CN104686078A

CN104686078A - Automatic identifying and picking system for ripe strawberries in natural environment

Info

Publication number: CN104686078A
Application number: CN201310662877.2A
Authority: CN
Inventors: 刘扬
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-12-06
Filing date: 2013-12-06
Publication date: 2015-06-10

Abstract

The invention discloses an automatic identifying and picking system for ripe strawberries in natural environment and belongs to the technical field of computer vision detection. The automatic identifying and picking system is characterized by comprising an ARM controller (1), a driving module (2), a first channel image acquisition card (3), a display module (4), a ripe fruit characteristic database (5), a PLC (6), a system reset module (7), a power supply module (8), a second channel image acquisition module (9), a laser emission device (10), a first channel CCD camera (11), a second channel CCD camera (12), a mechanical arm rotating motor (13), a mechanical arm lifting motor (14) and a mechanical arm grabbing motor (15). Compared with the prior art, the automatic identifying and picking system has the advantages of being simple in structure, convenient to mount and debug, high in system reliability, high in measurement accuracy, low in power consumption, easy in popularization and promotion and convenient to maintain.

Description

In natural environment, ripe strawberry identifies picker system automatically

Technical field

The invention belongs to mechanical vision inspection technology field, in particular, belong to ripe strawberry in a kind of natural environment and automatically identify picker system.

Background technology

The autonomous harvesting of grass poison can effectively solve in large, the fruit harvesting of orchard worker's labour intensity in the full bearing period difficult problem such as perishable not in time, to raising agricultural production efficiency, promote that the development of the every industry of grass is significant, and the automatic identification location of strawberry is one of its key technology.At present, certain research is had to the localization method of grass poison both at home and abroad, but pair CCD vision system that adopts is located more, this must cause the high cost of system and the complicated of algorithm, navigation system volume is also larger simultaneously, and little to the careless Pueraria lobota identification Study of location of alley cultivation mode, China Agricultural University has achieved certain achievement in the malicious fruit object identification of grass, extraction, location etc.

Such as, the careless curtain position of centre of gravity of the people such as Zhang Tiezhong, Chen Libing, Song Jian based on image and the determination of picking point, conduct in-depth research strawberry picking robot.The people such as Zhang Tiezhong, Zhou Tianjuan are split based on the strawberry image of BP neutral net, are studied strawberry picking robot.Although above-mentioned research angle is different and all demonstrate certain effect, in the harvesting accurate location of position and the accurate harvesting of fruit, need dark people's research further.

Summary of the invention

The present invention, in order to effectively solve above technical problem, gives ripe strawberry in a kind of natural environment and automatically identifies picker system.

In a kind of natural environment of the present invention, ripe strawberry identifies picker system automatically, it is characterized in that: comprise ARM controller, driver module, first passage image pick-up card, display module, ripening fruits property data base, PLC, system reset module, power module, second channel image capture module, laser beam emitting device, first passage CCD camera, second channel CCD camera, mechanical arm electric rotating machine, mechanical arm lifting motor, mechanical arm crawl motor; Wherein:

Described ARM controller respectively with described driver module, described first passage image pick-up card, described display module, described ripening fruits property data base, described PLC, described system reset module, described power module, described second channel image capture module is connected, described laser beam emitting device is connected with described driver module, described first passage CCD camera is connected with described first passage image pick-up card, described second channel CCD camera is connected with described second channel image capture module, described PLC respectively with described ARM controller, described mechanical arm electric rotating machine, described mechanical arm lifting motor, described mechanical arm captures motor and is connected.

The present invention gives ripe strawberry in a kind of natural environment and automatically identify picker system, the alley cultivation mode generally adopted in producing for China's grass poison, propose a kind of careless Pueraria lobota based on laser assisted location and pluck position machine vision localization method, research emphasis is the accurate judgement of the navigation information such as object pose, the degree of depth.The present invention is compared with prior art: have that system architecture is simple, installation and debugging convenient, system reliability is high, certainty of measurement is high, low in energy consumption, be easy to penetration and promotion, the advantage such as easy to maintenance.

Accompanying drawing explanation

Accompanying drawing 1 is that in natural environment of the present invention, ripe strawberry identifies picker system automatically.

Embodiment

Fig. 1 is the structural representation that in natural environment of the present invention, ripe strawberry identifies picker system automatically, and in natural environment, ripe strawberry identifies that picker system comprises ARM controller 1, driver module 2, first passage image pick-up card 3, display module 4, ripening fruits property data base 5, PLC6, system reset module 7, power module 8, second channel image capture module 9, laser beam emitting device 10, first passage CCD camera 11, second channel CCD camera 12, mechanical arm electric rotating machine 13, mechanical arm lifting motor 14, mechanical arm crawl motor 15 automatically; Wherein:

Described ARM controller 1 respectively with described driver module 2, described first passage image pick-up card 3, described display module 4, described ripening fruits property data base 5, described PLC6, described system reset module 7, described power module 8, described second channel image capture module 9 is connected, described laser beam emitting device 10 is connected with described driver module 2, described first passage CCD camera 11 is connected with described first passage image pick-up card 3, described second channel CCD camera 12 is connected with described second channel image capture module 9, described PLC6 respectively with described ARM controller 1, described mechanical arm electric rotating machine 13, described mechanical arm lifting motor 14, described mechanical arm captures motor 15 and is connected.

Claims

1. in a natural environment, ripe strawberry identifies picker system automatically, it is characterized in that: comprise ARM controller (1), driver module (2), first passage image pick-up card (3), display module (4), ripening fruits property data base (5), PLC (6), system reset module (7), power module (8), second channel image capture module (9), laser beam emitting device (10), first passage CCD camera (11), second channel CCD camera (12), mechanical arm electric rotating machine (13), mechanical arm lifting motor (14), mechanical arm captures motor (15), wherein:

Described ARM controller (1) respectively with described driver module (2), described first passage image pick-up card (3), described display module (4), described ripening fruits property data base (5), described PLC (6), described system reset module (7), described power module (8), described second channel image capture module (9) is connected, described laser beam emitting device (10) is connected with described driver module (2), described first passage CCD camera (11) is connected with described first passage image pick-up card (3), described second channel CCD camera (12) is connected with described second channel image capture module (9), described PLC (6) respectively with described ARM controller (1), described mechanical arm electric rotating machine (13), described mechanical arm lifting motor (14), described mechanical arm captures motor (15) and is connected.