CN107637273A - Automatic picking robot - Google Patents
Automatic picking robot Download PDFInfo
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- CN107637273A CN107637273A CN201710469593.XA CN201710469593A CN107637273A CN 107637273 A CN107637273 A CN 107637273A CN 201710469593 A CN201710469593 A CN 201710469593A CN 107637273 A CN107637273 A CN 107637273A
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- pawpaw
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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
- A01D46/24—Devices for picking apples or like fruit
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
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Abstract
The present invention relates to a kind of complex ground pawpaw to pick system, including route planning equipment, packaged type main body mechanism, obstacle height detection device, roadblock removes equipment, position identifying apparatus and pick execution equipment, route planning equipment is used for the travel route that next plant of pawpaw tree is gone to according to default pawpaw tree distribution map and system current location planning, packaged type main body mechanism is used to go to next plant of pawpaw tree based on the travel route, position identifying apparatus is used for when packaged type main body mechanism reaches next plant of pawpaw tree, pawpaw position in the pawpaw tree is identified, execution equipment is picked to be connected with position identifying apparatus, pawpaw for the pawpaw opening position to recognizing is picked.By the present invention, even in complex ground, it can also realize and the quick of the sweet tea pawpaw of each strain pawpaw tree is picked.
Description
The present invention be Application No. 2017102858595, the applying date be on April 27th, 2017, it is entitled " harvesting dress
Put " patent divisional application.
Technical field
The present invention relates to automation field, more particularly to a kind of automatic picking robot.
Background technology
Papaya, also known as pawpaw, newborn melon, papaw, planted for the torrid zone, the large-scale perennial herb of subtropical evergreen cork matter
Thing, evergreen cork matter dungarunga, up to 8-10 rice, has milk；Stem not branch or sometimes in injury region branch, has helical arrangement
Stipule trace.Fruit is longer than on tree, outer image melon, therefore named pawpaw.The milk of papaya is the Main Ingredients and Appearance for making meat tenderizer.
Flowering fruit bearing stage is annual.
For pawpaw containing abundant nutritive value, there is the pawpaw plantation of multiple upper scales in producing region, and one to when being harvested, and harvesting is arrived
Pawpaw it is large number of, there is higher plantation to be worth.But due to low using artificial harvesting pawpaw efficiency, if used
Mechanical picking pawpaw, two problems are faced, one is that pawpaw plantation inland lot is complex, and in general mechanical platform is difficult
Across full garden, another be pawpaw sugariness and picking point be difficult to control.
The content of the invention
In order to solve the above problems, the invention provides a kind of complex ground pawpaw to pick system, introduce including road
Barrier removes the packaged type main body mechanism of equipment as flat, the color component based on each pixel in pawpaw subgraph of harvesting
The color of pawpaw subgraph is determined, pawpaw type corresponding to color and pawpaw subgraph based on pawpaw subgraph judges pawpaw
The moisture sugariness of pawpaw corresponding to image, when the moisture sugariness of judgement is more than or equal to default sugariness threshold value, sends pawpaw and pick
Signal, also detects the growth branch of pawpaw based on pawpaw subgraph, and will growth branch and pawpaw tie point as growing point,
It is wooden in high definition based on pawpaw subgraph using the position of pre-determined distance is used as pawpaw cut point on growth branch, below growing point
Relative position in melon image determines that pawpaw picks physical location a little, so as to each compared with sweet tea pawpaw in each plant of pawpaw tree
Adaptively plucked.
As can be seen here, the present invention has following important inventive point：(1) there is roadblock to remove the packaged type of equipment to adopt
Pluck flat build；(2) intellectualized detection of pawpaw moisture sugariness；(3) standard of the pawpaw cut point based on pawpaw morphological analysis
Really judge.
