view of the clamp scissors of the invention.
Wherein, in the figure,
1-overhead guide rails; 11-a scaffold; 12-a longitudinal guide rail; 13-a transverse screw; 14-a sliding wheel; 15-driving the motor; 2-a mechanical arm mechanism; 21-a first linear stepper motor; 22-a robotic arm; 221-connecting rod; 222-a digital steering engine; 3-a collecting mechanism; 31-a second linear stepper motor; 32-a collection rod; 33-a collection tray; 4-clamping and shearing; 41-a housing; 42-a left clamp arm; 43-right clamp arm; 44-gear; 45-clamping blocks; 46-scissors; 5-image acquisition equipment; 6-distance measuring sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a strawberry picking system, comprising: image acquisition equipment, a controller, a power supply, a distance measuring sensor and a strawberry picking device, wherein,
the power supply is used for providing electric energy required by the image acquisition equipment, the controller, the distance measurement sensor and the strawberry picking device;
the image acquisition equipment is electrically connected with the controller, acquires image information of an acquisition area, transmits the image information to the controller for processing, and obtains the three-dimensional space position of the mature strawberry after the image information is processed by the controller;
the distance measuring sensor is electrically connected with the controller and is used for detecting the distance between the strawberry picking device and the strawberries;
the controller is electrically connected with the strawberry picking device to drive the strawberry picking device to pick strawberries.
The invention also comprises a wireless communication module, and the controller is connected with the mobile terminal through the wireless communication module. The wireless communication module is used, so that real-time remote running state monitoring can be performed, a user can conveniently confirm the running state of the machine, remote data updating can also be performed, and updating and upgrading of a built-in program of the machine are facilitated.
The method for acquiring the three-dimensional space position of the mature strawberry by processing the image information of the acquisition area through the controller comprises the following steps:
s1: and converting the acquired image into an HSV image, segmenting the strawberry shape based on a color image threshold segmentation algorithm, wherein the processed red mature strawberry is white, and other objects are black, so that the strawberry outline is acquired.
S2: inputting the strawberry contour into a neural network, outputting the matching accuracy of the strawberry shape, and when the matching accuracy is more than 80%, indicating that the strawberries in the visual field are hardly shielded by branches and leaves or other strawberries, determining the strawberries as mature strawberries which can be picked, eliminating the interference of other objects in the images of the acquisition area, and realizing the identification of the mature strawberries.
S3: and (3) fitting the minimum circumscribed circle by using a minEnclosingcircle, solving a central coordinate, and combining diffuse reflection infrared distance measurement to realize acquisition of the three-dimensional space position of the mature strawberry.
The image acquired in step S1 is an RGB image, and the method of converting the acquired image into an HSV image includes:
calculation of hue:
and (3) calculating the saturation:
and (3) brightness calculation:
V＝max(3)
in the above three formulas, H is hue, S is saturation, V is brightness, r, g, and b are coordinates of red, green, and blue, respectively, max is the maximum value of r, g, and b, and min is the minimum value of r, g, and b.
The color image threshold segmentation algorithm in step S1 is:
T＝lowerb(I_H)≤src(I_H)<upperb(I_H)∧lowerb(I_S)≤src(I_S)<upperb(I_S)∧lowerb(I_V)≤src(I_V)<upperb(I_V)； (4)
the algorithm T is whether the image element is within a predetermined threshold HSV threshold, and if T is 1, the image element is within the predetermined threshold, and if T is 0, the image element is not within the predetermined threshold; lowerb is the lower limit of the image, upperb is the upper limit of the image, I is the original image, I _ H, I _ S, I _ V are the H value, S value, V value of the image, respectively, and g (I) is the output image.
In step S2, the identification of the mature strawberry is realized through the BWN-CNN convolutional neural network, and the method includes:
let W ≈ α B, where B ∈ { -1, +1}cxwxh，α∈R+Is a scaling factor;
where W is the tensor, α is the scaling factor, B is the binary filter tensor, R is the binary filter tensor+A domain space of α;
by minimizing the objective function, the optimal solution is obtained:
J(B,α)＝||W-αB||2(6)
α*,B*＝arg minJ(B,α) (7)
wherein J (B, α) is the minimization objective function, B*For the optimal solution of the binary filter tensor, α*Is the optimal solution of the scaling factor;
with J (B, α) minimum, α and B have the optimal values:
B*＝sign(W) (8)
wherein c, w and h are the number of input channels, width and height respectively.
The acquired image is converted into an HSV image, and the strawberry shape is segmented through a color image threshold segmentation algorithm, so that the strawberry contour is acquired; inputting the outline shape into a neural network, eliminating the interference of other objects in the image of the acquisition area, and realizing the high-efficiency identification of the mature strawberry; the method is simple and easy to implement, and therefore strawberry picking equipment can pick strawberries quickly and accurately, and work efficiency is improved.
