CN117461474A - Method and equipment for automatically picking litchis - Google Patents

Method and equipment for automatically picking litchis Download PDF

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Publication number
CN117461474A
CN117461474A CN202311421192.9A CN202311421192A CN117461474A CN 117461474 A CN117461474 A CN 117461474A CN 202311421192 A CN202311421192 A CN 202311421192A CN 117461474 A CN117461474 A CN 117461474A
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China
Prior art keywords
litchi
picking
mature
tree
picking robot
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CN202311421192.9A
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Chinese (zh)
Inventor
王红军
邹伟锐
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South China Agricultural University
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South China Agricultural University
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Priority to CN202311421192.9A priority Critical patent/CN117461474A/en
Publication of CN117461474A publication Critical patent/CN117461474A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention discloses a method for automatically picking litchis, which comprises the following steps: cruising by an unmanned aerial vehicle to obtain an image of a litchi orchard; the unmanned aerial vehicle transmits the collected images to a server; the server utilizes the collected images, combines the visual identification technology to identify the mature litchi trees which can be picked, plans out corresponding paths and sends the paths to the picking robot; the picking robot reaches the position of the mature litchi tree according to the planned path, and the picking robot picks the litchi of the mature litchi tree. According to the method, the path planning is carried out on the litchi orchard, the picking robot automatically picks the litchi according to the planned path, so that the picking robot can quickly reach the picking position, and the picking efficiency is improved.

Description

Method and equipment for automatically picking litchis
Technical Field
The invention relates to the technical field of agricultural picking, in particular to an automatic litchi picking method and picking equipment.
Background
China is a large country for agricultural planting, litchi is one of four large fruits in south China, and litchi picking is a key link. Traditional litchi picking requires huge manpower and material resources. With the industrial development of China, the number of people engaged in agriculture is reduced, and simultaneously, the automation and the intellectualization of agriculture are also promoted. With the development of the technical fields of unmanned aerial vehicle, information technology, machine vision, mechanical arms and the like, the automatic picking machine can be applied to automatic picking of litchis.
At present, picking starts to popularize picking robots for litchi, for example, the patent application of the invention with the application publication number of CN 111837640A discloses a hillside orchard intelligent picking robot based on visual identification, the robot acquires on-site images in real time through a camera system and performs image identification, after crops to be picked are identified, a first crawler system and a second crawler system are controlled by an algorithm to automatically navigate to an optimal picking position, and obstacle avoidance can be realized in real time through an ultrasonic sensor in the process. And after the optimal picking position is reached, the motion processor continuously calls the first mechanical arm and/or the second mechanical arm to pick the crops to be picked. Above-mentioned hillside orchard intelligence picking robot based on visual identification can self-navigation and accurate picking, has reduced labour cost and the danger of picking work. However, the picking robot described above has the following drawbacks:
above-mentioned picking robot mainly carries out visual navigation through first camera and second camera, applicable small circle orchard, to the concatenation of continuous repeated image scanning and image of need carrying out in a large scale orchard, can't reach the position of picking fast to do not plan out reasonable picking route, influence picking efficiency.
Disclosure of Invention
The invention aims to overcome the problems and provide the method for automatically picking the litchis, which is characterized in that the litchis are automatically picked by the picking robot according to the planned path by planning the path of the litchi orchard, so that the picking robot can quickly reach the picking position, and the picking efficiency is improved.
Another object of the present invention is to provide a picking apparatus for implementing the above method of automatically picking litchi.
The aim of the invention is achieved by the following technical scheme:
a method for automatically picking litchis, comprising the following steps:
(1) Cruising by an unmanned aerial vehicle to obtain an image of a litchi orchard;
(2) The unmanned aerial vehicle transmits the collected images to a server;
(3) The server utilizes the collected images, combines the visual identification technology to identify the mature litchi trees which can be picked, plans out corresponding paths and sends the paths to the picking robot;
(4) The picking robot reaches the position of the mature litchi tree according to the planned path, and the picking robot picks the litchi of the mature litchi tree.
