Self-adaptive cotton harvesting method based on binocular vision recognition and intelligent mechanical harvesting device

Abstract

The invention discloses a self-adaptive cotton harvesting method based on binocular vision recognition and an intelligent mechanical harvesting device. The intelligent mechanical harvesting device comprises a mobile platform, a mechanical arm, a picking component and a binocular stereoscopic vision system, the mechanical arm is mounted on the moving platform, the binocular stereoscopic vision system is mounted on a small arm of the mechanical arm; the picking component is mounted at the tail end of the mechanical arm; the picking part comprises a cotton storage device, a compression spring, a motor, a joint hinge, a bionic elastic flexible mechanical claw and a flexible baffle. According to the self-adaptive cotton harvesting method based on binocular vision recognition and intelligent mechanical harvesting device, good cotton images can be segmented through an image processing technology and the like, and the cotton recognition rate is high; an opening and closing degree of the mechanical claw can be adjusted in a self-adaptive mode, cotton of different areas can be picked rapidly, accurately and cleanly, the cotton doping rate is remarkably lowered, and cotton with good quality is obtained.

Description

technical field [0001] The invention belongs to the field of agricultural intelligent machinery, and in particular relates to an adaptive cotton harvesting method for binocular visual recognition and an intelligent mechanical harvesting device. Background technique [0002] Cotton is the second largest crop after food. The growth height of cotton plants is generally about 0.8-1.3 meters. A cotton plant usually retains 13-15 fruit branches. After the cotton matures, the fruit will split into 3-5 petals, usually 4 petals and 5 petals. The current cotton harvesting methods are mainly manual picking and large-scale mechanical picking. The advantages of manual picking are clean picking, high recovery rate and high quality, but the disadvantages are heavy labor, low efficiency and high cost. Under the trend of robots replacing manual labor, some cotton picking robots have also appeared. For example, the patent CN109197148A discloses an intelligent identification cotton picking ...

AI Technical Summary

Problems solved by technology

For example, the patent CN109197148A discloses an intelligent identification cotton picking robot, including a car body, a cotton picking mechanism, a mechanical claw mechanism, and a camera. The cotton that can be picked is identified through the camera, and the mechanical arm moves to the cotton picking place, and the motor drives the front plate The cotton is picked with multiple mechanical claws, the cotton is placed on the conveyor belt, and the cotton is conveyed to the material box by the conveyor belt; however, when the cotton is identified, there is no spatial three-dimensional positioning, the picking efficiency is low, and the closed size of the mechanical claw is fixed. It is easy to crush the calyx, increase the cotton doping rate, and reduce the quality of cotton

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