CN106941872A - The method cut using travelling gear - Google Patents
The method cut using travelling gear Download PDFInfo
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- CN106941872A CN106941872A CN201710263897.0A CN201710263897A CN106941872A CN 106941872 A CN106941872 A CN 106941872A CN 201710263897 A CN201710263897 A CN 201710263897A CN 106941872 A CN106941872 A CN 106941872A
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- coconut palm
- palm fruit
- equipment
- subgraph
- cocoanut tree
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to the Cutting platform including travelling gear, wherein the travelling gear is including gear body and is enclosed within the geared sleeve that can be rotated in the gear body and relative to gear shaft.
Description
Technical field
The present invention relates to field of gears, more particularly to a kind of use travelling gear come the method cut.
Background technology
Coconut, is Palmae coconut platymiscium, and plant is tall and big, arbor shape, and high 15-30 meters, stem is sturdy, there is annular leaf trace,
Base portion thickening, often there is fasciation rootlet.Petiole is sturdy, inflorescence axillary, fruit ossphere shape or subsphaeroidal, and fruit caving contains endosperm (i.e. " really
Meat " or benevolence), embryo and juice (coconut water), flowering fruit bearing stage is mainly in the fall.
Coconut originates in the Asia southeast, Indonesia to Pacific Islands, all islands of southern Guangdong, China and Leizhou half
There is cultivation island, Hainan, Taiwan and south of Yunnan torrid areas.Coconut is important tropical woody oleiferous plants crop.Have
High economic worth, complete stool each several part has purposes.
However, for people, because the position that coconut palm fruit grows is higher, harvesting coconut palm fruit is a difficult work post, when
Before, also plucked using original bamboo pole, the harvesting for the coconut palm fruit of road both sides especially should be noted that because of pedestrian on road
Vehicle is numerous, and the coconut palm fruit fallen down easily injures pedestrian or vehicle by a crashing object, and such harvesting mode efficiencies are very low.
The content of the invention
In order to solve the above problems, the invention provides a kind of automatic coconut Cutting platform, mechanical picking is built first and is put down
Platform, then determines coconut palm fruit cut point by relative position of the image recognition mode based on coconut palm fruit subgraph in high definition cocoanut tree image
Physical location, be finally based on current coconut palm fruit position driving mechanical arm and go to predetermined harvesting corresponding with current coconut palm fruit position
Position, and the predetermined harvesting position determination cutting drive signal where physical location and mechanical arm based on coconut palm fruit cut point, are also adopted
The storage of coconut palm fruit is carried out with the coconut palm fruit collecting apparatus below mechanical arm, so as to realize on flat road, especially road both sides
The rapid picking of coconut palm fruit.
According to an aspect of the present invention there is provided a kind of Cutting platform including travelling gear, applied to urban road two
The landscape cocoanut tree of side, including cocoanut tree height detection apparatus, operation base, lifting platform, sun-generated electric power and drive control apparatus, coconut palm
Tree height detection apparatus, lifting platform, sun-generated electric power and drive control apparatus are all disposed within above operation base, and drive control is set
It is standby to be arranged between lifting platform and operation base, provide driving power, sun-generated electric power point for the oscilaltion for lifting platform
It is not connected with cocoanut tree height detection apparatus and drive control apparatus, for being that cocoanut tree height detection apparatus and drive control apparatus are carried
For power, cocoanut tree height detection apparatus is used for the height for recognizing cocoanut tree to be plucked, and drive control apparatus is set with cocoanut tree height detection
Standby connection, determines the lifting height of lifting platform for the height based on cocoanut tree to be plucked, and the lifting height based on determination is to liter
Drop platform and send the first driving control signal；
Wherein, operation base is movable base, and with universal wheel, motor and driving wheel, motor is with driving
Driving wheel is connected, and the platform also includes cocoanut tree identification equipment, for recognizing the landscape cocoanut trees of urban road both sides using as waiting to adopt
Cocoanut tree is plucked, and the position of the cocoanut tree to be plucked based on identification sends the second driving control signal to motor；
The lifting platform includes travelling gear, and the travelling gear includes gear body and is enclosed within the gear body
And the geared sleeve that can be rotated relative to gear shaft.
