CN111179348A - Cotton picking method and device based on color recognition function - Google Patents

Cotton picking method and device based on color recognition function Download PDF

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Publication number
CN111179348A
CN111179348A CN201911404361.1A CN201911404361A CN111179348A CN 111179348 A CN111179348 A CN 111179348A CN 201911404361 A CN201911404361 A CN 201911404361A CN 111179348 A CN111179348 A CN 111179348A
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cotton
coordinate system
definition camera
servo motor
picking
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代振维
刘彤
陈凯乐
唐秀永
谢超
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Hunan Mechanical and Electrical Polytechnic
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • A01D46/08—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of cotton
    • A01D46/085—Control or measuring arrangements specially adapted for cotton harvesters
    • 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
    • A01D46/08—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of cotton
    • A01D46/14—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of cotton using lint-from-plant pickers
    • 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
    • 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
    • G06T2207/10024—Color image
    • 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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  • Computer Vision & Pattern Recognition (AREA)
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Abstract

The invention relates to a manipulator cotton picking harvester based on a color identification function, which accurately positions the specific position of white cotton by utilizing a color identification sensor, a high-definition camera and a positioning magnetic sheet; the central controller drives a servo motor through cotton position data fed back, and the servo motor drives a gear to drive and control the mechanical arm picking device to move up and down, horizontally and forwards and backwards; the manipulator picking device is close to cotton and then uses a servo motor at the front part to drive a cotton collecting steel wire brush to collect the cotton, and the collected cotton is conveyed to a cotton collecting box through an output air pipe by a negative pressure fan. The invention has the advantages of color identification and accurate positioning, and the mechanical picking device can effectively distinguish cotton and impurities, improve the quality of the cotton in the harvesting period and have higher market value.

