CN209057568U - A kind of camellia oleifera fruit flower identification positioning system based on machine vision - Google Patents
A kind of camellia oleifera fruit flower identification positioning system based on machine vision Download PDFInfo
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- CN209057568U CN209057568U CN201821587177.6U CN201821587177U CN209057568U CN 209057568 U CN209057568 U CN 209057568U CN 201821587177 U CN201821587177 U CN 201821587177U CN 209057568 U CN209057568 U CN 209057568U
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- camellia oleifera
- steering engine
- oleifera fruit
- fruit
- holder
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Abstract
For due to tea oil tree flowers and fruits and the phenomenon that deposit and causing in camellia oleifera fruit picking process, the problem of oil tea destroys vulnerable to picking robot and influences fruit yield, the camellia oleifera fruit flower identification positioning system based on machine vision that the utility model discloses a kind of, the system is made of master controller (1), RGB-D camera (6) and holder, and holder includes pedestal (2), the second electric machine support (7), the first steering engine (4), the second steering engine (5) and first motor bracket (7)；RGB-D camera (6) is placed on holder, and (1) is communicated with master controller by standard USB interface；Master controller (1) utilizes GPIO mouthfuls of control holders, adjusts separately shooting angle vertically and horizontally；Pedestal (2) is used to support whole system structure.The utility model can provide the spatial coordinated information of camellia oleifera fruit flower for tea-oil camellia fruit picking robot, make picking robot avoid being in contact and being damaged with oil tea in camellia oleifera fruit picking process, fruit yield is made to be affected.
Description
Technical field
The utility model relates to field of machine vision, specifically a kind of camellia oleifera fruit flower identification positioning system based on machine vision
System.
Background technique
In the production operation of fruits and vegetables, picking accounts for about the 40% of entire workload.Pick the direct shadow of quality of operation quality
Ring the economic benefit for arriving crops.Currently, fruit and vegetable picking mode mainly includes artificial picking and two kinds of picking robot.Due to people
The lower and degree of fatigue by staff of the efficiency of work picking operation and different workers are to fruit discrimination standard difference shadow
It rings, it is very difficult to reach stringent picking and classificating requirement.In order to further decrease production cost, classification quality is improved, is guaranteed best
The restraining factors of economic benefit, some countries are adopted the mode of picking from traditional manually picking to using Agriculture pick robot
It plucks and is changed.In the picking process of fruits and vegetables, identifying and positioning for fruit is one of important link, picking robot according to
Other features such as color of fruit identify and position fruit.The depth information of color image cooperation in recent years is realized to fruit
Identification positioning be subjected to the attention of more and more national, machine vision technique reaches its maturity in picking fruit field.
Tea oil tree is a kind of more special fruit variety, often fruiting period is not finished, and the florescence i.e. extremely, forms flowers and fruits and deposits
Endemism is known as " it is pregnant to embrace son " by the masses, this is a big notable feature of the tea oil tree different from other fruit trees.Camellia oleifera fruit is one
Kind small-sized cone is in oblate or olive shape, diameter 3-4cm, and fruit lobe is thick and lignifying.Immature camellia oleifera fruit be it is red or
It is green, one layer of skin can be taken off after mature, the meat of the inside is silvery white in color or white.Oil tea be hermaphrodite flower, diameter 3-5cm,
Without stalk；Petal is 5-7 piece, and white separates, obovate to lanceolar, long 2.5-4.5cm, and apex often has notch, outside hairiness；
Stamen is most, hairless, foreign steamer filigree only base portion joint.Tea-seed oil is one of big xylophyta oil in the world four, and China's tea oil has
Dietotherapy double effects, and meet the requirement that people advocate nature, improve the quality of living, it is the fine work in current edible oil.In oil
In the production operation of tea, harvest picking accounts for about the 40~50% of entire workload, and due to picking the complexity of operation, picking is automatic
Change degree is very low.
Utility model content
(1) technical problems to be solved
Flower due to most fruit tree is starting after pollination as a result, fruiting period is generally after the florescence terminates, in fruit
Without the concern for colored influence during picking.And fruit this kind of for tea oil tree spends the crops of the same period, picking robot
There is the danger for destroying oil tea during picking fruit.And the flower of such as fruits is compromised, then to the fruit in later period
Length of growing directly from seeds can generate adverse effect.
