CN103548494A - Fruit picking method on basis of machine vision and hand-held mobile picking equipment for same - Google Patents
Fruit picking method on basis of machine vision and hand-held mobile picking equipment for same Download PDFInfo
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- CN103548494A CN103548494A CN201310530961.9A CN201310530961A CN103548494A CN 103548494 A CN103548494 A CN 103548494A CN 201310530961 A CN201310530961 A CN 201310530961A CN 103548494 A CN103548494 A CN 103548494A
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Abstract
The invention discloses a fruit picking method on the basis of machine vision, which is characterized by comprising the following steps that (1) one piece of hand-held mobile picking equipment is arranged, wherein the hand-held mobile picking equipment comprises a telescopic rod, a picking device and a control device; (2) a power supply is started, the hand-held mobile picking equipment is in a working state, an operator sends the picking device to the position near a fruit to be picked by the telescopic rod, a camera on the picking device shoots an image of related positions of a picking head and the fruit to be picked, the image is transmitted to an intelligent image processing chip of the control device to be processed and then is displayed by a display screen, the operator enables the fruit to be picked to enter a picking range of the picking head by regulating the telescopic rod, a control switch is pressed down, the picking head completes the fruit picking action under the drive of a transmission mechanism, and the fruit to be picked enters a fruit picking mesh bag. The invention also discloses the hand-held mobile picking equipment for implementing the method.
Description
Technical field
The present invention relates to agricultural equipment technical field, relate in particular to a kind of picking fruit method and portable mobile seed harvester thereof based on machine vision.
Background technology
Traditional melon and fruit is gathered and is conventionally adopted artificial mode of plucking, and labourer's labour intensity is large, and operating efficiency is low, need to expend a large amount of time and muscle power.Development melon and fruit picking robot can free a large amount of labours from these numerous and diverse, dull work.Melon and fruit picking robot belongs to a kind of of agricultural robot, and along with popularizing of the intelligentized development of agricultural equipment and related science technology, picking robot will have more wide prospect.
Plucking forest fruit, is a difficult problem that perplexs for many years orchard worker, and it objectively becomes a key factor of the economic forest development of restriction.In order to solve an above-mentioned difficult problem, the picking mechanical successively occurring is both at home and abroad broadly divided into two large class---main equipment and handheld devices.Main equipment is as hydraulic lifting seed harvester etc., and the large stretch of orchard that is adapted at level land is used, and this equipment investment is large, and cost is high, is difficult to adapt to the landform of various complexity, helpless in massif area.Handheld device is as unpowered fruit picker, manual twisted off type fruit picker etc., it is, inefficiency large by manual operation, labour intensity entirely, is difficult to meet orchard worker's demand, in addition, because the residing position of forest fruit is higher, during harvesting, operator is usually difficult to see clearly the position of carpopodium, and this will affect undoubtedly operating efficiency and increase labour intensity, also have, the shearing dynamics of picking head is inadequate, causes shearing to occur the problem that is difficult to cut off, and has reduced picking rate.
Therefore, a kind of applicable to any landform, and near the concrete condition of knowing fruit to be sheared that can be clear, clear, can reduce the risk that injures forest branches and leaves or fruit, meanwhile, the fast picker of picking rate has good market prospects.
Summary of the invention
The invention provides a kind of picking fruit method based on machine vision addressing the above problem and portable mobile seed harvester thereof.
The technical scheme that the present invention adopts is for achieving the above object:
A picking fruit method for machine vision, it comprises the steps:
(1) a portable mobile seed harvester is set, described portable mobile seed harvester, it comprises that an expansion link, is arranged at the picker on expansion link top, one is arranged at the control device at expansion link middle part; Described picker, it comprises a power source, a camera, a transmission mechanism, a picking head and a fruit picking mesh bag, and described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera, transmission mechanism respectively by wire;
(2) opening power, above-mentioned portable mobile seed harvester is in running order, operator delivers to picker near fruit to be plucked by expansion link, the image of the relative position of the camera picked-up picking head on picker and fruit to be plucked, after the intelligent image process chip that sends control device to is processed, in display screen, show, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod, press gauge tap, picking head completes the harvesting action of fruit under the drive of transmission mechanism, fruit to be plucked enters in fruit picking mesh bag.
The transmission mechanism of the picker in described step (1), it comprises a bracket base, described bracket base is provided with the connecting ring, of an expansion link flexible connection for discharging the first directed slag-drip opening of the residue after shearing and the electric wire line outlet that a supply lines passes, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of a plurality of adjusting picking head; Described ripple case upper casing is connected with ripple case lower casing, forms a ripple case shell, and described ripple case shell is placed in described bracket base; Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor, a gear train and a brood of wheels, and described motor is connected with gear train, and described gear train is connected with nest wheels; Described gear train comprises an interconnective driving wheel and a reduction gearing, described nest wheels, it comprises interconnective a brood of bar, a brood of wheel and a brood of wheel cam, described driving wheel is connected with motor, described reduction gearing is connected with nest bar, described nest bar, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
The picking head of the picker in described step (1), it comprises a support upper cover, an and support lower cover, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, be folded with a cutting prerotation vane, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt of a motor function, the front portion of the fan-shaped hilt of described motor function is provided with an active blade, and one be fixedly connected with the initiatively moving knife compressing tablet of blade and the fan-shaped hilt of motor function, on the fan-shaped hilt of described motor function, be also provided with a cam drive groove, one release slider drives draw-in groove, an and fulcrum, described cam drive groove is connected with nest wheel cam.