The strawberry picking device comprises an elevated guide rail 1, a mechanical arm mechanism 2, a collecting mechanism 3 and a clamp shear 4, wherein the top end of the mechanical arm mechanism 2 is movably arranged on the elevated guide rail 1, and the bottom end of the mechanical arm mechanism is connected with the clamp shear 4; the top end of the collecting mechanism 3 is movably arranged on the elevated guide rail 1 and is positioned at one side of the mechanical arm mechanism 2. The mechanical arm mechanism 2 and the collecting mechanism 3 can move on the elevated guide rail 1, so that strawberries can be picked and collected automatically.
The elevated guide rail 1 comprises a bracket 11, a longitudinal guide rail 12 and a transverse screw 13, wherein the longitudinal guide rail 12 is arranged on two sides of the top end of the bracket 11, the longitudinal guide rail 12 is connected with a sliding wheel 14 in a sliding manner, one end of the sliding wheel 14 is connected with a driving motor 15 in a transmission manner, and the other end of the sliding wheel is connected with the transverse screw 13. The transverse guide 14 can be smoothly moved along the longitudinal guide rail 12 by the driving motor 15.
The mechanical arm mechanism 2 comprises a first linear stepping motor 21 and a mechanical arm 22, the first linear stepping motor 21 is installed on the transverse screw 13 in a transmission mode, and the bottom end of the first linear stepping motor 21 is connected with the mechanical arm 22. The robot arm 22 can be moved smoothly along the transverse screw 13 by the first linear stepping motor 21.
The mechanical arm 22 comprises a plurality of connecting rods 221 and a digital steering engine 222, the connecting rods 221 are connected through rotating shafts, and the output end of the digital steering engine 222 is in transmission connection with the rotating shafts. Under the action of the digital steering engine 222, the mechanical arm 22 can be stretched, so that the strawberries can be conveniently clamped.
In another embodiment, a digital steering engine 222 is installed at the joint of the mechanical arm 22 and the clamp shears 4, so that the position of the clamp shears 4 can be conveniently adjusted, and the precision of clamping the strawberries can be improved.
The clamp shears 4 comprises a shell 41, a clamp shear motor, a left clamping arm 42 and a right clamping arm 43, the clamp shear motor is installed inside the shell 41, one end of the left clamping arm 42 and one end of the right clamping arm 43 are connected with a gear 44, the bottom of the other end of the left clamping arm 42 is provided with a clamping block 45, the top of the other end of the left clamping arm and the right clamping arm is provided with a shear 46, the two gears 44 are meshed with each other, one gear 44 is rotatably connected with the shell 41 through a rotating shaft, and the. Under the effect of the clamping and shearing motor, the left clamping arm 42 and the right clamping arm 43 are opened and closed simultaneously, so that the picking action and the placing action of the strawberries are conveniently completed. In addition, can adjust the length of left arm lock 42 and right arm lock 43 and inlay the scissors of different shape size according to user's demand, all install the clamp splice in left arm lock 42 and right arm lock 43 bottom, can realize that the strawberry is cut off and clip the branch of being connected with the strawberry, prevent dropping of strawberry.
In another embodiment, the image capturing device 5 employs a high-definition camera, the distance measuring sensor 6 employs a diffuse reflection photoelectric sensor, and both the high-definition camera and the diffuse reflection photoelectric sensor are installed right in front of the housing 41, so as to conveniently obtain image information and the distance between the pinch scissors and the mature strawberries.
The collecting mechanism 3 comprises a second linear stepping motor 31, a collecting rod 32 and a collecting disc 33, the second linear stepping motor 31 is installed on the transverse screw rod 13 in a transmission mode, the bottom end of the second linear stepping motor 31 is connected with the collecting rod 32, and the collecting disc 33 is detachably installed on the collecting rod 32. The collecting tray 33 is provided with a plurality of, and top-down installs in proper order on collecting rod 32, and accessible buckle mode or quick detach bolt fastening make things convenient for the dismouting on collecting rod 32. Under the action of the second linear stepping motor 31, the collecting tray 33 can move smoothly along the transverse screw 13, thereby facilitating the collection of strawberries.
