CN105309131A

CN105309131A - Intelligent recognition medlar picking device

Info

Publication number: CN105309131A
Application number: CN201510862140.4A
Authority: CN
Inventors: 李娟�; 岳丹松; 范继臣; 陈晶; 郭亭亭; 闫法兵; 田志超
Original assignee: "qinghai Qianqian Agriculture And Animal Husbandry Technology Development Co Ltd "; Qingdao Agricultural University
Current assignee: "qinghai Qianqian Agriculture And Animal Husbandry Technology Development Co Ltd "; Qingdao Agricultural University
Priority date: 2015-11-30
Filing date: 2015-11-30
Publication date: 2016-02-10
Anticipated expiration: 2035-11-30
Also published as: CN105309131B

Abstract

The invention provides an intelligent recognition medlar picking device provided with a distributed machine vision system for solving the problems existing in the prior art. The medlar picking device comprises a rack, a power source system, a control system, a driving system, the machine vision system, a medlar picking mechanical hand, a branch positioning mechanical hand, a medlar picking head and a fruit collecting device, wherein the power source system, the control system, the driving system, the machine vision system, the medlar picking mechanical hand, the branch positioning mechanical hand, the medlar picking head and the fruit collecting device are arranged on the rack. The control system is connected with the machine vision system, the medlar picking mechanical hand, the branch positioning mechanical hand, the medlar picking head and the fruit collecting device through the driving system. The invention further provides a medlar picking method based on the intelligent recognition medlar picking device. The medlar picking device automatically and efficiently collects medlar fruits, solves the problems that the medlar fruits are prone to breakage in the harvesting process, and the picking device is prone to be blocked by leaves, greatly reduces production cost and has good practical application prospects.

Description

INTELLIGENT IDENTIFICATION matrimony vine picker

Technical field

The invention belongs to agricultural mechanical field, be specifically related to the picker of graininess fruit or crop, especially relate to a kind of intelligent picker for matrimony vine and use the intelligent picking method of this picker.

Background technology

Matrimony vine is traditional rare traditional Chinese medicine, is again a kind of tonic food.According to official statistics, the only Gansu province of 2012, yield of medlar is up to 3.5 ten thousand tons.Due to Chinese wolfberry fruit ripe time the features such as moisture very high and pericarp is tender and lovely, be easy to damage during collection; If there is damage, not only can affect its appearance luster, also can reduce medical value.Therefore, need the mode adopting flexible collection, FRUCTUS LYCII is taken together with fruit handle.Due to features such as the complexity of matrimony vine growth and the destructurings of farm environment, the simple hand-held medlar picker adopted in producing at present, picking head and vibration-type picking machine.

Application for a patent for invention 201010272425 discloses one " hand-held medlar-picking machine ", and this equipment still needs the participation of harvesting personnel, very limited for the automation improving matrimony vine harvesting.Meanwhile, this equipment plucks a string matrimony vine branch, very easily easily plucked together by immature matrimony vine, very unfavorable for the Quality and yield improving matrimony vine.Patent of invention 201320182557.2 discloses one " elevation (over-and-under) type fruit picking ", elevator in this picking machine comprises the base plate be arranged on vehicle frame, be arranged at described base plate central authorities and at least two that the are nested telescopic oil cylinders be set in oil cylinder cover, for handling the lifting console of described telescopic oil cylinder, be arranged at the lifting support of described base plate both sides.This picking machine Problems existing is: (1) this elevator flexibility is poor, can only be elevated, and needs to rely on the direction of the whole facility of adjustment to change direction; (2) adopt hydraulic pressure to be elevated, Integral lifting device is too huge, and use dumb, cost is high.

In sum, in prior art, also there is not the ripe matrimony vine picker based on machine vision; Even if the current machine vision picker do not applied for a patent at the experimental stage, find according to existing investigation, utilize machine vision and picking mechanical arm to pluck Chinese wolfberry fruit, need a whole set of machine movement to matrimony vine branch dead ahead; Because the visual range of Vision Builder for Automated Inspection is very limited, make the transverse direction of picking machine can pluck region so very limited, picking mechanical arm needs staff that system is moved to other regions after being plucked by the matrimony vine in dead ahead, very unfavorable for raising picking efficiency.And, even if the matrimony vine on the differing heights of the same area is plucked, also need mobile apparatus frequently, like this not only bad for raising picking efficiency; And, the trees that average matrimony vine height of tree degree difference is large, due to the limited viewing angle of Vision Builder for Automated Inspection, very easily occur lowest part and highest point IMAQ less than and leak the situation of adopting.In addition, if with reference to the existing picking method of other crops or fruit, the mode of air-breathing can be used to gather crop or fruit, but due to working air current large, very easily there is the situation of being blocked by blade in harvester.

Summary of the invention

For prior art Problems existing, the invention provides a kind of matrimony vine picker possessing distributed machines vision system.

Technical scheme of the present invention is: INTELLIGENT IDENTIFICATION matrimony vine picker, comprises frame and is arranged on power-supply system, control system, drive system, Vision Builder for Automated Inspection, medlar-picking machine tool hand, branch positioning mechanical arm, matrimony vine picking head and the collector for fruits in frame; Described control system is connected with Vision Builder for Automated Inspection, medlar-picking machine tool hand, branch positioning mechanical arm, matrimony vine picking head and collector for fruits respectively by drive system.Described power-supply system, control system, drive system are all arranged in switch board.Described power-supply system ferric phosphate lithium cell, inverter, Voltage stabilizing module; Described control system is industrial computer; Touch-screen and information fusion module is also comprised in described switch board.Wherein, ferric phosphate lithium cell connects inverter and Voltage stabilizing module, and Voltage stabilizing module connects touch-screen, information fusion module and drive system; Inverter link information Fusion Module.

Described Vision Builder for Automated Inspection is for comprising high-order vision system, low level vision system and vision jacking system; Described high-order vision system is connected with frame by vision jacking system.The motion of described vision jacking system can drive the motion of high-order vision system, thus gathers the image of eminence.Described matrimony vine picker also comprises the slide unit jacking system be arranged in frame, described low level vision system, vision jacking system, medlar-picking machine tool hand and branch positioning mechanical arm are all arranged on slide unit jacking system by electric turntable, and then are connected with frame.Described Vision Builder for Automated Inspection also comprises the laser sensing matrix of laser sensor composition; Described laser sensing matrix is for measuring the Z-direction distance of the positional distance Chinese wolfberry fruit at its place, and signal transmission is to control system; Control system is according to the position of result branch positioning mechanical arm and picking mechanical arm.

The motion of slide unit jacking system can drive the motion of whole electric turntable, high-order vision system, low level vision system, vision jacking system, medlar-picking machine tool hand and branch positioning mechanical arm.Described control system is connected with slide unit jacking system, vision jacking system, electric turntable, medlar-picking machine manipulator, branch positioning mechanical arm respectively by drive system.Described slide unit jacking system comprises slide unit I and lifting platform, and described lifting platform is connected with frame by slide unit I; Described slide unit I comprises slide unit main body, slide block I, stepper motor, driving gear and driven tooth bar; Described slide unit main body is fixed in frame, and the both sides, inside of described slide unit main body are embedded with driven tooth bar, and described slide unit main body is provided with slide block I, and is connected with lifting platform by slide block I.Described slide block I is fixedly installed stepper motor and driving gear, and described driving gear is fixed on the axle of stepper motor, and described driving gear is staggered with driven tooth bar and engages; Add the cross force strain of slide unit, both ensure that slide unit jacking system can not rock because of the larger generation of load-carrying, and further provided stable lifting drive.Wherein, the both sides, inside of described slide unit main body are embedded with two driven tooth bars; The quantity of described driving gear is 3; Described lifting platform is square mesa.

Wherein, described electric turntable comprises and revolves platform, disk body, bearing, shaft coupling and servomotor; Described disk body and servomotor are arranged in square mesa, described in revolve platform and be connected with disk body by bearing, described servomotor is connected with disk body by shaft coupling.The rotation of electric turntable can drive the rotation of medlar-picking machine tool hand, branch positioning mechanical arm, high-low position vision system, vision jacking system.