More specifically, in the automatic coconut Cutting platform, also including：
Connecting rod, one end connection lifting platform, other end connection mechanical arm, for mechanical arm to be tied into lifting platform
On；
Mechanical arm, for plucking the coconut palm fruit on cocoanut tree to be plucked, wherein, mechanical arm has multiple predetermined harvesting positions；
Wherein, cocoanut tree identification equipment sends to motor and stopped in landscape cocoanut tree of the identification less than urban road both sides
Only adopt coconut palm signal.
More specifically, in the automatic coconut Cutting platform, also including：
Arm control cabinet, is arranged on mechanical arm；
Coconut palm fruit position identifying apparatus, is embedded in the shell of arm control cabinet sideways, including coconut palm fruit image capture device, coconut palm fruit
Identification equipment, sugariness judge equipment, coconut palm fruit position analysis equipment and cut point analytical equipment, coconut palm fruit image capture device be used for
The top of cocoanut tree to be plucked carries out image taking to obtain high definition cocoanut tree image, coconut palm fruit identification equipment and coconut palm fruit image capture device
Connection, for receiving high definition cocoanut tree image, and the benchmark coconut palm fruit pattern based on various coconut palm fruit types is carried out to high definition cocoanut tree image
Coconut palm fruit recognizes to obtain coconut palm fruit subgraph and corresponding coconut palm fruit type；
In the coconut palm fruit position identifying apparatus：Sugariness judges that equipment is connected with coconut palm fruit identification equipment, for based on coconut palm fruit
The color component of the pixel of each in subgraph determines the color of coconut palm fruit subgraph, and color and coconut palm fruit based on coconut palm fruit subgraph
The corresponding coconut palm fruit type of subgraph judges the moisture sugariness of the corresponding coconut palm fruit of coconut palm fruit subgraph, when judgement moisture sugariness be more than etc.
When default sugariness threshold value, send coconut palm fruit harvesting signal, otherwise, send coconut palm fruit stick signal, coconut palm fruit position analysis equipment with it is sweet
Degree judge equipment connect, for receive coconut palm fruit pluck signal when, the phase based on coconut palm fruit subgraph in high definition cocoanut tree image
Current coconut palm fruit position is determined to position, cut point analytical equipment is connected with coconut palm fruit position analysis equipment, for based on coconut palm fruit subgraph
Growth branch as detecting coconut palm fruit, and branch will be grown with coconut palm fruit tie point as growing point, will be on growth branch, growth
The position of point lower section pre-determined distance is as coconut palm fruit cut point, and the relative position based on coconut palm fruit subgraph in high definition cocoanut tree image is true
Determine the physical location of coconut palm fruit cut point；
In arm driving equipment, the shell for being arranged on arm control cabinet, respectively with coconut palm fruit position analysis equipment and cut point
Analytical equipment is connected, for going to predetermined harvesting corresponding with current coconut palm fruit position based on current coconut palm fruit position driving mechanical arm
Position, the predetermined harvesting position where being additionally operable to the physical location based on coconut palm fruit cut point and mechanical arm determines cutting drive signal；
Cutting performs equipment, on mechanical arm, is connected with arm driving equipment, for receiving cutting drive signal,
The physical location of coconut palm fruit cut point is gone to based on cutting drive signal to perform coconut palm fruit growth branch cutting operation, and completes to cut
Cut after operation, send cutting end signal；
Coconut palm fruit collecting apparatus, is arranged on lower section, the operation base top of mechanical arm, judges equipment with sugariness respectively and cut
Execution equipment connection is cut, for when receiving coconut palm fruit harvesting signal, automatically opening up coconut palm fruit Ingathering board to receive cutting execution to set
The standby coconut palm fruit cut to, is additionally operable to the predetermined time interval after cutting end signal is received, automatic to close coconut palm fruit Ingathering board.
