CN105340486B - Wolfberry picking device with distributed machine vision system - Google Patents

Abstract

Aiming at the problems existing in the prior art, the present invention provides a wolfberry picking device equipped with a distributed machine vision system. The wolfberry picking device includes a frame and a control system, a drive system, a power supply system, a high-level vision system, a low-level vision system, a visual lifting system, a wolfberry picking manipulator and a branch positioning manipulator arranged on the frame. The high-level vision system is connected to the rack through the vision lifting system. The movement of the visual lifting system can drive the movement of the high-level vision system, thereby collecting high-level images. The wolfberry picking device also includes a sliding table lifting system set on the frame. The low-level vision system, visual lifting system, wolfberry picking manipulator and branch positioning manipulator are all set on the sliding table lifting system through the electric turntable, and then connected to the frame. The invention greatly expands the field of view of the vision system, and greatly alleviates the problem of limited machine vision and manipulator picking work range of the Qi picking machine in a narrow field.

Description

Wolfberry picking device with distributed machine vision system

technical field

The invention belongs to the field of agricultural machinery, and in particular relates to an auxiliary supporting mechanism of a wolfberry picking device, in particular to a picking device for wolfberry equipped with a distributed machine vision system.

Background technique

Lycium barbarum is not only a traditional precious Chinese herbal medicine, but also a nutritional tonic. According to official statistics, in Gansu alone in 2012, the output of wolfberry reached 35,000 tons. Due to the characteristics of high water content and delicate peel of wolfberry fruit when ripe, it is easy to damage when collecting; if damage occurs, it will not only affect its appearance and color, but also reduce its medicinal value. Therefore, it is necessary to adopt a flexible collection method to pick off the wolfberry fruit together with the fruit handle. Due to the complexity of wolfberry growth and the unstructured farmland environment, simple hand-held wolfberry pickers, picking heads and vibrating pickers are currently used in production.

Invention patent application 201010272425 discloses a "hand-held goji berry picking machine", which still requires the participation of picking personnel and is very limited in improving the automation of goji berry picking. Simultaneously, this equipment is to pick a bunch of wolfberry branches, and it is very easy to pick immature wolfberry together, which is very unfavorable for improving the quality and output of wolfberry. Invention patent 201320182557.2 discloses a "elevating fruit picking machine". The lifting device in the picking machine includes a bottom plate arranged on the frame, and at least two sets of oil cylinders are set in the center of the bottom plate and nested. The telescopic oil cylinder in the sleeve is used to manipulate the lifting console of the telescopic oil cylinder, and the lifting brackets are arranged on both sides of the bottom plate. The problems of this picking machine are: (1) the lifting device is not very flexible, it can only be lifted up and down, and the direction needs to be adjusted by adjusting the direction of the whole implement; (2) hydraulic pressure is used for lifting, and the overall lifting device is too large and inflexible to use ,high cost.

Invention patent application 201310614202.0 announced an "online sorting system for wolfberry based on machine vision", which includes ARM controller, image acquisition and processing module, power supply module, system reset module, data transmission module, keyboard input module, display module, Host computer, drive module, sorting execution unit, transportation execution unit, CCD industrial camera, background processing module, samples to be selected, LED light irradiation module. The problems of this system: (1) It is only suitable for image processing of wolfberry with a single layer and no occlusion, and cannot be used for picking wolfberry in complex situations in nature; (2) It is only suitable for image processing of still wolfberry, that is, the image processing of fixed Industrial cameras sort the still goji berries.

Invention patent 201310193713.X discloses a "mobile rotary lifting platform for picking agricultural products", which includes a traveling mechanism, a rotating mechanism, a lifting platform, a control system, a rotating frame, a main shaft, a bearing group, and a bearing seat Plate pack, gear set and rotary drive motor. The existing problems of this lifting platform: (1) the rotation is used as the base, and the lifting is used as the upper working area, resulting in a large distance between the rotating base and the heavy object, and centrifugal force will be generated during the rotation, which will cause the platform to be unstable; (2) the rotation Gear transmission is adopted, and the indexing precision of the worktable is low; (3) The lifting mechanism adopts linear guide rail, and the load capacity is low.