Wherein, described vision jacking system comprises riser guide, slide unit II, slide block II, L-type corner brace, leading screw, shaft coupling and stepper motor; Described slide unit II to be connected with threads of lead screw by the nut of its inside and to move along riser guide, and described L-type corner brace is fixedly connected with slide unit II by slide block II; Described stepper motor is connected with leading screw by shaft coupling.Described high-order vision system comprises camera I and pulley twin shaft feed rod slide unit I; Described pulley twin shaft feed rod slide unit I comprises slide unit body I, twin shaft feed rod I, pulley bearings I and slide unit slide block I; The base of described camera I is connected with pulley twin shaft feed rod slide unit I by slide unit slide block I, and described slide unit body I is connected with the slide block II of vision jacking system by L-type corner brace I.The inner both sides of described slide unit body I are provided with twin shaft feed rod I, and pulley bearings I is fixed on slide unit slide block I by internal bearings, and slide unit slide block I is arranged on slide unit body I.The motion of described vision jacking system can drive the motion of high-order vision system, thus gathers the image of eminence.The present invention gathers the image of eminence and lower respectively by arranging high-order vision system and low level vision system, and then carries out subsequent analysis process; Not only greatly expand the field range of vision system, significantly reduce the machine vision of Qi picking machine in narrow field and the limited problem of working range plucked by manipulator; And avoid picking hands jejune Chinese wolfberry fruit is plucked, thus improve the quality that matrimony vine plucks, ensure that the output of matrimony vine.

Wherein, described matrimony vine picker also comprises " yi word pattern " backstay, and described backstay comprises preposition backstay and rearmounted backstay; Described preposition backstay and rearmounted backstay are symmetricly set on the both sides of revolving platform.Described vision jacking system is fixed on the end of rearmounted backstay, and the head end of described rearmounted backstay is fixed on and revolves edge of table; Described low level vision system is fixed on the end of preposition backstay, and the head end of described preposition backstay is fixed on and revolves edge of table.Described low level vision system and vision jacking system are arranged on and revolve on the same axis of platform.Described low level vision system comprises camera II and pulley twin shaft feed rod slide unit II; Described pulley twin shaft feed rod slide unit II comprises slide unit body II, twin shaft feed rod II, pulley bearings II, slide unit slide block II and L-type corner brace II form; The base of described camera II is directly connected with slide unit body II, and described slide unit body II is connected on preposition backstay by L-type corner brace II; The inner both sides of described slide unit body II are provided with twin shaft feed rod II, and pulley bearings II is fixed on slide unit slide block II by internal bearings, and slide unit slide block II is arranged on slide unit body II.

Preferably, the side of described slide unit slide block I is provided with holding screw I, and the side of described slide unit slide block II is provided with holding screw II; Described holding screw I is used for movement that is fixing and restriction slide unit slide block I; Described holding screw II is used for movement that is fixing and restriction slide unit slide block II.

Preferably, described medlar-picking machine tool hand and branch positioning mechanical arm respectively comprise a set of six degree of freedom manipulator.The described platform that revolves is provided with " yi word pattern " fixed head, and described " yi word pattern " fixed head is vertical with " yi word pattern " backstay.Described medlar-picking machine manipulator and branch positioning mechanical arm arrange the two ends of " yi word pattern " fixed head.Due to medlar-picking machine tool hand and the central point of branch positioning mechanical arm, high-order vision system and low level vision system on the same axis, and high-order vision system and low level vision system, medlar-picking machine tool hand and branch positioning mechanical arm synchronous all the time; Thus making four coordinate positions in image procossing be relatively-stationary, the precision that therefore matrimony vine is plucked has nothing to do with the precision of electric turntable motor, guarantees the accuracy of harvesting.

Described matrimony vine picking head is adjustable pair roller gap circulating type matrimony vine picking head, comprises picking head housing and is arranged on the main roller wheel of picking head enclosure interior, transmission system and secondary running roller.Described main roller wheel comprises rotating forward main roller wheel and reversion main roller wheel, and described rotating forward main roller wheel and reversion main roller wheel are rotated in opposite directions.Picking head also comprises transmission system and secondary running roller, and described secondary running roller comprises the secondary running roller of rotating forward and the secondary running roller of reversion, and the secondary running roller of described rotating forward and the secondary running roller that reverses rotate in opposite directions.The secondary running roller of described rotating forward is arranged on the top rotating forward main roller wheel, and the secondary running roller of described reversion is arranged on the top of reversion main roller wheel.Described main roller wheel and secondary running roller form by rubber rolling and the rubber moving tooth be arranged on rubber rolling.Described drive system drives the rotation of main roller wheel and secondary running roller to realize the harvesting of matrimony vine by transmission system.

Wherein, described transmission system comprises plum blossom yielding coupling, the first power transmission shaft, provides the forward transmission device of power to rotating forward secondary running roller and rotating forward main roller wheel, provide the reverse transmission of power to the secondary running roller of reversion and reversion main roller wheel.Described forward transmission device comprises dextrorotation worm screw, second driving shaft I, dextrorotation turbine, first order driving pulley I, transmission transition axis I, second level driving pulley I and the 3rd power transmission shaft I.Described reverse transmission comprises derotation worm screw, second driving shaft II, derotation turbine, first order driving pulley II, transmission transition axis II, second level driving pulley II and the 3rd power transmission shaft II.Realize the containing work of the fruit of matrimony vine branch by have employed positive vortex worm and gear, derotation turbine and worm, main roller wheel and secondary running roller, outstanding to the parcel performance of matrimony vine branch, achieve the comprehensive harvesting to matrimony vine branch, improve the net fruit rate that matrimony vine is plucked.

The connected mode of described transmission system is: one end of described plum blossom yielding coupling is connected with external motor output shaft, and the other end is connected with the first power transmission shaft; Described dextrorotation worm screw and derotation worm screw are fixedly installed on the first power transmission shaft.Arrange the dextrorotation turbine engaged with it directly over described dextrorotation worm screw, described dextrorotation turbine is arranged on second driving shaft I by key I, and fixes its position on axle by snap ring.The drive pulley Ia of described first order driving pulley I is arranged on second driving shaft I, and by holding screw Ia fixed axis to and circumferential position; Driven pulley Ia is arranged on transmission transition axis I, and by holding screw fixed axis to and circumferential position.The drive pulley Ib of second level driving pulley I is arranged on transmission transition axis I, link together with the driven pulley Ia of first order driving pulley I, driven pulley Ib installs on the 3rd power transmission shaft I, fixes its axial and circumferential position by holding screw Ib.Described rotating forward main roller wheel is arranged on second driving shaft I, and the secondary running roller of described rotating forward is arranged on the 3rd power transmission shaft I.

Arrange the derotation turbine engaged with it directly over described derotation worm screw, described derotation turbine is arranged on second driving shaft II by key II, and fixes its position on axle by snap ring.The drive pulley IIa of described first order driving pulley II is arranged on second driving shaft II, and by holding screw IIa fixed axis to and circumferential position; Driven pulley IIa is arranged on transmission transition axis II, by holding screw fixed axis to and circumferential position.The drive pulley IIb of the second driving pulley II is arranged on transmission transition axis II, links together with the driven pulley IIa of first order driving pulley II; Driven pulley IIb is arranged on the 3rd power transmission shaft II, fixes its axial and circumferential position by holding screw IIb.Described reversion main roller wheel is arranged on second driving shaft II, and the secondary running roller of described rotating forward is arranged on the 3rd power transmission shaft II.

Described transmission system is arranged on the transmission case being positioned at picking head housing forward end, and described transmission case comprises mechanism housing, transmission transition axis bearing.The first described power transmission shaft is arranged on the bearing on mechanism housing.

Wherein, picking head also comprises hole, and described hole comprises hole main body, secondary running roller bearing, steering wheel and protruding pin, and described steering wheel is arranged on the rear end of picking head housing; One end of described hole main body is arranged on the shoulder hole of picking head housing by protruding pin, and then is connected with the steering wheel of steering wheel; The other end of described hole main body is connected with secondary running roller bearing.Described secondary running roller bearing is the bearing of the 3rd power transmission shaft I and the 3rd power transmission shaft II.

Wherein, described picking head housing comprises picking head housing body, protecting crust and main roller wheel slack adjuster.Described main roller wheel slack adjuster comprises bearing block, bearing and gap adjustment screws; Described bearing is arranged on by bearing block on the chute of the front and rear wall of picking head housing.Described bearing block is provided with the screwed hole mated with gap adjustment screws; Described gap adjustment screws is through this screwed hole and bearing touch; In gap adjustment screws head bore built with split pin; Described protecting crust is arranged on the rear wall of picking head housing, normally works for the protection of main roller wheel bearing and steering wheel.Described bearing is the bearing of second driving shaft I and second driving shaft II.The present invention uses servos control hole size and then controls the spacing of the secondary running roller of forward and backward; Adopt main roller wheel slack adjuster, can spacing between the major and minor running roller of manual adjustments; By controlling the spacing size of four rotating main roller wheel, the secondary running roller of rotating, make this device be applicable to the harvesting work of the matrimony vine branch of different-diameter, versatility is comparatively extensive.

