CN115250744B - Multi-angle strawberry picking system and method - Google Patents
Multi-angle strawberry picking system and method Download PDFInfo
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- CN115250744B CN115250744B CN202210908811.6A CN202210908811A CN115250744B CN 115250744 B CN115250744 B CN 115250744B CN 202210908811 A CN202210908811 A CN 202210908811A CN 115250744 B CN115250744 B CN 115250744B
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/68—Food, e.g. fruit or vegetables
Abstract
The invention discloses a multi-angle strawberry picking system and method, which are characterized in that the initial picking position is adjusted, the top point of the width edge of a rectangular frame externally connected with a strawberry on an image is calculated when a Roll angle is calculated, then the slope of the strawberry is calculated according to the top point, and finally the included angle of the strawberry relative to a camera and a mechanical claw is calculated; detecting an external 2D frame of the strawberry in the image through an image processing unit, calculating a strawberry center point, and then calculating position information of a pixel point from a camera through a depth image of the depth camera; through the strawberry position and angle information, the movement and rotation of the mechanical claw can be controlled, and multi-angle strawberry picking is realized.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a multi-angle strawberry picking system and method.
Background
The labor intensity of fruit and vegetable fruit harvesting is great, automatic harvesting is a problem with great difficulty, students in various places develop various harvesting robots, however, the number of strawberry fruit-harvesting type automatic products is small, not only is the strawberry demand expanded in recent years, but also the strawberry cluster is a relatively low plant of the grass family, the space for the automatic product to move is insufficient, meanwhile, the strawberry fruits are soft and juicy, easy to be injured, the appearance is unique, and if a mechanical claw type or a robot picking mode is adopted, the integrity of the strawberry fruits can be possibly damaged.
Currently, japanese scholars designed robots for picking strawberry stalks by directly grabbing them with highly flexible mechanical fingers, and chinese university of agriculture established bridge type rectangular manipulators for harvesting strawberries perpendicular to the ground. For strawberries cultivated in a greenhouse, as the furrows are narrower, strawberry fruits grow on inclined slope of the ridge slope, so that the narrow furrows require small mechanical volume, and the difficulty of automatically picking double-row ridge culture strawberries is high. Currently existing strawberry picking machines only pick strawberries suspended on a strawberry ridge, and cannot pick up strawberries growing on or in the strawberry plants effectively. Along with development and popularization of intelligent agriculture, the technology of the current mature technical scheme such as machine vision, intelligent control and the like can be gradually applied to the field of strawberry picking, and related equipment can also be applied to similar crop picking.
Disclosure of Invention
Aiming at the situation that the existing strawberry picking equipment only picks the strawberries hung on the strawberry ridge at present and can not effectively pick the strawberries growing on the strawberry plant or in the strawberry plant, the invention provides a multi-angle strawberry picking system and a multi-angle strawberry picking method.
The invention realizes the above purpose through the following technical scheme:
a multi-angle strawberry picking system comprises an image acquisition unit, an image processing unit, a mechanical moving unit and a tail end picking unit;
the image acquisition unit is composed of a depth camera, and the depth camera is used for outputting the distance from the position of the pixel point to the camera so as to calculate the distance between two pixel points;
the image processing unit calculates the strawberry position and angle information, and controls the mechanical moving unit and the tail end picking unit to realize multi-angle strawberry picking;
the mechanical moving unit is a mechanical arm, acquires a control instruction from the image processing unit, and moves and rotates the tail end to a specified position according to the position information from the center point of the strawberry to the camera and the included angle between the strawberry and the mechanical claw;
the tail end picking unit is a double-finger mechanical claw;
the image acquisition unit and the tail end picking unit are fixed on the mechanical moving unit, and the image acquisition unit and the tail end acquisition unit are kept horizontal.
Further, the image processing unit functions include: acquiring image data from an image acquisition unit;
integrating an image processing algorithm, and detecting an external 2D frame of the strawberry;
calculating a strawberry center pixel point according to the strawberry 2D frame, and calculating a strawberry long and wide pixel vertex;
combining the depth image data, and calculating to obtain the position information from the center point to the camera, wherein the real length and width of the strawberry are calculated;
and calculating the included angle between the strawberries and the tail end picking unit according to the length and the width.