To sum up, in the prior art, to use machine vision and picking manipulators to pick wolfberry fruit, it is necessary to move the entire machine to the front of the wolfberry branches; since the visual range of the machine vision system is very limited, the horizontal direction of the picking machine can be The picking area is limited. After picking the wolfberry in front of the picking manipulator, the staff needs to move the system to other areas, which is very unfavorable for improving the picking efficiency; moreover, even picking wolfberries at different heights in the same area requires frequent Moving the machine is not conducive to improving picking efficiency; moreover, due to the limited viewing angle of the machine vision system for trees with a large difference in height from the average wolfberry tree, it is very easy for the lowest and highest images to be missed and missed.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides a wolfberry picking device equipped with a distributed machine vision system.

The technical solution of the present invention is: a wolfberry picking device with a distributed machine vision system, including a frame and a control system, a drive system, a power supply system, a high-level vision system, a low-level vision system, a visual lifting system, and a wolfberry picking system arranged on the frame. The picking manipulator and the branch positioning manipulator; the high position vision system is connected with the frame through the vision lifting system. The movement of the vision lifting system can drive the movement of the high-level vision system, so as to collect images of middle and high places. The wolfberry picking device also includes a sliding table lifting system arranged on the frame, the low-position vision system, the visual lifting system, the wolfberry picking manipulator and the branch positioning manipulator are all set on the sliding table lifting system through the electric turntable, and then connected with the machine frame connected.

The movement of the sliding platform lifting system can drive the movement of the entire electric turntable, high-position vision system, low-position vision system, vision lifting system, wolfberry picking manipulator and branch positioning manipulator. The control system is respectively connected with the sliding table lifting system, the visual lifting system, the electric turntable, the medlar picking machine manipulator, and the branch positioning manipulator through the drive system. Described slide table lifting system comprises slide table 1 and lift table, and described lift table is connected with frame by slide table 1; Described slide table 1 includes slide table main body, slide block 1, stepper motor, driving gear and driven Rack; the main body of the sliding table is fixed on the frame, and the inner two sides of the main body of the sliding table are embedded with driven racks. connect. A stepping motor and a driving gear are fixedly arranged on the slider 1, and the driving gear is fixed on the shaft of the stepping motor, and the driving gear and the driven rack are staggered; the lateral force strain of the slide table is increased, It not only ensures that the lifting system of the slide table will not shake due to the heavy load, but also provides stable lifting power. Wherein, two driven racks are embedded on both sides of the main body of the sliding table; the number of the driving gears is 3; the lifting platform is a square platform.

Wherein, the electric turntable includes a turntable, a disc body, a bearing, a coupling and a servo motor; the disc body and the servo motor are arranged on a square table, the turntable is connected to the disc body through a bearing, and the servo motor Connected to the disc body through a coupling.

Wherein, the visual lifting system includes a lifting guide rail, a slide table II, a slide block II, an L-shaped corner code, a lead screw, a shaft coupling and a stepping motor; the slide table II is threadedly connected to the lead screw through its internal nut And move along the lifting guide rail, the L-shaped corner code is fixedly connected with the slide table II through the slider II; the stepping motor is connected with the lead screw through a coupling. The high-position vision system includes a camera I and a pulley biaxial light bar slide table I; the pulley biaxial light bar slide table I includes a slide table body I, a biaxial light bar I, a pulley bearing I and a slide block I; The base of the camera I is connected with the sliding table slider I and the pulley biaxial light rod sliding table I, and the sliding table body I is connected with the slide block II of the visual lifting system through the L-shaped corner code I. Both sides of described slide table body 1 interior are provided with biaxial light bar 1, and pulley bearing 1 is fixed on the slide table slider 1 by internal bearing, and slide table slide block 1 is installed on the slide table body 1. The present invention intelligently recognizes the images collected by the high-level vision system and the low-level vision system, so as to prevent pickers from picking immature wolfberry fruits, thereby improving the quality of wolfberry picking and ensuring the output of wolfberry.