More specifically, in the automatic coconut Cutting platform：In sugariness judges equipment, based on each in coconut palm fruit subgraph
The color component of individual pixel determines that the color of coconut palm fruit subgraph includes：Obtain the color point of each pixel in coconut palm fruit subgraph
Amount, calculates the average value of the color component of each pixel in coconut palm fruit subgraph using the color as coconut palm fruit subgraph.
More specifically, in the automatic coconut Cutting platform：In sugariness judges equipment, based on each in coconut palm fruit subgraph
The color component of individual pixel determines that the color of coconut palm fruit subgraph includes：Obtain the color point of each pixel in coconut palm fruit subgraph
Amount, calculates the pixel frequency of occurrences of each color component numerical value, the frequency of occurrences is ranked up, will appear from frequency highest
Color component numerical value as coconut palm fruit subgraph color.
More specifically, in the automatic coconut Cutting platform, also including：Data storage device, respectively with coconut palm fruit position
Identification equipment and the connection of coconut palm fruit collecting apparatus, the benchmark coconut palm fruit pattern for prestoring various coconut palm fruit types, are additionally operable in advance
The default sugariness threshold value of storage, pre-determined distance and predetermined time interval.
More specifically, in the automatic coconut Cutting platform：Data storage device is stored using FLASH memory or SD
Block to realize, data storage device is arranged in the shell of arm control cabinet.
More specifically, in the automatic coconut Cutting platform：In the coconut palm fruit position identifying apparatus：Judge in sugariness
Equipment is sent after coconut palm fruit stick signal, sugariness judge equipment to next coconut palm fruit subgraph for being received from coconut palm fruit identification equipment after
It is continuous to carry out corresponding sugariness judgement operation.
More specifically, in the automatic coconut Cutting platform：Cocoanut tree identification equipment is based on image recognition pattern to city
The landscape cocoanut tree of both sides of the road is identified, and in landscape cocoanut tree of the identification less than urban road both sides, is sent out to motor
Stopping is sent to adopt coconut palm signal, motor is when receiving stopping and adopting coconut palm signal, and driving driving wheel is moved forward, until cocoanut tree identification
Equipment recognizes the landscape cocoanut tree of urban road both sides.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the block diagram of the automatic coconut Cutting platform according to embodiment of the present invention.
Reference：1 cocoanut tree height detection apparatus；2 operation bases；3 lifting platforms；4 sun-generated electric powers；5 drive controls are set
It is standby
Embodiment
The embodiment to the automatic coconut Cutting platform of the present invention is described in detail below with reference to accompanying drawings.
Coconut is divided into high kind coconut and Tom Thumb coconut, wherein high kind of coconut is the commodity that maximum is planted in the world at present
Coconut.High kind coconut plant is high 15-30 meters, and base portion expands, and different strain pollination, 7-8 starts result, and oil content is high, the economic life
Up to 70-80.Tom Thumb coconut is divided into red short, yellow dwarf and green short three class by fruit and leaf color.Plant is only high 5-15 meters, from
Flower pollination, 3-4 starts result, and fruit is small and more, and coconut meat is thin, soft, and oil content is low.Economic life 30-40.It is main make fruit,
Hybrid strain and view and admire use.
Because high coconut of planting is that coconut plants most kinds, thus the growth position of general coconut palm fruit is higher, using artificial
Softening it is highly difficult, in order to overcome above-mentioned deficiency, the present invention has built a kind of automatic coconut Cutting platform, for flat road
Road, using the plant equipment of packaged type as harvesting platform, increases multiple data acquisition equipments and carries out coconut palm fruit and surrounding environment
Parameter acquisition, so as to accurately find picking point, realize the automatic harvesting of mechanization.