Further, the end picking unit functions include: acquiring a control instruction from an image processing unit;
opening the tail end picking units to corresponding sizes according to the width of the strawberries;
after the mechanical movement unit moves to a designated position, the end picking unit is closed to grasp the strawberries.
The invention also provides a picking method of the multi-angle strawberry picking system, which comprises the following steps:
step 1, a mechanical movement unit moves to an initial position;
step 2, the image processing unit acquires current image data from the image acquisition unit and sequentially executes the following steps;
step 2-l, the image processing unit detects strawberry information in the image according to the image data;
step 2-2, the image processing unit determines the center point of each strawberry according to the strawberry information;
step 2-3, combining depth image data according to the result of step 2-2, and determining and obtaining the positions of the strawberries to the camera;
step 2-4, selecting the strawberry with the latest absolute distance for picking and determining according to the result of step 2-3;
step 2-5, determining an included angle between the strawberry and the camera/mechanical claw according to the strawberry information selected in step 2-4;
step 3, the strawberry width of the image processing unit is given to the tail end picking unit, and the tail end picking unit opens the picking claw to the picking width according to the width;
step 4, the strawberry position and the rotation angle of the image processing unit are sent to a mechanical movement unit, the movement unit moves to a designated position, and the terminal joint is rotated by a designated angle;
step 5, the picking unit draws in the claw and picks up the claw;
and 6, repeating the step 1 until the strawberry picking in the area is completed.
In a further scheme, in the step 1, the initial position determining method is as follows:
selecting two initial points in the vertical direction and the horizontal direction to carry out strawberry identification and picking control information calculation; avoiding Pitch and Yaw in the euler angle (Roll, pitch, yaw) requires only one variable to calculate the Roll angle.
In a further scheme, in the step 2, the strawberry position determining process is as follows:
and detecting an external 2D frame of the strawberry in the image through an image processing unit, calculating a strawberry center point according to the vertex of the strawberry 2D frame, and obtaining the position information of the pixel point from the camera through the depth image of the depth camera.
In a further scheme, in the step 2, the included angle between the strawberry and the camera/mechanical claw is determined as follows:
calculating the distance between two adjacent vertexes, dis (P1, P2), dis (P2, P3), and calculating to obtain vertexes P1, P2 of the strawberry width;
from P1 (x 1, y 1), P2 (x 2, y 2) calculates the slope k of the strawberry, i.e., tan θ: (y 2-y 1)/(x 2-x 1);
the image is horizontal relative to the camera, so the angle θ corresponding to the slope K is the angle of the strawberry relative to the camera and the gripper.
In the further scheme, in the step 3, the grabbing width is the width of the opened end picking unit, and 2 times of strawberry width is adopted for picking.
The invention has the beneficial effects that:
according to the multi-angle strawberry picking system and method, the initial picking position is adjusted, so that angles of the mechanical claw, the strawberry Pitch and the Yaw are avoided, and only a Roll angle is needed to be calculated; calculating the width edge vertex of the strawberry circumscribed rectangular frame on the image when the Roll angle is calculated, calculating to obtain the slope of the strawberry according to the vertex, and finally calculating to obtain the included angle of the strawberry relative to the camera and the mechanical claw; detecting an external 2D frame of the strawberry in the image through an image processing unit, calculating a strawberry center point, and then calculating position information of a pixel point from a camera through a depth image of the depth camera; through the strawberry position and angle information, the movement and rotation of the mechanical claw can be controlled, and multi-angle strawberry picking is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the practical drawings required in the embodiments or the prior art description, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of a system architecture of the present invention;
FIG. 2 is an assembled view of the apparatus of the present invention;
FIG. 3 is a schematic view of the center point and included angle of the strawberry according to the present invention;
FIG. 4 is a schematic diagram of spatial positions of a strawberry and a camera according to the present invention;
FIG. 5 is a schematic view of the picking initiation position of the present invention;
fig. 6 is a flow chart of the picking process of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
In any embodiment, as shown in fig. 1-3, the multi-angle strawberry picking system of the invention comprises an image acquisition unit, an image processing unit, a mechanical moving unit and a tail end picking unit;