Wherein, the wolfberry picking device also includes a "line" positioning rod, and the positioning rod includes a front positioning rod and a rear positioning rod; the front positioning rod and the rear positioning rod are symmetrically arranged on the two sides of the turntable side. The vision lifting system is fixed on the end of the rear positioning rod, and the head end of the rear positioning rod is fixed on the edge of the turntable; the low position vision system is fixed on the end of the front positioning rod, and the front positioning rod The head end is fixed on the edge of the turntable. The low position vision system and the vision lifting system are arranged on the same axis of the turntable. The low-position vision system includes a camera II and a two-axis light bar slide table II with pulleys; the two-axis light bar slide table II with pulleys includes a slide body II, a two-axis light bar II, a pulley bearing II, a slide block II and Composed of L-shaped corner code II; the base of the camera II is directly connected to the slide body II, and the slide body II is connected to the front positioning rod through the L-shaped corner code II; both sides inside the slide body II A double-axis light rod II is provided, and the pulley bearing II is fixed on the sliding block II of the sliding table through an internal bearing, and the sliding block II of the sliding table is installed on the main body II of the sliding table.

Preferably, one side of the slide block I is provided with a set screw I, and one side of the slide block II is provided with a set screw II; the set screw I is used to fix and limit the sliding The movement of the slide block I; the set screw II is used to fix and limit the movement of the slide block II.

Preferably, the wolfberry picking manipulator and the branch positioning manipulator each include a set of six-degree-of-freedom manipulators. A "line" fixing plate is provided on the rotary platform, and the "line" fixing plate is perpendicular to the "line" positioning rod. The wolfberry picking machine manipulator and the branch positioning manipulator are provided with two ends of a "line" fixing plate.

The control system includes a TMS320F28335 controller, a relay system, a signal input conditioning circuit and a signal output conditioning circuit; the drive system includes a sliding platform lifting system driver, a visual lifting system driver, an electric turntable driver, a wolfberry picking machine manipulator driver, and branch positioning Manipulator driver; the power system includes a lithium iron phosphate battery and a voltage stabilizing circuit. The control system, drive system and power supply system are all installed in the control cabinet; the control cabinet is fixed on the frame. The TMS320F28335 controller is connected to the relay system, the signal input conditioning circuit, and the signal output conditioning circuit respectively; the relay system is connected to the fruit collection mechanism, and the signal input conditioning circuit is connected to the external laser sensor matrix; the signal output conditioning circuit is connected to the drive system. circuit connection.

The beneficial effects of the present invention are:

(1) The movement of the sliding table lifting system can drive the entire electric turntable, high-position vision system, low-position vision system, vision lifting system, wolfberry picking manipulator, branch positioning manipulator movement, which improves the vision of the vision system on the longitudinal distance. Range and working range of the manipulator;

(2) The movement of the vision lifting system can drive the movement of the high-level vision system, thereby collecting the images of the middle and high places; meanwhile, the rotation of the electric turntable can drive the medlar picking manipulator, the branch positioning manipulator, the high-level and low-level vision systems , The rotation of the visual lifting system improves the visual range of the visual system in the lateral distance and the working range of the manipulator;

(3) Since the center point of the wolfberry picking manipulator and the branch positioning manipulator, the high-level vision system and the low-level vision system are on the same axis, and the high-level vision system and the low-level vision system, the wolfberry picking manipulator and the branch positioning manipulator are always synchronized, the four in the image The coordinate position in the processing is relatively fixed, which makes the coordinate transformation problem in the image processing easier, and then the accuracy of wolfberry picking has nothing to do with the accuracy of the electric turntable motor, ensuring the accuracy of picking;

(4) Set the high-position vision system and the low-position vision system to collect images of high, middle and low places respectively, and then perform subsequent analysis and processing; greatly expand the field of vision of the vision system, and greatly reduce the burden of the Qi picking machine in the narrow field. Problems with limited working range of machine vision and manipulator picking.