Description

Cotton picking method and device based on color recognition function
Technical Field
The invention relates to a cotton picking method and device based on a color recognition function, and belongs to the technical field of mechanical cotton harvesting.
Background
Cotton is one of the main economic crops in China, and the cotton is mainly harvested by manual picking or mechanical harvesting. Can be better when artifical is picked distinguish cotton and impurity, the quality of effectual assurance cotton, but efficiency is very low, is difficult to satisfy the demand in large-scale cotton field. The mechanical harvesting mainly comprises two types, one type is a small-sized hand-held cotton picker, for example, a hand-held cotton picker with application number 201310400359.3, cotton is harvested by rotating a cotton picking pointer, although the quality of the cotton can be effectively guaranteed, the efficiency is low; the other type is a large cotton harvester at home and abroad, such as spindle cotton pickers of John Diel (DEER) company and Keys (CASE) company in the United states, the mechanical harvesting mode is a general harvesting type, cotton and impurities are collected together during harvesting, and the required cotton is obtained through post-treatment bleaching, although the harvesting efficiency is very high, the quality of the cotton is difficult to guarantee. Consequently, have provided a manipulator picking cotton picker based on colour recognition function to above-mentioned problem, carry out the accurate location of cotton through servo motor and colour recognition sensor, cotton is picked to rethread manipulator picking device fixed point, can effectual differentiation cotton and impurity to by a wide margin improvement work efficiency.
Disclosure of Invention
The present invention is directed to a cotton picking method and apparatus based on color recognition function to solve the above problems.
In order to achieve the purpose, the invention adopts the following technical scheme that the method comprises the following steps:
step 1, observing an object from a left point and a right point, acquiring images under a left visual angle and a right visual angle, and according to the matching relation of pixels between the images;
step 2, calculating the offset between pixels by using a triangulation principle to acquire three-dimensional information of cotton, and acquiring depth-of-field information of the cotton;
and 3, calculating the actual distance between the cotton and the camera to obtain the three-dimensional size of the cotton and the actual distance between the two points.
The positioning identification high-definition camera positions cotton, and O-xyz is set as a world coordinate system and is superposed with a left high-definition camera coordinate system, and the original points are the same and consistent in direction; left high-definition camera image coordinate system is OL-XLYLZLThe focal length of the left high-definition camera is fL(ii) a Coordinate system of right high-definition camera is oR-xRyRzRAnd the image coordinate system of the right high-definition camera is OR-XRYRZRAnd the focal length is fRIn which S isL、SRThe coordinate transformation relation matrixes are respectively a left high-definition camera image coordinate system, a right high-definition camera image coordinate system and a world coordinate system. The model transformed by the coordinate system has:
Figure BDA0002348236980000011
wherein t isx、ty、tzIs a world coordinate system O-xyz and a right high-definition camera coordinate system OR-xRyRzRA rotation matrix of r1-r9Is a translation vector between the origins;
world coordinate system O-xyz and right camera coordinate system OR-xRyRzRMatrix M for the relationship betweenLRExpressed as:
Figure BDA0002348236980000012
wherein R and T are respectively a world coordinate system O-xyz and a right high-definition camera coordinate system OR-xRyRzRThe rotation matrix in between and the translation vector between the origin. The mathematical expression relationship between the image coordinate systems of the left high-definition camera and the right high-definition camera is as follows:
Figure BDA0002348236980000021
the spatial point three-dimensional coordinates can then be expressed as:
Figure BDA0002348236980000022
therefore, the left and right high-definition camera focal length f is knownL，fRAnd the left and right image coordinates of the cotton space point P, and the world coordinate system coordinates of the cotton space point P and the space coordinates of the cotton can be obtained only by obtaining the translation vector of the rotation matrix R.
The color standard value of the training result of the color recognition sensor is (R, G, B), and the coordinate of a certain point pixel is (R, G, B);
setting a threshold value HSV, and if the sum of the phase difference of each phase is less than HSV, considering that the point is matched with a standard value;
the conditions of the pixel points in the range of the counter are as follows: if (abs (R-R) + abs (G-G) + abs (B-B) < ═ HSV), the vision system must recognize and track the position and attitude of cotton on a calibrated basis; the cotton color characteristic recognition of the object is realized through an OpenCV Python interface, and HSV threshold segmentation is carried out through extracting the color information of the cotton to obtain the three-dimensional coordinate value of the cotton.
The cotton harvesting machine comprises cotton harvesting devices symmetrically arranged on the left side and the right side of a carrier, wherein the left cotton harvesting device and the right cotton harvesting device are connected with a machine body through a connecting frame, and the distance between the left cotton harvesting device and the right cotton harvesting device is slightly greater than the maximum diameter of cotton branches; the cotton harvesting device is connected with a negative pressure fan through a connecting air pipe, and the negative pressure fan is driven by a diesel engine; the negative pressure fan is connected with the output air pipe, the air outlet of the output air pipe is arranged at the top of the cotton collecting box, the front part of the diesel engine is provided with a driving control room, and the inside of the driving control room is provided with a central controller.
The left cotton harvesting device and the right cotton harvesting device comprise device bodies, four groups of high-definition cameras which are symmetrical up and down and left and right are mounted on the device bodies, the high-definition cameras are connected with the color identification sensors, 13 groups of positioning magnetic sheets are mounted on the device bodies, and 9 groups of mechanical arm picking devices are mounted on the device bodies.
The manipulator picking device comprises a servo motor A, the servo motor is connected with a gear B through the gear A, the gear is connected with a connecting rod, a gear C is arranged on the connecting rod, the gear C is driven by the servo motor B and meshed with the gear D, the gear D is connected with a cotton collector shell, the servo motor C is arranged on the front portion of the cotton collector shell, the servo motor C is connected with a cotton collecting steel wire brush, a cotton baffle is arranged on the rear portion of the cotton collector shell, an input air pipe is arranged on the lower portion of the cotton collector shell, a transmission lead screw is arranged on the rear portion of the connecting rod, and the transmission lead screw is connected with the servo motor D.
The manipulator picking device input air pipe is connected with the connecting air pipe through the harvesting device.