Preferably, in described first order driving pulley I and first order driving pulley II, spring take-up has all been installed; Described spring take-up comprises belt compressing tablet, spring and spring base; One end of described spring is connected with each self-corresponding belt by belt compressing tablet, and the other end of described spring is connected with spring base.Described spring base is arranged on the antetheca of picking head housing.Compared with the transmission system of routine, in the transmission system that the present invention adopts, adding Flexible Transmission---belt transmission, therefore can regulate arbitrarily the gap of main roller wheel according to the matrimony vine branch of the different age of tree; In addition the present invention is provided with tensioning apparatus in transmission system, thus when ensureing gap adjustment, whole transmission can normally work.

Described collector for fruits is anti-blocking isolated matrimony vine automatic collecting device, comprises gathering unit, power set and storage device; Described power set are connected with gathering unit, and then are connected with storage device; Described gathering unit comprises collection funnel and collects flexible pipe.Described collection flexible pipe is arranged three-way interface and block-proof type motor-driven valve, described collection flexible pipe comprises upper collection flexible pipe, flexible pipe and collective low flexible pipe are collected in middle part.Wherein, described power set are blower fan, and described storage device is fruit-collecting box; Described blower fan is connected with collection flexible pipe, and then is connected with fruit-collecting box.Described control system is connected with block-proof type motor-driven valve with blower fan respectively.Blower fan is placed in frame by blower fan backing plate, and described block-proof type motor-driven valve is placed in frame by motor-driven valve backing plate.

Described block-proof type motor-driven valve comprises motor-driven valve body, fruit entrance, fruit outlet and valve plate; Described valve plate is arranged on the pipeline between fruit entrance and fruit outlet.Described valve plate is the circular slab matched with pipeline; The periphery of described valve plate arranges circular valve plate frame, and described valve plate frame is provided with multiple circular hole.Described block-proof type motor-driven valve also comprises contraction connecting rod, and described contraction connecting rod runs through circular hole; Described contraction connecting rod is connected with valve plate towards one end of valve plate by valve plate spring, realizes shrinking the length adjustment of connecting rod with pipeline varying aperture.Wherein, described valve plate is solid slab or mesh plate, and the aperture of described mesh is less than the size of FRUCTUS LYCII.Arrange stepper motor in described motor-driven valve body, described stepper motor is for controlling the switch of valve plate.Be connected with valve plate spring owing to shrinking connecting rod, and valve plate spring remains tension force effect, therefore contraction connecting rod can in circular hole telescopic slide; Its effect is be about to close at valve plate and there is moment in gap, and block effect based on what shrink connecting rod, fruit also can not be fallen in gap, therefore avoids the generation of fruit splintering problem.

The described upper end of upper collection flexible pipe is connected with the lower end of collection funnel, and the lower end of described upper collection flexible pipe is connected with the first end interface of three-way interface; Described middle part is collected the upper end of flexible pipe and is connected with the 3rd end interface of three-way interface, and described middle part is collected the lower end of flexible pipe and is connected with the fruit entrance of block-proof type motor-driven valve; The fruit outlet of described block-proof type motor-driven valve is connected with collection fruit device by collective low flexible pipe; Second end interface of described three-way interface is connected with blower fan by air inlet flexible pipe.The setting of block-proof type motor-driven valve; not only avoid the fruit collected in flexible pipe and export the breakage causing fruit in the process of fruit-collecting box due to extruding to; and solve in current picking machine the problem must suspending machine replacing fruit-collecting box, really achieve automation and the serialization of matrimony vine harvesting.

Wherein, the second end interface inside of described three-way interface is provided with anti-blocking isolation bolt.Described anti-blocking isolation bolt is the inner cylinder-like structure run through up and down, comprises isolation bolt housing and is arranged on roller and the wind deflector of isolation bolt enclosure interior.Described roller is evenly arranged on one end of anti-blocking isolation bolt, and described wind deflector is arranged on the other end of anti-blocking isolation bolt.Gap between adjacent described roller is less than the diameter of fruit, described roller and described wind deflector parallel arrangement.Described roller inner is provided with rotating shaft, for being rotationally connected between described roller and rotating shaft; Described roller is connected with bearing by rotating shaft, and then is connected with isolation bolt housing.Described rotating shaft is also provided with fan wheel; The quantity of described fan wheel is 2, and described 2 fan wheel are arranged on the both sides of rotating shaft upper roller.Described anti-blocking isolation bolt is connected with blower fan near one end of wind deflector, and described anti-blocking isolation bolt is connected with the pipeline of picker near one end of roller.The external diameter of described anti-blocking isolation bolt is a bit larger tham the internal diameter of three-way interface, and described isolation bolt housing is provided with interrupts grooves, so that the installation of anti-blocking isolation bolt; Described interrupts grooves and roller vertical arrangement.

During work, air-flow enters from wind deflector, and air-flow drives fan wheel, roller to rotate, even if leaf is labelled to anti-blocking isolation bolt surface, also can substitutes in turbofan along with the rotation of roller, and then be discharged.In the process of collecting fruit, fruit its deadweight and blower fan aid in guide under fall.The setting of anti-blocking isolation bolt, is not only separated the fruit entering collecting pipe together with leaf, leaf is all separated in Fan pipeline, is then discharged by blower fan; Also avoid and Chinese wolfberry fruit is sucked blower fan and leaf blocking fan interface.

Wherein, the inside of described collection flexible pipe is provided with buffer unit, described buffer unit comprises multiple sponge shock absorption strip being fixed on collection hose inner wall, described sponge shock absorption strip is arranged on the inwall collecting flexible pipe along the length direction collecting flexible pipe, decrease the collision between matrimony vine and between matrimony vine and flexible pipe.

Operation principle: when medlar-picking machine works, controller controls blower fan work, and block-proof type motor-driven valve is in closed condition; Chinese wolfberry fruit under picking head harvesting, under the suction of turbofan, enters upper collection flexible pipe from collection funnel, assembles at the first end interface of three-way interface; When matrimony vine amount is abundant, controller controls block-proof type motor-driven valve and opens, and Chinese wolfberry fruit enters fruit-collecting box by the 3rd end interface of three-way interface through lower collection flexible pipe.

Described drive system comprises picking mechanical arm driver, branch positioning mechanical arm driver, high-order vision system driver, low level vision system driver, slide unit jacking system driver, vision jacking system driver, steering engine driver, transmission system drives device and hole driver.Drive system connects picking mechanical arm, branch positioning mechanical arm, high-order vision system, low level vision system, slide unit jacking system, vision jacking system and matrimony vine picking head.

The invention allows for a kind of method of carrying out matrimony vine harvesting based on above-mentioned image identification medlar-picking machine, after comprising the steps: that industrial computer in host computer gathers image by distributed machines vision system, determine the two-dimensional coordinate (X, Y) of the characteristic point on matrimony vine branch and fruit and the information fusion module transferred in switch board; After this module receives data, first control the dead ahead that picking mechanical arm moves to this characteristic point respectively; And then driving laser sensing matrix fathoms information (Z); Then drive branch positioning mechanical arm to capture the end waiting to pluck branch and also slightly mention separation; Subsequently drive the harvesting of picking mechanical hand control matrimony vine picking head realization to fruit on branch; Finally, anti-blocking isolated matrimony vine automatic collecting device realization, to the absorption of Chinese wolfberry fruit and collection, completes a picking process.

The invention has the beneficial effects as follows:

(1) matrimony vine picker of the present invention improves labor productivity, the labour intensity reducing peasant and the harvesting cost that matrimony vine is plucked, ensure that matrimony vine is gathered and the quality of matrimony vine in time, for promotion rural economic development, the modernization of raising China agricultural, intellectuality, the progress of quickening agricultural science have immeasurable meaning.