Description of drawings

Fig. 1 is one of structural representation of the present invention;

Fig. 2 is the second structural representation of the present invention;

Fig. 3 is the third structural representation of the present invention;

Fig. 4 is the fourth structural representation of the present invention;

Fig. 5 is a schematic structural diagram of a high-level vision system in the present invention;

Fig. 6 is a schematic structural view of the vision lifting system in the present invention;

Fig. 7 is a structural schematic diagram of the sliding table lifting system in the present invention;

Fig. 8 is a structural schematic diagram of a sliding table lifting system equipped with an electric turntable and a positioning rod in the present invention;

Fig. 9 is a schematic structural view of the electric turntable in the present invention;

Fig. 10 is the structural representation of control cabinet in the present invention;

Among them: 1: Lycium barbarum picking manipulator; 2: Branch positioning manipulator; 3: Control cabinet;

4: Control system; 4-1: TMS320F28335 controller; 4-2: Relay system; 4-3: Signal input conditioning circuit; 4-4 Signal output conditioning circuit:

5: Drive system; 5-1: Slide table lifting system driver; 5-2: Visual lifting system driver; 5-3: Electric turntable driver; 5-4: Wolfberry picking machine manipulator driver; 5-5: Branch positioning manipulator driver ;

6: Power supply system; 6-1: Lithium iron phosphate battery; 6-2: Regulator circuit;

7: High-level vision system; 7-1: Camera I; 7-2: Pulley double-axis light bar slide table I; 7-2a: Slide table body I; 7-2b: Double-axis light bar I; 7-2c: Pulley Bearing I; 7-2d: slide block I; 7-2e: set screw I;

8: Low position vision system; 8-2a: Slider body II; 8-2f: L-shaped corner code II;

9: Slider lifting system; 9-1: Slider I; 9-2: Square table; 9-1a: Slider body; 9-1b: Slider I; 9-1c: Stepping motor; 9-1d: Driving gear; 9-1e: driven rack;

10: Visual lifting system; 10-1: Lifting guide rail; 10-2: Slider II; 10-3: Slider II; 10-4: L-shaped corner code I; 10-5: Lead screw; 10-6: Coupling; 10-7: stepper motor;

11: Electric turntable; 11-1: Rotary table; 11-2: Disc body; 11-3: Bearing; 11-4: Coupling; 11-5: Servo motor; 11-6: Fixed plate;

12: Rack;

13: positioning rod; 13-1: front positioning rod; 13-2: rear positioning rod.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

Example 1:

The wolfberry picking device with distributed machine vision system includes frame 12 and control system 4, drive system 5, power supply system 6, high-position vision system 7, low-position vision system 8, vision lifting system 10, Lycium barbarum picking manipulator 1, branch positioning manipulator 2. The high position vision system 7 is connected with the frame 12 through the vision lifting system 10 . The control system 4 , drive system 5 and power supply system 6 are all installed in the control cabinet 3 , and the control cabinet 3 is fixed on the frame 12 . The control system 4 includes a TMS320F28335 controller 4-1, a relay system 4-2, a signal input conditioning circuit 4-3 and a signal output conditioning circuit 4-4. The TMS320F28335 controller 4-1 is connected with the relay system 4-2, the signal input conditioning circuit 4-3, and the signal output conditioning circuit 4-4 respectively; the relay system 4-1 is connected with the fruit collection mechanism, and the signal input conditioning circuit 4 -3 is connected to the external laser sensor matrix; the signal output conditioning circuit 4-4 is connected to the circuit of the drive system 5. The drive system 5 includes a sliding table lifting system driver 5-1, a visual lifting system driver 5-2, an electric turntable driver 5-3, a wolfberry picking machine manipulator driver 5-4, and a branch positioning manipulator driver 5-5; The system 6 includes a lithium iron phosphate battery 6-1 and a voltage stabilizing circuit 6-2.

The visual lifting system 10 includes a lifting guide rail 10-1, a slide table II 10-2, a slider II 10-3, an L-shaped corner code 10-4, a lead screw 10-5, a coupling 10-6 and a stepper motor 10-7. The slide table II 10-2 is movably connected with the lead screw 10-5 and moves along the lifting guide rail 10-1, and the L-shaped corner code 10-4 is fixedly connected with the slide table II 10-2 through the slide block II 10-3 ; The stepping motor 10-7 is connected with the lead screw 10-5 through a coupling 10-6.

