Indoor fruit point cloud acquisition device based on rotating table and depth camera

Abstract

The utility model relates to the field of fruit three-dimensional information acquisition, in particular to an indoor fruit point cloud acquisition device based on a rotating table and a depth camera. The indoor fruit point cloud acquisition device comprises a base, an equipment placement frame, a fruit angle adjusting frame, a light source assembly, a depth sensor and a terminal, the fruit angle adjusting frame is arranged at one end of the base, the equipment placing frame and the light source assembly are both arranged at the other end of the base, the depth sensor is placed on the equipment placing frame, the terminal is connected with the depth sensor, and the fruit angle adjusting frame comprises an automatic rotating table, a lifting assembly and an object placing table; the bottom face of the storage table is connected with the automatic rotating table through a lifting assembly. According to the utility model, the problem of insufficient illumination can be solved, the illumination intensity on the surface of the shot fruit is kept the same, the details for constructing a fruit model are optimized, and the number of used depth sensors is reduced.

Description

Technical Field

[0001] The utility model relates to the field of three-dimensional information acquisition of fruits, in particular to an indoor fruit point cloud acquisition device based on a rotary table and a depth camera. Background Technique

[0002] The data acquisition and analysis of three-dimensional point cloud information of fruits are important bases and prerequisites for the reconstruction of three-dimensional models of fruits, and are of great significance for fruit picking and yield estimation and efficiency improvement in the actual agricultural production process. In current research, the acquisition and analysis of three-dimensional information of fruits and high-quality surface reconstruction are important research bases in the field of smart agriculture. Fruits usually grow in different parts of trees, which makes it often face problems such as foliage occlusion and light changes when obtaining complete three-dimensional point cloud information of fruits. On this basis, it is relatively easy to obtain high-quality three-dimensional information of fruits in an indoor scene. Existing systems mainly focus on fruit shape fitting that ignores detail quality under the positioning task and fruit data acquisition under a high-cost camera system, while the detail restoration and morphological analysis of local fruits still need to be further explored. At the same time, during the growth process of fruits, the real-time tracking and accurate recording of their dynamic changes, as well as the fine reconstruction and morphological analysis of three-dimensional models of fruits based on these data, are also rarely concerned.

[0003] Most current systems for the acquisition, analysis, and three-dimensional reconstruction of fruit three-dimensional information data use high-cost and complex photography systems to photograph fruits, and then use methods such as feature point or edge detection to restore the three-dimensional morphological structure of fruits. Certain system resources are consumed during the feature point extraction and matching process, and for spherical fruits, there are areas with unclear feature points on their surfaces, which easily lead to feature point matching failures, and the edge detection-based algorithm cannot capture the details with complex surface textures.

[0004] Existing indoor fruit point cloud acquisition devices fix multiple depth sensors at different shooting positions indoors and use the depth sensors for shooting to collect fruit three-dimensional point cloud data. Since the light intensity at different positions of the fruit is different, there will be a certain data error between the three-dimensional point cloud data obtained from the part with insufficient light on the fruit surface and the three-dimensional point cloud data obtained from the part with good light on the fruit surface, resulting in incomplete surface textures of the fruit in three-dimensional modeling. Content of the Utility Model

[0005] To solve the above technical problems, the utility model provides an indoor fruit point cloud acquisition device based on a rotary table and a depth camera, which can solve the problem of insufficient light, keep the light intensity on the photographed fruit surface the same, optimize the details of constructing a fruit model, and reduce the number of depth sensors used.

[0006] The technical solution of the present utility model includes: a base, an equipment placement rack, a fruit angle adjustment rack, a light source assembly, a depth sensor, and a terminal; the fruit angle adjustment rack is arranged at one end of the base, the equipment placement rack and the light source assembly are both arranged at the other end of the base, the depth sensor is placed on the equipment placement rack, the terminal is connected to the depth sensor, and the fruit angle adjustment rack includes: an automatic rotating table, a lifting assembly, and a placement table, the automatic rotating table is fixed on the base, and the bottom surface of the placement table is connected to the automatic rotating table through the lifting assembly.

