CN108207320A - Intelligent positioning conveys fruit picking auxiliary machine certainly - Google Patents
Intelligent positioning conveys fruit picking auxiliary machine certainly Download PDFInfo
- Publication number
- CN108207320A CN108207320A CN201810103519.0A CN201810103519A CN108207320A CN 108207320 A CN108207320 A CN 108207320A CN 201810103519 A CN201810103519 A CN 201810103519A CN 108207320 A CN108207320 A CN 108207320A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- fruit
- auxiliary machine
- picker
- curved surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 51
- 230000000007 visual effect Effects 0.000 claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims description 10
- 239000007779 soft material Substances 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000011176 pooling Methods 0.000 claims description 3
- 210000000452 mid-foot Anatomy 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 241000207199 Citrus Species 0.000 description 1
- 244000276331 Citrus maxima Species 0.000 description 1
- 235000001759 Citrus maxima Nutrition 0.000 description 1
- 240000008790 Musa x paradisiaca Species 0.000 description 1
- 235000018290 Musa x paradisiaca Nutrition 0.000 description 1
- 235000014443 Pyrus communis Nutrition 0.000 description 1
- 235000018256 Solanum topiro Nutrition 0.000 description 1
- 244000070646 Solanum topiro Species 0.000 description 1
- 235000009754 Vitis X bourquina Nutrition 0.000 description 1
- 235000012333 Vitis X labruscana Nutrition 0.000 description 1
- 240000006365 Vitis vinifera Species 0.000 description 1
- 235000014787 Vitis vinifera Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000020971 citrus fruits Nutrition 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of intelligent positionings to convey fruit picking auxiliary machine certainly, including device for visual identification, picker, mechanical arm, collection device, control system and moving trolley, the device for visual identification and picker are set on the top end of mechanical arm, mechanical arm is mounted on above collection device, collection device is mounted in moving trolley, the device for visual identification positions fruit to be plucked for identifying, the control system is moved according to the information control machinery arm that device for visual identification identifies, picker is driven to carry out picking fruit by mechanical arm, the fruit that the collection device is picked for the picker at the top of collecting mechanical arm.The present invention can realize automatic picking to the apple of certain area or other fruits; and the apple after picking or other fruits is made uniformly to fall into collecting box in the case where buffering fluffy protection, a large amount of drains on manpower and material resources are reduced, reduce cost; efficiency is improved, so as to achieve the purpose that maximization of economic benefit.
Description
Technical field
The invention belongs to agriculture and forestry machinery equipment technical fields, are related to a kind of fruit picking device, and in particular to a kind of intelligent positioning is certainly
Convey fruit picking auxiliary machine.
Background technology
Apple extends over the entire globe 93 as the fourth-largest fruit after being only second to citrus, banana, grape in the world, cultivation place
A countries and regions, in China, apple cultivation has long production history and advantageous geographical environment, weather conditions.
China's cultivated area of the apple in 2015 and yield are respectively 2,270,000 hectares and 42,610,000 tons, account for world's apple cultivation area respectively
With the 47% of yield and 51%.
A large amount of apple cultivation also brings a large amount of labour demand, and apple belongs to labor-intensive production, and production is excellent
Matter apple needs a large amount of artificial input.And artificial picking is in the presence of time-consuming, eminence picking is mobile restricted, long-term picking easily causes
The problems such as sense of discomfort of staff, is unfavorable for the long-term operation of picking personnel.
Invention content
It is auxiliary from fruit picking is conveyed that a kind of intelligent positioning is provided it is an object of the invention to the inconvenient apple that is directed to eminence picking
Help machine.Device collection apple positioning picking is collected in one, staff can be helped to save time in the picking time, energy, reduced
Cost improves efficiency.
Problem encountered is manually picked to solve above-mentioned orchard, the technical solution adopted in the present invention is：
A kind of intelligent positioning conveys fruit picking auxiliary machine certainly, it is characterised in that：Including device for visual identification, picker, machine
Tool arm, collection device, control system and moving trolley, the device for visual identification and picker are set on the top of mechanical arm
End, mechanical arm are mounted on above collection device, and collection device is mounted in moving trolley, and the device for visual identification is used to know
Fruit to be plucked is not positioned, and the control system is moved according to the information control machinery arm that device for visual identification identifies, passes through machinery
Armband moves picker and carries out picking fruit, and the collection device is picked for the picker at the top of collecting mechanical arm
Fruit.
As an improvement, the collection device includes cone-shaped collection bucket and the collection frame below cone-shaped collection bucket, it is described
Cone-shaped collection bucket is made of the soft material with pooling feature, and supporting rack is equipped in the middle part of cone-shaped collection bucket, and the mechanical arm leads to
Support column is crossed on midfoot support frame in cone-shaped collection bucket, the outlet at bottom of cone-shaped collection bucket is equipped with the buffer subsystem of undergauge.
As an improvement, the minibuffer being provided around in the cone-shaped collection bucket in support column surrounding is fluffy.
It is made as an improvement, the minibuffer is fluffy of soft material, support frame as described above surface is made of soft material.
As an improvement, the mechanical arm includes large arm, forearm, joint and pedestal, the pedestal is installed on the support columns, greatly
Arm is mounted on pedestal, and forearm is mounted on by joint in large arm, and device for visual identification and picker are mounted at the top of forearm.
As an improvement, the device for visual identification is the binocular camera that can identify image and location information simultaneously.
As an improvement, the moving trolley is the small handcart manually pushed, small handcart bottom is equipped with ten thousand with auto-lock function
To wheel.