The wolfberry picking device also includes a sliding table lifting system 9 arranged on the frame 12, the low-position vision system 8, the visual lifting system 10, the wolfberry picking manipulator 1 and the branch positioning manipulator 2 are all arranged on the sliding table through the electric turntable 11. On the lifting system 9, and then connected with the frame 12. The control system 4 is connected to the sliding table lifting system 9, the visual lifting system 10, the electric turntable 11, the medlar picking machine manipulator 1, and the branch positioning manipulator 2 through the drive system 5 respectively. The slide table lifting system 9 includes a slide table I 9-1 and a square table 9-2, and the square table 9-2 is connected to the frame 12 through the slide table I 9-1. The slide table I 9-1 includes a slide table main body 9-1a, a slider I 9-1b, a stepping motor 9-1c, a driving gear 9-1d and a driven rack 9-1e. The main body of the sliding table 9-1a is fixed on the frame 12, two driven racks 9-1e are embedded on both sides of the main body of the sliding table 9-1a, and the main body of the sliding table 9-1a is provided with The slide block 1 9-1b is connected with the square table 9-2 through the slide block 1 9-1b. Stepping motor 9-1c and 3 driving gears 9-1d are fixedly arranged on the described slide block 19-1b, and described 3 driving gears 9-1d are fixed on the axle of stepping motor 9-1c, and described 3 The driving gear 9-1d is in staggered mesh with the driven rack 9-1e.

Example 2:

Different from Embodiment 1, the electric turntable 11 includes a turntable 11-1, a disk body 11-2, a bearing 11-3, a shaft coupling 11-4 and a servo motor 11-5. The disc body 11-2 and the servo motor 11-5 are arranged on the square table top 9-2, the rotary table 11-1 is connected with the disc body 11-2 through the bearing 11-3, and the servo motor 11-5 is connected through the The shaft coupling 11-4 is connected with the disc body 11-2.

The wolfberry picking device also includes a positioning rod 13, and the positioning rod 13 includes a front positioning rod 13-1 and a rear positioning rod 13-2. The visual lifting system 7 is fixed on the end of the rear positioning rod 13-2, and the head end of the rear positioning rod 13-2 is fixed on the edge of the turntable 11-1. The low position vision system 8 is fixed on the end of the front positioning rod 13-1, and the head end of the front positioning rod 13-1 is fixed on the edge of the turn table 11-1. The low position vision system 8 and the vision lifting system 10 are arranged on the same axis of the turntable 11-1.

Example 3:

The difference from Embodiment 2 is that the high-position vision system 7 includes a camera I 7-1 and a pulley two-axis smooth bar slide I7-2. The pulley double-axis light bar slide table I 7-2 includes a slide table body I 7-2a, a double-axis light bar I 7-2b, a pulley bearing I 7-2c and a slide table slider I 7-2d. The base of the camera I 7-1 is connected with the slide block I 7-2d and the pulley biaxial smooth bar slide I 7-2, and the slide body I 7-2a is connected through the L-shaped corner code I 10-4 It is connected with the slider II 10-3 of the visual lifting system 10; the two sides of the slide body I 7-2a are provided with a double-axis light bar I 7-2b, and the pulley bearing I 7-2c is fixed on the slide through an internal bearing On the slide block I 7-2d, the slide table slide block I 7-2d is installed on the slide table body I 7-2a.

The low-level vision system 8 includes a camera II and a pulley biaxial light bar slide table II; the pulley biaxial light bar slide table II includes a slide table body II 8-2a, a biaxial light bar II, a pulley bearing II, and a slide table The slider II and the L-shaped corner code II 8-2f are composed. The base of the camera II is directly connected to the slide body II 8-2a, and the slide body II 8-2a is connected to the front positioning rod 13-1 through the L-shaped corner code II 8-2f; the slide Both sides of the main body II 8-2a are provided with two-axis light bars II, and the pulley bearing II is fixed on the sliding block II of the sliding table through internal bearings, and the sliding block II of the sliding table is installed on the main body II 8-2a of the sliding table.