(2) technical solution
To overcome the problems, such as to be easy in picking robot picking process to make damage to oil tea, the utility model proposes one
Camellia oleifera fruit flower identification positioning system kind based on machine vision, can be used for on tea oil tree camellia oleifera fruit and oil tea identify
And positioning, and sending location information to picking robot, auxiliary picking robot carries out robotic arm path planning, prevents from picking
Oil tea is damaged during picking robot fruit, influences camellia oleifera fruit yield.
A kind of camellia oleifera fruit flower identification positioning system based on machine vision that the utility model is proposed by master controller,
RGB-D camera, holder three parts composition, specific technical solution are as follows:
(1) a kind of camellia oleifera fruit flower identification positioning system based on machine vision that the utility model is proposed, the master control
Device processed selects Respbarry PI, master controller equipped with (SuSE) Linux OS using OpenCV and OpenNI library function realize with
The RGB-D camera carries out data communication and digital picture is handled, before the RGB-D camera passes through real time scan
Square scenery, synchronous acquisition color image and depth image, and be transferred to image data by USB standard interface using adapter
The master controller.Master controller handles image data, completes identification and sky to the camellia oleifera fruit flower target in image
Between position, camellia oleifera fruit flower space coordinate using RGB-D camera as coordinate origin, utilize camellia oleifera fruit flower on RGB image two
Dimension coordinate points and its corresponding depth data determine the space coordinate of camellia oleifera fruit flower.
(2) a kind of camellia oleifera fruit flower identification positioning system based on machine vision that the utility model is proposed, the RGB-
D camera selects Kinect somatosensory device, can return exactly to depth data of the range within the scope of 0.5 to 4.5 meter.
(3) a kind of camellia oleifera fruit flower identification positioning system based on machine vision that the utility model is proposed, the holder
It is made of first motor bracket, the second electric machine support, pedestal, the first steering engine and the second steering engine, steering engine selects MG995 model rudder
Machine, two steering engines are separately mounted on first motor machine support and the second electric machine support.The GPIO of steering engine and the master controller
Mouth is connected, and the master controller controls two steering engines by output PWM wave and swings, and then control holder is in horizontal and vertical direction
On posture, realize adjustment to the RGB-D camera shooting angle.
(3) beneficial effect
The utility model has the advantage of the shootings of the extensive angle of achievable fruit picking robot, and utilize machine vision skill
Art effectively realizes the positioning to mature camellia oleifera fruit and oil tea, during tea-oil camellia fruit picking robot can be assisted to pick camellia oleifera fruit
Oil tea is rationally avoided, prevents picking robot from damaged to oil tea in picking process so that under camellia oleifera fruit yield
Drop.
Detailed description of the invention
Fig. 1 be the utility model proposes the system logic diagram.
Fig. 2 be the utility model proposes the system overall structure main view
Fig. 3 be the utility model proposes the system overall structure side view
Fig. 4 be the utility model proposes the system overall structure diagram
Fig. 5 is Kinect somatosensory device coordinate system.
Specific embodiment
In order to which research and development purpose and the technical solution and advantage of the utility model is more clearly understood, below in conjunction with attached drawing pair
The utility model is further elaborated.
As shown in FIG. 1, FIG. 1 is a kind of logics of tea-oil camellia fruit picking robot fruit of the utility model flower identification positioning system
Structural block diagram specifically includes: master controller, RGB-D camera and holder.The utility model selects Raspberry Pi conduct
The master controller, with small in size, multiple functional, the advantages such as cost performance height；The RGB-D camera selects Kinect body
Sensor can accurately measure the depth data in 0.5 to 4.5 range；The posture of the holder is by the first steering engine and the second steering engine
Control, steering engine select MG995 model steering engine.