The left cotton harvesting device and the right cotton harvesting device can be controlled by a hydraulic mechanism through a connecting frame to realize the adjustment of the upper position and the lower position and the direct distance between the two devices.
The cotton picking machine has the advantages that the cotton is accurately positioned through the servo motor and the color recognition sensor, and then the cotton is picked at fixed points through the manipulator picking device, so that the cotton and impurities can be effectively distinguished, and the working efficiency is greatly improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the left cotton harvesting apparatus of the present invention.
Fig. 3 is a schematic structural diagram of the mechanical arm picking device of the invention.
FIG. 4 is a schematic view of the cotton binocular stereo vision positioning model of the present invention.
In the figure: 1. a left cotton harvesting device; 101. a high-definition camera; 102. a left cotton harvesting device body; 103. positioning the magnetic sheet; 104. a manipulator picking device; 105. a color recognition sensor; 1041. a servo motor A; 1042. a gear A; 1043. a gear B; 1044. a servo motor D; 1045. a transmission screw rod; 1046. a connecting rod; 1047. a servo motor B; 1048. a gear D; 1049. a cotton baffle plate; 10410. a servo motor C; 10411. a cotton collecting steel wire brush; 10412. a cotton collector shell; 10413. inputting an air pipe; 10414. a gear C; 2. a right cotton harvesting device; 3. a central control room; 4. a driving control room; 5. a diesel engine; 6. a negative pressure fan; 7. an output air pipe; 8. a cotton collecting box; 9. connecting an air pipe; 10. and a connecting frame.
Detailed Description
The preferred embodiment of the present invention is further described below with reference to fig. 1 to 4, wherein the present invention comprises the following steps:
step 1, observing an object from a left point and a right point, acquiring images under a left visual angle and a right visual angle, and according to the matching relation of pixels between the images;
step 2, calculating the offset between pixels by using a triangulation principle to acquire three-dimensional information of cotton, and acquiring depth-of-field information of the cotton;
and 3, calculating the actual distance between the cotton and the camera to obtain the three-dimensional size of the cotton and the actual distance between the two points.
The positioning identification high-definition camera positions cotton, and O-xyz is set as a world coordinate system and is superposed with a left high-definition camera coordinate system, and the original points are the same and consistent in direction; left high-definition camera image coordinate system is OL-XLYLZLThe focal length of the left high-definition camera is fL(ii) a Coordinate system of right high-definition camera is oR-xRyRzRAnd the image coordinate system of the right high-definition camera is OR-XRYRZRAnd the focal length is fRIn which S isL、SRCoordinate transformation relation matrixes of a left high-definition camera image coordinate system, a right high-definition camera image coordinate system and a world coordinate system are respectively set; the model transformed by the coordinate system has:
Figure BDA0002348236980000031
wherein t isx、ty、tzIs a world coordinate system O-xyz and a right high-definition camera coordinate system OR-xRyRzRA rotation matrix of r1-r9Is a translation vector between the origins; world coordinate system O-xyz and right camera coordinate system OR-xRyRzRMatrix M for the relationship betweenLRExpressed as:
Figure BDA0002348236980000032
wherein R and T are respectively a world coordinate system O-xyz and a right high-definition camera coordinate system OR-xRyRzRThe rotation matrix in between and the translation vector between the origin. The mathematical expression relationship between the image coordinate systems of the left high-definition camera and the right high-definition camera is as follows:
Figure BDA0002348236980000033
the spatial point three-dimensional coordinates can then be expressed as:
Figure BDA0002348236980000041
therefore, the left and right high-definition camera focal length f is knownL，fRAnd the left and right image coordinates of the cotton space point P, and the world coordinate system coordinates of the cotton space point P and the space coordinates of the cotton can be obtained only by obtaining the translation vector of the rotation matrix R.
The color standard value of the training result of the color recognition sensor is (R, G, B), and the coordinate of a certain point pixel is (R, G, B);
setting a threshold value HSV, and if the sum of the phase difference of each phase is less than HSV, considering that the point is matched with a standard value;
the conditions of the pixel points in the range of the counter are as follows: if (abs (R-R) + abs (G-G) + abs (B-B) < ═ HSV),
the vision system must recognize and track the position and posture of cotton on the basis of calibration; the cotton color characteristic recognition of the object is realized through an OpenCV Python interface, and HSV threshold segmentation is carried out through extracting the color information of the cotton to obtain the three-dimensional coordinate value of the cotton.
The cotton harvesting machine comprises cotton harvesting devices symmetrically arranged on the left side and the right side of a carrier, wherein the left cotton harvesting device and the right cotton harvesting device are connected with a machine body through a connecting frame, and the distance between the left cotton harvesting device and the right cotton harvesting device is slightly greater than the maximum diameter of cotton branches; the cotton harvesting device is connected with a negative pressure fan through a connecting air pipe, and the negative pressure fan is driven by a diesel engine; the negative pressure fan is connected with the output air pipe, the air outlet of the output air pipe is arranged at the top of the cotton collecting box, the front part of the diesel engine is provided with a driving control room, and the inside of the driving control room is provided with a central controller.
The left cotton harvesting device and the right cotton harvesting device comprise device bodies, four groups of high-definition cameras which are symmetrical up and down and left and right are mounted on the device bodies, the high-definition cameras are connected with the color identification sensors, 13 groups of positioning magnetic sheets are mounted on the device bodies, and 9 groups of mechanical arm picking devices are mounted on the device bodies.
The manipulator picking device comprises a servo motor A, the servo motor is connected with a gear B through the gear A, the gear is connected with a connecting rod, a gear C is arranged on the connecting rod, the gear C is driven by the servo motor B and meshed with the gear D, the gear D is connected with a cotton collector shell, the servo motor C is arranged on the front portion of the cotton collector shell, the servo motor C is connected with a cotton collecting steel wire brush, a cotton baffle is arranged on the rear portion of the cotton collector shell, an input air pipe is arranged on the lower portion of the cotton collector shell, a transmission lead screw is arranged on the rear portion of the connecting rod, and the transmission lead screw is connected with the servo motor D.
The manipulator picking device input air pipe is connected with the connecting air pipe through the harvesting device.
The left cotton harvesting device and the right cotton harvesting device can be controlled by a hydraulic mechanism through a connecting frame to realize the adjustment of the upper position and the lower position and the direct distance between the two devices.