Example 4:

The difference from Embodiment 3 is that a set screw I 7-2e is provided on one side of the slide block I 7-2d of the slide table, and a set screw II is provided on one side of the slide block II of the slide table. The set screw I 7-2e is used to fix and limit the movement of the slide block I 7-2d; the set screw II is used to fix and limit the movement of the slide block II.

Example 5:

Different from Example 3, the wolfberry picking manipulator 1 and the branch positioning manipulator 2 each include a set of six-degree-of-freedom manipulators. A "line" fixed plate 11-6 is provided on the turntable, and the "line" fixed plate 11-6 is perpendicular to the "line" positioning rod 13. The wolfberry picking machine manipulator 1 and the branch positioning manipulator 2 are provided with two ends of a "line" fixing plate 11-6.

Claims (10)

1. possess the matrimony vine picker of distributed machines vision system, including frame (12) and it is arranged in frame (12) Control system (4), drive system (5), power-supply system (6), high-order vision system (7), low level vision system (8), vision lifting System (10), medlar-picking machine tool hand (1), branch positioning mechanical arm (2)；The high-order vision system (7) is lifted by vision System (10) is connected with frame (12)；It is characterized in that：The matrimony vine picker also includes the cunning being arranged in frame (12) Platform jacking system (9), the low level vision system (8), vision jacking system (10), medlar-picking machine tool hand (1) and branch Positioning mechanical arm (2) is arranged on slide unit jacking system (9) by electric turntable (11), and then is connected with frame (12)；Institute State control system (4) by drive system (5) and slide unit jacking system (9), vision jacking system (10), electric turntable (11), Medlar-picking machine manipulator (1), branch positioning mechanical arm (2) are respectively connected with；The slide unit jacking system (9) includes slide unit I (9- 1) with square mesa (9-2), the square mesa (9-2) is connected by slide unit I (9-1) with frame (12)；Slide unit I (the 9- 1) slide unit main body (9-1a), sliding block I (9-1b), stepper motor (9-1c), driving gear (9-1d) and driven rack (9- are included 1e)；The slide unit main body (9-1a) is fixed in frame (12), the inside both sides of the slide unit main body (9-1a) be embedded with two from Carry-over bar (9-1e), the slide unit main body (9-1a) is provided with sliding block I (9-1b), and passes through sliding block I (9-1b) and square mesa (9-2) is connected；Stepper motor (9-1c) and 3 driving gears (9-1d), described 3 are fixedly installed on the sliding block I (9-1b) Driving gear (9-1d) is fixed on stepper motor (9-1c) axle, 3 driving gears (9-1d) and driven rack (9- 1e) be staggered engagement.

2. the matrimony vine picker according to claim 1 for possessing distributed machines vision system, it is characterised in that：It is described Electric turntable (11) includes rotation platform (11-1), disk body (11-2), bearing (11-3), shaft coupling (11-4) and servomotor (11- 5)；The disk body (11-2) and servomotor (11-5) are arranged in square mesa (9-2), and the rotation platform (11-1) passes through bearing (11-3) and disk body (11-2) are connected, and the servomotor (11-5) is connected by shaft coupling (11-4) with disk body (11-2).

3. the matrimony vine picker according to claim 2 for possessing distributed machines vision system, it is characterised in that：It is described Vision jacking system (10) includes riser guide (10-1), slide unit II (10-2), sliding block II (10-3), L-type corner brace (10-4), silk Thick stick (10-5), shaft coupling (10-6) and stepper motor (10-7)；The slide unit II (10-2) is movably connected simultaneously with leading screw (10-5) Moved along riser guide (10-1), the L-type corner brace (10-4) is fixedly connected by sliding block II (10-3) with slide unit II (10-2)； The stepper motor (10-7) is connected by shaft coupling (10-6) with leading screw (10-5).

