CN103053267A - Monorail intelligent cucumber harvester - Google Patents
Monorail intelligent cucumber harvester Download PDFInfo
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- CN103053267A CN103053267A CN2013100224366A CN201310022436A CN103053267A CN 103053267 A CN103053267 A CN 103053267A CN 2013100224366 A CN2013100224366 A CN 2013100224366A CN 201310022436 A CN201310022436 A CN 201310022436A CN 103053267 A CN103053267 A CN 103053267A
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- cucumber
- cutter
- guide rail
- processing unit
- intelligence
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Abstract
The invention discloses a monorail intelligent cucumber harvester which is used for harvesting ripe cucumbers and comprises a guide rail. Hooks are arranged on the lower portion of the guide rail, cucumber vines can be hung on the hooks, a harvesting vehicle which is clamped on the guide rail by guide wheels is arranged on the guide rail and is provided with a cutter, the cutter is connected with a cutter actuation unit, the cutter actuation unit is connected with an image processing unit, and the image processing unit is connected with an infrared sensor and a camera. When cucumber existence information is detected by the infrared sensor, the camera photographs a cucumber and transmits image information to the image processing unit, and after the image processing unit judges that the cucumber is ripe, the cutter actuation unit controls the cutter to cut the cucumber. The monorail intelligent cucumber harvester has the advantages that a manual cucumber harvesting mode can be replaced, and the monorail intelligent cucumber harvester is high in work efficiency, convenient to maintain and simple in operation.
Description
Technical field
The present invention relates to the agricultural equipment technical field, especially relate to a kind of single track cucumber intelligence reaping machine.
Background technology
Cucumber is one of vegetables main on people's dining table, and along with the continuous increase of the market demand, cultivated area is in continuous expansion.In order all to be able to eat good to eat cucumber throughout the year, green house plantation cucumber becomes a kind of preferably selection.But the results of cucumber are still take the manual mode of operation as main in the present green house.
Summary of the invention
The purpose of this invention is to provide a kind of single track cucumber intelligence reaping machine, it has can substitute artificial results cucumber, thus high efficiency, and characteristics easy to maintenance, simple to operate.
The technical solution adopted in the present invention is: single track cucumber intelligence reaping machine, be used for the ripe cucumber of results, described reaping machine comprises guide rail, the bottom of this guide rail is provided with and hangs the climing hook of cucumber melon, and this guide rail is provided with by guide wheel and is stuck in results car on this guide rail, simultaneously, this results car is provided with cutter, this cutter is connected with the cutter motor unit, this cutter motor unit is connected with graphics processing unit, this graphics processing unit is connected with infrared ray sensor and camera, simultaneously, after this infrared sensor detects cucumber and has information, this camera this cucumber is taken pictures and with image transmission to this graphics processing unit, after this graphics processing unit was judged this cucumber maturation, this cutter motor unit console cutter cut this cucumber.
The cutter motor unit that described cutter connects is: this cutter comprises close magnetic material, and this parent's magnetic material is furnished with electromagnet, and this electromagnet and this graphics processing unit match.
Described guide wheel comprises the upper block that is positioned at this guide rail top, the fulcrum that is positioned at the side wheel of these guide rail both sides and is positioned at this guide rail bottom, and this upper block is connected to motor.
Described guide rail is fixed on the support bar by cushion block.
Described single track cucumber intelligence reaping machine includes track exchanging device, and this track exchanging device comprises the conversion rail, and the two ends of this conversion rail are provided with connecting plate, simultaneously, and the square opening that the two ends of this guide rail are provided with and this connecting plate matches.
The bottom of described results car has hung the results frame.
The present invention is compared with existing technology the advantage that has: can substitute artificial results cucumber, thus high efficiency, and easy to maintenance, simple to operate.Single track cucumber intelligence reaping machine of the present invention obtains the image information of cucumber by the present position of the infrared ray sensor detection cucumber on the results car, by camera, judge again the maturity of cucumber by graphics processing unit, afterwards according to the output control electromagnet action that obtains, and then drive the cutter action, realized the accurate control of results processes.The intelligent degree of such reaping machine is higher, replaced to a certain extent manual operation, and used unit is few, and maintenance and operation is all comparatively simple.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples:
Fig. 1 is the perspective view of embodiments of the invention;
Fig. 2 is the enlarged diagram at the position, results car place of Fig. 1;
Fig. 3 and Fig. 4 are the perspective view of two different visual angles of results car of the present invention;
Fig. 5 is the perspective view of track exchanging device of the present invention when not using;
Fig. 6 is track exchanging device of the present invention perspective view in use.