Claims (8)

1. A cotton picking method based on a color recognition function is characterized by comprising the following steps:
step 1, observing an object from a left point and a right point, acquiring images under a left visual angle and a right visual angle, and according to the matching relation of pixels between the images;
step 2, calculating the offset between pixels by using a triangulation principle to acquire three-dimensional information of cotton, and acquiring depth-of-field information of the cotton;
and 3, calculating the actual distance between the cotton and the camera to obtain the three-dimensional size of the cotton and the actual distance between the two points.
2. The cotton harvesting method based on color recognition function of claim 1, characterized in that:
the positioning identification high-definition camera positions cotton, and O-xyz is set as a world coordinate system and is superposed with a left high-definition camera coordinate system, and the original points are the same and consistent in direction; left high-definition camera image coordinate system is OL-XLYLZLThe focal length of the left high-definition camera is fL(ii) a Coordinate system of right high-definition camera is oR-xRyRzRAnd the image coordinate system of the right high-definition camera is OR-XRYRZRAnd the focal length is fRIn which S isL、SRCoordinate transformation relation matrixes of a left high-definition camera image coordinate system, a right high-definition camera image coordinate system and a world coordinate system are respectively set;
the model transformed by the coordinate system has:
Figure FDA0002348236970000011
wherein t isx、ty、tzIs a world coordinate system O-xyz and a right high-definition camera coordinate system OR-xRyRzRA rotation matrix of r1-r9Is a translation vector between the origins;
world coordinate system O-xyz and right camera coordinate system OR-xRyRzRMatrix M for the relationship betweenLRExpressed as:
Figure FDA0002348236970000012
MLR＝[R/T]
wherein R and T are respectively a world coordinate system O-xyz and a right high-definition camera coordinate system OR-xRyRzRA translation vector between the rotation matrix and the origin; the mathematical expression relationship between the image coordinate systems of the left high-definition camera and the right high-definition camera is as follows:
Figure FDA0002348236970000013
the spatial point three-dimensional coordinates may be expressed as:
Figure FDA0002348236970000014
therefore, the left and right high-definition camera focal length f is knownL，fRAnd the coordinates of the left image and the right image of the cotton space point P can be obtained by only obtaining the translation vector of the rotation matrix R, so that the world coordinate system coordinates of the cotton space point P and the space coordinates of the cotton can be obtained.
3. The cotton harvesting method based on color recognition function of claim 1, characterized in that: the color standard value of the training result of the color recognition sensor is (R, G, B), and the coordinate of a certain point pixel is (R, G, B);
setting a threshold value HSV, and if the sum of the phase difference of each phase is less than HSV, considering that the point is matched with a standard value;
the conditions of the pixel points in the range of the counter are as follows: if (abs (R-R) + abs (G-G) + abs (B-B) < ═ HSV),
the vision system must recognize and track the position and posture of cotton on the basis of calibration; the cotton color characteristic recognition of the object is realized through an OpenCV Python interface, and HSV threshold segmentation is carried out through extracting the color information of the cotton to obtain the three-dimensional coordinate value of the cotton.
4. A cotton picking device based on color recognition function is characterized in that,
the cotton harvesting machine comprises cotton harvesting devices symmetrically arranged on the left side and the right side of a carrier, wherein the left cotton harvesting device and the right cotton harvesting device are connected with a machine body through a connecting frame, and the distance between the left cotton harvesting device and the right cotton harvesting device is slightly larger than the maximum diameter of cotton branches; the cotton harvesting device is connected with a negative pressure fan through a connecting air pipe, and the negative pressure fan is driven by a diesel engine; the negative pressure fan is connected with the output air pipe, the air outlet of the output air pipe is arranged at the top of the cotton collecting box, the front part of the diesel engine is provided with a driving control room, and the inside of the driving control room is provided with a central controller.