In conjunction with Fig. 2, Fig. 3, Fig. 4.A kind of camellia oleifera fruit flower identification positioning system based on machine vision of the present embodiment is specific
By: Raspberry Pi, pedestal, first motor bracket, the first steering engine, the second steering engine, Kinect feeling device, the second motor branch
Frame；The pedestal is used for fixed system overall structure, and the Kinect somatosensory device is placed in the top of second electric machine support,
First steering engine is placed in the shooting angle that can adjust vertical direction on the first motor bracket, the second steering engine peace
Set the shooting angle that can adjust horizontal direction on the second electric machine support 2.Kinect somatosensory device passes through standard USB using adapter
Interface and Raspberry Pi carry out data communication, and the color image of shooting and depth image are transferred to Raspberry Pi,
Raspberry Pi can adjust the shooting angle of Kinect somatosensory device in the horizontal direction and the vertical direction by control holder,
Middle cradle head structure includes pedestal, first motor bracket, the first steering engine, the second steering engine, the second electric machine support；
As shown in figure 5, Fig. 5 is Kinect somatosensory device coordinate system.The z-axis for knowing space coordinates is Kinect feeling device
Positive direction, x-axis be vertical and horizontal visual angle surface, it may thus be appreciated that shooting angle change in the case where, space coordinate
System can also change correspondingly, it is therefore desirable to be corrected processing to space coordinate.
The utility model be it is a kind of based on machine vision camellia oleifera fruit flower identification positioning system, be divided into when specifically used with
Lower 4 steps:
1. opening Kinect somatosensory device and Raspberry Pi, start between Kinect somatosensory device and Raspberry Pi
Image transmitting.
2.Raspberry Pi in image camellia oleifera fruit and oil tea identified and demarcated, and calculate camellia oleifera fruit and oil
The space coordinate of camellia target, and camellia oleifera fruit unit each in image is labeled.
3.Raspberry Pi can control signal by GPIO mouthfuls of outputs, and control steering engine rotation adjusts the shooting angle of holder
Degree.
4. the measurement result of camellia oleifera fruit and oil tea will save in logging data table.
It is noted that the machine system can be realized by modification parameter to some other class circle fruits real (such as tomato, tangerine
Son, apricot etc.) identify and position.
Claims (3)
1. a kind of camellia oleifera fruit flower identification positioning system based on machine vision, it is characterised in that the system structure includes: main control
Device (1), RGB-D camera (6) and holder composition, the holder includes: pedestal (2), first motor bracket (3), the first steering engine
(4), the second steering engine (5) and the second electric machine support (7)；The RGB-D held is logical using adapter on the holder
It crosses standard USB interface and the master controller carries out data communication；The master controller passes through GPIO mouthfuls and the of the holder
One steering engine (4) and the second steering engine (5) connection, the second steering engine (5), which is placed on the second electric machine support (7), can adjust vertical direction
Shooting angle, the first steering engine (4) are placed in the shooting angle that can adjust horizontal direction on first motor bracket (3)；The pedestal
(2) it is responsible for support whole system structure.
2. a kind of camellia oleifera fruit flower identification positioning system based on machine vision as described in claim 1, it is characterised in that master control
Device processed passes through output control signal, controls the first steering engine (4) and the second steering engine (5) rotation, adjusts the complete of RGB-D camera (6)
Angle shooting.
3. a kind of camellia oleifera fruit flower identification positioning system based on machine vision as described in claim 1, it is characterised in that identification
Camellia oleifera fruit and oil tea between surface color and texture situation and background image with marked difference camellia oleifera fruit and oil tea
Flower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821587177.6U CN209057568U (en) | 2018-09-27 | 2018-09-27 | A kind of camellia oleifera fruit flower identification positioning system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821587177.6U CN209057568U (en) | 2018-09-27 | 2018-09-27 | A kind of camellia oleifera fruit flower identification positioning system based on machine vision |
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| Publication Number | Publication Date |
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| CN209057568U true CN209057568U (en) | 2019-07-05 |
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ID=67093617
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821587177.6U Expired - Fee Related CN209057568U (en) | 2018-09-27 | 2018-09-27 | A kind of camellia oleifera fruit flower identification positioning system based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114916318A (en) * | 2022-05-30 | 2022-08-19 | 华南农业大学 | Automatic fruit harvesting device carried on unmanned aerial vehicle and control method thereof |
-
2018
- 2018-09-27 CN CN201821587177.6U patent/CN209057568U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114916318A (en) * | 2022-05-30 | 2022-08-19 | 华南农业大学 | Automatic fruit harvesting device carried on unmanned aerial vehicle and control method thereof |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190705 Termination date: 20200927 |