Among the figure: 11, support bar, 12, cushion block, 13, guide rail, 14, the conversion rail, 141, connecting plate, 15, hook; 20, results car, 21, guide wheel, 211, upper block, 212, side wheel, 213, fulcrum, 22, cutter, 23, electromagnet; 30, sensor, 31, camera, 32, infrared ray sensor; 40, graphics processing unit; 50, results frame.
Embodiment
Embodiment, see that Fig. 1 is to shown in Figure 3: single track cucumber intelligence reaping machine is used for the ripe cucumber of results.Concrete, this reaping machine comprises guide rail 13, the bottom of this guide rail 13 is provided with and hangs the climing hook of cucumber melon 15.That is, in the climing process of cucumber, immature cucumber is hung on this hook 15, be equivalent to this cucumber is located.This guide rail 13 is provided with by guide wheel 21 and is stuck in results car 20 on this guide rail 13.Simultaneously, this results car 20 mainly includes cutter 22, and this cutter 22 is connected with the cutter motor unit, and this cutter motor unit is connected with graphics processing unit 40, and this graphics processing unit 40 is connected with infrared ray sensor 32 and camera 31.Simultaneously, after this infrared sensor 32 detects cucumber and has information, 31 pairs of these cucumber of this camera take pictures and with image transmission to this graphics processing unit 40, after this graphics processing unit 40 is judged these cucumber maturations, these cutter motor unit console cutter 22 these cucumber of cutting.Namely, in case this infrared ray sensor 32 detects the existence of cucumber on this hook 15, then this camera 31 starts the image information of this cucumber of picked-up, and then this image information and this graphics processing unit 40 contrast according to the data of the cucumber maturity of setting, and determines whether this cucumber is ripe.If determine that cucumber is ripe, then the cutter motor unit is failure to actuate; If determine this cucumber prematurity, then this graphics processing unit 40 sends the instruction that starts cutter 22 to this cutter motor unit, makes this cutter 22 actions, and then dodges this cucumber.The original state of the cutter 22 of obviously, setting this moment is the cutting cucumber.Certainly, for so that intelligent reaping machine can on positive and negative both direction, can both work, this camera 31 can be connected with whirligig, under the effect of this whirligig, this camera 31 can carry out 90 ° rotation around rotating shaft, when travelling forward, the camera lens of this camera 31 is towards the place ahead, and is then fixing; When moving backward, the camera lens of this camera 31 is towards the rear, and is then fixing.Wherein, for the mode that this cutter 22 is urged to correct position can be: this guide wheel 21 be connected with motor.Because cucumber is got final product so this results car 20 only need advance or retreat by 15 location of hook, is easy to control.
The cutter motor unit that this cutter 22 connects can be taked multiple common mode.Optimize, this cutter motor unit is: this cutter 22 comprises close magnetic material, and this parent's magnetic material is furnished with electromagnet 23, and this electromagnet 23 and this graphics processing unit 40 match.So-called close magnetic material, referring to iron etc. can be by the material that magnet attracted.Certainly, this cutter 22 can also be connected with back-moving spring, this cutter 22 can also be positioned on the slide rail.Like this, after electromagnet 23 energisings, can make this cutter 22 near this electromagnet 23, thereby realize the action of this cutter 22.Such as, this cutter 22 is dodged near 23 pairs of immature cucumber of this electromagnet.Obviously, simple, the use of such cutter motor unit.