5. The device for picking cotton based on the color recognition function according to claim 4, wherein the left cotton harvesting device and the right cotton harvesting device comprise device bodies, four groups of high-definition cameras which are symmetrical up and down and left and right are mounted on the device bodies, the high-definition cameras are connected with the color recognition sensors, 13 groups of positioning magnetic sheets are mounted on the device bodies, the 13 groups of positioning magnetic sheets are embedded on the surfaces of the device bodies, the mounting intervals of the 13 groups of positioning magnetic sheets are equal, 9 groups of manipulator picking devices are mounted on the device bodies, the 9 groups of manipulator picking devices are connected and fixed inside the device bodies through shell ball hinges, and the mounting intervals of the 9 groups of manipulator picking devices are equal.
6. The cotton picking apparatus with color recognition function as claimed in claim 4, wherein: the manipulator picking device comprises a servo motor A, the servo motor is connected with a gear B through the gear A, the gear is connected with a connecting rod, a gear C is arranged on the connecting rod, the gear C is driven by the servo motor B and meshed with the gear D, the gear D is connected with a cotton collector shell, the servo motor C is arranged on the front portion of the cotton collector shell, the servo motor C is connected with a cotton collecting steel wire brush, a cotton baffle is arranged on the rear portion of the cotton collector shell, an input air pipe is arranged on the lower portion of the cotton collector shell, a transmission lead screw is arranged on the rear portion of the connecting rod, and the transmission lead screw is connected with the servo motor D.
7. The cotton picking device based on color recognition function as claimed in claim 6, wherein: the manipulator picking device input air pipe is connected with the connecting air pipe through the harvesting device.
8. The cotton picking apparatus with color recognition function as claimed in claim 4, wherein: the left cotton harvesting device and the right cotton harvesting device can be controlled by a hydraulic mechanism through a connecting frame to realize the adjustment of the upper position and the lower position and the direct distance between the two devices.
CN201911404361.1A 2019-12-31 2019-12-31 Cotton picking method and device based on color recognition function Pending CN111179348A (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201278660Y (en) * 2008-10-17 2009-07-29 新疆大学 Self-propelled boll-picking cotton harvester
CN102986372A (en) * 2012-09-28 2013-03-27 浙江工业大学 Picking object recognizing, classifying and space positioning device and picking object recognizing, classifying and space positioning method based on panoramic stereoscopic vision
US20130291507A1 (en) * 2012-05-01 2013-11-07 Douglas T. Williams Cotton Harvester Accessory and Harvesting Method
WO2014059379A1 (en) * 2012-10-11 2014-04-17 Cnh America Llc Tractor on top cotton harvester with sightline to picker unit below the tractor
CN103797977A (en) * 2013-12-11 2014-05-21 塔里木大学 High-speed high-voltage pulse air-sweeping type red date harvesting machine
CN208317452U (en) * 2017-12-13 2019-01-04 新疆三牛现代农业有限公司 A kind of novel energy-conserving automatic cotton picker
CN109255813A (en) * 2018-09-06 2019-01-22 大连理工大学 A kind of hand-held object pose real-time detection method towards man-machine collaboration
CN109938841A (en) * 2019-04-11 2019-06-28 哈尔滨理工大学 A kind of surgical instrument navigation system based on the fusion of more mesh camera coordinates

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201278660Y (en) * 2008-10-17 2009-07-29 新疆大学 Self-propelled boll-picking cotton harvester
US20130291507A1 (en) * 2012-05-01 2013-11-07 Douglas T. Williams Cotton Harvester Accessory and Harvesting Method
CN102986372A (en) * 2012-09-28 2013-03-27 浙江工业大学 Picking object recognizing, classifying and space positioning device and picking object recognizing, classifying and space positioning method based on panoramic stereoscopic vision
WO2014059379A1 (en) * 2012-10-11 2014-04-17 Cnh America Llc Tractor on top cotton harvester with sightline to picker unit below the tractor
CN103797977A (en) * 2013-12-11 2014-05-21 塔里木大学 High-speed high-voltage pulse air-sweeping type red date harvesting machine
CN208317452U (en) * 2017-12-13 2019-01-04 新疆三牛现代农业有限公司 A kind of novel energy-conserving automatic cotton picker
CN109255813A (en) * 2018-09-06 2019-01-22 大连理工大学 A kind of hand-held object pose real-time detection method towards man-machine collaboration
CN109938841A (en) * 2019-04-11 2019-06-28 哈尔滨理工大学 A kind of surgical instrument navigation system based on the fusion of more mesh camera coordinates

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