A method and system for sorting agricultural products based on visual servoing
A visual servo, agricultural product technology, applied in sorting and other directions, can solve the problems of reducing the sorting effect of agricultural products, inaccurate positioning, and large limitations.
Active Publication Date: 2022-02-08
SHANDONG AGRICULTURAL UNIVERSITY
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Problems solved by technology
[0004] However, traditional sorting robots use relatively single methods in perception and identification, which have very large limitations, resulting in inaccurate positioning of existing agricultural products during sorting and reducing the sorting effect of agricultural products.
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[0016] The scheme will be described below in conjunction with the accompanying drawings and specific implementation methods.
[0017] This embodiment first establishes the attached figure 1 As shown in the hardware system of the agricultural products sorting device, the upper computer processes the image captured by the visual device, and at the same time calculates the motion parameters of the manipulator, and transmits the signal to the main control chip; the main control chip receives the control signal of the upper computer and communicates with the rudder It is connected with the control board of the robot to control the steering gear required for the movement of the robot arm; the servo motor controls each joint of the robot arm to change the spatial state of the robot arm, so as to realize the grasping of agricultural products.
[0018] figure 2 For a schematic flow chart of a method for sorting agricultural products based on visual servoing provided by the embodiment...
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This application discloses a method and system for sorting agricultural products based on visual servoing, which relates to the technical field of sorting agricultural products. An image acquisition device is used to collect and capture target images of agricultural products that need to be sorted; processing; locate and classify the agricultural products according to the preprocessed target image; the control device determines the end posture of the robotic arm according to the joint variables of each joint in the robotic arm, and controls the robotic arm to complete the sorting operation of agricultural products. After the agricultural product target is captured by the image acquisition device, the target image is preprocessed to realize accurate positioning and classification of the agricultural product target in the image. Then control the mechanical arm to grab the determined agricultural products, realizing the rapid sorting of agricultural products.
Description
technical field [0001] The present application relates to the technical field of sorting agricultural products, in particular to a method and system for sorting agricultural products based on visual servoing. Background technique [0002] In the production process of agricultural products, it is necessary to classify and classify agricultural products according to production needs and other requirements. At this time, it is necessary to realize the sorting operation of agricultural products in a special sorting workshop to realize the classification of agricultural products. [0003] Large-scale sorting of agricultural products in traditional technology requires manual methods, although manual methods can complete basic sorting requirements. However, the efficiency of manual sorting is low, and after a long time of work, the sorting accuracy will be low, so the sorting accuracy cannot be guaranteed. In order to solve the defects of manual sorting, sorting robots are used in...
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IPC IPC(8): B07C5/36
CPCB07C5/361B07C5/362B07C2501/0063
Inventor 龙晓军张景淘周凯杨帅齐星
Owner SHANDONG AGRICULTURAL UNIVERSITY