In a preferred scheme of the invention, in the step (3), the specific steps for identifying the mature litchi trees which can be picked are as follows: the litchi trees in the image are identified by a visual identification technology, and red pixel points Pi appear according to each litchi tree red And green pixel Pi green Judging whether the litchi tree is mature or not; when (when)When the litchi tree is mature, the formula of the formula +.>The litchi tree is not mature.
Preferably, in the step (3), the specific step of planning a corresponding path and sending the path to the picking robot is as follows: the position of the mature litchi tree, the position of the immature litchi tree and the position of the obstacle in the litchi orchard are identified through a visual identification technology, the shortest path is obtained through a path planning algorithm, and the path is sent to the picking robot.
Preferably, in the step (3), the litchi orchard is gridded, each grid is a square of 2m×2m, and the grids occupied by the litchi tree and the grids with the barrier area ratio exceeding half of the grid area are defined as non-passable black grids; the remaining grids are defined as passable white gridsThe method comprises the steps of carrying out a first treatment on the surface of the Mature litchi tree is a pickable litchi tree, and the position of the pickable litchi tree is defined as a target P n ，n>1, a step of; the position of the picking robot is defined as P start And then, obtaining the path of the picking robot by using a Dijkstra path planning algorithm.
Preferably, in the step (4), after the picking robot reaches the position of the mature litchi tree, the picking robot winds the mature litchi tree to perform circular motion, wherein the radius of the motion of the picking robot is larger than the distance from the center of the mature litchi tree to the farthest tree tip point, and in the motion process, the machine vision system of the picking robot recognizes the position of the mature litchi fruit; after the circular motion is completed, the picking robot moves according to the result of the recognition of the machine vision system, so that the ripe litchi fruits enter the moving range of the picking mechanical arm of the picking robot; the picking mechanical arm picks up the ripe litchi fruits.
Picking equipment for realizing the method for automatically picking litchis; comprises an unmanned plane, a server and a picking robot; wherein, the server with unmanned aerial vehicle and picking robot communication are connected.
Preferably, the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a camera arranged on the unmanned aerial vehicle body, wherein the camera is used for detecting the real-time state of the litchi orchard, collecting images of the litchi orchard and collecting independent images of crowns of each litchi tree.
Preferably, the server comprises a database, a mature litchi tree identification system, a path planning system and a wireless instruction control system; the database is used for storing images acquired by the cameras of the unmanned aerial vehicle; the mature litchi tree identification system is used for identifying mature litchi trees in the image; the path planning system is used for planning the path of the picking robot; the wireless instruction control system is used for sending behavior instructions to unmanned aerial vehicles, such as unmanned aerial vehicle cruises, flight paths and other behavior paths, and sending the paths to the picking robot to enable the picking robot to move according to the paths.
Preferably, the picking robot comprises a litchi collecting device, a driving system, a machine vision system and a picking mechanical arm; wherein the litchi collecting device is used for collecting litchi fruits picked by the picking mechanical arm; the driving system is used for driving the picking robot to walk on the ground; the machine vision system is used for acquiring the position of the ripe litchi fruit; the picking mechanical arm comprises an end effector for clamping and cutting off litchi fruit stalks and a six-axis mechanical arm for driving the end effector to move.
Preferably, the end effector comprises a clamping mechanism for clamping the litchi fruit stalks and a shearing mechanism for shearing the litchi fruit stalks. In the structure, the end effector is controlled to reach a picking point through the six-axis mechanical arm, then the litchi fruit stalks are clamped by the clamping mechanism, then the litchi fruit stalks above the clamping mechanism are sheared by the shearing mechanism, finally picked litchi fruits are conveyed to the position above the litchi collecting device, and the clamping mechanism is loosened, so that the picking of the litchi fruits is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the automatic litchi picking method, the unmanned aerial vehicle is used for cruising to obtain images of a litchi orchard, mature litchi trees are identified, corresponding paths are planned, and the picking robot picks the mature litchi trees one by one according to the positions of the mature litchi trees reached by the planned paths, so that the picking robot can reach the picking positions quickly, unnecessary paths are reduced, and the picking efficiency is improved.
2. The method for automatically picking litchis has important effects and significance in improving production efficiency, realizing unmanned farms and increasing income of farmers.
Drawings
Fig. 1 is a flow chart of a method for automatically picking litchis in the present invention.