The accumulation of energy release slider, a percussion spring card, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt, and a spring being set on accumulation of energy release shock bolt; Described accumulation of energy release slider, its front end is provided with a projection, and the projection of described accumulation of energy release slider drives draw-in groove to be connected with release slider; In described accumulation of energy release slider, be also provided with a plurality of screens; Described screens is connected with percussion Spring Card; Described accumulation of energy discharges shock bolt and is provided with a bolt head; In described " V " font shell, be also provided with accommodating accumulation of energy release slider slide block slot, an accommodating accumulation of energy discharge and clash into the bar-shaped trough of bolt and for discharging the second directed slag-drip opening of the residue after shearing, the first described directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
Under described support, cover and be provided with a mounting base for camera head, in described shooting mount pad, be provided with a camera, the angular range that arranges between described shooting mount pad and support lower cover is 20 °～80 °; In described support lower cover, be also provided with a control circuit board, a motion positions gauge tap, described motion positions gauge tap is connected with control circuit board; Described motion positions gauge tap is connected with control device, and described control circuit board is connected with motor; The front end of described support upper cover is provided with a moving knife protection guide collar and and connects fruit mesh bag " U " shape circle, described in connect fruit mesh bag " U " shape circle and be connected with fruit picking mesh bag.
Described expansion link, is arranged with two fixedly pipe boxes that are used for guaranteeing the height normal operation of picker in current adjusting on it, its top be provided with one with the suitable connecting jacket structure of the connecting ring of picker.
Described step (2) specifically comprises the steps:
(21) opening power, portable mobile seed harvester is in running order, described portable mobile seed harvester remains static, the lowermost end of the described accumulation of energy release slider being connected with release slider drive draw-in groove in slide block slot, described accumulation of energy discharges the lowermost end in draw-in groove that clashes into bolt; Described accumulation of energy discharges the state that the spring on shock bolt pushes in distortion, and described accumulation of energy discharges clashes into the fulcrum that bolt props up the fan-shaped hilt of motor function, makes portable mobile seed harvester enter into the preparatory stage of harvesting;
(22) operator passes through adjustable telescopic rod, and guarantee that by fixedly pipe box setting up and down picker carries out work under the height of current expansion link, being about to picker delivers near fruit to be plucked, the image of the relative position of the camera picked-up picking head on picker and fruit to be plucked, after the intelligent image process chip that sends control device to is processed, in display screen, show, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod again, presses gauge tap;
(23) described intelligent image process chip receives after the control information that gauge tap presses, send control command to motion positions gauge tap, described motion positions gauge tap transfers to control circuit board by order, after described control circuit board receives control command, send startup command to the motor of drive mechanism, motor drives driving wheel successively, reduction gearing, nest bar, nest wheel, and nest wheel cam, described nest wheel cam is by cam drive groove, rotarily drive the fan-shaped hilt of motor function, the fan-shaped hilt of described motor function drives draw-in groove by release slider, drive accumulation of energy release slider, described percussion spring card carries out clamping by screens and accumulation of energy release slider, the bolt head that described accumulation of energy discharges shock bolt props up the bottom of pulling the trigger spring card, described " U " shape edge of a knife blocks fruit branch or the carpopodium of fruit to be sheared, the spring that portable mobile seed harvester is entered into before harvesting is treated the release stage,
(24) described accumulation of energy discharges and clashes into bolt upper spring abrupt release elastic potential energy, the bolt head that described accumulation of energy discharges shock bolt directly strikes on the fulcrum of the fan-shaped hilt of motor function, make initiatively blade of the fan-shaped hilt of motor function moment drive, complete the harvesting action of current fruit to be plucked, after the fruit of plucking is sheared, naturally be slipped in fruit picking mesh bag, the residue producing in shear history is discharged by the slag-drip opening consisting of first row cinder notch and second row cinder notch;
(25) operator unclamps gauge tap, the intelligent image process chip of described portable mobile seed harvester receives after the control information that gauge tap unclamps, send control command to motion positions gauge tap, described motion positions gauge tap transfers to control circuit board by order, after described control circuit board receives control command, transmission is ceased and desisted order to the motor of drive mechanism, motor drives driving wheel successively, reduction gearing, nest bar, nest wheel, and nest wheel cam, described nest wheel cam rotarily drives the fan-shaped hilt of motor function by cam drive groove, the accumulation of energy release slider that drives draw-in groove to be connected with the release slider of the fan-shaped hilt of motor function is driven the lowermost end to slide block slot, the fan-shaped hilt of described motor function discharges by withstanding accumulation of energy the bolt head that clashes into bolt, be driven the lowermost end to draw-in groove, realize the accumulation of energy again of portable mobile seed harvester,
(26) repeat step (22)～(25), realize the harvesting of a plurality of fruits.