the image acquisition unit is composed of a depth camera, and the depth camera is used for outputting the distance from the position of the pixel point to the camera so as to calculate the distance between two pixel points;
the image processing unit calculates the strawberry position and angle information, and controls the mechanical moving unit and the tail end picking unit to realize multi-angle strawberry picking;
the image processing unit functions include: acquiring image data from an image acquisition unit;
as shown in fig. 3, an image processing algorithm is integrated to detect an external 2D frame of the strawberry;
calculating a strawberry center pixel point according to the strawberry 2D frame, and calculating a strawberry long and wide pixel vertex;
combining the depth image data, and calculating to obtain the position information from the center point to the camera, wherein the real length and width of the strawberry are calculated;
calculating the included angle between the strawberries and the tail end picking units according to the length and the width;
the mechanical moving unit is a mechanical arm, acquires a control instruction from the image processing unit, and moves and rotates the tail end to a specified position according to the position information from the center point of the strawberry to the camera and the included angle between the strawberry and the mechanical claw;
the tail end picking unit is a double-finger mechanical claw;
as shown in fig. 2, the image acquisition unit and the end picking unit are fixed on a mechanical moving unit, and the image acquisition unit and the end picking unit are kept horizontal;
the end picking unit functions include: acquiring a control instruction from an image processing unit;
opening the tail end picking units to corresponding sizes according to the width of the strawberries;
after the mechanical movement unit moves to a designated position, the end picking unit is closed to grasp the strawberries.
In one embodiment, as shown in fig. 4-6, a picking method of the multi-angle strawberry picking system of the present invention comprises the steps of:
step 1, a mechanical movement unit moves to an initial position;
the initial position determining method is as follows: since strawberry is an object in three-dimensional space, the position of strawberry in space and euler angle (Roll, pitch, yaw) of end gripper and strawberry are required for grabbing the strawberry, as shown in fig. 4, the three angles cannot be calculated from the strawberry distance and width-height dimension alone, but Pitch and Yaw can be avoided when the camera is perpendicular to the strawberry plane, and only one variable of Roll angle needs to be calculated. The scheme selects two initial points in the vertical direction and the horizontal direction for strawberry identification and picking control information calculation, as shown in fig. 5.
Step 2, the image processing unit acquires current image data from the image acquisition unit and sequentially executes the following steps;
step 2-1, an image processing unit detects strawberry information in an image according to image data;
step 2-2, the image processing unit determines the center point of each strawberry according to the strawberry information;
step 2-3, combining depth image data according to the result of step 2-2, and determining and obtaining the positions of the strawberries to the camera;
the strawberry position determination process is as follows:
detecting an external 2D frame of the strawberry in the image through an image processing unit, calculating a strawberry center point according to the vertex of the 2D frame of the strawberry, and obtaining position information of a pixel point from a camera through a depth image of the depth camera;
step 2-4, selecting the strawberry with the latest absolute distance for picking and determining according to the result of step 2-3;
step 2-5, determining an included angle between the strawberry and the camera/mechanical claw according to the strawberry information selected in step 2-4;
the strawberry included angle is shown in fig. 3, and the calculation method is as follows:
calculating the distance between two adjacent vertexes, dis (P1, P2), dis (P2, P3), and calculating to obtain vertexes P1, P2 of the strawberry width;
from P1 (x 1, y 1), P2 (x 2, y 2) calculates the slope k of the strawberry, i.e., tan θ: (y 2-y 1)/(x 2-x 1);
the image is horizontal relative to the camera, so the angle θ corresponding to the slope K is the angle of the strawberry relative to the camera and the gripper.
Step 3, the strawberry width of the image processing unit is given to the tail end picking unit, and the tail end picking unit opens the picking claw to the picking width according to the width;
the grabbing width is the width of the open end picking unit, and 2 times of strawberry width is adopted for picking.
Step 4, the strawberry position and the rotation angle of the image processing unit are sent to a mechanical movement unit, the movement unit moves to a designated position, and the terminal joint is rotated by a designated angle;
step 5, the picking unit draws in the claw and picks up the claw;
and 6, repeating the step 1 until the strawberry picking in the area is completed.
