CN206406077U - A kind of fruit picking robot based on machine vision - Google Patents
A kind of fruit picking robot based on machine vision Download PDFInfo
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- CN206406077U CN206406077U CN201621441645.XU CN201621441645U CN206406077U CN 206406077 U CN206406077 U CN 206406077U CN 201621441645 U CN201621441645 U CN 201621441645U CN 206406077 U CN206406077 U CN 206406077U
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- wide angle
- angle camera
- stepper motor
- vehicle frame
- camera
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Abstract
A kind of fruit picking robot based on machine vision, it includes vehicle frame, wide angle camera, gripper, the bottom of frame is provided with battery, the vehicle frame left and right sides is provided with the near front wheel, left rear wheel, off hind wheel and off-front wheel, the vehicle frame is provided with wide angle camera, the wide angle camera is arranged right below image processing apparatus, the automatic identification of fruit is realized by machine vision, cooperate to realize the accurate harvesting of fruit by wide angle camera and front camera, solve the precision of binocular camera three-dimensionalreconstruction and the deficiency of efficiency, realize real-time processing information, rapid picking can be carried out to fruit.
Description
Technical field
The utility model is related to a kind of fruit picking robot, more particularly to a kind of fruit picking based on machine vision
Device people.
Background technology
Known, intelligence machine man-based development is the focus of China's Recent study, by the application of intelligent robot, in work
Operating efficiency, the labor intensity of reduction production and cost can be effectively improved in industry, agricultural production.In terms of agricultural robot, water
Fruit picking machine device people is one of Main Means of Development of Morden agricultural production, and the vision positioning system of picking robot is to adopt
Pluck one of key technology that operation can be successfully completed.Therefore, the vision positioning system of picking robot must be able to accurately, effectively
Identification, the positioning of harvesting target are realized, walking navigation of robot etc. is carried out using vision system.
However, relative to the development of current agricultural production both at home and abroad, the achievement acquired by the research of Agriculture pick robot
Still fewer, because of the complexity of agricultural environment, the achievement in research that there is picking robot can only be in single laboratory ring
Harvesting experiment is carried out in border, and, vision positioning precision low problem not high in the presence of harvesting success rate.This not only becomes restriction
Picking robot moves towards the bottleneck problem of application, also to the research of picking robot automatic technology and its vision positioning system
Propose higher requirement, it is therefore desirable to which a kind of picking robot increases machine vision automatic identification function, so as to improve harvesting
The degree of robot automtion so that there is a larger breakthrough in picking robot field, the device that existing utilization binocular is identified,
But its technology is ripe not enough and precision is not high, binocular processing in addition obtains 3-D view, and precision is not high, and handles speed
The problem of spending slow.
The content of the invention
The deficiency that the utility model is directed to picking robot in background technology is adopted there is provided a kind of fruit based on machine vision
Pluck robot.
The utility model is achieved in that it includes vehicle frame, wide angle camera, gripper, it is characterised in that the vehicle frame
Bottom is provided with battery, and the vehicle frame left and right sides is provided with the near front wheel, left rear wheel, off hind wheel and off-front wheel, the vehicle frame and set
There is wide angle camera, the wide angle camera is arranged right below image processing apparatus, and the wide angle camera left and right sides, which is provided with, passes through tooth
Wheel engagement drives the near front wheel, the left driving motor of left rear wheel；The right driving electricity for driving off hind wheel, off-front wheel is engaged by gear
The crossbeam of vehicle frame is provided with the first stepper motor above machine, the wide angle camera, and the first stepper motor is connected by power transmission shaft and passed
Moving gear, the travelling gear is fixedly connected with the bottom of large arm, and the large arm is flexibly connected the crossbeam of vehicle frame, institute by fixing axle
The top for stating large arm is provided with front camera, and the large arm upper end is provided with the second stepper motor, and the second stepper motor passes through gear
Engagement connection manipulator forearm, the manipulator forearm connects gripper, and the battery connects left driving motor, right drive respectively
Dynamic motor, wide angle camera, the first stepper motor, the second stepper motor, front camera and PLC, the left driving electricity
Machine, right driving motor, wide angle camera, the first stepper motor, the second stepper motor, front camera connect PLC respectively.
It is of the present utility model to have the technical effect that：The automatic identification of fruit is realized by machine vision, passes through wide angle camera
Cooperate to realize the accurate harvesting of fruit with front camera, solve the precision and efficiency of binocular camera three-dimensionalreconstruction
Deficiency, realizes real-time processing information, can carry out rapid picking to fruit.
Brief description of the drawings
Fig. 1 is axonometric drawing of the present utility model.