Realize the portable mobile seed harvester of the above-mentioned picking fruit method based on machine vision of claim, it comprises that an expansion link, is arranged at the picker on expansion link top, and one is arranged at the control device at expansion link middle part; Described picker, it comprises a power source, a camera, a transmission mechanism, a picking head and a fruit picking mesh bag, and described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera, transmission mechanism respectively by wire; The transmission mechanism of described picker, it comprises a bracket base, described bracket base is provided with the connecting ring, of an expansion link flexible connection for discharging the first directed slag-drip opening of the residue after shearing and the electric wire line outlet that a supply lines passes, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of a plurality of adjusting picking head; Described ripple case upper casing is connected with ripple case lower casing, forms a ripple case shell, and described ripple case shell is placed in described bracket base; Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor, a gear train and a brood of wheels, and described motor is connected with gear train, and described gear train is connected with nest wheels; Described gear train comprises an interconnective driving wheel and a reduction gearing, described nest wheels, it comprises interconnective a brood of bar, a brood of wheel and a brood of wheel cam, described driving wheel is connected with motor, described reduction gearing is connected with nest bar, described nest bar, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
The picking head of described picker, it comprises a support upper cover, an and support lower cover, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, be folded with a cutting prerotation vane, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt of a motor function, the front portion of the fan-shaped hilt of described motor function is provided with an active blade, and one be fixedly connected with the initiatively moving knife compressing tablet of blade and the fan-shaped hilt of motor function, on the fan-shaped hilt of described motor function, be also provided with a cam drive groove, one release slider drives draw-in groove, an and fulcrum, described cam drive groove is connected with nest wheel cam, the accumulation of energy release slider, a percussion spring card, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt, and a spring being set on accumulation of energy release shock bolt, described accumulation of energy release slider, its front end is provided with a projection, and the projection of described accumulation of energy release slider drives draw-in groove to be connected with release slider, in described accumulation of energy release slider, be also provided with a plurality of screens, described screens is connected with percussion Spring Card, described accumulation of energy discharges shock bolt and is provided with a bolt head, in described " V " font shell, be also provided with accommodating accumulation of energy release slider slide block slot, an accommodating accumulation of energy discharge and clash into the bar-shaped trough of bolt and for discharging the second directed slag-drip opening of the residue after shearing, the first described directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
Under described support, cover and be provided with a mounting base for camera head, in described shooting mount pad, be provided with a camera, the angular range that arranges between described shooting mount pad and support lower cover is 20 °～80 °; In described support lower cover, be also provided with a control circuit board, a motion positions gauge tap, described motion positions gauge tap is connected with control circuit board; Described motion positions gauge tap is connected with control device, and described control circuit board is connected with motor; The front end of described support upper cover is provided with a moving knife protection guide collar and and connects fruit mesh bag " U " shape circle, described in connect fruit mesh bag " U " shape circle and be connected with fruit picking mesh bag; Described expansion link, is arranged with two fixedly pipe boxes that are used for guaranteeing the height normal operation of picker in current adjusting on it, its top be provided with one with the suitable connecting jacket structure of the connecting ring of picker.
The upper and lower side of nest bar of the present invention is respectively equipped with a bearing, makes portable mobile seed harvester of the present invention have better stability, fastness, thereby increased its service life.
Its below of connecting ring of the present invention is provided with angle draw-in groove, can by angle draw-in groove, regulate the angle of picking head, portable mobile seed harvester of the present invention is used more flexible, convenient.
The portable mobile seed harvester that the present invention researches and develops, it is applicable to any landform, and meanwhile, its structure is simplified, lightweight, and it adopts the plastics of lightweight for its shell, and so it is little that it has equipment investment, cost is low, the characteristic of the landform of general various complexity.
It adopts camera the present invention, and control device, and both are combined with, can reach clear, the clear fruit to be plucked of understanding, with and near environment, avoid, because pluck forest branches and leaves or the fruit injury cause, affecting the harvest in the coming year and the outward appearance of fruit.
Also have, the present invention adopts spring to make the multiplication of shearing dynamics, and the elastic force that the short time set by spring discharges, for the shearing to fruit, makes the shear rate multiplication of fruit, makes shear efficiency higher.
" U " of the present invention shape edge of a knife left arm is provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, is folded with a cutting prerotation vane, by the anti-skidding quiet cutter of profile of tooth and cutting being combined with of prerotation vane, make to cut faster, cutting effect is better.
The moving knife guard circle of " U " of the present invention shape edge of a knife and cutting prerotation vane, its both combinations, form one " tubaeform " mouthful, make guide effect better.
Below in conjunction with accompanying drawing and embodiment, the present invention is further described.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the overall structure schematic diagram of picker of the present invention;
Fig. 3 is the package assembly schematic diagram of the picking head of picker of the present invention;
Fig. 4 is the blast structural representation of the picking head of picker of the present invention;
Fig. 5 is the blast structural representation of transmission mechanism of the present invention;
Wherein:
1, expansion link 2, control device 3, picker
4, fruit picking mesh bag 5, bracket base 6, ripple case upper casing
7, ripple case lower casing 8, motor 9, driving wheel
10, reduction gearing 11, nest bar 12, nest wheel
13, nest wheel cam 14, connecting ring 15, support upper cover
16, support lower cover 17, the anti-skidding quiet cutter 18 of profile of tooth, cutting prerotation vane
19, the fan-shaped hilt 20 of motor function, active blade 21, moving knife compressing tablet
22, cam drive groove 23, release slider drive draw-in groove
24, accumulation of energy release slider 25, percussion spring card 26, accumulation of energy discharge clashes into bolt 27, spring 28, mounting base for camera head 29, camera
30, moving knife is protected guide collar 31, is connect fruit mesh bag " U " shape circle
32, control circuit board 33, motion positions gauge tap 34, fixing pipe box
35, the first directed slag-drip opening 36, electric wire line outlet 37, angle draw-in groove
38, fulcrum 40, screens 41, bolt head
42, slide block slot 43, bar-shaped trough the 44, second directed slag-drip opening.