(2) the present invention utilizes distributed machines vision system to carry out IMAQ to the matrimony vine of plucking region, improve the visual range of vision system on transverse direction, fore-and-aft distance and manipulator working range in the horizontal, by analyzing distributing position and the mature condition of Chinese wolfberry fruit, avoiding mistake and plucking, leak the situation of plucking;

(3) the present invention utilizes matrimony vine branch location and picking mechanical arm to realize the location to matrimony vine branch and the automatic harvesting to Chinese wolfberry fruit, without the need to manual intervention, significantly reduces production cost;

(4) the invention provides the automatic picking head of a kind of active adjustable pair roller gap circulating type matrimony vine, improve the net fruit rate of Chinese wolfberry fruit;

(5) the invention provides a kind of Chinese wolfberry fruit automatic collecting device, achieve and Chinese wolfberry fruit is collected automatically, efficiently, solve fruit in Chinese wolfberry fruit recovery process and easily break, the problem that leaf easily blocks up, significantly reduce production cost, there is good actual application prospect.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is one of structural representation of Vision Builder for Automated Inspection of the present invention;

Fig. 3 is the structural representation two of Vision Builder for Automated Inspection of the present invention;

Fig. 4 is the structural representation three of Vision Builder for Automated Inspection of the present invention;

Fig. 5 is the structural representation four of Vision Builder for Automated Inspection of the present invention;

Fig. 6 is the structural representation of high-order vision system in Vision Builder for Automated Inspection of the present invention;

Fig. 7 is the structural representation of vision jacking system in Vision Builder for Automated Inspection of the present invention;

Fig. 8 is the structural representation of slide unit jacking system in Vision Builder for Automated Inspection of the present invention;

Fig. 9 is the structural representation of the slide unit jacking system having installed electric turntable and backstay in Vision Builder for Automated Inspection of the present invention;

Figure 10 is the structural representation of electric turntable in Vision Builder for Automated Inspection of the present invention;

Figure 11 is one of structural representation of matrimony vine picking head of the present invention;

Figure 12 is one of structural representation of matrimony vine picking head of the present invention (removing mechanism housing and protecting crust);

Figure 13 is the structural representation two of matrimony vine picking head of the present invention (removing mechanism housing and protecting crust);

Figure 14 is the structural representation three of matrimony vine picking head of the present invention (removing mechanism housing and protecting crust);

Figure 15 is the structural representation four of matrimony vine picking head of the present invention (removing mechanism housing and protecting crust);

Figure 16 is the structural representation of picking head housing of the present invention (removing mechanism housing and transmission system);

Figure 17 is one of drive path intention of transmission system in matrimony vine picking head of the present invention;

Figure 18 is two of the drive path intention of transmission system in matrimony vine picking head of the present invention;

Figure 19 is the structural representation of collector for fruits of the present invention;

Figure 20 is one of structural representation of block-proof type motor-driven valve in collector for fruits of the present invention;

Figure 21 is the part-structure schematic diagram (removing block-proof type motor-driven valve body) of block-proof type motor-driven valve in collector for fruits of the present invention;

Figure 22 is the structural representation three of block-proof type motor-driven valve in collector for fruits of the present invention;

Figure 23 is one of structural representation of anti-blocking isolation bolt in collector for fruits of the present invention;

Figure 24 is the structural representation two of anti-blocking isolation bolt in collector for fruits of the present invention;

Figure 25 is the structural representation of the collection flexible pipe in collector for fruits of the present invention;

Figure 26 is the structural representation of switch board in the present invention.

Wherein: 1: medlar-picking machine tool hand; 2: branch positioning mechanical arm;

3: switch board; 3-1: touch-screen; 3-2: information fusion module;

4: control system;

5: power-supply system; 5-1: ferric phosphate lithium cell; 5-2: inverter; 5-3: Voltage stabilizing module;

6: drive system; 6-1: picking mechanical arm driver; 6-2: branch positioning mechanical arm driver; 6-3: high-order vision system driver; 6-4: low level vision system driver; 6-5: slide unit jacking system driver; 6-6: vision jacking system driver; 6-7: steering engine driver; 6-8: transmission system drives device;

7: high-order vision system; 7-1: camera I; 7-2: pulley twin shaft feed rod slide unit I; 7-2a: slide unit body I; 7-2b: twin shaft feed rod I; 7-2c: pulley bearings I; 7-2d: slide unit slide block I; 7-2e: holding screw I;

8: low level vision system; 8-1: camera II; 8-2: pulley twin shaft feed rod slide unit II; 8-2a: slide unit body II; 8-2f:L type corner brace II;

9: slide unit jacking system; 9-1: slide unit I; 9-2: square mesa; 9-1a: slide unit main body; 9-1b: slide block I; 9-1c: stepper motor; 9-1d: driving gear; 9-1e: driven tooth bar;

10: vision jacking system; 10-1: riser guide; 10-2: slide unit II; 10-3: slide block II; 10-4:L type corner brace I; 10-5: leading screw; 10-6: shaft coupling; 10-7: stepper motor;

11: electric turntable; 11-1: revolve platform; 11-2: disk body; 11-3: bearing; 11-4: shaft coupling; 11-5: servomotor; 11-6: fixed head;

12: frame; 12-4: blower fan backing plate; 12-5: motor-driven valve backing plate

13: backstay; 13-1: preposition backstay; 13-2: rearmounted backstay.

14: picking head housing; 14-1: picking head housing body; 14-2: protecting crust; 14-3: main roller wheel slack adjuster; 14-3a: bearing block; 14-3b: bearing; 14-3c: gap adjustment screws; 14-3d: split pin;

15: transmission case; 15-1: mechanism housing; 15-2: transmission transition axis bearing;

16: transmission system; 16-1: plum blossom yielding coupling; 16-2: the first power transmission shaft;

16-3: forward transmission device; 16-3a: dextrorotation worm screw; 16-3b: second driving shaft I; 16-3c: dextrorotation turbine; 16-3d: key; 16-3e: first order driving pulley I; 16-3e-1: drive pulley Ia; 16-3e-2: holding screw; 16-3e-3: belt; 16-3e-4: driven pulley Ia; 16-3f: transmission transition axis I; 16-3g: second level driving pulley I; 16-3g-1: drive pulley Ib; 16-3g-2: belt; 16-3g-3: holding screw; 16-3g-4: driven pulley Ib; 16-3h: the three power transmission shaft I;

16-4: reverse transmission; 16-4a: derotation worm screw; 16-4b: second driving shaft II; 16-4c: derotation turbine; 16-4d key; 16-4e: first order driving pulley II; 16-4e-1: drive pulley IIa; 16-4e-2: holding screw; 16-4e-3: belt; 16-4e-4: driven pulley IIa; 16-4f: transmission transition axis II; 16-4g: second level driving pulley II; 16-4g-1: drive pulley IIb; 16-4g-2: belt; 16-4g-3: holding screw; 16-4g-4: driven pulley IIb; 16-4h: the three power transmission shaft II;

17: spring take-up; 17-1: belt compressing tablet; 17-2: spring; 17-3: spring base;

18: main roller wheel; 18-1: rotate forward main roller wheel; 18-1a: rubber rolling; 18-1b: rubber moving tooth; 18-2: reversion main roller wheel; 18-2a: rubber rolling; 18-2b: rubber moving tooth;

19: secondary running roller; 19-1: rotate forward secondary running roller; 19-1a: rubber rolling; 19-1b: rubber moving tooth; 19-2: reverse secondary running roller; 19-2a: rubber rolling; 19-2b: rubber moving tooth;

20: hole; 20-1: hole main body; 20-2: secondary running roller bearing; 20-3: steering wheel; 20-3a: steering wheel body; 20-3b: steering gear shell; 20-3c: steering wheel;

21: block-proof type motor-driven valve; 21-1: block-proof type motor-driven valve body; 21-2: the fruit entrance of block-proof type motor-driven valve; 21-3: the fruit outlet of block-proof type motor-driven valve; 21-4: valve plate; 21-5: valve plate frame; 21-5a: valve plate spring; 21-5b: shrink connecting rod;

22: anti-blocking isolation bolt; 22-1: anti-blocking isolation bolt housing; 22-2: roller; 22-3: fan wheel; 22-4: wind deflector; 22-5: bearing; 22-6: interrupts grooves;

23: blower fan; 23-2: air inlet flexible pipe;

24: collection funnel;

25: collect flexible pipe; 25-1: upper collection flexible pipe; 25-2: flexible pipe is collected at middle part; 25-3: collective low flexible pipe;

26: three-way interface; 26-1: the first end interface of three-way interface; 26-2: the second end interface of three-way interface; 26-3: the second end interface of three-way interface;

27: buffer unit; 27-1: sponge shock absorption strip;

28: fruit-collecting box;

29: laser sensor.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described further.