A kind of Cutting platform including travelling gear, applied to the landscape cocoanut tree of urban road both sides, including cocoanut tree is highly
Detection device, operation base, lifting platform, sun-generated electric power and drive control apparatus, cocoanut tree height detection apparatus, lifting platform, too
Positive energy power supply and drive control apparatus are all disposed within above operation base, and drive control apparatus is arranged on lifting platform and operation base
Between, for the oscilaltion for lifting platform provide driving power, sun-generated electric power respectively with cocoanut tree height detection apparatus and drive
Dynamic control device connection, for being that cocoanut tree height detection apparatus and drive control apparatus provide power, cocoanut tree height detection apparatus
Height for recognizing cocoanut tree to be plucked, drive control apparatus is connected with cocoanut tree height detection apparatus, for based on coconut palm to be plucked
The height of tree determines the lifting height of lifting platform, and the lifting height based on determination sends the first drive control to lifting platform and believed
Number；
Wherein, operation base is movable base, and with universal wheel, motor and driving wheel, motor is with driving
Driving wheel is connected, and the platform also includes cocoanut tree identification equipment, for recognizing the landscape cocoanut trees of urban road both sides using as waiting to adopt
Cocoanut tree is plucked, and the position of the cocoanut tree to be plucked based on identification sends the second driving control signal to motor；
The lifting platform includes travelling gear, and the travelling gear includes gear body and is enclosed within the gear body
And the geared sleeve that can be rotated relative to gear shaft.
Fig. 1 is the block diagram of the automatic coconut Cutting platform according to embodiment of the present invention, the platform bag
Include cocoanut tree height detection apparatus, operation base, lifting platform, sun-generated electric power and drive control apparatus, cocoanut tree height detection apparatus,
Lifting platform, sun-generated electric power and drive control apparatus are all disposed within above operation base, and drive control apparatus is arranged on lifting platform
Between operation base, driving power is provided for the oscilaltion for lifting platform, sun-generated electric power is highly examined with cocoanut tree respectively
Measurement equipment and drive control apparatus connection, for being that cocoanut tree height detection apparatus and drive control apparatus provide power；
Wherein, cocoanut tree height detection apparatus is used for the height for recognizing cocoanut tree to be plucked, and drive control apparatus and cocoanut tree are highly
Detection device is connected, and the lifting height of lifting platform, and the upper rise based on determination are determined for the height based on cocoanut tree to be plucked
Spend to lifting platform and send the first driving control signal；
Wherein, operation base is movable base, and with universal wheel, motor and driving wheel, motor is with driving
Driving wheel is connected, and the platform also includes cocoanut tree identification equipment, for recognizing the landscape cocoanut trees of urban road both sides using as waiting to adopt
Cocoanut tree is plucked, and the position of the cocoanut tree to be plucked based on identification sends the second driving control signal to motor.
Then, continue that the concrete structure of the automatic coconut Cutting platform of the present invention is further detailed.
It can also include in the automatic coconut Cutting platform：
Connecting rod, one end connection lifting platform, other end connection mechanical arm, for mechanical arm to be tied into lifting platform
On；
Mechanical arm, for plucking the coconut palm fruit on cocoanut tree to be plucked, wherein, mechanical arm has multiple predetermined harvesting positions；
Wherein, cocoanut tree identification equipment sends to motor and stopped in landscape cocoanut tree of the identification less than urban road both sides
Only adopt coconut palm signal.
