CN103548494B - A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof - Google Patents

A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof Download PDF

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Publication number
CN103548494B
CN103548494B CN201310530961.9A CN201310530961A CN103548494B CN 103548494 B CN103548494 B CN 103548494B CN 201310530961 A CN201310530961 A CN 201310530961A CN 103548494 B CN103548494 B CN 103548494B
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fruit
accumulation
energy release
picking
picker
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CN103548494A (en
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詹博锦
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Abstract

The invention discloses a kind of picking fruit method based on machine vision, it is characterized in that: it comprises the steps: (1) arranges a portable mobile seed harvester, described portable mobile seed harvester, it comprises an expansion link, a picker, a control device, (2) opening power, above-mentioned portable mobile seed harvester is in running order, picker is delivered near fruit to be plucked by expansion link by operator, the image of the camera picked-up picking head on picker and the relative position of fruit to be plucked, after the intelligent image process chip sending control device to processes, show in display screen, 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 present invention also discloses a kind of portable mobile seed harvester realizing said method.

Description

A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof
Technical field
The present invention relates to agricultural equipment technical field, particularly relate to a kind of picking fruit method based on machine vision and portable mobile seed harvester thereof.
Background technology
Traditional melon and fruit is gathered and is usually adopted artificial mode of plucking, and the labour intensity of labourer is large, and operating efficiency is low, needs time and the muscle power of at substantial.Development melon and fruit picking robot can free the work that a large amount of labours is numerous and diverse from these, dull.Melon and fruit picking robot belongs to the one of agricultural robot, universal along with the intelligentized development of agricultural equipment and related science technology, and picking robot will have more wide prospect.
Plucking forest fruit, is the difficult problem perplexing orchard worker for many years, 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 occurred both at home and abroad is 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 being adapted at level land uses, and this equipment investment is large, and cost is high, is difficult to the landform adapting to various complexity, then 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 the demand meeting orchard worker, in addition, because the position residing for forest fruit is higher, during harvesting, operator is usually difficult to the position of seeing carpopodium clearly, and this will affect operating efficiency undoubtedly and increase labour intensity, also have, the shearing dynamics of picking head is inadequate, causes the problem sheared and occur being difficult to cut off, reduces picking rate.
Therefore, one is applicable to any landform, and can clear, the concrete condition knowing the vicinity of fruit to be sheared that understands, and can reduce injury forest branches and leaves or the risk of fruit, and 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 of solving the problem and portable mobile seed harvester thereof.
The present invention for achieving the above object and adopt technical scheme be:
Based on a picking fruit method for machine vision, it comprises the steps:
(1) arrange a portable mobile seed harvester, described portable mobile seed harvester, it comprises the picker that an expansion link, is arranged at expansion link top, and one is arranged at the control device in the middle part of expansion link; 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 display screen comprising an intelligent image process chip and be 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, picker is delivered near fruit to be plucked by expansion link by operator, the image of the camera picked-up picking head on picker and the relative position of fruit to be plucked, after the intelligent image process chip sending control device to processes, show in display screen, 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 connecting ring, the electric outlet mouth passed for the first directed slag-drip opening of discharging the residue after shearing and a supply lines that an expansion link is flexibly connected, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of multiple adjustment 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 one and 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 that is stable, fixation.
The picking head of the picker in described step (1), it comprises a support upper cover, and a 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 the anti-skidding quiet cutter of two panels profile of tooth, a cutting prerotation vane is folded with between the anti-skidding quiet cutter of described profile of tooth, 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 the moving knife compressing tablet that is fixedly connected with initiatively blade and the fan-shaped hilt of motor function, the fan-shaped hilt of described motor function is also provided with a cam drive groove, one release slider drives draw-in groove, and a fulcrum, described cam drive groove and nest are taken turns cam and are connected.