Embodiment 1:

INTELLIGENT IDENTIFICATION matrimony vine picker, comprises frame and is arranged on power-supply system 5, control system 4, drive system 6, Vision Builder for Automated Inspection, medlar-picking machine tool hand 1, branch positioning mechanical arm 2, matrimony vine picking head and the collector for fruits in frame.Described control system 4 is connected with Vision Builder for Automated Inspection, medlar-picking machine tool hand 1, branch positioning mechanical arm 2, matrimony vine picking head and collector for fruits respectively by drive system 6.Described power-supply system 5, control system 4, drive system 6 are all arranged in switch board 3.Described power-supply system 5 comprises ferric phosphate lithium cell 5-1, inverter 5-2 and Voltage stabilizing module 5-3; Described control system 4 is industrial computer; Touch-screen 3-1 and information fusion module 3-2 is also comprised in described switch board 3.Wherein, ferric phosphate lithium cell 5-1 connects inverter 5-2 and Voltage stabilizing module 5-3, Voltage stabilizing module 5-3 and connects touch-screen 3-1, information fusion module 3-2 and drive system 6; Inverter 5-2 link information Fusion Module 3-2.

Described Vision Builder for Automated Inspection is for comprising high-order vision system 7, low level vision system 8 and vision jacking system 10; Described high-order vision system 7 is connected with frame 12 by vision jacking system 10.The motion of described vision jacking system 10 can drive the motion of high-order vision system 7, thus gathers the image of eminence.Described matrimony vine picker also comprises the slide unit jacking system be arranged in frame, described low level vision system, vision jacking system, medlar-picking machine tool hand and branch positioning mechanical arm are all arranged on slide unit jacking system by electric turntable, and then are connected with frame.Described Vision Builder for Automated Inspection also comprises the laser sensing matrix that laser sensor 29 forms; Described laser sensing matrix is for measuring the Z-direction distance of the positional distance Chinese wolfberry fruit at its place, and signal transmission is to control system 4; Control system 4 is according to the position of result branch positioning mechanical arm 2 and picking mechanical arm 1.Described drive system 6 comprises medlar-picking machine robotic drive 6-1, branch positioning mechanical arm driver 6-2, high-order vision system driver 6-3, low level vision system driver 6-4, slide unit jacking system driver 6-5, vision jacking system driver 6-6.

Described vision jacking system 10 comprises riser guide 10-1, slide unit II10-2, slide block II10-3, L-type corner brace 10-4, leading screw 10-5, shaft coupling 10-6 and stepper motor 10-7.Described slide unit II10-2 and leading screw 10-5 is movably connected and moves along riser guide 10-1, and described L-type corner brace 10-4 is fixedly connected with slide unit II10-2 by slide block II10-3; Described stepper motor 10-7 is connected with leading screw 10-5 by shaft coupling 10-6.

Described matrimony vine picker also comprises the slide unit jacking system 9 be arranged in frame 12, described low level vision system 8, vision jacking system 10, medlar-picking machine tool hand 1 and branch positioning mechanical arm 2 are all arranged on slide unit jacking system 9 by electric turntable 11, and then are connected with frame 12.Described control system 4 is connected with slide unit jacking system 9, vision jacking system 10, electric turntable 11, medlar-picking machine manipulator 1, branch positioning mechanical arm 2 respectively by drive system 6.Described slide unit jacking system 9 comprises slide unit I9-1 and square mesa 9-2, and described square mesa 9-2 is connected with frame 12 by slide unit I9-1.Described slide unit I9-1 comprises slide unit main body 9-1a, slide block I9-1b, stepper motor 9-1c, driving gear 9-1d and driven tooth bar 9-1e.Described slide unit main body 9-1a is fixed in frame 12, and the both sides, inside of described slide unit main body 9-1a are embedded with two driven tooth bar 9-1e, and described slide unit main body 9-1a is provided with slide block I9-1b, and is connected with square mesa 9-2 by slide block I9-1b.Described slide block I9-1b is fixedly installed stepper motor 9-1c and 3 driving gear 9-1d, described 3 driving gear 9-1d are fixed on the axle of stepper motor 9-1c, and described 3 driving gear 9-1d are staggered with driven tooth bar 9-1e and engage.

Embodiment 2:

As different from Example 1, described electric turntable 11 comprises and revolves platform 11-1, disk body 11-2, bearing 11-3, shaft coupling 11-4 and servomotor 11-5.Described disk body 11-2 and servomotor 11-5 is arranged on square mesa 9-2, described in revolve platform 11-1 and be connected with disk body 11-2 by bearing 11-3, described servomotor 11-5 is connected with disk body 11-2 by shaft coupling 11-4.

Described matrimony vine picker also comprises backstay 13, and described backstay 13 comprises preposition backstay 13-1 and rearmounted backstay 13-2.Described vision jacking system 7 is fixed on the end of rearmounted backstay 13-2, and the head end of described rearmounted backstay 13-2 is fixed on the edge revolving platform 11-1.Described low level vision system 8 is fixed on the end of preposition backstay 13-1, and the head end of described preposition backstay 13-1 is fixed on and revolves platform 11-1 edge.Described low level vision system 8 is arranged on vision jacking system 10 and revolves on the same axis of platform 11-1.

Embodiment 3:

As different from Example 2, described high-order vision system 7 comprises camera I7-1 and pulley twin shaft feed rod slide unit I7-2.Described pulley twin shaft feed rod slide unit I7-2 comprises slide unit body I7-2a, twin shaft feed rod I7-2b, pulley bearings I7-2c and slide unit slide block I7-2d.The base of described camera I7-1 is connected with pulley twin shaft feed rod slide unit I7-2 by slide unit slide block I7-2d, and described slide unit body I7-2a is connected with the slide block II10-3 of vision jacking system 10 by L-type corner brace I10-4; The inner both sides of described slide unit body I7-2a are provided with twin shaft feed rod I7-2b, and pulley bearings I7-2c is fixed on slide unit slide block I7-2d by internal bearings, and slide unit slide block I7-2d is arranged on slide unit body I7-2a.

Described low level vision system 8 comprises camera II8-1 and pulley twin shaft feed rod slide unit II8-2; Described pulley twin shaft feed rod slide unit II comprises slide unit body II8-2a, twin shaft feed rod II, pulley bearings II, slide unit slide block II and L-type corner brace II8-2f form.The base of described camera II is directly connected with slide unit body II8-2a, and described slide unit body II8-2a is connected on preposition backstay 13-1 by L-type corner brace II8-2f; The inner both sides of described slide unit body II8-2a are provided with twin shaft feed rod II, and pulley bearings II is fixed on slide unit slide block II by internal bearings, and slide unit slide block II is arranged on slide unit body II8-2a.

Embodiment 4:

As different from Example 3, the side of described slide unit slide block I7-2d is provided with holding screw I7-2e, and the side of described slide unit slide block II is provided with holding screw II.Described holding screw I7-2e is used for movement that is fixing and restriction slide unit slide block I7-2d; Described holding screw II is used for movement that is fixing and restriction slide unit slide block II.

Embodiment 5:

As different from Example 3, described medlar-picking machine tool hand 1 and branch positioning mechanical arm 2 respectively comprise a set of six degree of freedom manipulator.The described platform that revolves is provided with " yi word pattern " fixed head 11-6, and 11-6 is vertical with " yi word pattern " backstay 13 for described " yi word pattern " fixed head.Described medlar-picking machine manipulator 1 and branch positioning mechanical arm 2 arrange the two ends of " yi word pattern " fixed head 11-6.

Embodiment 6:

As different from Example 1, described matrimony vine picking head is adjustable pair roller gap circulating type matrimony vine picking head, comprises picking head housing 14 and is arranged on the main roller wheel 18 of picking head housing 14 inside, transmission system 16 and secondary running roller 19.Described main roller wheel 18 comprises rotating forward main roller wheel 18-1 and reversion main roller wheel 18-2, described rotating forward main roller wheel 18-1 and reversion main roller wheel 18-2 rotates in opposite directions.Described secondary running roller comprises the secondary running roller 19-1 of rotating forward and the secondary running roller 19-2 of reversion, and the secondary running roller 19-1 of described rotating forward and the secondary running roller 19-2 that reverses rotates in opposite directions.The secondary running roller 19-1 of described rotating forward is arranged on the top rotating forward main roller wheel 18-1, and the secondary running roller 19-2 of described reversion is arranged on the top of reversion main roller wheel 18-2.Described main roller wheel 18 and secondary running roller 19 form by rubber rolling and the rubber moving tooth be arranged on rubber rolling.

Described transmission system is arranged on the transmission case 15 being positioned at picking head housing 14 front end, and described transmission case 15 comprises mechanism housing 15-1, transmission transition axis bearing 15-2.Described drive system 6 also comprises steering engine driver 6-7 and transmission system drives device 6-8.Described drive system 6 drives the rotation of main roller wheel 18 and secondary running roller 19 to realize the harvesting of matrimony vine by transmission system 16.