According to an aspect of the present invention, there is provided a kind of complex ground pawpaw picks system, and the system is advised including route
Scribing device, packaged type main body mechanism, obstacle height detection device, roadblock are removed equipment, position identifying apparatus and picked and hold
Row equipment, route planning equipment, obstacle height detection device, roadblock remove equipment, position identifying apparatus and pick execution and set
Standby to be all disposed within packaged type main body mechanism, route planning equipment is used for current according to default pawpaw tree distribution map and the system
Position plans to go to the travel route of next plant of pawpaw tree, and packaged type main body mechanism is used to go to down based on the travel route
One plant of pawpaw tree；
Wherein, obstacle height detection device is used to detect the front obstacle during packaged type main body mechanism traveling
Height, roadblock remove equipment, be connected with obstacle height detection device, for front obstacle height be more than or equal in advance
If during object height, being purged to front obstacle, position identifying apparatus is used for next in the arrival of packaged type main body mechanism
During strain pawpaw tree, the pawpaw position in the pawpaw tree is identified, execution equipment is picked and is connected with position identifying apparatus, is used for
The pawpaw of pawpaw opening position to recognizing is picked.
More specifically, in the complex ground pawpaw picks system, in addition to：Location equipment, it is arranged on packaged type
On main body mechanism, for obtaining the navigation data of packaged type main body mechanism；
Wherein, the system current location is the navigation data defined location of packaged type main body mechanism；
Wherein, position identifying apparatus determines that packaged type main body mechanism reaches next plant of pawpaw tree and included：Work as packaged type
In the navigation data of main body mechanism and default pawpaw tree distribution map during the location matches of next plant of pawpaw tree, it is determined that packaged type
Main body mechanism reaches next plant of pawpaw tree.
More specifically, in the complex ground pawpaw picks system, in addition to：MMC storage devices, it is arranged on removable
On formula main body mechanism, remove equipment and route planning equipment with roadblock respectively and be connected, for store default pawpaw tree distribution map with
Goal-selling height.
More specifically, in the complex ground pawpaw picks system：
Roadblock, which removes equipment, includes scraper bowl, swing arm, connecting rod, rocking arm, rotary ink tank and boom cylinder, scraper bowl by connecting rod with
Rocking arm is hinged with rotary ink tank, and to remove roadblock, swing arm is hinged with boom cylinder, to lift scraper bowl；
Wherein, the upset of scraper bowl and the lifting of swing arm use hydraulic operation mode.
More specifically, in the complex ground pawpaw picks system, in addition to：
Wireless communication interface, including wireless receiver, radio transmitter and decipher, wireless receiver are used for from distal end
At the management center server of plantation receive encryption after default pawpaw tree distribution map, decoder respectively with wireless receiver and
MMC storage devices connect, and divide for the default pawpaw tree distribution map after encryption to be decrypted, and by the default pawpaw tree of acquisition
Butut is stored into MMC storage devices；
In the position identifying apparatus, including high-definition image capture device, adaptive-filtering equipment, pawpaw target identification
Equipment, sugariness analytical equipment, pawpaw position analysis equipment and position extraction equipment is picked, high-definition image capture device is used for treating
The top for picking pawpaw tree carries out image taking to obtain high definition pawpaw tree Image, and adaptive-filtering equipment captures with high-definition image
Equipment connects, for receiving high definition pawpaw tree Image and carrying out interference type detection to high definition pawpaw tree Image, based on acquisition
Interference type uses corresponding filtering algorithm to carry out image filtering processing to high definition pawpaw tree Image to obtain high definition filtering image,
Pawpaw target identification equipment is connected with adaptive-filtering equipment, for receiving high definition filtering image, and is based on various pawpaw types
Benchmark pawpaw pattern pawpaw identification is carried out to high definition filtering image to obtain pawpaw subgraph and corresponding pawpaw type；
In the position identifying apparatus：Sugariness analytical equipment is connected with pawpaw target identification equipment, for based on pawpaw
The color component of each pixel determines the color of pawpaw subgraph, and the color based on pawpaw subgraph and pawpaw in subgraph
Pawpaw type corresponding to subgraph judges the moisture sugariness of pawpaw corresponding to pawpaw subgraph, when judgement moisture sugariness be more than etc.