Also be provided with the accumulation of energy release slider, a percussion spring card, the accumulation of energy release that connect successively in described " V " font shell and clash into bolt, and one is set in accumulation of energy release and clashes into spring on bolt; Described accumulation of energy release slider, its front end is provided with a projection, and projection and the release slider of described accumulation of energy release slider drive draw-in groove to be connected; Described accumulation of energy release slider is also provided with multiple screens; Described screens is connected with percussion Spring Card; Described accumulation of energy release is clashed into bolt and is provided with a bolt head; Also be provided with the slide block slot of accommodating accumulation of energy release slider in described " V " font shell, the bar-shaped trough of bolt and the second directed slag-drip opening for discharging the residue after shearing are clashed in an accommodating accumulation of energy release, described first directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
Cover under described support and be provided with a mounting base for camera head, be provided with a camera in described shooting mount pad, the angular range that arranges between described shooting mount pad and support lower cover is 20 ° ~ 80 °; Also be provided with a control circuit board, a motion positions gauge tap in described support lower cover, 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, it is arranged with two fixing pipe boxes being used for ensureing that the height that picker is in current adjustment normally works, and its top is provided with a connecting jacket structure suitable with 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 described lowermost end being in slide block slot with the accumulation of energy release slider that release slider drives draw-in groove to be connected, the lowermost end being in draw-in groove of bolt is clashed in described accumulation of energy release; The described accumulation of energy release spring clashed on bolt is in the state of deformable squeeze, and the fulcrum that bolt props up the fan-shaped hilt of motor function is clashed in described accumulation of energy release, makes portable mobile seed harvester enter into the preparatory stage of harvesting;
(22) operator passes through adjustable telescopic rod, and ensure that picker carries out work under the height of current expansion link by fixing pipe box setting up and down, deliver near fruit to be plucked by picker, the image of the camera picked-up picking head on picker and the relative position of fruit to be plucked, after the intelligent image process chip sending control device to processes, show in display screen, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod again, presses gauge tap;
(23) after described intelligent image process chip receives the control information that gauge tap presses, send control command to motion positions gauge tap, order is transferred to control circuit board by described motion positions gauge tap, 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 is taken turns, 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 bolt is clashed in described accumulation of energy release props up the bottom of percussion spring card, described " U " shape edge of a knife blocks the fruit branch or carpopodium waiting to shear fruit, the spring stage to be released before making portable mobile seed harvester enter into harvesting,
(24) bolt upper spring abrupt release elastic potential energy is clashed in described accumulation of energy release, the bolt head that bolt is clashed in described accumulation of energy release directly strikes on the fulcrum of the fan-shaped hilt of motor function, the fan-shaped hilt of motor function is made to drive initiatively blade instantaneously, complete the harvesting action of current fruit to be plucked, after the fruit plucked is sheared, naturally be slipped in fruit picking mesh bag, the residue produced in shear history is discharged by the slag-drip opening be made up of first row cinder notch and second row cinder notch;
(25) operator unclamps gauge tap, after the intelligent image process chip of described portable mobile seed harvester receives the control information that gauge tap unclamps, send control command to motion positions gauge tap, order is transferred to control circuit board by described motion positions gauge tap, after described control circuit board receives control command, sending ceases and desist order to the motor of drive mechanism, motor drives driving wheel successively, reduction gearing, nest bar, nest is taken turns, 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 driving 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 clashes into the bolt head of bolt by withstanding accumulation of energy release, 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 multiple fruit.
Realize the portable mobile seed harvester of the picking fruit method based on machine vision of preceding claim, it comprises the picker that an expansion link, is arranged at expansion link top, and one is arranged at the control device in the middle part of expansion link; 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 display screen comprising an intelligent image process chip and be 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 connecting ring, the electric outlet mouth passed for the first directed slag-drip opening of discharging the residue after shearing and a supply lines that an expansion link is flexibly connected, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of multiple adjustment 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 one and 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 that is stable, fixation.