[0007] Further, the lifting assembly includes: a support rod and a support rod fixing plate, the support rod is a telescopic structure, and the placement table is connected to the automatic rotating table through the support rod and the support rod fixing plate.

[0008] Further, the support rod includes: an insertion rod, a sleeve rod, and a first insertion pin, the sleeve rod is a hollow structure and is provided with a first insertion pin hole on the side wall of the upper end, the insertion rod is provided with a plurality of positioning holes, the insertion rod is movably sleeved inside the sleeve rod, the first insertion pin passes through the first insertion pin hole to the positioning hole, the lower end of the sleeve rod is connected to the support rod fixing plate, and the upper end of the insertion rod is connected to the placement table.

[0009] Further, the plurality of positioning holes are equidistantly arranged on the insertion rod.

[0010] Further, the base is an L-shaped plate, the equipment placement rack is fixedly connected to the short plate of the L-shaped plate, and the fruit angle adjustment rack is fixedly connected to the long plate of the L-shaped plate and the end far from the short plate.

[0011] Further, it further includes a light source assembly, the light source assembly includes: a light source fixing plate and two light sources, the light source fixing plate is fixedly connected to the short plate of the L-shaped plate through bolts, and the two light sources are respectively fixed at both ends of the light source fixing plate.

[0012] Further, the light source fixing plate includes: a left light source fixing plate, a right light source fixing plate, and a middle fixing plate, the middle fixing plate is fixedly connected to the short plate of the L-shaped plate, both ends of the middle fixing plate are respectively hinged to the left light source fixing plate and the right light source fixing plate through a second insertion pin, the two light sources are respectively fixed on the left light source fixing plate and the right light source fixing plate, and the automatic rotating table is fixedly connected to the end of the long plate of the L-shaped plate far from the short plate.

[0013] Further, the equipment placement rack includes: a U-shaped table and fixing screws, the bottom of the U-shaped table is fixedly connected to the short plate of the L-shaped plate, one side of the U-shaped table is provided with a threaded hole, and the fixing screws pass through the threaded hole to fix the depth sensor.

[0014] Further, it further includes a storage medium, and the storage medium is respectively connected to the depth sensor and the terminal.

[0015] The technical solution provided by the embodiments of the present utility model has the following advantages compared with the prior art:

[0016] The utility model adjusts the fruits placed on the placing table to the same horizontal position as the depth sensor through the lifting component of the fruit angle adjusting frame. The automatic rotating table rotates to drive the lifting component and the placing table to rotate, thereby adjusting the angle of the fruits and keeping the illumination intensity on the surface of the photographed fruits the same. The depth sensor is controlled by the terminal to capture the three-dimensional data of the fruits in the indoor scene. After the shooting is completed, the point cloud data of the bottom and top of the fruits is obtained in the same way. After the shooting is completed again, the point cloud data of the two shootings is combined to realize the three-dimensional modeling of the fruits, further optimizing the local details and morphological structures of the fruit model.

[0017] Other advantages, objectives, and features of the utility model will be partially reflected by the following description, and partially will also be understood by those skilled in the art through the research and practice of the utility model. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 Structural schematic diagram of the indoor fruit point cloud acquisition device according to one embodiment of the present utility model;

[0020] Figure 2 Structural schematic diagram of the fruit angle adjusting frame according to one embodiment of the present utility model. Description of the Drawings:

[0022] 1. Automatic rotating table; 2. Base; 21. Short board; 22. Long board; 3. Intermediate fixing plate; 4. Bolt; 5. Left light source fixing plate; 6. Right light source fixing plate; 7. Second pin; 8. U-shaped table; 9. Fixing screw; 10. Light source; 11. Support rod fixing plate; 12. First pin; 13. Sleeve rod; 14. Insert rod; 141. Positioning hole; 15. Placing table; 16. Depth sensor; 17. Terminal. Detailed Embodiment

[0023] The following will describe in detail a specific embodiment of the present utility model in conjunction with the drawings, but it should be understood that the protection scope of the present utility model is not limited by the specific embodiment.