In conjunction with shown in Figure 4: this guide wheel 21 can take various ways to be positioned on this guide rail 13.Optimize, this guide wheel 21 comprises the upper block 211 that is positioned at these guide rail 13 tops, the fulcrum 213 that is positioned at the side wheel 212 of these guide rail 13 both sides and is positioned at these guide rail 13 bottoms, and this upper block 211 is connected to motor.That is, this upper block 211 is as driving wheel, and this side wheel 212 and this fulcrum 213 are all be used to making this results car 20 be stable at this guide rail 13.Obviously, such structure makes mobile at this guide rail 13 that results car 20 can be stable.Certainly, this motor can also be connected with sensor 30, and this sensor 30 is by the action of control motor, stops at once when making this results car 20 arrive the end of guide rails 13, thereby waits for that operating personnel gather in the crops car 20 replacing tracks 11 for this.
In conjunction with Fig. 5 and shown in Figure 6: this guide rail 13 can be fixed on the support bar 11 by cushion block 12.Like this, this results car 20 can be current smoothly along guide rail 13, and can not stopped.At this moment, this single track cucumber intelligence reaping machine can include track exchanging device.Concretely, this track exchanging device comprises conversion rail 14, and the two ends of this conversion rail 14 are provided with connecting plate 141, simultaneously, and the square opening that the two ends of this guide rail 13 are provided with and this connecting plate 141 matches.That is, this connecting plate 141 can be inserted in this square opening.Like this, in the time of need to switching tracks, this connecting plate 141 is inserted in the square hole of guide rail 13, then will gather in the crops car 20 moves on the conversion rail 14 of track exchanging device, to change at last rail 14 lifts down from guide rail 13 together with results car 20, move on on the guide rail 13 of another ridge cucumber results, then promote the results car and to this guide rail 13, get final product.
Certainly, the bottom of this results car 20 has hung results frame 50.Like this, the cucumber of being convenient to be gathered in the crops by cutter 22 drops down onto in this results frame 50 voluntarily.
The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (6)
1. single track cucumber intelligence reaping machine, be used for the ripe cucumber of results, it is characterized in that: described reaping machine comprises guide rail (13), the bottom of this guide rail (13) is provided with and hangs the climing hook of cucumber melon (15), and this guide rail (13) is provided with by guide wheel (21) and is stuck in results car (20) on this guide rail (13), this results car (20) is provided with cutter (22), this cutter (22) is connected with the cutter motor unit, this cutter motor unit is connected with graphics processing unit (40), this graphics processing unit (40) is connected with infrared ray sensor (32) and camera (31), simultaneously, after this infrared sensor (32) detects cucumber and has information, this camera (31) this cucumber is taken pictures and with image transmission to this graphics processing unit (40), after this graphics processing unit (40) was judged this cucumber maturation, this cutter motor unit console cutter (22) cut this cucumber.
2. single track cucumber according to claim 1 intelligence reaping machine, it is characterized in that: the cutter motor unit that described cutter (22) connects is: this cutter (22) comprises close magnetic material, this parent's magnetic material is furnished with electromagnet (23), and this electromagnet (23) and this graphics processing unit (40) match.
3. single track cucumber according to claim 1 intelligence reaping machine, it is characterized in that: described guide wheel (21) comprises the upper block (211) that is positioned at this guide rail (13) top, the fulcrum (213) that is positioned at the side wheel (212) of this guide rail (13) both sides and is positioned at this guide rail (13) bottom, and this upper block (211) is connected to motor.
4. single track cucumber according to claim 1 intelligence reaping machine, it is characterized in that: described guide rail (13) is fixed on the support bar (11) by cushion block (12).
5. single track cucumber according to claim 4 intelligence reaping machine, it is characterized in that: described single track cucumber intelligence reaping machine includes track exchanging device, this track exchanging device comprises conversion rail (14), the two ends of this conversion rail (14) are provided with connecting plate (141), simultaneously, the square opening that the two ends of this guide rail (13) are provided with and this connecting plate (141) matches.