The picking head of described picker, it comprises a support upper cover, and a 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 the anti-skidding quiet cutter of two panels profile of tooth, a cutting prerotation vane is folded with between the anti-skidding quiet cutter of described profile of tooth, 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 the moving knife compressing tablet that is fixedly connected with initiatively blade and the fan-shaped hilt of motor function, the fan-shaped hilt of described motor function is also provided with a cam drive groove, one release slider drives draw-in groove, and a fulcrum, described cam drive groove and nest are taken turns cam and are connected, also be provided with the accumulation of energy release slider, a percussion spring card, the accumulation of energy release that connect successively in described " V " font shell and clash into bolt, and one is set in accumulation of energy release and clashes into spring on bolt, described accumulation of energy release slider, its front end is provided with a projection, and projection and the release slider of described accumulation of energy release slider drive draw-in groove to be connected, described accumulation of energy release slider is also provided with multiple screens, described screens is connected with percussion Spring Card, described accumulation of energy release is clashed into bolt and is provided with a bolt head, also be provided with the slide block slot of accommodating accumulation of energy release slider in described " V " font shell, the bar-shaped trough of bolt and the second directed slag-drip opening for discharging the residue after shearing are clashed in an accommodating accumulation of energy release, described first directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
Cover under described support and be provided with a mounting base for camera head, be provided with a camera in described shooting mount pad, the angular range that arranges between described shooting mount pad and support lower cover is 20 ° ~ 80 °; Also be provided with a control circuit board, a motion positions gauge tap in described support lower cover, 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, it is arranged with two fixing pipe boxes being used for ensureing that the height that picker is in current adjustment normally works, and its top is provided with a connecting jacket structure suitable with 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, thus its service life is increased.
Connecting ring of the present invention is provided with angle draw-in groove below it, can be regulated the angle of picking head by angle draw-in groove, portable mobile seed harvester of the present invention is used more flexibly, 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 to prepare its shell, so it is little that it has equipment investment, cost is low, the characteristic of the landform of general various complexity.
The present invention its adopt camera, and control device, both are combined, can reach clear, understand understand wait pluck fruit, and the environment near it, avoid, because pluck the forest branches and leaves or fruit injury that cause, affecting the harvest in the coming year and the outward appearance of fruit.
Further, the present invention adopts spring that shearing dynamics is doubled, the elastic force discharged by the short time set of spring, for the shearing to fruit, the shear rate of fruit is doubled, makes shear efficiency higher.
" U " of the present invention shape edge of a knife left arm is provided with the anti-skidding quiet cutter of two panels profile of tooth, is folded with a cutting prerotation vane between the anti-skidding quiet cutter of described profile of tooth, by the anti-skidding quiet cutter of profile of tooth and cutting being combined of prerotation vane, such that cutting is faster, cutting effect is better.
Moving knife guard circle and the cutting prerotation vane of " U " of the present invention shape edge of a knife, combine both it, form one " tubaeform " mouth, 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 detonation configuration schematic diagram of the picking head of picker of the present invention;
Fig. 5 is the detonation configuration schematic diagram 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, initiatively 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 release clash 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 outlet mouth 37, angle draw-in groove
38, fulcrum 40, screens 41, bolt head
42, slide block slot 43, the directed slag-drip opening of bar-shaped trough 44, second.
Embodiment
See Fig. 1 ~ Fig. 5, the invention provides a kind of picking fruit method based on machine vision, it comprises the steps:
(1) arrange a portable mobile seed harvester, described portable mobile seed harvester, it comprises picker 3, that an expansion link 1, is arranged at expansion link 1 top and is arranged at control device 2 in the middle part of expansion link 1; Described picker 3, it comprises a power source, camera 29, 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 display screen comprising an intelligent image process chip and be 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, picker 3 is delivered near fruit to be plucked by expansion link 1 by operator, camera 29 on picker 3 absorbs the image of the relative position of picking head and fruit to be plucked, after the intelligent image process chip sending control device 2 to processes, show in display screen, 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 electric outlet mouth 36, ripple case upper casing 6, the ripple case lower casing 6 that connecting ring 14, that an expansion link 1 is flexibly connected passes for the first directed slag-drip opening 35 of discharging the residue after shearing and a supply lines; Described connecting ring 14 is provided with the angle draw-in groove 37 of multiple adjustment 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 one and is arranged at ripple case enclosure one motor 8, 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 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 that is stable, fixation.