Embodiment
Referring to Fig. 1～Fig. 5, the invention provides a kind of picking fruit method based on machine vision, it comprises the steps:
(1) a portable mobile seed harvester is set, described portable mobile seed harvester, it picker 3, one that comprises that an expansion link 1, is arranged at expansion link 1 top is arranged at the control device 2 at expansion link 1 middle part; Described picker 3, it comprises a power source, a camera 29, a transmission mechanism, a picking head and a fruit picking mesh bag 4, described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device 2, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera 29, transmission mechanism respectively by wire;
(2) opening power, above-mentioned portable mobile seed harvester is in running order, operator delivers to picker 3 near fruit to be plucked by expansion link 1, the image of the relative position of the camera 29 picked-up picking head on picker 3 and fruit to be plucked, after the intelligent image process chip that sends control device 2 to is processed, in display screen, show, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod 1, press gauge tap, picking head completes the harvesting action of fruit under the drive of transmission mechanism, fruit to be plucked enters in fruit picking mesh bag 4.
The transmission mechanism of the picker 3 in described step (1), it comprises a bracket base 5, described bracket base 5 is provided with connecting ring that an expansion link 1 is flexibly connected 14, for discharging the first directed slag-drip opening 35 of the residue after shearing and electric wire line outlet 36, one ripple case upper casings 6, a ripple case lower casing 6 that a supply lines passes; Described connecting ring 14 is provided with the angle draw-in groove 37 of a plurality of adjusting picking head; Described ripple case upper casing 6 is connected with ripple case lower casing 6, forms a ripple case shell, and described ripple case shell is placed in described bracket base 5; Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor 8, a gear train and a brood of wheels, and described motor 8 is connected with gear train, and described gear train is connected with nest wheels; Described gear train comprises an interconnective driving wheel 9 and a reduction gearing 10, described nest wheels, it comprises interconnective a brood of bar 11, a brood of wheel 12 and a brood of wheel cam 13, described driving wheel 9 is connected with motor 8, described reduction gearing 10 is connected with nest bar 11, described nest bar 11, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
The picking head of the picker 3 in described step (1), it comprises a support upper cover 15, an and support lower cover 16, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves 17 of profile of tooth, between the anti-skidding quiet cutter 17 of described profile of tooth, be folded with a cutting prerotation vane 18, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt 19 of a motor function, the front portion of the fan-shaped hilt 19 of described motor function is provided with an active blade 20, and one be fixedly connected with the initiatively moving knife compressing tablet 21 of blade 20 and the fan-shaped hilt 19 of motor function, on the fan-shaped hilt 19 of described motor function, be also provided with a cam drive groove 22, one release slider drives draw-in groove 23, an and fulcrum 38, described cam drive groove 22 is connected with nest wheel cam 13.
The accumulation of energy release slider 24, a percussion spring card 25, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt 26, and a spring 27 being set on accumulation of energy release shock bolt 26; Described accumulation of energy release slider 24, its front end is provided with a projection, and the projection of described accumulation of energy release slider 24 drives draw-in groove 23 to be connected with release slider; In described accumulation of energy release slider 24, be also provided with a plurality of screens 40; Described screens 40 is connected with percussion Spring Card; Described accumulation of energy discharges shock bolt 26 and is provided with a bolt head 41; In described " V " font shell, being also provided with the accommodating accumulation of energy of the slide block slot 42, of accommodating accumulation of energy release slider 24 discharges and clashes into the bar-shaped trough 43 of bolt 26 and for discharging the second directed slag-drip opening 44 of the residue after shearing, the first described directed slag-drip opening 35 communicates with the second directed slag-drip opening 44, forms a slag-drip opening.
Described support lower cover 16 is provided with a mounting base for camera head 28, is provided with a camera 29 in described shooting mount pad, and the angular range that arranges between described shooting mount pad and support lower cover 16 is 20 °～80 °; In described support lower cover 16, be also provided with a control circuit board 32, a motion positions gauge tap 33, described motion positions gauge tap 33 is connected with control circuit board 32; Described motion positions gauge tap 33 is connected with control device 2, and described control circuit board 32 is connected with motor 8; The front end of described support upper cover 15 is provided with a moving knife protection guide collar 30 and and connects fruit mesh bag " U " shape circle 31, described in connect fruit mesh bag " U " shape circle 31 and be connected with fruit picking mesh bag 4.
Described expansion link 1, is arranged with two fixedly pipe boxes 34 that are used for guaranteeing the height normal operation of picker 3 in current adjusting on it, its top be provided with one with the suitable connecting jacket structure of the connecting ring 14 of picker 3.