According to the invention, through the strawberry position and angle information, the movement and rotation of the mechanical claw can be controlled, and multi-angle strawberry picking is realized.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further. Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (1)
1. The multi-angle strawberry picking system is characterized by comprising an image acquisition unit, an image processing unit, a mechanical moving unit and a tail end picking unit;
the image acquisition unit is composed of a depth camera, and the depth camera is used for outputting the distance from the position of the pixel point to the camera so as to calculate the distance between two pixel points;
the image processing unit calculates the strawberry position and angle information, and controls the mechanical moving unit and the tail end picking unit to realize multi-angle strawberry picking;
the mechanical moving unit is a mechanical arm, acquires a control instruction from the image processing unit, and moves and rotates the tail end to a specified position according to the position information from the center point of the strawberry to the camera and the included angle between the strawberry and the mechanical claw;
the tail end picking unit is a double-finger mechanical claw;
the image acquisition unit and the tail end picking unit are fixed on the mechanical moving unit, and the image acquisition unit and the tail end acquisition unit are kept horizontal;
the image processing unit functions include: acquiring image data from an image acquisition unit;
integrating an image processing algorithm, and detecting an external 2D frame of the strawberry;
calculating a strawberry center pixel point according to the strawberry 2D frame, and calculating a strawberry long and wide pixel vertex;
combining the depth image data, and calculating to obtain the position information from the center point to the camera, wherein the real length and width of the strawberry are calculated;
calculating the included angle between the strawberries and the tail end picking units according to the length and the width;
the end picking unit functions include: acquiring a control instruction from an image processing unit;
opening the tail end picking units to corresponding sizes according to the width of the strawberries;
when the mechanical movement unit moves to a designated position, the tail end picking unit is closed, and strawberries are grabbed;
the picking method of the multi-angle strawberry picking system comprises the following steps:
step 1, a mechanical movement unit moves to an initial position;
step 2, the image processing unit acquires current image data from the image acquisition unit and sequentially executes the following steps;
step 2-1, an image processing unit detects strawberry information in an image according to image data;
step 2-2, the image processing unit determines the center point of each strawberry according to the strawberry information;
step 2-3, combining depth image data according to the result of step 2-2, and determining and obtaining the positions of the strawberries to the camera;
step 2-4, selecting the strawberry with the latest absolute distance for picking and determining according to the result of step 2-3;
step 2-5, determining an included angle between the strawberry and the camera/mechanical claw according to the strawberry information selected in step 2-4;
step 3, the strawberry width of the image processing unit is given to the tail end picking unit, and the tail end picking unit opens the picking claw to the picking width according to the width;
step 4, the strawberry position and the rotation angle of the image processing unit are sent to a mechanical movement unit, the movement unit moves to a designated position, and the terminal joint is rotated by a designated angle;
step 5, the picking unit draws in the claw and picks up the claw;
step 6, repeating the step 1 until the strawberry in the area is picked;
in the step 1, the initial position determining method is as follows:
selecting two initial points in the vertical direction and the horizontal direction to carry out strawberry identification and picking control information calculation; avoiding Pitch and Yaw in Euler angle (Roll, pitch, yaw) requires only one variable of Roll angle to be calculated;
in the step 2, the strawberry position determining process is as follows:
detecting an external 2D frame of the strawberry in the image through an image processing unit, calculating a strawberry center point according to the vertex of the 2D frame of the strawberry, and obtaining position information of a pixel point from a camera through a depth image of the depth camera;
in the step 2, the included angle between the strawberry and the camera/mechanical claw is determined as follows:
calculating the distance between two adjacent vertexes, dis (P1, P2), dis (P2, P3), and calculating to obtain vertexes P1, P2 of the strawberry width;
from P1 (x 1, y 1), P2 (x 2, y 2) calculates the slope k of the strawberry, i.e., tan θ: (y 2-y 1)/(x 2-x 1);
the image is horizontal relative to the camera, so the included angle theta corresponding to the slope K is the included angle of the strawberry relative to the camera and the mechanical claw;
in the step 3, the grabbing width is the width of the opened end picking unit, and 2 times of strawberry width is adopted for picking.
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