Fig. 2 is a schematic view of a picking robot of the present invention found to be ripe litchi.
Fig. 3 is a schematic structural view of the picking robot in the present invention.
Fig. 4 is a schematic structural diagram of a six-axis mechanical arm in the present invention.
Detailed Description
In order that those skilled in the art will well understand the technical solutions of the present invention, the following describes the present invention further with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1, the embodiment discloses a method for automatically picking litchis, which comprises the following steps:
(1) Cruising by an unmanned aerial vehicle to obtain an image of a litchi orchard;
(2) The unmanned aerial vehicle transmits the collected images to a server;
(3) The server utilizes the collected images, combines the visual identification technology to identify the mature litchi trees which can be picked, plans out corresponding paths and sends the paths to the picking robot;
(4) The picking robot reaches the position of the mature litchi tree according to the planned path, and the picking robot picks the litchi of the mature litchi tree.
Referring to fig. 1, in step (3), the specific steps for identifying the mature litchi tree that can be picked are: the litchi trees in the image are identified by a visual identification technology, and red pixel points Pi appear according to each litchi tree red And green pixel Pi green Judging whether the litchi tree is mature or not; when (when)When the litchi tree is mature, the formula of the formula +.>The litchi tree is not mature.
Referring to fig. 1, in step (3), the specific steps of planning a corresponding path and sending the path to the picking robot are as follows: the position of each litchi tree (including the position of the mature litchi tree and the position of the immature litchi tree) in the image, the position of the obstacle in the litchi orchard and the topographic information of the orchard are identified through a visual identification technology, the shortest path is obtained through a path planning algorithm, and the path is sent to the picking robot.
Referring to fig. 1, in step (3), the litchi orchard gridEach grid is a square with the size of 2m multiplied by 2m, and the grid occupied by the litchi tree and the grid with the area of the barrier accounting for more than half of the area of the grid are defined as non-passable black grids; the remaining grids are defined as passable white grids; mature litchi tree is a pickable litchi tree, and the position of the pickable litchi tree is defined as a target P n ，n>1, a step of; the position of the picking robot is defined as P start And then, obtaining the path of the picking robot by using a Dijkstra path planning algorithm. The paths are located in a white grid. The path is the shortest path, target P n Is located on the path (i.e. P 1 、P 2 、P 3 、……、P n Sequentially on the path), picking robot from position P start Move to target P 1 Picking robot pair target P 1 Picking litchi fruits of litchi trees at the positions, and moving a picking machine to a target P after picking 2 Picking robot pair target P 2 Picking litchi fruits of the litchi trees at the positions, and repeating the steps until picking all the pickable litchi trees is completed.
Referring to fig. 1-2, in step (4), after the picking robot reaches the position of the mature litchi tree, the picking robot performs circular motion around the mature litchi tree, the radius of motion of the picking robot is larger than the distance from the center of the mature litchi tree to the farthest tree tip point, and in the motion process, the machine vision system 3 of the picking robot recognizes the position of the mature litchi fruit; after the circular motion is completed, the picking robot moves according to the result identified by the machine vision system 3, so that the ripe litchi fruits enter the movable range of the picking mechanical arm 4 of the picking robot; the picking mechanical arm 4 picks up the ripe litchi fruits.
Example 2
Referring to fig. 3-4, the present embodiment discloses a picking apparatus for implementing the above-described method of automatically picking litchi; comprises an unmanned plane, a server and a picking robot; wherein, the server with unmanned aerial vehicle and picking robot communication are connected.
Referring to fig. 3-4, the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a camera arranged on the unmanned aerial vehicle body, wherein the camera is used for detecting the real-time state of a litchi orchard, collecting images of the litchi orchard and collecting independent images of crowns of each litchi tree.
The camera takes a picture of each litchi tree individually, and the purpose of the camera is to prepare for image recognition for judging whether picking can be carried out later. When the orchard is detected by the camera, the detection period is adjusted along with the growth and development of litchi, such as 1-2 days in the flowering period and 1 day in the fruit period.