It can also include in the automatic coconut Cutting platform：
Arm control cabinet, is arranged on mechanical arm；
Coconut palm fruit position identifying apparatus, is embedded in the shell of arm control cabinet sideways, including coconut palm fruit image capture device, coconut palm fruit
Identification equipment, sugariness judge equipment, coconut palm fruit position analysis equipment and cut point analytical equipment, coconut palm fruit image capture device be used for
The top of cocoanut tree to be plucked carries out image taking to obtain high definition cocoanut tree image, coconut palm fruit identification equipment and coconut palm fruit image capture device
Connection, for receiving high definition cocoanut tree image, and the benchmark coconut palm fruit pattern based on various coconut palm fruit types is carried out to high definition cocoanut tree image
Coconut palm fruit recognizes to obtain coconut palm fruit subgraph and corresponding coconut palm fruit type；
In the coconut palm fruit position identifying apparatus：Sugariness judges that equipment is connected with coconut palm fruit identification equipment, for based on coconut palm fruit
The color component of the pixel of each in subgraph determines the color of coconut palm fruit subgraph, and color and coconut palm fruit based on coconut palm fruit subgraph
The corresponding coconut palm fruit type of subgraph judges the moisture sugariness of the corresponding coconut palm fruit of coconut palm fruit subgraph, when judgement moisture sugariness be more than etc.
When default sugariness threshold value, send coconut palm fruit harvesting signal, otherwise, send coconut palm fruit stick signal, coconut palm fruit position analysis equipment with it is sweet
Degree judge equipment connect, for receive coconut palm fruit pluck signal when, the phase based on coconut palm fruit subgraph in high definition cocoanut tree image
Current coconut palm fruit position is determined to position, cut point analytical equipment is connected with coconut palm fruit position analysis equipment, for based on coconut palm fruit subgraph
Growth branch as detecting coconut palm fruit, and branch will be grown with coconut palm fruit tie point as growing point, will be on growth branch, growth
The position of point lower section pre-determined distance is as coconut palm fruit cut point, and the relative position based on coconut palm fruit subgraph in high definition cocoanut tree image is true
Determine the physical location of coconut palm fruit cut point；
In arm driving equipment, the shell for being arranged on arm control cabinet, respectively with coconut palm fruit position analysis equipment and cut point
Analytical equipment is connected, for going to predetermined harvesting corresponding with current coconut palm fruit position based on current coconut palm fruit position driving mechanical arm
Position, the predetermined harvesting position where being additionally operable to the physical location based on coconut palm fruit cut point and mechanical arm determines cutting drive signal；
Cutting performs equipment, on mechanical arm, is connected with arm driving equipment, for receiving cutting drive signal,
The physical location of coconut palm fruit cut point is gone to based on cutting drive signal to perform coconut palm fruit growth branch cutting operation, and completes to cut
Cut after operation, send cutting end signal；
Coconut palm fruit collecting apparatus, is arranged on lower section, the operation base top of mechanical arm, judges equipment with sugariness respectively and cut
Execution equipment connection is cut, for when receiving coconut palm fruit harvesting signal, automatically opening up coconut palm fruit Ingathering board to receive cutting execution to set
The standby coconut palm fruit cut to, is additionally operable to the predetermined time interval after cutting end signal is received, automatic to close coconut palm fruit Ingathering board.
In addition, in the automatic coconut Cutting platform：In sugariness judges equipment, based on each pixel in coconut palm fruit subgraph
The color component of point determines that the color of coconut palm fruit subgraph includes：Obtain the color component of each pixel in coconut palm fruit subgraph, meter
The average value of the color component of each pixel in coconut palm fruit subgraph is calculated using the color as coconut palm fruit subgraph.
In addition, in the automatic coconut Cutting platform：In sugariness judges equipment, based on each pixel in coconut palm fruit subgraph
The color component of point determines that the color of coconut palm fruit subgraph includes：Obtain the color component of each pixel in coconut palm fruit subgraph, meter
The pixel frequency of occurrences of each color component numerical value is calculated, the frequency of occurrences is ranked up, frequency highest color is will appear from
Component values as coconut palm fruit subgraph color.
It can also include in the automatic coconut Cutting platform：Data storage device, respectively with coconut palm fruit position identifying apparatus
With the connection of coconut palm fruit collecting apparatus, the benchmark coconut palm fruit pattern for prestoring various coconut palm fruit types is additionally operable to prestore default
Sugariness threshold value, pre-determined distance and predetermined time interval.