When default sugariness threshold value, send pawpaw and pick signal, otherwise, send pawpaw stick signal, pawpaw position analysis equipment and sweet tea
Analytical equipment connection is spent, for when receiving pawpaw and picking signal, the phase based on pawpaw subgraph in high definition pawpaw image
Current pawpaw position is determined to position, position extraction equipment is picked and is connected with pawpaw position analysis equipment, for based on pawpaw
Image detection goes out the growth branch of pawpaw, and will grow branch with pawpaw tie point as growing point, will be on growth branch, life
The position of long point lower section pre-determined distance is as pawpaw cut point, the relative position based on pawpaw subgraph in high definition pawpaw image
Determine that pawpaw picks physical location a little；
Wherein, described pick performs equipment including picking executing agency and picking drive mechanism, picks drive mechanism difference
With pawpaw position analysis equipment and picking position extraction equipment and being connected, for picking executing agency based on the driving of current pawpaw position
Go to and pick position with current the predetermined of pawpaw position correspondence, be additionally operable to pick physical location a little based on pawpaw and pick execution machine
Predetermined where structure picks position driving and pick the physical location that executing agency goes to pawpaw to pick a little is entered with realizing to current pawpaw
Row is picked；
Wherein, the MMC storage devices are also connected with position identifying apparatus, for store default sugariness threshold value and it is default away from
From；
Wherein, radio transmitter is respectively with location equipment and picking executing agency and being connected, for pick executing agency every
When completion is once picked to current pawpaw, by harvesting pawpaw number automatically plus after 1, by harvesting pawpaw number and packaged type main body
The navigation data of mechanism sends jointly to the plantation management center server of distal end.
More specifically, in the complex ground pawpaw picks system, in addition to：Net equipment is picked, is arranged on described adopt
Pick below drive mechanism and be arranged on packaged type main body mechanism, for often completing once to current wood picking executing agency
When melon is picked, the pawpaw of tenesmus is caught with netted mechanism.
More specifically, in the complex ground pawpaw picks system, in addition to：
Weight-sensing device, it is arranged on and picks in net equipment, for detects netted in-house pawpaw weight, and netted
When in-house pawpaw weight is more than or equal to preset weight threshold value, overweight control signal is sent；
Pushing equipment, it is connected respectively with netted mechanism and weight-sensing device, for when receiving overweight control signal,
Netted in-house pawpaw is pushed in depository dish.
More specifically, in the complex ground pawpaw picks system, in addition to：Depository dish, positioned at packaged type main body
In mechanism；
Wherein, the MMC storage devices are also connected with weight sensor, for storing preset weight threshold value.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 picks the block diagram of system for the complex ground pawpaw according to embodiment of the present invention.
Reference：1 route planning equipment；2 packaged type main body mechanisms；3 obstacle height detection devices；4 roadblocks are clear
Except equipment；5 position identifying apparatus；6 pick execution equipment
Embodiment
The embodiment for picking system to complex ground pawpaw of the invention below with reference to accompanying drawings is described in detail.
The habit of pawpaw is as follows.The pyrophilous more humid tropics weathers of biological characteristics, can not resist cold, meet frost i.e. wither it is cold, because
Root system is shallower, avoids strong wind, avoids ponding.Heat request is not tight over the ground, and hills, mountain region can all cultivate, stronger to soil suitability, but with
Loose fertile sand loam or loam growth is preferably.
Pawpaw is most suitable for the warm area plantation of 22~25 DEG C of average annual temperature, 1500~2000 millimeters of annual rainfall, suitably
The temperature of growth is 25~32 DEG C, and 10 DEG C or so growths of temperature tend to slow, and 5 DEG C of tender organs of children start freeze injury occur, 0 DEG C of blade
It is withered.Temperature is too high also unfavorable to growing.Soil suitability is stronger, but is advisable with acidity to neutrality.
In order to overcome the technical problem currently automatically plucked to the pawpaw plantation of complex ground, the present invention is built
A kind of complex ground pawpaw picks system, and concrete structure is as follows.