[0024] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the technical solution of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0025] In the embodiments of the present utility model, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present utility model should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Specifically, using words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0026] As Figure 1 、 Figure 2 As shown, the embodiment of the present invention provides an indoor fruit point cloud acquisition device based on a rotating table and a depth camera, including: a base 2, a device placement rack, a fruit angle adjustment rack, a light source assembly, a depth sensor 16, and a terminal 17; the fruit angle adjustment rack is arranged at one end of the base 2, the device placement rack and the light source assembly are arranged at the other end of the base 2, the depth sensor is placed on the device placement rack, the terminal 17 is connected to the depth sensor 16, and the fruit angle adjustment rack includes: an automatic rotating table 1, a lifting assembly, and a placement table 15. The automatic rotating table 1 is fixed on the base 2, and the bottom surface of the placement table 15 is connected to the automatic rotating table 1 through the lifting assembly.

[0027] It can be understood that the fruit angle adjustment rack is used to adjust the height and angle of the fruit. The terminal 17 controls the depth sensor 16 to capture the three-dimensional data of the fruit on the fruit angle adjustment rack in the indoor scene. The light source assembly provides lighting conditions to improve the data quality of obtaining the fruit point cloud, and further optimizes the local details and morphological structure of the constructed fruit model.

[0028] It can be understood that the depth sensor 16 is selected to capture a multi-track depth image combined stream video, including: depth images, IR images, and color images; the device placement rack is used to support the depth sensor 16, the light source assembly is for applying appropriate lighting conditions, and the terminal 17 is for supplying power to the depth sensor 16, data communication, and setting parameters.

[0029] Furthermore, the depth sensor 16 selects MKV to store the image stream, and can be arbitrarily encapsulated according to the needs of different application scenarios to achieve better compatibility and support cross-platform operation.

[0030] The data of the three-dimensional model is converted into a text format for storage, which has good readability and compatibility. The text format is convenient for data exchange with other software tools because they do not depend on a specific software or hardware platform.

[0031] Furthermore, the depth sensor selects a Kinect sensor device.

[0032] It can be understood that the fruit angle adjustment frame adjusts the angle of the fruit through the automatic rotating table 1, and the height of the fruit is achieved through the lifting component. By combining the two, the local details and morphological structure of the fruit model are optimized and reconstructed.

[0033] It can be understood that the placement table 15 is used to place the fruit. It should be noted that the fruit is not fixed on the placement table 15. Therefore, the rotating table should rotate slowly to avoid causing the fruit to shake or fall off the placement table.

[0034] Furthermore, an arc-shaped groove is provided on the upper surface of the placement table to prevent the fruit from falling due to instability.

[0035] Furthermore, in the embodiment of the present invention, the lifting component includes: a support rod and a support rod fixing plate 11. The support rod is a telescopic structure. The placement table 15 is connected to the upper end of the support rod, the lower end of the support rod is connected to the support rod fixing plate 11, and the support rod fixing plate 11 is connected to the automatic rotating table 1.

[0036] Furthermore, in the embodiment of the present invention, the support rod includes: a plug rod 14, a sleeve rod 13, and a first pin 12. The sleeve rod 13 is a hollow structure and a first pin hole is provided on the side wall of the upper end. A plurality of positioning holes 141 are provided on the plug rod 14. The plug rod 14 is movably sleeved inside the sleeve rod 13. The first pin 12 passes through the first pin hole and extends into the positioning hole 141. The lower end of the sleeve rod 13 is connected to the support rod fixing plate 11, and the upper end of the plug rod 14 is connected to the placement table 15.

[0037] It can be understood that the telescopic support rod is used to adjust the height of the placement table, and thus adjust the height of the fruit. The function of the support rod fixing plate 11 is to connect the support rod and the automatic rotating table 1.

[0038] It can be understood that the cooperation of the first pin 12 and the positioning holes 141 can fix the plug rod 14, and thus adjust the height of the placement table.

[0039] Furthermore, in the embodiment of the present invention, a plurality of positioning holes 141 are equidistantly arranged on the plug rod 14.

[0040] It can be understood that the positioning holes 141 with equal spacing are convenient for determining the height of the storage table 15 based on the positions of the positioning holes.