4. the matrimony vine picker according to claim 3 for possessing distributed machines vision system, it is characterised in that：It is described High-order vision system (7) includes camera I (7-1) and pulley twin shaft feed rod slide unit I (7-2)；The pulley twin shaft feed rod slide unit I (7-2) includes slide unit body I (7-2a), twin shaft feed rod I (7-2b), pulley bearings I (7-2c) and slide unit sliding block I (7-2d)；Institute The base for stating camera I (7-1) passes through slide unit sliding block I (7-2d) and pulley twin shaft feed rod slide unit I (7-2) connections, the slide unit sheet Body I (7-2a) is connected by L-type corner brace I (10-4) with the sliding block II (10-3) of vision jacking system (10)；The slide unit body The internal both sides of I (7-2a) are provided with twin shaft feed rod I (7-2b), and pulley bearings I (7-2c) is fixed on slide unit by internal bearings and slided On block I (7-2d), slide unit sliding block I (7-2d) is arranged on slide unit body I (7-2a).

5. the matrimony vine picker according to claim 1 for possessing distributed machines vision system, it is characterised in that：It is described Matrimony vine picker also includes locating rod (13), and the locating rod (13) includes preposition locating rod (13-1) and rearmounted locating rod (13-2)；The vision jacking system (7) is fixed on rearmounted locating rod (13-2) end, the rearmounted locating rod (13-2) Head end is fixed on the edge of rotation platform (11-1)；The low level vision system (8) is fixed on preposition locating rod (13-1) end, institute The head end for stating preposition locating rod (13-1) is fixed on rotation platform (11-1) edge；The low level vision system (8) lifts with vision System (10) is arranged on the same axis of rotation platform (11-1).

6. the matrimony vine picker according to claim 5 for possessing distributed machines vision system, it is characterised in that：It is described Low level vision system (8) includes camera II and pulley twin shaft feed rod slide unit II；The pulley twin shaft feed rod slide unit II includes slide unit Body II (8-2a), twin shaft feed rod II, pulley bearings II, slide unit sliding block II and L-type corner brace II (8-2f) compositions；The camera II Base directly and slide unit body II (8-2a) connections, the slide unit body II (8-2a) passes through L-type corner brace II (8-2f) connections In preposition locating rod (13-1)；The internal both sides of the slide unit body II (8-2a) are provided with twin shaft feed rod II, pulley bearings II It is fixed on by internal bearings on slide unit sliding block II, slide unit sliding block II is arranged on slide unit body II (8-2a).

7. the matrimony vine picker for possessing distributed machines vision system according to claim 4 or 6, it is characterised in that： The side of the slide unit sliding block I (7-2d) is provided with holding screw I (7-2e), and the side of the slide unit sliding block II is provided with holding screw II；The holding screw I (7-2e) is used for the movement for fixing and limiting slide unit sliding block I (7-2d)；The holding screw II is used for Fixed and limitation slide unit sliding block II movement.

8. the matrimony vine picker according to claim 2 for possessing distributed machines vision system, it is characterised in that：It is described Medlar-picking machine tool hand (1) and branch positioning mechanical arm (2) respectively include a set of six degree of freedom manipulator；The medlar-picking machine machine Tool hand (1) and branch positioning mechanical arm (2) are placed side by side on the central axis of rotation platform (11-1).

9. the matrimony vine picker according to claim 1 for possessing distributed machines vision system, it is characterised in that：It is described Control system (4) includes TMS320F28335 controllers (4-1), relay system (4-2), signal input modulate circuit (4-3) With signal output modulate circuit (4-4)；The drive system (5) includes slide unit jacking system driver (5-1), vision lifting system System driver (5-2), electric turntable driver (5-3), medlar-picking machine robotic drive (5-4), branch positioning mechanical arm Driver (5-5)；The power-supply system 6 includes ferric phosphate lithium cell (6-1) and mu balanced circuit (6-2).

10. the matrimony vine picker according to claim 9 for possessing distributed machines vision system, it is characterised in that：Institute Control system (4), drive system (5) and power-supply system (6) is stated to be installed in switch board (3)；The switch board (3) is fixed on In frame (12)；Described TMS320F28335 controllers (4-1) and relay system (4-2), signal input modulate circuit (4- 3), signal output modulate circuit (4-4) is connected respectively；Relay system (4-2) and the connection of collecting fruit mechanism, signal input are adjusted Manage circuit (4-3) and outside laser sensing matrix connection；Signal output modulate circuit (4-4) and the circuit of drive system (5) connect Connect.