Referring to fig. 1 and 3-4, the server comprises a database, a mature litchi tree identification system, a path planning system and a wireless instruction control system; the database is used for storing images acquired by the cameras of the unmanned aerial vehicle; the mature litchi tree identification system is used for identifying mature litchi trees in the image; the path planning system is used for planning the path of the picking robot; the wireless instruction control system is used for sending behavior instructions to unmanned aerial vehicles, such as unmanned aerial vehicle cruises, flight paths and other behavior paths, and sending the paths to the picking robot to enable the picking robot to move according to the paths. The wireless instruction control system is also used for sending instructions to the unmanned aerial vehicle and transmitting pictures collected by the camera of the unmanned aerial vehicle back to the database in the server at high speed.
The database can also store images in a self-defined manner, and can classify images of one year of each litchi tree.
Referring to fig. 3-4, the picking robot comprises a litchi collecting device 1, a driving system 2, a machine vision system 3 and a picking mechanical arm 4; wherein, the litchi collecting device 1 is used for collecting litchi fruits picked by the picking mechanical arm 4; the driving system 2 is used for driving the picking robot to walk on the ground; the machine vision system 3 is used for acquiring the position of the ripe litchi fruits; the picking mechanical arm 4 comprises an end effector for clamping and cutting off litchi fruit stalks and a six-axis mechanical arm for driving the end effector to move.
Referring to fig. 3-4, the driving system 2 is a crawler-type mobile chassis driven by a motor, and the picking mechanical arm 4 and the machine vision system 3 are fixed on the crawler-type mobile chassis by bolts; the litchi collecting device 1 is fixed beside the crawler-type movable chassis through a detachable hook, and buffering materials such as sponge are placed at the bottom of the litchi collecting device 1. The crawler-type mobile chassis moves according to a path instruction planned by the server and a picking algorithm of the picking robot moves.
Referring to fig. 3-4, the machine vision system 3 is a binocular camera, and combines the machine vision technology to identify the position of the ripe litchi fruits and the relative distance between the ripe litchi fruits and the picking robot.
Referring to fig. 2-4, the picking algorithm is used for controlling the motion space behaviors of the driving system 2 and the picking mechanical arm 4 of the picking robot to dynamically pick litchis. After receiving the instruction of the server, the picking robot is controlled to move according to the path calculated by the server, then circular motion is carried out by taking the mature litchi tree as the center of a circle, the radius of the circular motion is r, the radius of the circular motion is larger than the distance from the center point of the mature litchi tree to the farthest tree tip point, the position of the mature litchi fruit and the relative position of the mature litchi fruit and the robot are found and obtained through the machine vision system 3 during the motion, the picking robot is controlled to move by the driving system 2, so that the mature litchi fruit enters the moving range of the picking mechanical arm 4 of the picking robot, the moving range is a sector area which can be picked by the end effector, and the radius of the sector is L in fig. 4; the joint angles of all rotating shafts of the six-axis mechanical arm are reversely calculated by using a DH meter, the function that the end effector reaches the picking point is realized, the litchi peduncles are firstly clamped by the end effector, then cut off, then a certain rotating shaft is rotated to reach the upper part of the litchi collecting device 1, and the clamping mechanism 4H of the end effector is loosened 1 Realizing the automation of the whole litchi picking.
Referring to fig. 3-4, the six-axis mechanical arm includes six rotating shafts, 4B respectively 0 、4B 1 、4B 2 、4B 3 、4B 4 、4B 5 . After the dimension reduction is carried out on the six-axis mechanical arm to form a four-axis mechanical arm, the rotation of the two rotating shafts is fixed, the rotation angles of the other four rotating shafts are reversely calculated by utilizing the DH meter, and the end effector is controlled to reach the picking point.
Referring to fig. 3-4, the end effector includes a gripping mechanism 4H for gripping the stalks of litchi fruit 1 Shearing mechanism 4H for shearing litchi fruit stalks 2 . In the structure, the six-axis mechanical arm is used for controlling the end effector to reach the picking point, and then the clamping mechanism 4H 1 Clamping litchi fruit stalks, and then controlling a shearing mechanism 4H 2 Clipping and clamping mechanism 4H 1 The picked litchi fruits are finally delivered to the upper part of the litchi collecting device 1, and the clamping mechanism 4H is released 1 Picking of litchi fruits is completed.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. A method for automatically picking litchis, comprising the steps of:
(1) Cruising by an unmanned aerial vehicle to obtain an image of a litchi orchard;
(2) The unmanned aerial vehicle transmits the collected images to a server;
(3) The server utilizes the collected images, combines the visual identification technology to identify the mature litchi trees which can be picked, plans out corresponding paths and sends the paths to the picking robot;
(4) The picking robot reaches the position of the mature litchi tree according to the planned path, and the picking robot picks the litchi of the mature litchi tree.