Described transmission system comprises plum blossom yielding coupling 16-1, the first power transmission shaft 16-2, provides the forward transmission device 16-3 of power to rotating forward secondary running roller 19-1 and rotating forward main roller wheel 18-1, provide the reverse transmission 16-4 of power to the secondary running roller 19-2 of reversion and reversion main roller wheel 18-2.The first described power transmission shaft 16-2 is arranged on the bearing on mechanism housing 15-1.Described forward transmission device 16-3 comprises dextrorotation worm screw 16-3a, second driving shaft I16-3b, dextrorotation turbine 16-3c, first order driving pulley I16-3e, transmission transition axis I16-3f, second level driving pulley I16-3g, the 3rd power transmission shaft I16-3h; Described reverse transmission 16-4 comprises derotation worm screw 16-4a, second driving shaft II16-4b, derotation turbine 16-4c, first order driving pulley II16-4e, transmission transition axis II16-4f, second level driving pulley II16-4g, the 3rd power transmission shaft II16-4h.

The connected mode of described transmission system is: one end of described plum blossom yielding coupling 16-1 is connected with external motor output shaft, and the other end is connected with the first power transmission shaft 16-2; Described dextrorotation worm screw 16-3a and derotation worm screw 16-4a is fixedly installed on the first power transmission shaft 16-2.

Arrange the dextrorotation turbine 16-3c engaged with it directly over described dextrorotation worm screw 16-3a, described dextrorotation turbine 16-3c is arranged on second driving shaft I16-3b.The drive pulley Ia16-3e-1 of described first order driving pulley I16-3e is arranged on second driving shaft I16-3b, and driven pulley IIa16-4e-4 is arranged on transmission transition axis I16-3f.The drive pulley Ib16-3g-1 of second level driving pulley I16-3g is arranged on transmission transition axis I16-3f, and driven pulley Ib16-3g-4 installs on the 3rd power transmission shaft I16-3h.Described rotating forward main roller wheel 18-1 is arranged on second driving shaft I16-3b, and the secondary running roller 19-1 of described rotating forward is arranged on the 3rd power transmission shaft I16-3h.

Arrange the derotation turbine 16-4c engaged with it directly over described derotation worm screw 16-4a, described derotation turbine 16-4c is arranged on second driving shaft II16-4b.The drive pulley IIa16-4e-1 of described first order driving pulley II16-3e is arranged on second driving shaft II16-4b, and driven pulley IIa16-4e-4 is arranged on transmission transition axis II16-4f.The drive pulley IIb16-4g-1 of the second driving pulley II16-4g is arranged on transmission transition axis II16-4f, and driven pulley IIb16-4g-4 is arranged on the 3rd power transmission shaft II16-4h.Described reversion main roller wheel 18-2 is arranged on second driving shaft II16-4b, and the secondary running roller 19-2 of described rotating forward is arranged on the 3rd power transmission shaft II16-4h.

Embodiment 7:

As different from Example 6, described forward transmission device 16-3 also comprises key I16-3d, and described dextrorotation turbine 16-3c is arranged on second driving shaft I6-3b by key I16-3d.Described reverse transmission 6-5 also comprises key II16-4d, and described derotation turbine 16-4c is arranged on second driving shaft II16-4b by key II16-4d.

Embodiment 8:

As different from Example 6, adjustable pair roller gap circulating type matrimony vine picking head also comprises hole 20, described hole 20 comprises hole main body 20-1, secondary running roller bearing 20-2, steering wheel 20-3 and protruding pin 20-4, and described steering wheel 20-3 is arranged on the rear end of picking head housing 14.One end of described hole main body 20-1 is arranged on picking head housing 14 by protruding pin 20-4, and then is connected with the steering wheel 20-3c of steering wheel 20-3.The other end of described hole main body 20-1 is connected with secondary running roller bearing 20-2.Described secondary running roller bearing 20-2 is the bearing of the 3rd power transmission shaft I16-3h and the 3rd power transmission shaft II16-4h.

Embodiment 9:

As different from Example 6, described picking head housing 14 comprises picking head housing body 14-1, protecting crust 14-2 and main roller wheel slack adjuster 14-3.Described main roller wheel slack adjuster 14-3 comprises bearing block 14-3a, bearing 14-3b and gap adjustment screws 14-3c.Described bearing 14-3b is arranged on by bearing block 14-3a on the front and rear wall of picking head housing 14, and described bearing block 14-3a is provided with the screwed hole mated with gap adjustment screws 14-3c.Described gap adjustment screws 14-3c contacts with bearing 14-3b through this screwed hole.Described protecting crust 14-2 is arranged on the rear wall of picking head housing 14, normally works for the protection of main roller wheel bearing 14-3b and steering wheel 20-3.Described bearing 14-3b is the bearing of second driving shaft I16-3b and second driving shaft II16-4b.

Embodiment 10:

As different from Example 6, in described first order driving pulley I16-3e and first order driving pulley II16-4e, spring take-up 17 has all been installed.Described spring take-up 17 comprises belt compressing tablet 17-1, spring 17-2 and spring base 17-3.One end of described spring 17-2 is connected with each self-corresponding belt by belt compressing tablet 17-1, and the other end of described spring 17-2 is connected with spring base 17-3.Described spring base 17-3 is arranged on the antetheca of picking head housing 14.

Embodiment 11:

As different from Example 1, described collector for fruits is anti-blocking isolated matrimony vine automatic collecting device, comprises gathering unit, power set and storage device; Described power set are connected with gathering unit, and then are connected with storage device.Described gathering unit comprises collection funnel 24 and collects flexible pipe 25, described collection flexible pipe 25 is arranged three-way interface 26 and block-proof type motor-driven valve 21.Described collection flexible pipe 25 comprises upper collection flexible pipe 25-1, flexible pipe 25-2 and collective low flexible pipe 25-3 is collected at middle part.Wherein, described power set are blower fan 23, and described storage device is fruit-collecting box 28; Described blower fan 23 is connected with collection flexible pipe 25, and then is connected with fruit-collecting box 28.Described control system 4 is connected with block-proof type motor-driven valve 21 with blower fan 23 respectively.Blower fan 23 is placed in frame 12 by blower fan backing plate 12-4, and described block-proof type motor-driven valve 21 is placed in frame 12 by motor-driven valve backing plate 12-5.

Described block-proof type motor-driven valve 21 comprises motor-driven valve body 21-1, fruit entrance 21-2, fruit outlet 21-3 and valve plate 21-4; Described valve plate 21-4 is arranged on the pipeline between fruit entrance 21-2 and fruit outlet 21-3.Described valve plate 21-4 is the circular slab matched with pipeline; The periphery of described valve plate 21-4 arranges circular valve plate frame 21-5, and described valve plate frame 21-5 is provided with multiple circular hole.Described block-proof type motor-driven valve 21 also comprises contraction connecting rod 21-5b, and described contraction connecting rod 21-5b runs through circular hole.Described contraction connecting rod 21-5b is connected with valve plate 21-4 towards one end of valve plate 21-4 by valve plate spring 21-5a, realizes shrinking the length adjustment of connecting rod 21-5b with pipeline varying aperture.Described valve plate 21-4 is solid slab, and arrange stepper motor in described motor-driven valve body 21-1, described stepper motor is for controlling the switch of valve plate 21-4.

The upper end of described upper collection flexible pipe 25-1 is connected with the lower end of collection funnel 24, the lower end of upper collection flexible pipe 25-1 is connected with the first end interface 26-1 of three-way interface 26, the upper end that flexible pipe 25-2 is collected at middle part is connected with the 3rd end interface 26-3 of three-way interface 26, and the lower end that flexible pipe 25-2 is collected at middle part is connected with the fruit entrance 21-2 of block-proof type motor-driven valve 21; The fruit outlet 21-3 of block-proof type motor-driven valve 21 is connected with collection fruit device by collective low flexible pipe 25-3; Second end interface 26-2 of described three-way interface 26 is connected with blower fan 23 by air inlet flexible pipe 23-2.