The picking head of the picker 3 in described step (1), it comprises a support upper cover 15, and a 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 the anti-skidding quiet cutter 17 of two panels profile of tooth, a cutting prerotation vane 18 is folded with between the anti-skidding quiet cutter 17 of described profile of tooth, 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 the moving knife compressing tablet 21 that is fixedly connected with initiatively blade 20 and the fan-shaped hilt 19 of motor function, the fan-shaped hilt 19 of described motor function is also provided with a cam drive groove 22, one release slider drives draw-in groove 23, and a fulcrum 38, described cam drive groove 22 and nest are taken turns cam 13 and are connected.
Also be provided with the accumulation of energy release slider 24, connected successively in described " V " font shell to pull the trigger spring card 25, accumulation of energy release and clash into bolt 26, and one is set in accumulation of energy release and clashes into spring 27 on bolt 26; Described accumulation of energy release slider 24, its front end is provided with a projection, and projection and the release slider of described accumulation of energy release slider 24 drive draw-in groove 23 to be connected; Described accumulation of energy release slider 24 is also provided with multiple screens 40; Described screens 40 is connected with percussion Spring Card; Described accumulation of energy release is clashed into bolt 26 and is provided with a bolt head 41; The bar-shaped trough 43 of bolt 26 and the second directed slag-drip opening 44 for discharging the residue after shearing are clashed in the accommodating accumulation of energy release of slide block slot 42, being also provided with accommodating accumulation of energy release slider 24 in described " V " font shell, described first 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 °; Also be provided with control circuit board 32, motion positions gauge tap 33 in described support lower cover 16, 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, it is arranged with two fixing pipe boxes 34 being used for ensureing that the height that picker 3 is in current adjustment normally works, its top is provided with a connecting jacket structure suitable with 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 described lowermost end being in slide block slot 42 with the accumulation of energy release slider 24 that release slider drives draw-in groove 23 to be connected, the lowermost end being in draw-in groove of bolt 26 is clashed in described accumulation of energy release; The described accumulation of energy release spring 27 clashed on bolt 26 is in the state of deformable squeeze, and the fulcrum 38 that bolt 26 props up the fan-shaped hilt 19 of motor function is clashed in described accumulation of energy release, makes portable mobile seed harvester enter into the preparatory stage of harvesting;
(22) operator is by adjustable telescopic rod 1, and ensure that picker 3 carries out work under the height of current expansion link 1 by fixing pipe box 34 setting up and down, deliver near fruit to be plucked by picker 3, camera 29 on picker 3 absorbs the image of the relative position of picking head and fruit to be plucked, after the intelligent image process chip sending control device 2 to processes, show in display screen, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod 1 again, presses gauge tap;
(23) after described intelligent image process chip receives the control information that gauge tap presses, send control command to motion positions gauge tap 33, order is transferred to control circuit board 32 by described motion positions gauge tap 33, 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 bolt 26 is clashed in described accumulation of energy release props up the bottom of percussion spring card 25, described " U " shape edge of a knife blocks the fruit branch or carpopodium waiting to shear fruit, spring 27 stage to be released before making portable mobile seed harvester enter into harvesting,
(24) bolt 26 upper spring 27 abrupt release elastic potential energy is clashed in described accumulation of energy release, the bolt head 41 that bolt 26 is clashed in described accumulation of energy release directly strikes on the fulcrum 38 of the fan-shaped hilt 19 of motor function, the fan-shaped hilt 19 of motor function is made to drive initiatively blade 20 instantaneously, complete the harvesting action of current fruit to be plucked, after the fruit plucked is sheared, naturally be slipped in fruit picking mesh bag 4, the residue produced in shear history is discharged by the slag-drip opening be made up of first row cinder notch and second row cinder notch;
(25) operator unclamps gauge tap, after the intelligent image process chip of described portable mobile seed harvester receives the control information that gauge tap unclamps, send control command to motion positions gauge tap 33, order is transferred to control circuit board 32 by described motion positions gauge tap 33, after described control circuit board 32 receives control command, sending ceases and desist 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 driving draw-in groove 23 to be connected with the release slider of the fan-shaped hilt 19 of motor function is driven the lowermost end to slide block slot 42, the fan-shaped hilt 19 of described motor function clashes into the bolt head 41 of bolt 26 by withstanding accumulation of energy release, 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 multiple fruit.