Fig. 1 picks the block diagram of system, the system for the complex ground pawpaw according to embodiment of the present invention
System includes route planning equipment, packaged type main body mechanism, obstacle height detection device, roadblock and removes equipment, position identification
Equipment removes equipment, position identifying apparatus with execution equipment, route planning equipment, obstacle height detection device, roadblock is picked
It is all disposed within execution equipment is picked on packaged type main body mechanism, route planning equipment is used for according to default pawpaw tree distribution map
The travel route of next plant of pawpaw tree is gone to system current location planning, packaged type main body mechanism is used to be based on the row
Sail route and go to next plant of pawpaw tree；
Wherein, obstacle height detection device is used to detect the front obstacle during packaged type main body mechanism traveling
Height, roadblock remove equipment, be connected with obstacle height detection device, for front obstacle height be more than or equal in advance
If during object height, being purged to front obstacle, position identifying apparatus is used for next in the arrival of packaged type main body mechanism
During strain pawpaw tree, the pawpaw position in the pawpaw tree is identified, execution equipment is picked and is connected with position identifying apparatus, is used for
The pawpaw of pawpaw opening position to recognizing is picked.
Then, the concrete structure for continuing to pick the complex ground pawpaw of the present invention system is further detailed.
The complex ground pawpaw is picked in system and can also included：Location equipment, it is arranged on packaged type main body mechanism
On, for obtaining the navigation data of packaged type main body mechanism；
Wherein, the system current location is the navigation data defined location of packaged type main body mechanism；
Wherein, position identifying apparatus determines that packaged type main body mechanism reaches next plant of pawpaw tree and included：Work as packaged type
In the navigation data of main body mechanism and default pawpaw tree distribution map during the location matches of next plant of pawpaw tree, it is determined that packaged type
Main body mechanism reaches next plant of pawpaw tree.
The complex ground pawpaw, which is picked, can also include MMC storage devices in system, be arranged on packaged type main body machine
On structure, remove equipment with roadblock respectively and route planning equipment is connected, for storing default pawpaw tree distribution map and goal-selling
Highly.
In addition, described complex ground pawpaw is picked in system：Roadblock, which removes equipment, to be included scraper bowl, swing arm, connecting rod, shakes
Arm, rotary ink tank and boom cylinder, scraper bowl are hinged by connecting rod and rocking arm with rotary ink tank, and to remove roadblock, swing arm is with moving
Arm oil cylinder is hinged, to lift scraper bowl；
Wherein, the upset of scraper bowl and the lifting of swing arm use hydraulic operation mode.
The complex ground pawpaw is picked in system and can also included：
Wireless communication interface, including wireless receiver, radio transmitter and decipher, wireless receiver are used for from distal end
At the management center server of plantation receive encryption after default pawpaw tree distribution map, decoder respectively with wireless receiver and
MMC storage devices connect, and divide for the default pawpaw tree distribution map after encryption to be decrypted, and by the default pawpaw tree of acquisition
Butut is stored into MMC storage devices；
In the position identifying apparatus, including high-definition image capture device, adaptive-filtering equipment, pawpaw target identification
Equipment, sugariness analytical equipment, pawpaw position analysis equipment and position extraction equipment is picked, high-definition image capture device is used for treating
The top for picking pawpaw tree carries out image taking to obtain high definition pawpaw tree Image, and adaptive-filtering equipment captures with high-definition image
Equipment connects, for receiving high definition pawpaw tree Image and carrying out interference type detection to high definition pawpaw tree Image, based on acquisition
Interference type uses corresponding filtering algorithm to carry out image filtering processing to high definition pawpaw tree Image to obtain high definition filtering image,
Pawpaw target identification equipment is connected with adaptive-filtering equipment, for receiving high definition filtering image, and is based on various pawpaw types
Benchmark pawpaw pattern pawpaw identification is carried out to high definition filtering image to obtain pawpaw subgraph and corresponding pawpaw type；
In the position identifying apparatus：Sugariness analytical equipment is connected with pawpaw target identification equipment, for based on pawpaw
The color component of each pixel determines the color of pawpaw subgraph, and the color based on pawpaw subgraph and pawpaw in subgraph
Pawpaw type corresponding to subgraph judges the moisture sugariness of pawpaw corresponding to pawpaw subgraph, when judgement moisture sugariness be more than etc.