Described step (2) specifically comprises the steps:
(21) opening power, portable mobile seed harvester is in running order, described portable mobile seed harvester remains static, the lowermost end of the described accumulation of energy release slider 24 being connected with release slider drive draw-in groove 23 in slide block slot 42, described accumulation of energy discharges the lowermost end in draw-in groove that clashes into bolt 26; Described accumulation of energy discharges the state that the spring 27 on shock bolt 26 pushes in distortion, and described accumulation of energy discharges clashes into the fulcrum 38 that bolt 26 props up the fan-shaped hilt 19 of motor function, makes portable mobile seed harvester enter into the preparatory stage of harvesting;
(22) operator is by adjustable telescopic rod 1, and guarantee that by fixedly pipe box setting up and down 34 picker 3 carries out work under the height of current expansion link 1, being about to picker 3 delivers near fruit to be plucked, the image of the relative position of the camera 29 picked-up picking head on picker 3 and fruit to be plucked, after the intelligent image process chip that sends control device 2 to is processed, in display screen, show, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod 1 again, presses gauge tap;
(23) described intelligent image process chip receives after the control information that gauge tap presses, send control command to motion positions gauge tap 33, described motion positions gauge tap 33 transfers to control circuit board 32 by order, after described control circuit board 32 receives control command, send startup command to the motor 8 of drive mechanism, motor 8 drives driving wheel 9 successively, reduction gearing 10, nest bar 11, nest wheel 12, and nest wheel cam 13, described nest wheel cam 13 is by cam drive groove 22, rotarily drive the fan-shaped hilt 19 of motor function, the fan-shaped hilt 19 of described motor function drives draw-in groove 23 by release slider, drive accumulation of energy release slider 24, described percussion spring card 25 carries out clamping by screens 40 and accumulation of energy release slider 24, the bolt head 41 that described accumulation of energy discharges shock bolt 26 props up the bottom of pulling the trigger spring card 25, described " U " shape edge of a knife blocks fruit branch or the carpopodium of fruit to be sheared, the spring 27 that portable mobile seed harvester is entered into before harvesting is treated the release stage,
(24) described accumulation of energy discharges and clashes into bolt 26 upper spring 27 abrupt release elastic potential energys, the bolt head 41 that described accumulation of energy discharges shock bolt 26 directly strikes on the fulcrum 38 of the fan-shaped hilt 19 of motor function, make initiatively blade 20 of the fan-shaped hilt 19 moments drive of motor function, complete the harvesting action of current fruit to be plucked, after the fruit of plucking is sheared, naturally be slipped in fruit picking mesh bag 4, the residue producing in shear history is discharged by the slag-drip opening consisting of first row cinder notch and second row cinder notch;
(25) operator unclamps gauge tap, the intelligent image process chip of described portable mobile seed harvester receives after the control information that gauge tap unclamps, send control command to motion positions gauge tap 33, described motion positions gauge tap 33 transfers to control circuit board 32 by order, after described control circuit board 32 receives control command, transmission is ceased and desisted order to the motor 8 of drive mechanism, motor 8 drives driving wheel 9 successively, reduction gearing 10, nest bar 11, nest wheel 12, and nest wheel cam 13, described nest wheel cam 13 rotarily drives the fan-shaped hilt 19 of motor function by cam drive groove 22, the accumulation of energy release slider 24 that drives draw-in groove 23 to be connected with the release slider of the fan-shaped hilt 19 of motor function is driven to the lowermost end of slide block slot 42, the fan-shaped hilt 19 of described motor function discharges by withstanding accumulation of energy the bolt head 41 that clashes into bolt 26, be driven the lowermost end to draw-in groove, realize the accumulation of energy again of portable mobile seed harvester,
(26) repeat step (22)～(25), realize the harvesting of a plurality of fruits.
Realize the portable mobile seed harvester of the above-mentioned picking fruit method based on machine vision of claim, it picker 3, one that comprises that an expansion link 1, is arranged at expansion link 1 top is arranged at the control device 2 at expansion link 1 middle part; Described picker 3, it comprises a power source, a camera 29, a transmission mechanism, a picking head and a fruit picking mesh bag 4, described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device 2, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera 29, transmission mechanism respectively by wire; The transmission mechanism of described picker 3, it comprises a bracket base 5, described bracket base 5 is provided with connecting ring that an expansion link 1 is flexibly connected 14, for discharging the first directed slag-drip opening 35 of the residue after shearing and electric wire line outlet 36, one ripple case upper casings 6, a ripple case lower casing 6 that a supply lines passes; Described connecting ring 14 is provided with the angle draw-in groove 37 of a plurality of adjusting picking head; Described ripple case upper casing 6 is connected with ripple case lower casing 6, forms a ripple case shell, and described ripple case shell is placed in described bracket base 5; Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor 8, a gear train and a brood of wheels, and described motor 8 is connected with gear train, and described gear train is connected with nest wheels; Described gear train comprises an interconnective driving wheel 9 and a reduction gearing 10, described nest wheels, it comprises interconnective a brood of bar 11, a brood of wheel 12 and a brood of wheel cam 13, described driving wheel 9 is connected with motor 8, described reduction gearing 10 is connected with nest bar 11, described nest bar 11, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
The picking head of described picker 3, it comprises a support upper cover 15, an and support lower cover 16, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves 17 of profile of tooth, between the anti-skidding quiet cutter 17 of described profile of tooth, be folded with a cutting prerotation vane 18, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt 19 of a motor function, the front portion of the fan-shaped hilt 19 of described motor function is provided with an active blade 20, and one be fixedly connected with the initiatively moving knife compressing tablet 21 of blade 20 and the fan-shaped hilt 19 of motor function, on the fan-shaped hilt 19 of described motor function, be also provided with a cam drive groove 22, one release slider drives draw-in groove 23, an and fulcrum 38, described cam drive groove 22 is connected with nest wheel cam 13, the accumulation of energy release slider 24, a percussion spring card 25, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt 26, and a spring 27 being set on accumulation of energy release shock bolt 26, described accumulation of energy release slider 24, its front end is provided with a projection, and the projection of described accumulation of energy release slider 24 drives draw-in groove 23 to be connected with release slider, in described accumulation of energy release slider 24, be also provided with a plurality of screens 40, described screens 40 is connected with percussion Spring Card, described accumulation of energy discharges shock bolt 26 and is provided with a bolt head 41, in described " V " font shell, being also provided with the accommodating accumulation of energy of the slide block slot 42, of accommodating accumulation of energy release slider 24 discharges and clashes into the bar-shaped trough 43 of bolt 26 and for discharging the second directed slag-drip opening 44 of the residue after shearing, the first described directed slag-drip opening 35 communicates with the second directed slag-drip opening 44, forms a slag-drip opening.