According to the invention, the images are processed by the controller, the acquisition of the three-dimensional space position of the mature strawberries is realized, the method is simple and easy to implement, so that the strawberries can be picked quickly and accurately by the strawberry picking device, the mechanical arm mechanism can move along the transverse screw rod, and the transverse screw rod can slide along the longitudinal guide rail, so that the position of the mechanical arm mechanism can be adjusted conveniently, the automatic picking of the strawberries is realized conveniently, the problem of insufficient labor force is solved effectively, the production cost of the strawberries is reduced, the picking efficiency of the strawberries is improved effectively. The invention realizes the aerial picking of strawberries in the shed, can realize the picking of strawberries under the planting environment of low-ridge cultivation or ridge-erecting cultivation, and has wide application range and strong adaptability.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A strawberry picking system, comprising: image acquisition equipment, a controller, a power supply, a distance measuring sensor and a strawberry picking device, wherein,
the power supply is used for providing electric energy required by the image acquisition equipment, the controller, the distance measuring sensor and the strawberry picking device;
the image acquisition equipment is electrically connected with the controller, acquires image information of an acquisition area, transmits the image information to the controller for processing, and obtains the three-dimensional space position of the mature strawberry after the image information is processed by the controller;
the distance measuring sensor is electrically connected with the controller and is used for detecting the distance between the strawberry picking device and the strawberries;
the controller is electrically connected with the strawberry picking device to drive the strawberry picking device to pick strawberries.
2. The strawberry picking system according to claim 1, further comprising a wireless communication module, wherein the controller is connected with a mobile terminal through the wireless communication module.
3. A strawberry picking system according to claim 2, wherein the controller processes the image information of the acquisition area to obtain the three-dimensional position of the ripe strawberry, and the method comprises the following steps:
s1: converting the acquired image into an HSV image, and segmenting the strawberry shape based on a color image threshold segmentation algorithm to acquire a strawberry contour;
s2: inputting the strawberry contour into a neural network, judging the goodness of fit of the strawberries, eliminating the interference of other objects in the image of the acquisition area, and realizing the identification of the mature strawberries;
s3: and (3) fitting the minimum circumscribed circle by using a minEnclosingcircle, solving a central coordinate, and combining diffuse reflection infrared distance measurement to realize acquisition of the three-dimensional space position of the mature strawberry.
4. The strawberry picking system according to claim 1, wherein the strawberry picking device comprises an overhead guide rail, a mechanical arm mechanism, a collecting mechanism and a clamp shear, wherein the mechanical arm mechanism is movably mounted on the overhead guide rail at the top end and is connected with the clamp shear at the bottom end; the top end of the collecting mechanism is movably arranged on the elevated guide rail and is positioned on one side of the mechanical arm mechanism.
5. The strawberry picking system according to claim 4, wherein the elevated rail comprises a bracket, a longitudinal rail and a transverse screw, the longitudinal rail is mounted on two sides of the top end of the bracket, a sliding wheel is connected on the longitudinal rail in a sliding manner, one end of the sliding wheel is in transmission connection with a driving motor, and the other end of the sliding wheel is connected with the transverse screw.
6. A strawberry picking system according to claim 5, wherein the robotic arm mechanism comprises a first linear stepper motor and a robotic arm, the first linear stepper motor is drivingly mounted on the transverse screw, and the bottom end of the first linear stepper motor is connected to the robotic arm.
7. The strawberry picking system according to claim 6, wherein the mechanical arm comprises a plurality of connecting rods and a digital steering engine, the connecting rods are connected through rotating shafts, and an output end of the digital steering engine is in transmission connection with the rotating shafts.
8. A strawberry picking system according to claim 7, wherein a digital steering engine is mounted at the connection of the mechanical arm and the clamp shears.
9. The strawberry picking system according to claim 8, wherein the clamping shears comprise a housing, a clamping shear motor, a left clamping arm and a right clamping arm, the clamping shear motor is installed inside the housing, one end of the left clamping arm and one end of the right clamping arm are connected with a gear, the bottom of the other end of the left clamping arm and the other end of the right clamping arm are provided with a clamping block, the top of the left clamping arm and the other end of the right clamping arm are provided with the shears, the two gears are meshed with each other, one gear is rotatably connected with the housing through a rotating shaft, and the other gear is in transmission.
10. A strawberry picking system according to claim 5 or 8, wherein the collecting mechanism comprises a second linear stepper motor, a collecting rod and a collecting tray, the second linear stepper motor is mounted on the transverse screw in a transmission manner, the bottom end of the second linear stepper motor is connected with the collecting rod, and the collecting tray is detachably mounted on the collecting rod.
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| CN112715077A (en) * | 2020-12-31 | 2021-04-30 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN112956333A (en) * | 2021-04-21 | 2021-06-15 | 山东省果树研究所 | Potted strawberry harvesting device |
| CN113179761A (en) * | 2021-05-24 | 2021-07-30 | 广东工业大学 | High-altitude nondestructive fruit picking equipment |
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| CN112544235A (en) * | 2020-12-04 | 2021-03-26 | 江苏省农业科学院 | Intelligent fruit picking robot |
| CN112715077A (en) * | 2020-12-31 | 2021-04-30 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN112715077B (en) * | 2020-12-31 | 2022-03-25 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN112956333A (en) * | 2021-04-21 | 2021-06-15 | 山东省果树研究所 | Potted strawberry harvesting device |
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