When default sugariness threshold value, send pawpaw and pick signal, otherwise, send pawpaw stick signal, pawpaw position analysis equipment and sweet tea
Analytical equipment connection is spent, for when receiving pawpaw and picking signal, the phase based on pawpaw subgraph in high definition pawpaw image
Current pawpaw position is determined to position, position extraction equipment is picked and is connected with pawpaw position analysis equipment, for based on pawpaw
Image detection goes out the growth branch of pawpaw, and will grow branch with pawpaw tie point as growing point, will be on growth branch, life
The position of long point lower section pre-determined distance is as pawpaw cut point, the relative position based on pawpaw subgraph in high definition pawpaw image
Determine that pawpaw picks physical location a little；
Wherein, described pick performs equipment including picking executing agency and picking drive mechanism, picks drive mechanism difference
With pawpaw position analysis equipment and picking position extraction equipment and being connected, for picking executing agency based on the driving of current pawpaw position
Go to and pick position with current the predetermined of pawpaw position correspondence, be additionally operable to pick physical location a little based on pawpaw and pick execution machine
Predetermined where structure picks position driving and pick the physical location that executing agency goes to pawpaw to pick a little is entered with realizing to current pawpaw
Row is picked；
Wherein, the MMC storage devices are also connected with position identifying apparatus, for store default sugariness threshold value and it is default away from
From；
Wherein, radio transmitter is respectively with location equipment and picking executing agency and being connected, for pick executing agency every
When completion is once picked to current pawpaw, by harvesting pawpaw number automatically plus after 1, by harvesting pawpaw number and packaged type main body
The navigation data of mechanism sends jointly to the plantation management center server of distal end.
The complex ground pawpaw is picked in system and can also included：Net equipment is picked, is arranged on and described picks driving machine
Below structure and it is arranged on packaged type main body mechanism, for often completing once to adopt current pawpaw picking executing agency
When picking, the pawpaw of tenesmus is caught with netted mechanism.
The complex ground pawpaw is picked in system and can also included：
Weight-sensing device, it is arranged on and picks in net equipment, for detects netted in-house pawpaw weight, and netted
When in-house pawpaw weight is more than or equal to preset weight threshold value, overweight control signal is sent；
Pushing equipment, it is connected respectively with netted mechanism and weight-sensing device, for when receiving overweight control signal,
Netted in-house pawpaw is pushed in depository dish.
The complex ground pawpaw is picked in system and can also included：
Depository dish, in packaged type main body mechanism；
Wherein, the MMC storage devices are also connected with weight sensor, for storing preset weight threshold value.
In addition, the interference type based on acquisition carries out image filtering using corresponding filtering algorithm to high definition pawpaw tree Image
Processing is included with obtaining high definition filtering image, and image filtering is carried out to high definition pawpaw tree Image using corresponding Wavelets Filtering Algorithm
Processing.
Small echo (Wavelet) this term, as its name suggests, " small echo " is exactly small waveform.So-called " small " refers to that he has
Decay Rate；And be referred to as " ripple " and then refer to its fluctuation, the concussion form of its amplitude alternate positive and negative.Become commutation with Fourier
Than wavelet transformation is the localization analysis of time (space) frequency, and he is progressively entered by flexible shift operations to signal (function)
Row multi-scale refinement, high frequency treatment time subdivision is finally reached, frequency is segmented at low frequency, can adapt to wanting for time frequency signal analysis automatically
Ask, so as to focus on any details of signal, solve Fourier conversion difficult problem, turn into after Fourier convert with
The important breakthrough come in scientific method.Someone calls wavelet transformation " school microscop ".
System is picked using the complex ground pawpaw of the present invention, in the prior art can not be to the pawpaw kind of complex ground
The technical problem that plant garden is plucked automatically, by the transformation to plucking platform, analysis to each pawpaw sugariness and right
The judgement of the picking point of each pawpaw, realize adopting for the sweet tea pawpaw in the pawpaw plantation to complex ground in each strain pawpaw tree
Pluck.