In addition, in the automatic coconut Cutting platform：Data storage device is using FLASH memory or SD storage cards come real
Existing, data storage device is arranged in the shell of arm control cabinet.
In addition, in the automatic coconut Cutting platform：In the coconut palm fruit position identifying apparatus：Judge that equipment is sent out in sugariness
Go out after coconut palm fruit stick signal, sugariness judges that equipment proceeds to the next coconut palm fruit subgraph received from coconut palm fruit identification equipment
Corresponding sugariness judges operation.
In addition, in the automatic coconut Cutting platform：Cocoanut tree identification equipment is based on image recognition pattern to urban road two
The landscape cocoanut tree of side is identified, and in landscape cocoanut tree of the identification less than urban road both sides, sends and stop to motor
Adopt coconut palm signal, motor is when receiving stopping and adopting coconut palm signal, and driving driving wheel is moved forward, until cocoanut tree identification equipment is known
It is clipped to the landscape cocoanut tree of urban road both sides.
Meanwhile, the automatic coconut Cutting platform can also include time division duplex communication apparatus, and performing equipment with cutting connects
Connect, time division duplex communication link is passed through for after cutting end signal is received, calculating current harvesting quantity, and by harvesting quantity
Road is sent to the city management center position of distal end.
Using the automatic coconut Cutting platform of the present invention, difficult technology is plucked for road both sides coconut palm fruit in the prior art
Problem, the identification of the coconut palm fruit cut point by mechanical picking platform, based on high-precision image processing and the intelligence of coconut palm fruit sugariness
Change and judge, joint completes the automation harvesting of road both sides coconut palm fruit, so as to liberate harvesting personnel, improve the harvesting effect of coconut palm fruit
Rate.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those of ordinary skill in the art, in the case where not departing from technical solution of the present invention ambit,
Many possible variations and modification are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the Equivalent embodiments of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modification, equivalent variation and modification made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (9)
1. the method cut using travelling gear,
A kind of Cutting platform including travelling gear, applied to the landscape cocoanut tree of urban road both sides, including cocoanut tree height detection
Equipment, operation base, lifting platform, sun-generated electric power and drive control apparatus, cocoanut tree height detection apparatus, lifting platform, solar energy
Power supply and drive control apparatus are all disposed within above operation base, drive control apparatus be arranged on lifting platform and operation base it
Between, for the oscilaltion for lifting platform provide driving power, sun-generated electric power respectively with cocoanut tree height detection apparatus and driving
Control device is connected, and for being that cocoanut tree height detection apparatus and drive control apparatus provide power, cocoanut tree height detection apparatus is used
In the height for recognizing cocoanut tree to be plucked, drive control apparatus is connected with cocoanut tree height detection apparatus, for based on cocoanut tree to be plucked
Height determine the lifting height of lifting platform, and the lifting height based on determination sends the first driving control signal to lifting platform；
Wherein, operation base is movable base, with universal wheel, motor and driving wheel, motor and driving wheel
Connection, the platform also includes cocoanut tree identification equipment, for recognizing the landscape cocoanut tree of urban road both sides to be used as coconut palm to be plucked
Tree, and the position of the cocoanut tree to be plucked based on identification sends the second driving control signal to motor；
The lifting platform includes travelling gear, and the travelling gear includes gear body and is enclosed within the gear body and energy
The geared sleeve rotated relative to gear shaft.
2. Cutting platform as claimed in claim 1, it is characterised in that the platform also includes：
Connecting rod, one end connection lifting platform, other end connection mechanical arm, for mechanical arm to be tied into lifting platform；
Mechanical arm, for plucking the coconut palm fruit on cocoanut tree to be plucked, wherein, mechanical arm has multiple predetermined harvesting positions；
Wherein, cocoanut tree identification equipment sends stopping to motor and adopted in landscape cocoanut tree of the identification less than urban road both sides
Coconut palm signal.