Described support lower cover 16 is provided with a mounting base for camera head 28, is provided with a camera 29 in described shooting mount pad, and the angular range that arranges between described shooting mount pad and support lower cover 16 is 20 °～80 °; In described support lower cover 16, be also provided with a control circuit board 32, a motion positions gauge tap 33, described motion positions gauge tap 33 is connected with control circuit board 32; Described motion positions gauge tap 33 is connected with control device 2, and described control circuit board 32 is connected with motor 8; The front end of described support upper cover 15 is provided with a moving knife protection guide collar 30 and and connects fruit mesh bag " U " shape circle 31, described in connect fruit mesh bag " U " shape circle 31 and be connected with fruit picking mesh bag 4; Described expansion link 1, is arranged with two fixedly pipe boxes 34 that are used for guaranteeing the height normal operation of picker 3 in current adjusting on it, its top be provided with one with the suitable connecting jacket structure of the connecting ring 14 of picker 3.
The upper and lower side of nest bar of the present invention is respectively equipped with a bearing, makes portable mobile seed harvester of the present invention have better stability, fastness, thereby increased its service life.
Its below of connecting ring of the present invention is provided with angle draw-in groove, can by angle draw-in groove, regulate the angle of picking head, portable mobile seed harvester of the present invention is used more flexible, convenient.
The portable mobile seed harvester that the present invention researches and develops, it is applicable to any landform, and meanwhile, its structure is simplified, lightweight, and it adopts the plastics of lightweight for its shell, and so it is little that it has equipment investment, cost is low, the characteristic of the landform of general various complexity.
It adopts camera the present invention, and control device, and both are combined with, can reach clear, the clear fruit to be plucked of understanding, with and near environment, avoid, because pluck forest branches and leaves or the fruit injury cause, affecting the harvest in the coming year and the outward appearance of fruit.
Also have, the present invention adopts spring to make the multiplication of shearing dynamics, and the elastic force that the short time set by spring discharges, for the shearing to fruit, makes the shear rate multiplication of fruit, makes shear efficiency higher.
" U " of the present invention shape edge of a knife left arm is provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, is folded with a cutting prerotation vane, by the anti-skidding quiet cutter of profile of tooth and cutting being combined with of prerotation vane, make to cut faster, cutting effect is better.
The moving knife guard circle of " U " of the present invention shape edge of a knife and cutting prerotation vane, its both combinations, form one " tubaeform " mouthful, make guide effect better.
But the foregoing is only better possible embodiments of the present invention, not in order to limit to the scope of the claims of the present invention, thus step, the structure in all utilization the present invention, recorded, and the equivalence of doing variation, be all included in protection scope of the present invention.
Claims (10)
1. the picking fruit method based on machine vision, is characterized in that: it comprises the steps:
(1) a portable mobile seed harvester is set, described portable mobile seed harvester, it comprises that an expansion link, is arranged at the picker on expansion link top, one is arranged at the control device at expansion link middle part; Described picker, it comprises a power source, a camera, a transmission mechanism, a picking head and a fruit picking mesh bag, and described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera, transmission mechanism respectively by wire;
(2) opening power, above-mentioned portable mobile seed harvester is in running order, operator delivers to picker near fruit to be plucked by expansion link, the image of the relative position of the camera picked-up picking head on picker and fruit to be plucked, after the intelligent image process chip that sends control device to is processed, in display screen, show, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod, press gauge tap, picking head completes the harvesting action of fruit under the drive of transmission mechanism, fruit to be plucked enters in fruit picking mesh bag.