It is understood that although the present invention is disclosed as above with preferred embodiment, but above-described embodiment and it is not used to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications 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 embodiment 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 modifications, equivalents, and modifications made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (5)
1. a kind of complex ground pawpaw picks system, including the inspection of route planning equipment, packaged type main body mechanism, obstacle height
Measurement equipment, roadblock remove equipment, position identifying apparatus and pick execution equipment, and route planning equipment, obstacle height detection are set
Standby, roadblock removes equipment, position identifying apparatus and picks execution equipment and is all disposed within packaged type main body mechanism, route planning
Equipment is used for the travel route that next plant of pawpaw tree is gone to according to default pawpaw tree distribution map and system current location planning, can
Portable main body mechanism is used to go to next plant of pawpaw tree based on the travel route, and obstacle height detection device is used to detect
The height of front obstacle during packaged type main body mechanism traveling, roadblock remove equipment, are set with obstacle height detection
Standby connection, for when the height of front obstacle is more than or equal to goal-selling height, being purged to front obstacle, position
Identification equipment is used for when packaged type main body mechanism reaches next plant of pawpaw tree, and the pawpaw position in the pawpaw tree is known
Not, pick execution equipment to be connected with position identifying apparatus, the pawpaw for the pawpaw opening position to recognizing is picked.
2. complex ground pawpaw as claimed in claim 1 picks system, it is characterised in that the system also includes：
Location equipment, it is arranged on packaged type main body mechanism, for obtaining the navigation data of packaged type main body mechanism；
Wherein, the system current location is the navigation data defined location of packaged type main body mechanism；
Wherein, position identifying apparatus determines that packaged type main body mechanism reaches next plant of pawpaw tree and included：When packaged type main body
In the navigation data of mechanism and default pawpaw tree distribution map during the location matches of next plant of pawpaw tree, it is determined that packaged type main body
Mechanism reaches next plant of pawpaw tree.
3. complex ground pawpaw as claimed in claim 2 picks system, it is characterised in that the system also includes：
MMC storage devices, it is arranged on packaged type main body mechanism, equipment is removed with roadblock respectively and route planning equipment connects
Connect, for storing default pawpaw tree distribution map and goal-selling height.
4. complex ground pawpaw as claimed in claim 3 picks system, it is characterised in that：
Roadblock, which removes equipment, includes scraper bowl, swing arm, connecting rod, rocking arm, rotary ink tank and boom cylinder, and scraper bowl passes through connecting rod and rocking arm
It is hinged with rotary ink tank, to remove roadblock, swing arm is hinged with boom cylinder, to lift scraper bowl；
Wherein, the upset of scraper bowl and the lifting of swing arm use hydraulic operation mode.
5. complex ground pawpaw as claimed in claim 3 picks system, it is characterised in that also includes：
Wireless communication interface, including wireless receiver, radio transmitter and decipher, wireless receiver are used for the plantation from distal end
The default pawpaw tree distribution map after encryption is received at the management center server of garden, decoder is deposited with wireless receiver and MMC respectively
Equipment connection is stored up, for the default pawpaw tree distribution map after encryption to be decrypted, and by the default pawpaw tree distribution map of acquisition
Store in MMC storage devices；
In the position identifying apparatus, including high-definition image capture device, adaptive-filtering equipment, pawpaw target identification are set
Standby, sugariness analytical equipment, pawpaw position analysis equipment and position extraction equipment is picked, high-definition image capture device is used for waiting to adopt
The top for picking pawpaw tree carries out image taking to obtain high definition pawpaw tree Image, and adaptive-filtering equipment is set with high-definition image capture
Standby connection, it is dry based on acquisition for receiving high definition pawpaw tree Image and carrying out interference type detection to high definition pawpaw tree Image
Disturbing type uses corresponding filtering algorithm to carry out image filtering processing to high definition pawpaw tree Image to obtain high definition filtering image, wood