[0041] In the embodiment of the present invention, the base 2 is an L-shaped plate. The equipment placement rack and the light source assembly are both fixedly connected to the short plate 21 of the L-shaped plate, and the fruit angle adjustment rack is fixedly connected to the long plate 22 of the L-shaped plate and the end far from the short plate 21.

[0042] It can be understood that the function of using the L-shaped plate as the base is to arrange the equipment placement rack and the light source assembly on the short plate, and control the heights of the equipment placement rack and the light source assembly through the short plate, so that the equipment placement rack and the light source assembly have appropriate heights, and there is no need to increase the height separately.

[0043] In the embodiment of the present invention, the light source assembly includes: a light source fixing plate and two light sources 10. The light source fixing plate is fixedly connected to the short plate 21 of the L-shaped plate through two bolts 4, and the two light sources 10 are respectively fixed at both ends of the light source fixing plate.

[0044] It can be understood that using two bolts for fixation is to prevent the light source fixing plate from tilting and ensure that the brightness on both sides of the fruit on the fruit angle adjustment rack is the same.

[0045] In the embodiment of the present invention, the light source fixing plate includes: a left light source fixing plate 5, a right light source fixing plate 6 and a middle fixing plate 3. The middle fixing plate 3 is fixedly connected to the short plate 21 of the L-shaped plate. Both ends of the middle fixing plate 3 are hinged to the left light source fixing plate 5 and the right light source fixing plate 6 through second pins 7, and the two light sources 10 are respectively fixed on the left light source fixing plate 5 and the right light source fixing plate 6.

[0046] It can be understood that dividing the light source fixing plate into three parts, with the left light source fixing plate 5 and the right light source fixing plate 6 hinged to the middle fixing plate 3, is convenient for adjusting the irradiation angle of the light source so that the light source can irradiate the fruit on the fruit angle adjustment rack optimally.

[0047] Furthermore, the surfaces of both light sources 10 are covered with polarizing films, which can eliminate the glare on the reflection surface, reduce the interference of surface reflection on the image quality, and improve visual clarity.

[0048] In the embodiment of the present invention, the equipment placement rack includes: a U-shaped table 8 and a fixing screw 9. The bottom of the U-shaped table 8 is fixedly connected to the short plate 21 of the L-shaped plate. One side of the U-shaped table 8 is provided with a threaded hole, and the fixing screw 9 passes through the threaded hole to fix the depth sensor 16.

[0049] It can be understood that when taking pictures, it is necessary to fix the depth sensor 16 to prevent shaking and avoid the constructed three-dimensional model of the fruit not meeting the requirements.

[0050] Further, shock pads, such as sponges, are attached to the inner walls of the U-shaped table 8 to protect the depth sensor 16 and reduce shock.

[0051] In an embodiment of the present invention, a storage medium is further included, and the storage medium is respectively connected to the depth sensor 16 and the terminal 17.

[0052] It can be understood that the storage medium is used to store data of the three-dimensional model of the fruit, various parameters in the process of constructing the three-dimensional model, and to store the multi-track depth image combined stream video.

[0053] Embodiment:

[0054] The depth sensor is placed on the device placement rack and fixed by fixing screws. Then, the depth sensor is connected to the terminal through a data cable. The power supply is connected to start the terminal. The terminal supplies power to the depth sensor and the two communicate with each other. The parameters of the built-in camera of the depth sensor are set through the terminal. The appropriate recording mode and recording time are selected. After setting, preparation for recording is made.

[0055] The fruit is placed on the placement table of the fruit angle adjustment rack. The height of the placement table is adjusted through the support rod so that the center of the fruit and the built-in camera of the depth sensor are on the same horizontal line. The background of the fruit is set to white. The light source is turned on, and the appropriate position of the light source irradiation is adjusted through the left light source fixing plate and the right light source fixing plate.

[0056] The automatic rotating table of the fruit angle adjustment rack is turned on, and the built-in camera of the depth sensor takes pictures and stores them in the storage medium. During the shooting process, parameters such as exposure, white balance, and saturation are automatically controlled by the depth sensor.

[0057] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0058] Although the embodiments of the present utility model have been disclosed as above, it is not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present utility model. For those familiar with the field, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present utility model is not limited to the specific details and the illustrated and described examples here.

Claims

1. An indoor fruit point cloud acquisition device based on a rotating platform and a depth camera, characterized in that, Including: a base (2), a device placement rack, a fruit angle adjustment rack, a depth sensor (16), and a terminal (17); The fruit angle adjustment rack is arranged at one end of the base (2), the device placement rack is arranged at the other end of the base (2), the depth sensor (16) is placed on the device placement rack, and the terminal (17) is connected to the depth sensor (16); The fruit angle adjustment rack includes: a rotary table (1), a lifting assembly, and a placement table (15). The rotary table (1) is rotatably connected to the base (2) so that the rotary table (1) rotates on the base (2). The fixed end of the lifting assembly is connected to the rotary table (1), and the lifting end of the lifting assembly is connected to the placement table (15) so that the placement table (15) moves up and down.

2. The indoor fruit point cloud acquisition device based on a rotary table and a depth camera according to claim 1, characterized in that, The lifting assembly includes: a support rod and a support rod fixing plate (11), and the support rod is a telescopic structure; The placement table (15) is connected to the upper end of the support rod, the lower end of the support rod is connected to the support rod fixing plate (11), and the support rod fixing plate (11) is connected to the rotary table (1).

3. The indoor fruit point cloud acquisition device based on a rotary table and a depth camera according to claim 2, characterized in that, The support rod includes: a plug rod (14), a sleeve rod (13), and a first pin (12); The sleeve rod (13) is a hollow structure and has a first pin hole on the side wall of the upper end. The plug rod (14) is provided with a plurality of positioning holes (141); The plug rod (14) is movably inserted into the inside of the sleeve rod (13), and the first pin (12) passes through the first pin hole and extends into the positioning hole (141); The lower end of the sleeve rod (13) is connected to the support rod fixing plate (11), and the upper end of the plug rod (14) is connected to the placement table (15).

4. The indoor fruit point cloud acquisition device based on a rotating table and a depth camera according to claim 3, characterized in that, The plurality of positioning holes (141) are arranged at equal intervals on the plug rod (14).

5. The indoor fruit point cloud acquisition device based on a rotating platform and a depth camera according to claim 1, wherein, The base (2) is an L-shaped plate. The device placement rack is fixedly connected to the short plate (21) of the L-shaped plate. The fruit angle adjustment rack is fixedly connected to the long plate (22) of the L-shaped plate and the end far from the short plate (21). The rotary table (1) is fixedly connected to the end of the long plate (22) of the L-shaped plate far from the short plate (21).

6. The indoor fruit point cloud acquisition device based on a rotating platform and a depth camera according to claim 5, characterized in that, It further includes a light source assembly. The light source assembly includes: a light source fixing plate and two light sources (10); The light source fixing plate is fixedly connected to the short plate (21) of the L-shaped plate through two bolts (4), and the two light sources (10) are respectively fixed at both ends of the light source fixing plate.

7. The indoor fruit point cloud acquisition device based on a rotating table and a depth camera according to claim 6, wherein The light source fixing plate includes: a left light source fixing plate (5), a right light source fixing plate (6), and a middle fixing plate (3); The middle fixing plate (3) is fixedly connected to the short plate (21) of the L-shaped plate. Both ends of the middle fixing plate (3) are respectively hinged to the left light source fixing plate (5) and the right light source fixing plate (6) through a second pin (7); The two light sources (10) are respectively fixed on the left light source fixing plate (5) and the right light source fixing plate (6).

8. The indoor fruit point cloud acquisition device based on a rotary table and a depth camera according to claim 5, characterized in that, The device placement rack includes: a U-shaped table (8) and fixing screws (9); The bottom of the U-shaped table (8) is fixedly connected to the short plate (21) of the L-shaped plate. One side of the U-shaped table (8) is provided with a threaded hole, and the fixing screw (9) passes through the threaded hole to fix the depth sensor (16).

9. A kind of indoor fruit point cloud acquisition device based on a rotary table and a depth camera according to any one of claims 1 to 8, characterized in that, It further includes a storage medium, and the storage medium is respectively connected to the depth sensor (16) and the terminal (17).

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