Realize the portable mobile seed harvester of the picking fruit method based on machine vision of preceding claim, it comprises picker 3, that an expansion link 1, is arranged at expansion link 1 top and is arranged at control device 2 in the middle part of expansion link 1; Described picker 3, it comprises a power source, camera 29, 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 display screen comprising an intelligent image process chip and be 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 electric outlet mouth 36, ripple case upper casing 6, the ripple case lower casing 6 that connecting ring 14, that an expansion link 1 is flexibly connected passes for the first directed slag-drip opening 35 of discharging the residue after shearing and a supply lines; Described connecting ring 14 is provided with the angle draw-in groove 37 of multiple adjustment 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 one and is arranged at ripple case enclosure one motor 8, 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 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 that is stable, fixation.
The picking head of described picker 3, it comprises a support upper cover 15, and a 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 the anti-skidding quiet cutter 17 of two panels profile of tooth, a cutting prerotation vane 18 is folded with between the anti-skidding quiet cutter 17 of described profile of tooth, 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 the moving knife compressing tablet 21 that is fixedly connected with initiatively blade 20 and the fan-shaped hilt 19 of motor function, the fan-shaped hilt 19 of described motor function is also provided with a cam drive groove 22, one release slider drives draw-in groove 23, and a fulcrum 38, described cam drive groove 22 and nest are taken turns cam 13 and are connected, also be provided with the accumulation of energy release slider 24, connected successively in described " V " font shell to pull the trigger spring card 25, accumulation of energy release and clash into bolt 26, and one is set in accumulation of energy release and clashes into spring 27 on bolt 26, described accumulation of energy release slider 24, its front end is provided with a projection, and projection and the release slider of described accumulation of energy release slider 24 drive draw-in groove 23 to be connected, described accumulation of energy release slider 24 is also provided with multiple screens 40, described screens 40 is connected with percussion Spring Card, described accumulation of energy release is clashed into bolt 26 and is provided with a bolt head 41, the bar-shaped trough 43 of bolt 26 and the second directed slag-drip opening 44 for discharging the residue after shearing are clashed in the accommodating accumulation of energy release of slide block slot 42, being also provided with accommodating accumulation of energy release slider 24 in described " V " font shell, described first 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 °; Also be provided with control circuit board 32, motion positions gauge tap 33 in described support lower cover 16, 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, it is arranged with two fixing pipe boxes 34 being used for ensureing that the height that picker 3 is in current adjustment normally works, its top is provided with a connecting jacket structure suitable with 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, thus its service life is increased.
Connecting ring of the present invention is provided with angle draw-in groove below it, can be regulated the angle of picking head by angle draw-in groove, portable mobile seed harvester of the present invention is used more flexibly, 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 to prepare its shell, so it is little that it has equipment investment, cost is low, the characteristic of the landform of general various complexity.
The present invention its adopt camera, and control device, both are combined, can reach clear, understand understand wait pluck fruit, and the environment near it, avoid, because pluck the forest branches and leaves or fruit injury that cause, affecting the harvest in the coming year and the outward appearance of fruit.
Further, the present invention adopts spring that shearing dynamics is doubled, the elastic force discharged by the short time set of spring, for the shearing to fruit, the shear rate of fruit is doubled, makes shear efficiency higher.
" U " of the present invention shape edge of a knife left arm is provided with the anti-skidding quiet cutter of two panels profile of tooth, is folded with a cutting prerotation vane between the anti-skidding quiet cutter of described profile of tooth, by the anti-skidding quiet cutter of profile of tooth and cutting being combined of prerotation vane, such that cutting is faster, cutting effect is better.