2. the picking fruit method based on machine vision according to claim 1, it is characterized in that: the transmission mechanism of the picker in described step (1), it comprises a bracket base, described bracket base is provided with the connecting ring, of an expansion link flexible connection for discharging the first directed slag-drip opening of the residue after shearing and the electric wire line outlet that a supply lines passes, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of a plurality of adjusting picking head; Described ripple case upper casing is connected with ripple case lower casing, forms a ripple case shell, and described ripple case shell is placed in described bracket base; Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor, a gear train and a brood of wheels, and described motor is connected with gear train, and described gear train is connected with nest wheels; Described gear train comprises an interconnective driving wheel and a reduction gearing, described nest wheels, it comprises interconnective a brood of bar, a brood of wheel and a brood of wheel cam, described driving wheel is connected with motor, described reduction gearing is connected with nest bar, described nest bar, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
3. the picking fruit method based on machine vision according to claim 2, it is characterized in that: the picking head of the picker in described step (1), it comprises a support upper cover, an and support lower cover, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, be folded with a cutting prerotation vane, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt of a motor function, the front portion of the fan-shaped hilt of described motor function is provided with an active blade, and one be fixedly connected with the initiatively moving knife compressing tablet of blade and the fan-shaped hilt of motor function, on the fan-shaped hilt of described motor function, be also provided with a cam drive groove, one release slider drives draw-in groove, an and fulcrum, described cam drive groove is connected with nest wheel cam.
4. the picking fruit method based on machine vision according to claim 3, it is characterized in that: the accumulation of energy release slider, a percussion spring card, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt, and a spring being set on accumulation of energy release shock bolt; Described accumulation of energy release slider, its front end is provided with a projection, and the projection of described accumulation of energy release slider drives draw-in groove to be connected with release slider; In described accumulation of energy release slider, be also provided with a plurality of screens; Described screens is connected with percussion Spring Card; Described accumulation of energy discharges shock bolt and is provided with a bolt head; In described " V " font shell, be also provided with accommodating accumulation of energy release slider slide block slot, an accommodating accumulation of energy discharge and clash into the bar-shaped trough of bolt and for discharging the second directed slag-drip opening of the residue after shearing, the first described directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
5. the picking fruit method based on machine vision according to claim 4, it is characterized in that: under described support, cover and be provided with a mounting base for camera head, in described shooting mount pad, be provided with a camera, the angular range that arranges between described shooting mount pad and support lower cover is 20 °～80 °; In described support lower cover, be also provided with a control circuit board, a motion positions gauge tap, described motion positions gauge tap is connected with control circuit board; Described motion positions gauge tap is connected with control device, and described control circuit board is connected with motor; The front end of described support upper cover is provided with a moving knife protection guide collar and and connects fruit mesh bag " U " shape circle, described in connect fruit mesh bag " U " shape circle and be connected with fruit picking mesh bag.
6. the picking fruit method based on machine vision according to claim 5, it is characterized in that: described expansion link, on it, be arranged with two fixedly pipe boxes that are used for guaranteeing the height normal operation of picker in current adjusting, its top be provided with one with the suitable connecting jacket structure of the connecting ring of picker.
7. the picking fruit method based on machine vision according to claim 6, is characterized in that: described step (2) specifically comprises the steps:
(21) opening power, portable mobile seed harvester is in running order, described portable mobile seed harvester remains static, the lowermost end of the described accumulation of energy release slider being connected with release slider drive draw-in groove in slide block slot, described accumulation of energy discharges the lowermost end in draw-in groove that clashes into bolt; Described accumulation of energy discharges the state that the spring on shock bolt pushes in distortion, and described accumulation of energy discharges clashes into the fulcrum that bolt props up the fan-shaped hilt of motor function, makes portable mobile seed harvester enter into the preparatory stage of harvesting;
(22) operator passes through adjustable telescopic rod, and guarantee that by fixedly pipe box setting up and down picker carries out work under the height of current expansion link, being about to picker delivers near fruit to be plucked, the image of the relative position of the camera picked-up picking head on picker and fruit to be plucked, after the intelligent image process chip that sends control device to is processed, in display screen, show, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod again, presses gauge tap;
(23) described intelligent image process chip receives after the control information that gauge tap presses, send control command to motion positions gauge tap, described motion positions gauge tap transfers to control circuit board by order, after described control circuit board receives control command, send startup command to the motor of drive mechanism, motor drives driving wheel successively, reduction gearing, nest bar, nest wheel, and nest wheel cam, described nest wheel cam is by cam drive groove, rotarily drive the fan-shaped hilt of motor function, the fan-shaped hilt of described motor function drives draw-in groove by release slider, drive accumulation of energy release slider, described percussion spring card carries out clamping by screens and accumulation of energy release slider, described accumulation of energy discharges fruit branch or the carpopodium that " U " shape edge of a knife described in the bottom that the bolt head that clashes into bolt props up percussion spring card blocks fruit to be sheared, the spring that portable mobile seed harvester is entered into before harvesting is treated the release stage,
(24) described accumulation of energy discharges and clashes into bolt upper spring abrupt release elastic potential energy, the bolt head that described accumulation of energy discharges shock bolt directly strikes on the fulcrum of the fan-shaped hilt of motor function, make initiatively blade of the fan-shaped hilt of motor function moment drive, complete the harvesting action of current fruit to be plucked, after the fruit of plucking is sheared, naturally be slipped in fruit picking mesh bag, the residue producing in shear history is discharged by the slag-drip opening consisting of first row cinder notch and second row cinder notch;
(25) operator unclamps gauge tap, the intelligent image process chip of described portable mobile seed harvester receives after the control information that gauge tap unclamps, send control command to motion positions gauge tap, described motion positions gauge tap transfers to control circuit board by order, after described control circuit board receives control command, transmission is ceased and desisted order to the motor of drive mechanism, motor drives driving wheel successively, reduction gearing, nest bar, nest wheel, and nest wheel cam, described nest wheel cam rotarily drives the fan-shaped hilt of motor function by cam drive groove, the accumulation of energy release slider that drives draw-in groove to be connected with the release slider of the fan-shaped hilt of motor function is driven the lowermost end to slide block slot, the fan-shaped hilt of described motor function discharges by withstanding accumulation of energy the bolt head that clashes into bolt, be driven the lowermost end to draw-in groove, realize the accumulation of energy again of portable mobile seed harvester,
(26) repeat step (22)～(25), realize the harvesting of a plurality of fruits.