Fig. 2 is left view of the present utility model.
Fig. 3 is front view of the present utility model.
Fig. 4 is upward view of the present utility model.
Fig. 5 is top view of the present utility model.
Fig. 6 is the stereogram of the utility model vehicle frame.
Fig. 7 is flow chart of the present utility model.
Fig. 8 is the flow chart of the utility model image processing apparatus.
In figure, 1, the near front wheel 2, left rear wheel 3, vehicle frame 4, wide angle camera 5, off hind wheel 6, off-front wheel 7, power transmission shaft, 11, pass
Moving gear 12, manipulator forearm 13, gripper 14, front camera 15, the second stepper motor 16, large arm 17, the first stepping electricity
Machine 18, right driving motor 19, left driving motor 20, battery 21, image processing apparatus 22, fixing axle 23, PLC.
Embodiment
The utility model is described in detail below in conjunction with accompanying drawing 1-7 and embodiment to be had the advantage that, it is intended to help
Reader more fully understands essence of the present utility model, but can not constitute any limit to implementation of the present utility model and protection domain
It is fixed.
A kind of fruit picking robot based on machine vision, it includes vehicle frame 3, wide angle camera 4, gripper 13, described
The bottom of vehicle frame 3 is provided with battery 20, and the left and right sides of vehicle frame 3 is provided with the near front wheel 1, left rear wheel 2, off hind wheel 5 and off-front wheel 6,
The vehicle frame 3 is provided with wide angle camera 4, and the wide angle camera 4 is arranged right below image processing apparatus 21, the wide angle camera 4
The left and right sides is provided with the left driving motor 19 for being engaged by gear and driving the near front wheel 1, left rear wheel 2；Driven by gear engagement right
The right driving motor 18 of trailing wheel 5, off-front wheel 6, the crossbeam of the top vehicle frame 3 of wide angle camera 4 is provided with the first stepper motor 17,
First stepper motor 17 connects travelling gear 11 by power transmission shaft 7, and the travelling gear 11 is fixedly connected with the bottom of large arm 16, institute
The crossbeam that large arm 16 is flexibly connected vehicle frame 3 by fixing axle 22 is stated, the top of the large arm 16 is provided with front camera 14, described
The upper end of large arm 16 is provided with the second stepper motor 15, and the second stepper motor 15 is described by gear engagement connection manipulator forearm 12
Manipulator forearm 12 connects gripper 13, and the battery 20 connects left driving motor 19, right driving motor 18, wide-angle phase respectively
Machine 4, the first stepper motor 17, the second stepper motor 15, front camera 14 and PLC 23, the left driving motor 19,
Right driving motor 18, wide angle camera 4, the first stepper motor 17, the second stepper motor 15, front camera 14 connect PLC respectively
Controller 23.
When plucking fruit：
1st, left driving motor and right driving motor is controlled to rotate respectively by PLC, so as to drive vehicle frame can be certainly
By motion, when the front end of frame movement to fruit tree, now vehicle frame is fixed；
2nd, the preliminary distribution situation for judging fruit of wide angle camera 4 is first passed through, the picture that wide angle camera 4 is obtained can pass through
Image processing apparatus 21 is handled, using the picture as plane coordinate system, and the coordinate of the plan-position of fruit then is transmitted into PLC
Controller, at this moment image processing apparatus 21 is calculated the gray value of obtained image, it is determined that fruit and leaf are divided
The optimal threshold for the binaryzation opened, then carries out binaryzation, so as to fruit and leaf be separated, by region to image
Fruit according to from turning right, being marked successively from top to bottom, then calculate correlation parameter, such as the size of fruit and with
The image is the position of coordinate, and related positional information is transmitted into PLC；
3 and then plucked successively from the order of mark respectively, such as, fruit is plucked first, image processing apparatus 21 will
Positional information after the photo disposal obtained from wide angle camera 4 is transmitted to PLC, is determined by front camera 14
Position so that front camera 14 is directed at the coordinate of No. 1 fruit；
4th, the positive and negative rotation of the second stepper motor causes large arm 16 to be rotated clockwise and anticlockwise around vehicle frame 3, so that
The lifting and decline of manipulator forearm progress by a relatively large margin are obtained, the positional information of fruit is transmitted to PLC, PLC
By controlling the first stepper motor 17 and the second stepper motor 15 come control machinery hand forearm 12 and large arm 16 so that fruit is all the time
The centre position of image in front camera 14；
5th, when manipulator forearm 12 is close to fruit, PLC is by controlling the first stepper motor 17 and the second stepping
The adjustment position in real time of motor 15 so that gripper 13 is progressively close to fruit, when fruit in front camera 14 into
The position of picture reaches certain size（Need user's preset in advance）, illustrate that now manipulator forearm 12 is close to fruit, this
When gripper 13 fruit can be captured.Other fruits are won successively in the same way, when wide angle camera 4 is shot
Picture in fruit won after, by adjusting the posture of robot, then take pictures again, so that according to above-mentioned identical
Mode carries out the harvesting of fruit, cooperates to realize the accurate harvesting of fruit by wide angle camera and front camera, solves
The precision and the deficiency of efficiency of binocular camera three-dimensionalreconstruction, realize real-time processing information, fruit quickly can be adopted
Pluck.