Moving knife guard circle and the cutting prerotation vane of " U " of the present invention shape edge of a knife, combine both it, form one " tubaeform " mouth, make guide effect better.
But the foregoing is only better possible embodiments of the present invention, and be not used to limit to the scope of the claims of the present invention, therefore step, the structure recorded in all utilization the present invention, and the equivalence change done, be all included in protection scope of the present invention.

Claims (9)

1., based on a picking fruit method for machine vision, it is characterized in that: it comprises the steps:
(1) arrange a portable mobile seed harvester, described portable mobile seed harvester, it comprises the picker that an expansion link, is arranged at expansion link top, and one is arranged at the control device in the middle part of expansion link; 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 display screen comprising an intelligent image process chip and be 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 connecting ring, the electric outlet mouth passed for the first directed slag-drip opening of discharging the residue after shearing and a supply lines that an expansion link is flexibly connected, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of multiple adjustment 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 one and 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 that is stable, fixation;
(2) opening power, above-mentioned portable mobile seed harvester is in running order, picker is delivered near fruit to be plucked by expansion link by operator, the image of the camera picked-up picking head on picker and the relative position of fruit to be plucked, after the intelligent image process chip sending control device to processes, show in display screen, 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 picking head of the picker in described step (1), it comprises a support upper cover, and a 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 the anti-skidding quiet cutter of two panels profile of tooth, a cutting prerotation vane is folded with between the anti-skidding quiet cutter of described profile of tooth, 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 the moving knife compressing tablet that is fixedly connected with initiatively blade and the fan-shaped hilt of motor function, the fan-shaped hilt of described motor function is also provided with a cam drive groove, one release slider drives draw-in groove, and a fulcrum, described cam drive groove and nest are taken turns cam and are connected.
3. the picking fruit method based on machine vision according to claim 2, it is characterized in that: be also provided with the accumulation of energy release slider, a percussion spring card, the accumulation of energy release that connect successively in described " V " font shell and clash into bolt, and one is set in accumulation of energy release and clashes into spring on bolt; Described accumulation of energy release slider, its front end is provided with a projection, and projection and the release slider of described accumulation of energy release slider drive draw-in groove to be connected; Described accumulation of energy release slider is also provided with multiple screens; Described screens is connected with percussion spring card; Described accumulation of energy release is clashed into bolt and is provided with a bolt head; Also be provided with the slide block slot of accommodating accumulation of energy release slider in described " V " font shell, the bar-shaped trough of bolt and the second directed slag-drip opening for discharging the residue after shearing are clashed in an accommodating accumulation of energy release, described first directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
4. the picking fruit method based on machine vision according to claim 3, it is characterized in that: cover under described support and be provided with a mounting base for camera head, be provided with a camera in described shooting mount pad, the angular range that arranges between described shooting mount pad and support lower cover is 20 ° ~ 80 °; Also be provided with a control circuit board, a motion positions gauge tap in described support lower cover, 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.
5. the picking fruit method based on machine vision according to claim 4, it is characterized in that: described expansion link, it is arranged with two fixing pipe boxes being used for ensureing that the height that picker is in current adjustment normally works, its top is provided with a connecting jacket structure suitable with the connecting ring of picker.