2. The method of claim 1, wherein in step (3), the specific step of identifying the mature litchi tree that can be picked is: the litchi trees in the image are identified by a visual identification technology, and red pixel points Pi appear according to each litchi tree red And green pixel Pi green Judging whether the litchi tree is mature or not; when (when)When the litchi tree is mature, the formula of the formula +.>The litchi tree is not mature.
3. The method according to claim 2, wherein in the step (3), the specific step of planning the corresponding path to be sent to the picking robot is: the position of the mature litchi tree, the position of the immature litchi tree and the position of the obstacle in the litchi orchard are identified through a visual identification technology, the shortest path is obtained through a path planning algorithm, and the path is sent to the picking robot.
4. A method according to claim 3, wherein in step (3), the litchi orchard is gridded, each grid is a square of 2m x 2m, the grids occupied by the litchi tree and the grids with the barrier area ratio exceeding half the grid area are defined as non-passable black grids; the remaining grids are defined as passable white grids; mature litchi tree is a pickable litchi tree, and the position of the pickable litchi tree is defined as a target P n ，n>1, a step of; the position of the picking robot is defined as P start And then, obtaining the path of the picking robot by using a Dijkstra path planning algorithm.
5. The method of claim 1, wherein in step (4), after the picking robot reaches the position of the mature litchi tree, the picking robot performs circular motion around the mature litchi tree, the radius of motion of the picking robot is larger than the distance from the center of the mature litchi tree to the farthest tip point, and during the motion, the machine vision system of the picking robot recognizes the position of the mature litchi fruit; after the circular motion is completed, the picking robot moves according to the result of the recognition of the machine vision system, so that the ripe litchi fruits enter the moving range of the picking mechanical arm of the picking robot; the picking mechanical arm picks up the ripe litchi fruits.
6. A picking apparatus for carrying out the method of any one of claims 1-5, comprising an unmanned aerial vehicle, a server, and a picking robot; wherein, the server with unmanned aerial vehicle and picking robot communication are connected.
7. The picking apparatus of claim 6, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a camera disposed on the unmanned aerial vehicle body, the camera being configured to detect a real-time status of a litchi orchard, collect images of the litchi orchard, and separately collect images of crowns of each litchi tree.
8. The picking apparatus of claim 6 wherein the server comprises a database, a mature litchi tree identification system, a path planning system, and a wireless command control system; the database is used for storing images acquired by the cameras of the unmanned aerial vehicle; the mature litchi tree identification system is used for identifying mature litchi trees in the image; the path planning system is used for planning the path of the picking robot; the wireless instruction control system is used for sending a behavior instruction to the unmanned aerial vehicle and sending the path to the picking robot to enable the picking robot to move according to the path.
9. The picking apparatus of claim 6 wherein the picking robot comprises a litchi collection device, a drive system, a machine vision system, and a picking mechanical arm; wherein the litchi collecting device is used for collecting litchi fruits picked by the picking mechanical arm; the driving system is used for driving the picking robot to walk on the ground; the machine vision system is used for acquiring the position of the ripe litchi fruit; the picking mechanical arm comprises an end effector for clamping and cutting off litchi fruit stalks and a six-axis mechanical arm for driving the end effector to move.
10. The picking apparatus of claim 9 wherein the end effector comprises a gripping mechanism for gripping the stalks of litchi and a shearing mechanism for shearing the stalks of litchi.
CN202311421192.9A 2023-10-30 2023-10-30 Method and equipment for automatically picking litchis Pending CN117461474A (en)

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CN202311421192.9A CN117461474A (en) 2023-10-30 2023-10-30 Method and equipment for automatically picking litchis

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Application Number Priority Date Filing Date Title
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