Embodiment 12:

As different from Example 11, second end interface 26-2 inside of described three-way interface 26 is provided with anti-blocking isolation bolt 22, described anti-blocking isolation bolt 22 is the inner cylinder-like structure run through up and down, comprises isolation bolt housing 22-1 and is arranged on roller 22-2 and the wind deflector 22-4 of isolation bolt housing 22-1 inside.Described roller 22-2 is evenly arranged on one end of anti-blocking isolation bolt 22, and described wind deflector 22-4 is arranged on the other end of anti-blocking isolation bolt 22.Gap between adjacent described roller 22-2 is less than the diameter of fruit, described roller 22-2 and described wind deflector 22-4 parallel arrangement.Described roller 22-2 inside is provided with rotating shaft, for being rotationally connected between described roller 22-2 and rotating shaft; Described roller 22-2 is connected with bearing 22-5 by rotating shaft, and then is connected with isolation bolt housing 22-1.Described rotating shaft is also provided with 2 fan wheel 22-3, described 2 fan wheel 22-3 are arranged on the both sides of rotating shaft upper roller 22-2.Described anti-blocking isolation bolt 22 is connected with blower fan near one end of wind deflector 22-4, and described anti-blocking isolation bolt 22 is connected with the pipeline of picker near one end of roller 22-2.The external diameter of described anti-blocking isolation bolt 22 is a bit larger tham the internal diameter of three-way interface 26, and described isolation bolt housing 22-1 is provided with interrupts grooves, described interrupts grooves and roller 22-2 vertical arrangement.

Embodiment 13:

As different from Example 11, valve plate 21-4 is mesh plate, and the aperture of described mesh is less than the size of FRUCTUS LYCII.The inside of described collection flexible pipe 25 is provided with buffer unit 27, and described buffer unit 27 comprises multiple sponge shock absorption strip 27-1 being fixed on collection flexible pipe 25 inwall, and described sponge shock absorption strip 27-1 is arranged on the inwall collecting flexible pipe 25 along the length direction collecting flexible pipe 25.

Embodiment 14:

As different from Example 12, valve plate 21-4 is mesh plate, and the aperture of described mesh is less than the size of FRUCTUS LYCII.The inside of described collection flexible pipe 25 is provided with buffer unit 27, and described buffer unit 27 comprises multiple sponge shock absorption strip 27-1 being fixed on collection flexible pipe 25 inwall, and described sponge shock absorption strip 27-1 is arranged on the inwall collecting flexible pipe 25 along the length direction collecting flexible pipe 25.

Claims

1. INTELLIGENT IDENTIFICATION matrimony vine picker, comprises frame (12) and is arranged on power-supply system, control system, drive system, Vision Builder for Automated Inspection, medlar-picking machine tool hand (1), branch positioning mechanical arm (2), matrimony vine picking head and the collector for fruits in frame (12); Described control system is connected with Vision Builder for Automated Inspection, medlar-picking machine tool hand (1), branch positioning mechanical arm (2), matrimony vine picking head and collector for fruits respectively by drive system; Described Vision Builder for Automated Inspection comprises high-order vision system (7), low level vision system (8) and vision jacking system (10); Described high-order vision system (7) is connected with frame (12) by vision jacking system (10); It is characterized in that: described Vision Builder for Automated Inspection also comprises the slide unit jacking system (9) be arranged in frame (12), described low level vision system (8), vision jacking system (10), medlar-picking machine tool hand (1) and branch positioning mechanical arm (2) are all arranged on slide unit jacking system (9) by electric turntable (11), and then are connected with frame (12); Described control system is connected with slide unit jacking system (9), vision jacking system (10), electric turntable (11), medlar-picking machine manipulator (1), branch positioning mechanical arm (2) respectively by drive system; Described slide unit jacking system (9) comprises slide unit I (9-1) and square mesa (9-2), and described square mesa (9-2) is connected with frame (12) by slide unit I (9-1); Described slide unit I (9-1) comprises slide unit main body (9-1a), slide block I (9-1b), stepper motor (9-1c), driving gear (9-1d) and driven tooth bar (9-1e); Described slide unit main body (9-1a) is fixed in frame (12), the both sides, inside of described slide unit main body (9-1a) are embedded with two driven tooth bars (9-1e), described slide unit main body (9-1a) is provided with slide block I (9-1b), and is connected with square mesa (9-2) by slide block I (9-1b); Described slide block I (9-1b) is fixedly installed stepper motor (9-1c) and 3-5 driving gear (9-1d), described driving gear (9-1d) is fixed on the axle of stepper motor (9-1c), and described driving gear (9-1d) is staggered with driven tooth bar (9-1e) and engages.

2. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1,, it is characterized in that: described electric turntable (11) comprises and revolves platform (11-1), disk body (11-2), bearing (11-3), shaft coupling (11-4) and servomotor (11-5); Described disk body (11-2) and servomotor (11-5) are arranged in square mesa (9-2), the described platform (11-1) that revolves is connected with disk body (11-2) by bearing (11-3), and described servomotor (11-5) is connected with disk body (11-2) by shaft coupling (11-4); Described vision jacking system (10) comprises riser guide (10-1), slide unit II (10-2), slide block II (10-3), L-type corner brace (10-4), leading screw (10-5), shaft coupling (10-6) and stepper motor (10-7); Described slide unit II (10-2) and leading screw (10-5) are movably connected and move along riser guide (10-1), and described L-type corner brace (10-4) is fixedly connected with slide unit II (10-2) by slide block II (10-3); Described stepper motor (10-7) is connected with leading screw (10-5) by shaft coupling (10-6).

3. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1 and 2, is characterized in that: described high-order vision system (7) comprises camera I (7-1) and pulley twin shaft feed rod slide unit I (7-2); Described pulley twin shaft feed rod slide unit I (7-2) comprises slide unit body I (7-2a), twin shaft feed rod I (7-2b), pulley bearings I (7-2c) and slide unit slide block I (7-2d); The base of described camera I (7-1) is connected with pulley twin shaft feed rod slide unit I (7-2) by slide unit slide block I (7-2d), and described slide unit body I (7-2a) is connected with the slide block II (10-3) of vision jacking system (10) by L-type corner brace I (10-4); The inner both sides of described slide unit body I (7-2a) are provided with twin shaft feed rod I (7-2b), pulley bearings I (7-2c) is fixed on slide unit slide block I (7-2d) by internal bearings, and slide unit slide block I (7-2d) is arranged on slide unit body I (7-2a); Described low level vision system (8) comprises camera II (8-1) and pulley twin shaft feed rod slide unit II (8-2); Described pulley twin shaft feed rod slide unit II comprises slide unit body II (8-2a), twin shaft feed rod II, pulley bearings II, slide unit slide block II and L-type corner brace II (8-2f) composition; The base of described camera II is directly connected with slide unit body II (8-2a), and described slide unit body II (8-2a) is connected on preposition backstay (13-1) by L-type corner brace II (8-2f); The inner both sides of described slide unit body II (8-2a) are provided with twin shaft feed rod II, and pulley bearings II is fixed on slide unit slide block II by internal bearings, and slide unit slide block II is arranged on slide unit body II (8-2a); Described Vision Builder for Automated Inspection also comprises the laser sensing matrix that laser sensor (29) forms.

4. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1, it is characterized in that: described matrimony vine picker also comprises backstay (13), described backstay (13) comprises preposition backstay (13-1) and rearmounted backstay (13-2); Described vision jacking system (10) is fixed on the end of rearmounted backstay (13-2), and the head end of described rearmounted backstay (13-2) is fixed on the edge revolving platform (11-1); Described low level vision system (8) is fixed on the end of preposition backstay (13-1), and the head end of described preposition backstay (13-1) is fixed on and revolves platform (11-1) edge; Described low level vision system (8) and vision jacking system (10) be arranged on revolve platform (11-1) same axis on.Described medlar-picking machine tool hand (1) and branch positioning mechanical arm (2) respectively comprise a set of six degree of freedom manipulator; On described medlar-picking machine manipulator (1) and branch positioning mechanical arm (2) central axis revolving platform (11-1) placed side by side.

5. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1, is characterized in that: described matrimony vine picking head comprises picking head housing (14) and is arranged on the inner main roller wheel (18) of picking head housing (14-1), transmission system (16) and secondary running roller (19); Described main roller wheel (18) comprises rotating forward main roller wheel (18-1) and reversion main roller wheel (18-2), and described rotating forward main roller wheel (18-1) and reversion main roller wheel (18-2) are rotated in opposite directions; Described secondary running roller comprises the secondary running roller of rotating forward (19-1) and the secondary running roller of reversion (19-2), and the secondary running roller of described rotating forward (19-1) and the secondary running roller of reversion (19-2) are rotated in opposite directions; The secondary running roller of described rotating forward (19-1) is arranged on the top rotating forward main roller wheel (18-1), and the secondary running roller (19-2) of described reversion is arranged on the top of reversion main roller wheel (18-2); Described drive system drives the rotation of main roller wheel (18) and secondary running roller (19) to realize the harvesting of matrimony vine by transmission system (16).

6. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 5, is characterized in that: described transmission system comprises plum blossom yielding coupling (16-1), the first power transmission shaft (16-2), provides the forward transmission device (16-3) of power to rotating forward secondary running roller (19-1) and rotating forward main roller wheel (18-1), provide the reverse transmission (16-4) of power to the secondary running roller of reversion (19-2) and reversion main roller wheel (18-2);

Described forward transmission device (16-3) comprises dextrorotation worm screw (16-3a), second driving shaft I (16-3b), dextrorotation turbine (16-3c), first order driving pulley I (16-3e), transmission transition axis I (16-3f), second level driving pulley I (16-3g), the 3rd power transmission shaft I (16-3h); Described reverse transmission (16-4) comprises derotation worm screw (16-4a), second driving shaft II (16-4b), derotation turbine (16-4c), first order driving pulley II (16-4e), transmission transition axis II (16-4f), second level driving pulley II (16-4g), the 3rd power transmission shaft II (16-4h);

The connected mode of described transmission system is: one end of described plum blossom yielding coupling (16-1) is connected with external motor output shaft, and the other end is connected with the first power transmission shaft (16-2); Described dextrorotation worm screw (16-3a) and derotation worm screw (16-4a) are fixedly installed on the first power transmission shaft (16-2);

The top of described dextrorotation worm screw (16-3a) arranges the dextrorotation turbine (16-3c) engaged with it, and described dextrorotation turbine (16-3c) is arranged on second driving shaft I (16-3b); The drive pulley Ia (16-3e-1) of described first order driving pulley I (16-3e) is arranged on second driving shaft I (16-3b), and driven pulley Ia (16-4e-4) is arranged on transmission transition axis I (16-3f); The drive pulley Ib (16-3g-1) of second level driving pulley I (16-3g) is arranged on transmission transition axis I (16-3f), and driven pulley Ib (16-3g-4) installs on the 3rd power transmission shaft I (16-3h); Described rotating forward main roller wheel (18-1) is arranged on second driving shaft I (16-3b), and the secondary running roller of described rotating forward (19-1) is arranged on the 3rd power transmission shaft I (16-3h);

The top of described derotation worm screw (16-4a) arranges the derotation turbine (16-4c) engaged with it, and described derotation turbine (16-4c) is arranged on second driving shaft II (16-4b); The drive pulley IIa (16-4e-1) of described first order driving pulley II (16-4e) is arranged on second driving shaft II (16-4b), and driven pulley IIa (16-4e-4) is arranged on transmission transition axis II (16-4f); The drive pulley IIb (16-4g-1) of the second driving pulley II (16-4g) is arranged on transmission transition axis II (16-4f), and driven pulley IIb (16-4g-4) is arranged on the 3rd power transmission shaft II (16-4h); Described reversion main roller wheel (18-2) is arranged on second driving shaft II (16-4b), and the secondary running roller of described rotating forward (19-1) is arranged on the 3rd power transmission shaft II (16-4h).

7. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 6, it is characterized in that: also comprise hole (20), described hole (20) comprises hole main body (20-1), secondary running roller bearing (20-2), steering wheel (20-3) and protruding pin (20-4), and described steering wheel (20-3) is arranged on the rear end of picking head housing (14); One end of described hole main body (20-1) is arranged on picking head housing (14) by protruding pin (20-4), and then is connected with the steering wheel (20-3c) of steering wheel (20-3); The other end of described hole main body (20-1) is connected with secondary running roller bearing (20-2); Described secondary running roller bearing (20-2) is the bearing of the 3rd power transmission shaft I (16-3h) and the 3rd power transmission shaft II (16-4h); In described first order driving pulley I (16-3e) and first order driving pulley II (16-4e), spring take-up (17) is all installed; Described spring take-up (17) comprises belt compressing tablet (17-1), spring (17-2) and spring base (17-3); One end of described spring (17-2) is connected with each self-corresponding belt by belt compressing tablet (17-1), and the other end of described spring (17-2) is connected with spring base (17-3); Described spring base (17-3) is arranged on the antetheca of picking head housing (14).

8. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 6, is characterized in that: described picking head housing (14) comprises picking head housing body (14-1), protecting crust (14-2) and main roller wheel slack adjuster (14-3); Described main roller wheel slack adjuster (14-3) comprises bearing block (14-3a), bearing (14-3b) and gap adjustment screws (14-3c); Described bearing (14-3b) is arranged on the front and rear wall of picking head housing (14) by bearing block (14-3a), and described bearing block (14-3a) is provided with the screwed hole mated with gap adjustment screws (14-3c); Described gap adjustment screws (14-3c) contacts with bearing (14-3b) through this screwed hole; Described protecting crust (14-2) is arranged on the rear wall of picking head housing (14), normally works for the protection of main roller wheel bearing (14-3b) and steering wheel (20-3).Described bearing (14-3b) is the bearing of second driving shaft I (16-3b) and second driving shaft II (16-4b); Described transmission system is arranged on the transmission case (15) being positioned at picking head housing (14) front end, and described transmission case (15) comprises mechanism housing (15-1), transmission transition axis bearing (15-2); The first described power transmission shaft 16-2 is arranged on the bearing on mechanism housing (15-1).

9. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1, is characterized in that: described collector for fruits comprises gathering unit, power set and storage device, described power set are connected with gathering unit, and then are connected with storage device, described gathering unit comprises collection funnel (24) and collects flexible pipe (25), described collection flexible pipe (25) is arranged three-way interface (26) and block-proof type motor-driven valve (21), described collection flexible pipe (25) comprises upper collection flexible pipe (25-1), flexible pipe (25-2) and collective low flexible pipe (25-3) are collected in middle part, described block-proof type motor-driven valve (21) comprises motor-driven valve body (21-1), fruit entrance (21-2), fruit outlet (21-3) and valve plate (21-4), described valve plate (21-4) is arranged on the pipeline between fruit entrance (21-2) and fruit outlet (21-3), described valve plate (21-4) is the circular slab matched with pipeline, the periphery of described valve plate (21-4) arranges circular valve plate frame (21-5), and described valve plate frame (21-5) is provided with multiple circular hole, described block-proof type motor-driven valve (21) also comprises shrinks connecting rod (21-5b), and described contraction connecting rod (21-5b) runs through circular hole, described contraction connecting rod (21-5b) is connected with valve plate (21-4) towards one end of valve plate (21-4) by valve plate spring (21-5a), realizes shrinking the length adjustment of connecting rod (21-5b) with pipeline varying aperture, the upper end of described upper collection flexible pipe (25-1) is connected with the lower end of collection funnel (24), the lower end of described upper collection flexible pipe (25-1) is connected with the first end interface (26-1) of three-way interface (26), the upper end that flexible pipe (25-2) is collected at described middle part is connected with the 3rd end interface (26-3) of three-way interface (26), the lower end that flexible pipe (25-2) is collected at described middle part is connected with the fruit entrance (21-2) of block-proof type motor-driven valve (21), fruit outlet (21-3) of described block-proof type motor-driven valve (21) is connected with collection fruit device by collective low flexible pipe (25-3), second end interface (26-2) of described three-way interface (26) is connected with blower fan (23) by air inlet flexible pipe (23-2).

10. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 9, it is characterized in that: the second end interface (26-2) inside of described three-way interface (26) is provided with anti-blocking isolation bolt (22), described anti-blocking isolation bolt (22) is the inner cylinder-like structure run through up and down, comprises isolation bolt housing (22-1) and is arranged on the inner roller (22-2) of isolation bolt housing (22-1) and wind deflector (22-4); Described roller (22-2) is evenly arranged on one end of anti-blocking isolation bolt (22), and described wind deflector (22-4) is arranged on anti-blocking isolation bolt (22) other end; Gap between adjacent described roller (22-2) is less than the diameter of fruit, described roller (22-2) and described wind deflector (22-4) parallel arrangement; Described roller (22-2) inside is provided with rotating shaft, for being rotationally connected between described roller (22-2) and rotating shaft; Described roller (22-2) is connected with bearing (22-5) by rotating shaft, and then is connected with isolation bolt housing (22-1); Described rotating shaft is also provided with fan wheel (22-3); Described anti-blocking isolation bolt (22) is connected with blower fan near one end of wind deflector (22-4), and described anti-blocking isolation bolt (22) is connected with the pipeline of picker near one end of roller (22-2); The inside of described collection flexible pipe (25) is provided with buffer unit (27), described buffer unit (27) comprises multiple sponge shock absorption strip (27-1) being fixed on collection flexible pipe (25) inwall, and described sponge shock absorption strip (27-1) is arranged on the inwall collecting flexible pipe (25) along the length direction collecting flexible pipe (25).