6. each described single track cucumber intelligence reaping machine in 5 according to claim 1, it is characterized in that: the bottom of described results car (20) has hung results frame (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310022436.6A CN103053267B (en) | 2013-01-22 | 2013-01-22 | Monorail intelligent cucumber harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310022436.6A CN103053267B (en) | 2013-01-22 | 2013-01-22 | Monorail intelligent cucumber harvester |
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| Publication Number | Publication Date |
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| CN103053267A true CN103053267A (en) | 2013-04-24 |
| CN103053267B CN103053267B (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310022436.6A Active CN103053267B (en) | 2013-01-22 | 2013-01-22 | Monorail intelligent cucumber harvester |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102687624A (en) * | 2012-06-18 | 2012-09-26 | 中国农业大学 | Intelligent cucumber harvesting vehicle |
| CN103548499A (en) * | 2013-10-19 | 2014-02-05 | 甘肃农业大学 | Mushroom picking trolley for mushroom industrialized production |
| CN104025801A (en) * | 2014-05-23 | 2014-09-10 | 北京工业大学 | Greenhouse aeroponic culture vegetable harvesting machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5816169A (en) * | 1996-10-21 | 1998-10-06 | Mackenzie; Kenneth J. | Model monorail system |
| JP3757279B2 (en) * | 2002-12-02 | 2006-03-22 | 独立行政法人農業・生物系特定産業技術研究機構 | Method and apparatus for selective harvesting of fruit vegetables |
| EP1891852A1 (en) * | 2006-08-25 | 2008-02-27 | Egatec A/S | Method and collection vehicle for harvesting crops growing on stems |
| CN101658096A (en) * | 2008-08-29 | 2010-03-03 | 上海市上海中学 | Apple-picking device |
| CN102550217A (en) * | 2011-12-15 | 2012-07-11 | 河南理工大学 | End effector of novel harvesting robot and flexibility control method thereof |
| CN102640623A (en) * | 2012-05-16 | 2012-08-22 | 苏州博田自动化技术有限公司 | Automatic picking machine for stripped fruit and vegetables |
| CN102714974A (en) * | 2012-06-18 | 2012-10-10 | 中国农业大学 | Cucumber harvesting device and using method thereof |
| CN203152023U (en) * | 2013-01-22 | 2013-08-28 | 苏州博田自动化技术有限公司 | Single-rail cucumber intelligent harvester |
-
2013
- 2013-01-22 CN CN201310022436.6A patent/CN103053267B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816169A (en) * | 1996-10-21 | 1998-10-06 | Mackenzie; Kenneth J. | Model monorail system |
| JP3757279B2 (en) * | 2002-12-02 | 2006-03-22 | 独立行政法人農業・生物系特定産業技術研究機構 | Method and apparatus for selective harvesting of fruit vegetables |
| EP1891852A1 (en) * | 2006-08-25 | 2008-02-27 | Egatec A/S | Method and collection vehicle for harvesting crops growing on stems |
| CN101658096A (en) * | 2008-08-29 | 2010-03-03 | 上海市上海中学 | Apple-picking device |
| CN102550217A (en) * | 2011-12-15 | 2012-07-11 | 河南理工大学 | End effector of novel harvesting robot and flexibility control method thereof |
| CN102640623A (en) * | 2012-05-16 | 2012-08-22 | 苏州博田自动化技术有限公司 | Automatic picking machine for stripped fruit and vegetables |
| CN102714974A (en) * | 2012-06-18 | 2012-10-10 | 中国农业大学 | Cucumber harvesting device and using method thereof |
| CN203152023U (en) * | 2013-01-22 | 2013-08-28 | 苏州博田自动化技术有限公司 | Single-rail cucumber intelligent harvester |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102687624A (en) * | 2012-06-18 | 2012-09-26 | 中国农业大学 | Intelligent cucumber harvesting vehicle |
| CN102687624B (en) * | 2012-06-18 | 2013-11-27 | 中国农业大学 | Intelligent cucumber harvesting vehicle |
| CN103548499A (en) * | 2013-10-19 | 2014-02-05 | 甘肃农业大学 | Mushroom picking trolley for mushroom industrialized production |
| CN104025801A (en) * | 2014-05-23 | 2014-09-10 | 北京工业大学 | Greenhouse aeroponic culture vegetable harvesting machine |
| CN104025801B (en) * | 2014-05-23 | 2015-12-30 | 北京工业大学 | A kind of greenhouse mist training vegetable harvester |
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| Publication number | Publication date |
|---|---|
| CN103053267B (en) | 2016-06-01 |
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