3. Cutting platform as claimed in claim 2, it is characterised in that the platform also includes：
Arm control cabinet, is arranged on mechanical arm；
Coconut palm fruit position identifying apparatus, is embedded in the shell of arm control cabinet sideways, including the identification of coconut palm fruit image capture device, coconut palm fruit
Equipment, sugariness judge equipment, coconut palm fruit position analysis equipment and cut point analytical equipment, and coconut palm fruit image capture device is used for waiting to adopt
The top for plucking cocoanut tree carries out image taking to obtain high definition cocoanut tree image, and coconut palm fruit identification equipment connects with coconut palm fruit image capture device
Connect, for receiving high definition cocoanut tree image, and the benchmark coconut palm fruit pattern based on various coconut palm fruit types carries out coconut palm to high definition cocoanut tree image
Fruit recognizes to obtain coconut palm fruit subgraph and corresponding coconut palm fruit type；
In the coconut palm fruit position identifying apparatus：Sugariness judges that equipment is connected with coconut palm fruit identification equipment, for based on coconut palm fruit subgraph
The color component of each pixel determines the color of coconut palm fruit subgraph, and the color based on coconut palm fruit subgraph and coconut palm fruit subgraph as in
As corresponding coconut palm fruit type judges the moisture sugariness of the corresponding coconut palm fruit of coconut palm fruit subgraph, when the moisture sugariness of judgement is more than or equal in advance
If during sugariness threshold value, sending coconut palm fruit harvesting signal, otherwise, sending coconut palm fruit stick signal, coconut palm fruit position analysis equipment is sentenced with sugariness
Disconnected equipment connection, for when receiving coconut palm fruit harvesting signal, the relative position based on coconut palm fruit subgraph in high definition cocoanut tree image
The current coconut palm fruit position of determination is put, cut point analytical equipment is connected with coconut palm fruit position analysis equipment, for based on the inspection of coconut palm fruit subgraph
The growth branch of coconut palm fruit is measured, and branch will be grown with coconut palm fruit tie point as growing point, will be on growth branch, under growing point
The position of square pre-determined distance is as coconut palm fruit cut point, and the relative position based on coconut palm fruit subgraph in high definition cocoanut tree image determines coconut palm
The physical location of fruit cut point；
In arm driving equipment, the shell for being arranged on arm control cabinet, respectively with coconut palm fruit position analysis equipment and cutting point analysis
Equipment is connected, for going to predetermined harvesting position corresponding with current coconut palm fruit position based on current coconut palm fruit position driving mechanical arm,
Predetermined harvesting position where being additionally operable to the physical location based on coconut palm fruit cut point and mechanical arm determines cutting drive signal；
Cutting performs equipment, on mechanical arm, is connected with arm driving equipment, for receiving cutting drive signal, is based on
Cutting drive signal goes to the physical location of coconut palm fruit cut point to perform coconut palm fruit growth branch cutting operation, and completes cutting behaviour
After work, cutting end signal is sent；
Coconut palm fruit collecting apparatus, is arranged on lower section, the operation base top of mechanical arm, judges that equipment and cutting are held with sugariness respectively
Row equipment is connected, for when receiving coconut palm fruit harvesting signal, automatically opening up coconut palm fruit Ingathering board and being cut with receiving cutting to perform equipment
The coconut palm fruit cut, is additionally operable to the predetermined time interval after cutting end signal is received, automatic to close coconut palm fruit Ingathering board.
4. Cutting platform as claimed in claim 3, it is characterised in that：
In sugariness judges equipment, the color component based on each pixel in coconut palm fruit subgraph determines the color of coconut palm fruit subgraph
Including：The color component of each pixel in coconut palm fruit subgraph is obtained, the color point of each pixel in coconut palm fruit subgraph is calculated
The average value of amount is using the color as coconut palm fruit subgraph.