6. the picking fruit method based on machine vision according to claim 5, 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 described lowermost end being in slide block slot with the accumulation of energy release slider that release slider drives draw-in groove to be connected, the lowermost end that bolt is in draw-in groove is clashed in described accumulation of energy release; The described accumulation of energy release spring clashed on bolt is in the state of deformable squeeze, and the fulcrum that bolt props up the fan-shaped hilt of motor function is clashed in described accumulation of energy release, makes portable mobile seed harvester enter into the preparatory stage of harvesting;
(22) operator passes through adjustable telescopic rod, and ensure that picker carries out work under the height of current expansion link by fixing pipe box setting up and down, deliver near fruit to be plucked by picker, the image of the camera picked-up picking head on picker and the relative position of fruit to be plucked, after the intelligent image process chip sending control device to processes, show in display screen, operator makes fruit to be plucked enter the harvesting scope of picking head by adjustable telescopic rod again, presses gauge tap;
(23) after described intelligent image process chip receives the control information that gauge tap presses, send control command to motion positions gauge tap, order is transferred to control circuit board by described motion positions gauge tap, 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 is taken turns, 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 bolt is clashed in described accumulation of energy release props up the bottom of percussion spring card, described " U " shape edge of a knife blocks the fruit branch or carpopodium waiting to shear fruit, the spring stage to be released before making portable mobile seed harvester enter into harvesting,
(24) bolt upper spring abrupt release elastic potential energy is clashed in described accumulation of energy release, the bolt head that bolt is clashed in described accumulation of energy release directly strikes on the fulcrum of the fan-shaped hilt of motor function, the fan-shaped hilt of motor function is made to drive initiatively blade instantaneously, complete the harvesting action of current fruit to be plucked, after the fruit plucked is sheared, naturally be slipped in fruit picking mesh bag, the residue produced in shear history is discharged by the slag-drip opening be made up of first row cinder notch and second row cinder notch;
(25) operator unclamps gauge tap, after the intelligent image process chip of described portable mobile seed harvester receives the control information that gauge tap unclamps, send control command to motion positions gauge tap, order is transferred to control circuit board by described motion positions gauge tap, after described control circuit board receives control command, sending ceases and desist order to the motor of drive mechanism, motor drives driving wheel successively, reduction gearing, nest bar, nest is taken turns, 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 driving 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 clashes into the bolt head of bolt by withstanding accumulation of energy release, 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 multiple fruit.
7. realize the portable mobile seed harvester of the described picking fruit method based on machine vision of one of claim 1 ~ 6, it is characterized in that: it comprises the picker that an expansion link, is arranged at expansion link top, and one is arranged at the control device in the middle part of expansion link; 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 display screen comprising an intelligent image process chip and be 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 connecting ring, the electric outlet mouth passed for the first directed slag-drip opening of discharging the residue after shearing and a supply lines that an expansion link is flexibly connected, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of multiple adjustment 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 one and 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 that is stable, fixation.
8. portable mobile seed harvester according to claim 7, it is characterized in that: the picking head of described picker, it comprises a support upper cover, and a 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 the anti-skidding quiet cutter of two panels profile of tooth, a cutting prerotation vane is folded with between the anti-skidding quiet cutter of described profile of tooth, 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 the moving knife compressing tablet that is fixedly connected with initiatively blade and the fan-shaped hilt of motor function, the fan-shaped hilt of described motor function is also provided with a cam drive groove, one release slider drives draw-in groove, and a fulcrum, described cam drive groove and nest are taken turns cam and are connected, also be provided with the accumulation of energy release slider, a percussion spring card, the accumulation of energy release that connect successively in described " V " font shell and clash into bolt, and one is set in accumulation of energy release and clashes into spring on bolt, described accumulation of energy release slider, its front end is provided with a projection, and projection and the release slider of described accumulation of energy release slider drive draw-in groove to be connected, described accumulation of energy release slider is also provided with multiple screens, described screens is connected with percussion spring card, described accumulation of energy release is clashed into bolt and is provided with a bolt head, also be provided with the slide block slot of accommodating accumulation of energy release slider in described " V " font shell, the bar-shaped trough of bolt and the second directed slag-drip opening for discharging the residue after shearing are clashed in an accommodating accumulation of energy release, described first directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
9. portable mobile seed harvester according to claim 8, it is characterized in that: cover under described support and be provided with a mounting base for camera head, be provided with a camera in described shooting mount pad, the angular range that arranges between described shooting mount pad and support lower cover is 20 ° ~ 80 °; Also be provided with a control circuit board, a motion positions gauge tap in described support lower cover, 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, it is arranged with two fixing pipe boxes being used for ensureing that the height that picker is in current adjustment normally works, and its top is provided with a connecting jacket structure suitable with the connecting ring of picker.
CN201310530961.9A 2013-10-31 2013-10-31 A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof Expired - Fee Related CN103548494B (en)

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