Melon target identification equipment is connected with adaptive-filtering equipment, for receiving high definition filtering image, and based on various pawpaw types
Benchmark pawpaw pattern carries out pawpaw identification to high definition filtering image to obtain pawpaw subgraph and corresponding pawpaw type；
In the position identifying apparatus：Sugariness analytical equipment is connected with pawpaw target identification equipment, for based on pawpaw subgraph
The color component of each pixel determines the color of pawpaw subgraph, and the color based on pawpaw subgraph and pawpaw subgraph as in
The pawpaw type as corresponding to judges the moisture sugariness of pawpaw corresponding to pawpaw subgraph, when the moisture sugariness of judgement is more than or equal in advance
If during sugariness threshold value, sending pawpaw and picking signal, otherwise, pawpaw stick signal, pawpaw position analysis equipment and sugariness point are sent
Desorption device connects, for when receiving pawpaw and picking signal, the relative position based on pawpaw subgraph in high definition pawpaw image
Put and determine current pawpaw position, pick position extraction equipment and be connected with pawpaw position analysis equipment, for based on pawpaw subgraph
The growth branch of pawpaw is detected, and branch will be grown with pawpaw tie point as growing point, will be on growth branch, growing point
As pawpaw cut point, the relative position based on pawpaw subgraph in high definition pawpaw image determines for the position of lower section pre-determined distance
Pawpaw picks physical location a little；
Wherein, described pick performs equipment and includes picking executing agency and picking drive mechanism, pick drive mechanism respectively with wood
Melon position analysis equipment connects with position extraction equipment is picked, and is gone to for picking executing agency based on the driving of current pawpaw position
Position is picked with current the predetermined of pawpaw position correspondence, is additionally operable to pick physical location a little based on pawpaw and picks institute of executing agency
It is predetermined pick position driving and pick the physical location that executing agency goes to pawpaw to pick a little current pawpaw is adopted with realizing
Pick；
Wherein, the MMC storage devices are also connected with position identifying apparatus, for storing default sugariness threshold value and pre-determined distance；
Wherein, radio transmitter is respectively with location equipment and picking executing agency and being connected, for often completing picking executing agency
When once being picked to current pawpaw, by harvesting pawpaw number automatically plus after 1, by harvesting pawpaw number and packaged type main body mechanism
Navigation data send jointly to the plantation management center server of distal end；
Pick net equipment, be arranged on it is described pick below drive mechanism and be arranged on packaged type main body mechanism, for adopting
When picking executing agency and often completing once to pick current pawpaw, the pawpaw of tenesmus is caught with netted mechanism；
Weight-sensing device, it is arranged on and picks in net equipment, for detects netted in-house pawpaw weight, and in netted mechanism
When interior pawpaw weight is more than or equal to preset weight threshold value, overweight control signal is sent；
Pushing equipment, it is connected respectively with netted mechanism and weight-sensing device, for when receiving overweight control signal, by net
The in-house pawpaw of shape is pushed in depository dish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710469593.XA CN107637273A (en) | 2017-04-27 | 2017-04-27 | Automatic picking robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710285859.5A CN106941879B (en) | 2017-04-27 | 2017-04-27 | Picker |
| CN201710469593.XA CN107637273A (en) | 2017-04-27 | 2017-04-27 | Automatic picking robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710285859.5A Division CN106941879B (en) | 2017-04-27 | 2017-04-27 | Picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107637273A true CN107637273A (en) | 2018-01-30 |
Family
ID=59476847
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710469593.XA Pending CN107637273A (en) | 2017-04-27 | 2017-04-27 | Automatic picking robot |
| CN201710285859.5A Expired - Fee Related CN106941879B (en) | 2017-04-27 | 2017-04-27 | Picker |
| CN201710468490.1A Pending CN107637278A (en) | 2017-04-27 | 2017-04-27 | Automatic picking robot |
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| CN201710468490.1A Pending CN107637278A (en) | 2017-04-27 | 2017-04-27 | Automatic picking robot |
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Also Published As
| Publication number | Publication date |
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| CN106941879B (en) | 2018-05-18 |
| CN107637278A (en) | 2018-01-30 |
| CN106941879A (en) | 2017-07-14 |
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