5. Cutting platform as claimed in claim 3, it is characterised in that：
In sugariness judges equipment, the color component based on each pixel in coconut palm fruit subgraph determines the color of coconut palm fruit subgraph
Including：The color component of each pixel in coconut palm fruit subgraph is obtained, the pixel for calculating each color component numerical value occurs
Frequency, is ranked up to the frequency of occurrences, will appear from color of the frequency highest color component numerical value as coconut palm fruit subgraph.
6. the Cutting platform as described in claim 4 or 5, it is characterised in that also include：
Data storage device, is connected with coconut palm fruit position identifying apparatus and coconut palm fruit collecting apparatus, for prestoring various coconut palms respectively
The benchmark coconut palm fruit pattern of fruit type, is additionally operable to prestore default sugariness threshold value, pre-determined distance and predetermined time interval.
7. Cutting platform as claimed in claim 6, it is characterised in that：
Data storage device realizes that data storage device is arranged on arm control using FLASH memory or SD storage cards
In the shell of case.
8. Cutting platform as claimed in claim 7, it is characterised in that：
In the coconut palm fruit position identifying apparatus：After sugariness judges that equipment sends coconut palm fruit stick signal, sugariness judges equipment pair
The next coconut palm fruit subgraph received from coconut palm fruit identification equipment proceeds corresponding sugariness and judges operation.
9. Cutting platform as claimed in claim 8, it is characterised in that：
The landscape cocoanut tree of urban road both sides is identified based on image recognition pattern for cocoanut tree identification equipment, and identification less than
During the landscape cocoanut tree of urban road both sides, send stopping to motor and adopt coconut palm signal, motor adopts coconut palm receiving stopping
During signal, driving driving wheel is moved forward, until cocoanut tree identification equipment recognizes the landscape cocoanut tree of urban road both sides.
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|---|---|---|---|
| CN201710263897.0A CN106941872A (en) | 2017-04-21 | 2017-04-21 | The method cut using travelling gear |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710263897.0A CN106941872A (en) | 2017-04-21 | 2017-04-21 | The method cut using travelling gear |
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| CN106941872A true CN106941872A (en) | 2017-07-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106973645A (en) * | 2017-04-21 | 2017-07-25 | 金丰（宁波）精密机械科技有限公司 | Cutting platform including travelling gear |
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| JPH04166013A (en) * | 1990-10-26 | 1992-06-11 | Iseki & Co Ltd | Visual device for harvester of fruit, vegetables or the like |
| CN2134193Y (en) * | 1992-09-18 | 1993-05-26 | 王吉波 | Convenient infusion stand |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN105210559A (en) * | 2015-01-24 | 2016-01-06 | 无锡桑尼安科技有限公司 | Intelligent picking fruit system |
| CN205681884U (en) * | 2016-06-22 | 2016-11-16 | 维西嘉祥生态农业科技有限公司 | A kind of snow Fructus Persicae picker |
| CN106973645A (en) * | 2017-04-21 | 2017-07-25 | 金丰（宁波）精密机械科技有限公司 | Cutting platform including travelling gear |
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2017
- 2017-04-21 CN CN201710263897.0A patent/CN106941872A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04166013A (en) * | 1990-10-26 | 1992-06-11 | Iseki & Co Ltd | Visual device for harvester of fruit, vegetables or the like |
| CN2134193Y (en) * | 1992-09-18 | 1993-05-26 | 王吉波 | Convenient infusion stand |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN105210559A (en) * | 2015-01-24 | 2016-01-06 | 无锡桑尼安科技有限公司 | Intelligent picking fruit system |
| CN205681884U (en) * | 2016-06-22 | 2016-11-16 | 维西嘉祥生态农业科技有限公司 | A kind of snow Fructus Persicae picker |
| CN106973645A (en) * | 2017-04-21 | 2017-07-25 | 金丰（宁波）精密机械科技有限公司 | Cutting platform including travelling gear |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106973645A (en) * | 2017-04-21 | 2017-07-25 | 金丰（宁波）精密机械科技有限公司 | Cutting platform including travelling gear |
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Application publication date: 20170714 |