Embodiment described above is only that preferred embodiment of the present utility model is described, not to this practicality
New scope is defined, on the premise of the utility model design spirit is not departed from, and those of ordinary skill in the art are to this
Various modifications and improvement that the technical scheme of utility model is made, all should fall into the protection of the utility model claims determination
In the range of.
Claims (1)
1. a kind of fruit picking robot based on machine vision, it includes vehicle frame, wide angle camera, gripper, it is characterised in that
The bottom of frame is provided with battery, and the vehicle frame left and right sides is provided with the near front wheel, left rear wheel, off hind wheel and off-front wheel, described
Vehicle frame is provided with wide angle camera, and the wide angle camera is arranged right below image processing apparatus, and the wide angle camera left and right sides is set
There is the left driving motor for being engaged by gear and driving the near front wheel, left rear wheel；The right side for driving off hind wheel, off-front wheel is engaged by gear
The crossbeam of vehicle frame is provided with the first stepper motor above motor, the wide angle camera, and the first stepper motor passes through power transmission shaft
Travelling gear is connected, the travelling gear is fixedly connected with the bottom of large arm, and the large arm is flexibly connected vehicle frame by fixing axle
Crossbeam, the top of the large arm is provided with front camera, and the large arm upper end is provided with the second stepper motor, and the second stepper motor leads to
Gear engagement connection manipulator forearm is crossed, the manipulator forearm connects gripper, and the battery connects left driving electricity respectively
Machine, right driving motor, wide angle camera, the first stepper motor, the second stepper motor, front camera and PLC, the left side
Motor, right driving motor, wide angle camera, the first stepper motor, the second stepper motor, front camera connect PLC respectively
Controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621441645.XU CN206406077U (en) | 2016-12-27 | 2016-12-27 | A kind of fruit picking robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621441645.XU CN206406077U (en) | 2016-12-27 | 2016-12-27 | A kind of fruit picking robot based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206406077U true CN206406077U (en) | 2017-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621441645.XU Expired - Fee Related CN206406077U (en) | 2016-12-27 | 2016-12-27 | A kind of fruit picking robot based on machine vision |
Country Status (1)
| Country | Link |
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| CN (1) | CN206406077U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826747A (en) * | 2016-12-27 | 2017-06-13 | 华东交通大学 | A kind of fruit picking robot based on machine vision |
| CN107414803A (en) * | 2017-09-22 | 2017-12-01 | 成都易维控科技有限公司 | Visual spatial attention robot for streamline |
| CN109121721A (en) * | 2018-08-27 | 2019-01-04 | 丽水学院 | A kind of vibrating type fruit picker and picking method |
| CN110065074A (en) * | 2019-05-29 | 2019-07-30 | 北京禾泽方圆智能科技有限公司 | A kind of the visual servo laser orientation system and method for picking robot |
-
2016
- 2016-12-27 CN CN201621441645.XU patent/CN206406077U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826747A (en) * | 2016-12-27 | 2017-06-13 | 华东交通大学 | A kind of fruit picking robot based on machine vision |
| CN107414803A (en) * | 2017-09-22 | 2017-12-01 | 成都易维控科技有限公司 | Visual spatial attention robot for streamline |
| CN109121721A (en) * | 2018-08-27 | 2019-01-04 | 丽水学院 | A kind of vibrating type fruit picker and picking method |
| CN109121721B (en) * | 2018-08-27 | 2020-07-28 | 丽水学院 | Vibrating fruit picking device and picking method |
| CN110065074A (en) * | 2019-05-29 | 2019-07-30 | 北京禾泽方圆智能科技有限公司 | A kind of the visual servo laser orientation system and method for picking robot |
| CN110065074B (en) * | 2019-05-29 | 2021-02-12 | 北京禾泽方圆智能科技有限公司 | Visual servo laser positioning system and method for picking robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170815 Termination date: 20171227 |
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| CF01 | Termination of patent right due to non-payment of annual fee |