Method for controlling cutting knife of tea-leaf picker based on visual inspection

A technology of visual detection and control methods, applied in the direction of non-electric variable control, position/direction control, control/regulation system, etc., can solve problems affecting tea picking quality and picking efficiency

Active Publication Date: 2014-09-24
ZHEJIANG UNIV OF TECH
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the unevenness of the fields on both sides of the tea ridge, as well as changes in the height of th...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for controlling cutting knife of tea-leaf picker based on visual inspection
  • Method for controlling cutting knife of tea-leaf picker based on visual inspection
  • Method for controlling cutting knife of tea-leaf picker based on visual inspection

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] Embodiment 1. A tea picking machine cutter control system based on visual detection

[0064] Such as figure 1 As shown, a tea picking machine cutter control system based on visual detection mainly includes:

[0065] Image acquisition unit:

[0066] It mainly includes CMOS camera and TVP5150 video decoder. The function of TVP5150 is to organize the video signal into BT656 video stream and directly transmit it to the video processing front-end VPFE of DM6437 processor. There is a light directly below the camera to make the picking machine adapt to picking at night and in rainy weather.

[0067] Image processing unit:

[0068] The main processor that completes image processing is DM6437, its main frequency is 600MHZ, the secondary cache includes L1P of 32KB RAM / Cache, L1D of 48KB RAM+32KB RAM / Cache, and L2 of 128KB RAM / Cache. The DM6437 processor has a 64-channel enhanced DMA controller EDMA3, which supports DMA transmission of various data types; it has an on-chip video...

Embodiment 2

[0083] Embodiment 2. A method for controlling the cutter of a tea picking machine based on visual detection

[0084] A method for controlling the knife of a tea picking machine based on visual detection. The processing of each tea long is mainly divided into the following steps:

[0085] Step 1: Adjust the initial position and angle of the cutter and the camera, and obtain the threshold value of whether the height and angle of the cutter need to be adjusted. Before picking each tea long, you need to manually adjust the height and angle of the cutter, and then adjust the angle and focus of the camera according to the position of the displayed image. Such as Figure 5 As shown, adjust the height and angle of the cutting knife so that the cutting blade is at the same height as the root of the bud, and the angle of the cutting knife is consistent with the growth of the crown of the tea tree. Adjust the camera angle and focal length so that the collected images meet the following...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for controlling a cutting knife of a tea-leaf picker based on visual inspection. The method comprises the steps that a camera is mounted on the right ahead portion of the tea-leaf picker, the visual angle of tea leaf picking condition of a leaf inlet is shot, two areas which are obviously different from tea trees in color and are different from each other in color are marked on the cutting knife of the tea-leaf picker in advance, the number of pixel points in the two areas of a collected image are detected to judge the relative position of the cutting knife and the crowns of the tea trees, and control signals are output to automatically adjust the position and the angle of the cutting knife. According to the method, a computer visual inspection technology is used for judging the position of the cutting knife relative to the crows of the tea trees, the control signals are output in time to automatically adjust the position and the angle of the cutting knife, the cutting knife is made to be matched with tea crown faces, the tea leaf picking quality and the tea leaf picking efficiency are improved, and meanwhile the requirements for the terrain of a tea garden and the flatness of the crowns of the tea-leaf picker are lowered.

Description

technical field [0001] The invention belongs to the application of computer vision technology, computer control technology and mechanical manufacturing technology in the control of tea picking machine cutters, and in particular relates to a method for controlling tea picking machine cutters based on visual detection. Background technique [0002] According to the data provided by China Business Intelligence: In 2012, according to the data reported by 18 tea-producing provinces, my country’s tea planting area was 35.78 million mu, a year-on-year increase of 2.013 million mu. It is a veritable tea plantation and production country. However, traditional tea production is mostly based on the family unit, and the picking and processing of tea are mainly done by hand, which is a labor-intensive industry. From the perspective of tea picking, on the one hand, the high cost of manpower picking increases the production cost of tea; on the other hand, due to the short time of tea picki...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06T7/00G06T3/00G05D3/00
Inventor 朱威韩巨峰汤一平韦奇峰陈国峰李峰
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap