The invention discloses an accurate safflower picking method integrating a main camera technology and an auxiliary camera technology. According to the method, the process of picking operation of the safflower harvesting
robot is divided into five parts of main shooting
image acquisition and
data set construction, auxiliary shooting
image acquisition and filament area segmentation,
global information acquisition and mechanical arm rapid positioning, filament feeding real-time monitoring and accurate picking, and continuous picking target. Specifically, a binocular camera installed at the top of a harvesting
robot is used as a main camera, safflower image data is collected in a
natural environment from an overlook angle,
image labeling software is used for carrying out fine
label labeling on the image data, a safflower
data set is constructed, and a
deep learning model is used for training and optimization; a small industrial camera is installed in the side direction of a
cutting type end
effector to serve as an auxiliary camera, safflower image data are collected in the
natural environment from the side
view angle,
image segmentation processing is conducted on the image data through a clustering
algorithm, and an accurate filament area is obtained; when the safflower harvesting
robot enters a field to perform harvesting operation, a main-shooting binocular camera overviews
global information of target plants in a picking space, and in combination with a pre-trained
deep learning model, center point coordinates of top planes of filaments are obtained, and a mechanical arm is guided to drive a
cutting type end
effector to quickly reach the positions near the filaments; the mechanical arm drives the
cutting type end
effector to continuously and slowly descend, a negative pressure fan of the harvesting robot is started, the filaments are kept vertical under the suction effect of the negative pressure fan, a cutting plane is exposed, meanwhile, an auxiliary camera small industrial camera is started to monitor the filament feeding condition in real time, and the interior of the end effector is preset as a picking area; when the lowest points of the
cut filaments enter a picking area, the mechanical arm stops moving, the end effector is triggered to start picking operation, and the end effector stops working after picking is completed; after one-time picking is completed, picking of the next target is carried out according to a pre-planned picking path until all the targets in the area are picked. The accurate safflower picking method integrating the main and auxiliary camera shooting technology can be provided for intelligent safflower picking, the accuracy and high efficiency of the picking action are ensured, and the quality and efficiency of safflower picking are effectively improved.