8. realize the portable mobile seed harvester of the described picking fruit method based on machine vision of one of claim 1～7, it is characterized in that: it comprises that an expansion link, is arranged at the picker on expansion link top, one is arranged at the control device at expansion link middle part; Described picker, it comprises a power source, a camera, a transmission mechanism, a picking head and a fruit picking mesh bag, and described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera, transmission mechanism respectively by wire; The transmission mechanism of described picker, it comprises a bracket base, described bracket base is provided with the connecting ring, of an expansion link flexible connection for discharging the first directed slag-drip opening of the residue after shearing and the electric wire line outlet that a supply lines passes, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of a plurality of adjusting picking head; Described ripple case upper casing is connected with ripple case lower casing, forms a ripple case shell, and described ripple case shell is placed in described bracket base; Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor, a gear train and a brood of wheels, and described motor is connected with gear train, and described gear train is connected with nest wheels; Described gear train comprises an interconnective driving wheel and a reduction gearing, described nest wheels, it comprises interconnective a brood of bar, a brood of wheel and a brood of wheel cam, described driving wheel is connected with motor, described reduction gearing is connected with nest bar, described nest bar, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
9. portable mobile seed harvester according to claim 8, it is characterized in that: the picking head of described picker, it comprises a support upper cover, an and support lower cover, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, be folded with a cutting prerotation vane, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt of a motor function, the front portion of the fan-shaped hilt of described motor function is provided with an active blade, and one be fixedly connected with the initiatively moving knife compressing tablet of blade and the fan-shaped hilt of motor function, on the fan-shaped hilt of described motor function, be also provided with a cam drive groove, one release slider drives draw-in groove, an and fulcrum, described cam drive groove is connected with nest wheel cam, the accumulation of energy release slider, a percussion spring card, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt, and a spring being set on accumulation of energy release shock bolt, described accumulation of energy release slider, its front end is provided with a projection, and the projection of described accumulation of energy release slider drives draw-in groove to be connected with release slider, in described accumulation of energy release slider, be also provided with a plurality of screens, described screens is connected with percussion Spring Card, described accumulation of energy discharges shock bolt and is provided with a bolt head, in described " V " font shell, be also provided with accommodating accumulation of energy release slider slide block slot, an accommodating accumulation of energy discharge and clash into the bar-shaped trough of bolt and for discharging the second directed slag-drip opening of the residue after shearing, the first described directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
10. portable mobile seed harvester according to claim 9, it is characterized in that: under described support, cover and be provided with a mounting base for camera head, in described shooting mount pad, be provided with a camera, the angular range that arranges between described shooting mount pad and support lower cover is 20 °～80 °; In described support lower cover, be also provided with a control circuit board, a motion positions gauge tap, described motion positions gauge tap is connected with control circuit board; Described motion positions gauge tap is connected with control device, and described control circuit board is connected with motor; The front end of described support upper cover is provided with a moving knife protection guide collar and and connects fruit mesh bag " U " shape circle, described in connect fruit mesh bag " U " shape circle and be connected with fruit picking mesh bag; Described expansion link, is arranged with two fixedly pipe boxes that are used for guaranteeing the height normal operation of picker in current adjusting on it, its top be provided with one with the suitable connecting jacket structure of the connecting ring of picker.
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| CN201310530961.9A CN103548494B (en) | 2013-10-31 | 2013-10-31 | A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof |
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| CN201310530961.9A CN103548494B (en) | 2013-10-31 | 2013-10-31 | A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108432466A (en) * | 2018-05-24 | 2018-08-24 | 成都工业学院 | Fruit picking apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2006013593A1 (en) * | 2004-08-06 | 2006-02-09 | Valente Pali Precompressi Srl | Automated fruit and vegetables picker |
| JP5818240B2 (en) * | 2010-11-22 | 2015-11-18 | 国立研究開発法人農業・食品産業技術総合研究機構 | Fruit pattern cutting device |
| CN202565756U (en) * | 2012-04-16 | 2012-12-05 | 浙江皇铭新型建材科技有限公司 | Electric fruit picking machine |
| CN203027738U (en) * | 2012-12-06 | 2013-07-03 | 西安理工大学 | Fruit pick-up device |
| CN103168561B (en) * | 2013-03-29 | 2016-05-04 | 湖北四季春茶油股份有限公司 | A kind of oil tea machine for picking fruits |
| CN103222372A (en) * | 2013-05-16 | 2013-07-31 | 三门峡百年农机装配有限公司 | Handheld electric Chinese chestnut picking machine |
| CN203608576U (en) * | 2013-10-31 | 2014-05-28 | 詹博锦 | Machine-vision-based handheld mobile picking equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108432466A (en) * | 2018-05-24 | 2018-08-24 | 成都工业学院 | Fruit picking apparatus |
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