As an improvement, the picker is three-jaw device for picking, and including curved surface pawl, sleeve and spring, the curved surface pawl
There are three, three curved surface pawls are hinged at the top of sleeve, and curved surface pawl is equipped with the lug boss extended into sleeve far from curved surface one end,
The spring is set in sleeve, and spring bottom is fixed on sleeve inner, and spring top withstands the lug boss of three curved surface pawls, sleeve
It is interior equipped with the sliding block slided up and down, sliding block is connected by end of the steel wire rope respectively with the lug boss of each curved surface pawl, and sliding block leads to
It crosses actuating device of the linear motion driving to move up and down in sleeve, by spring force, three curved surface pawls keep open configuration, lead to
It crosses sliding block to move downward, pulls steel wire rope, so that curved surface pawl closes up, fruit work is plucked in completion.
As an improvement, the actuating device of the linear motion is in leading screw and nut mechanism, cylinder mechanism and belt dressing
Any one, the actuating device of the linear motion passes through control system controlled motion.
As an improvement, the mechanical arm can be Multi-shaft mechanical arm, the picker can be multijaw in the prior art
Fruit picking device.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention can realize the apple of certain area or other fruits automatic picking, and make the apple after picking or its
His fruit uniformly falls into collecting box in the case where buffering fluffy protection, and picking personnel need to only be replaced collecting box of the product after full i.e.
Can, a large amount of drains on manpower and material resources are reduced, reduce cost, efficiency are improved, so as to achieve the purpose that maximization of economic benefit.
Description of the drawings
Fig. 1 is fruit picking auxiliary machine overall structure diagram of the present invention；
Fig. 2 is the mechanical arm schematic diagram of fruit picking auxiliary machine of the present invention；
Fig. 3 is collection device schematic diagram in the present invention；
Fig. 4 is three-jaw device for picking structure diagram of the present invention.
1- binocular cameras, 2- three-jaw device for picking, 3- mechanical arms, 4- collection devices, 5- moving trolleys, 6- collection frames, 7-
Curved surface pawl, 8- sleeves, 9- forearms, 10- joints, 11- large arm, 12- pedestals, 13- minibuffers are fluffy, and 14- cone-shaped collection buckets, 15- delays
Rush net, 16- supporting racks, 17- lug bosses, 18- springs, 19- steel wire ropes, 20- axis pins, 21- support columns.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
Referring to Fig.1, it including device for visual identification, is plucked the present invention provides a kind of intelligent positioning from fruit picking auxiliary machine is conveyed
Fruit device, mechanical arm 3, collection device 4, control system and moving trolley 5, the device for visual identification and picker are set on
The top end of mechanical arm 3, mechanical arm 3 are mounted on 4 top of collection device, and collection device 4 is mounted in moving trolley 5, described
Device for visual identification positions fruit to be plucked, the information control machine that the control system is identified according to device for visual identification for identifying
Tool arm 3 moves, and picker is driven to carry out picking fruit by mechanical arm 3, the collection device 4 is for collecting mechanical arm 3
The fruit that the picker at top is picked.
As shown in figures 1 and 3, the collection device 4 includes cone-shaped collection bucket 14 and set on 14 lower section of cone-shaped collection bucket
Collection frame 6, the cone-shaped collection bucket 14 are made of the soft material with pooling feature, and 14 middle part of cone-shaped collection bucket is equipped with support
Frame 16,16 surface of support frame as described above are made of soft material, and cone-shaped collection bucket 14 is mounted on moving trolley 5 by mounting bracket
On, the mechanical arm 3 is mounted on by support column 21 on the supporting rack 16 in cone-shaped collection bucket 14 at center, cone-shaped collection bucket 14
Outlet at bottom be equipped with the buffer subsystem 15 of undergauge, 15 outlet at bottom of buffer subsystem is against collection frame 6, after collection frame 6 collects full fruit
It is artificial to replace, the minibuffer fluffy 13 in 21 surrounding of support column, the minibuffer fluffy 13 are provided around in the cone-shaped collection bucket 14
It is made of soft material, playing cushioning effect prevents damage fruit, above-mentioned collection frame 6, buffer subsystem 15 and supporting rack 16 etc.
It is all made of soft material and is provided to play cushioning effect and prevents damage fruit,.
As shown in Fig. 2, the mechanical arm 3 includes large arm 11, forearm 9, joint 10 and pedestal 12, the pedestal 12 is mounted on
21 top of support column, large arm 11 are mounted on pedestal 12, and forearm 9 is mounted on by joint 10 in large arm 11, device for visual identification
9 top of forearm is mounted on picker；The device for visual identification is can identify that the binocular of image and location information is taken the photograph simultaneously
Camera 1.
The moving trolley 5 is the small handcart manually pushed, and small handcart bottom is equipped with the universal wheel with auto-lock function.
As shown in figure 4, the picker is three-jaw device for picking 2, it is described including curved surface pawl 7, sleeve 8 and spring 18
There are three curved surface pawls 7, and three 7 middle parts of curved surface pawl are hinged on 8 top of sleeve by axis pin 20, and curved surface pawl 7 is set far from curved surface one end
The lug boss 17 extended in oriented sleeve 8, the spring 18 are set in sleeve 8, and 18 bottom of spring is fixed on 8 inner wall of sleeve, bullet
The lug boss 17 of three curved surface pawls 7 is withstood at 18 top of spring, is equipped with the sliding block slided up and down in sleeve 8, sliding block passes through steel wire rope 19
The end with the lug boss 17 of each curved surface pawl 7 is connected respectively, and sliding block is driven by actuating device of the linear motion in sleeve 8
Lower movement, by 18 elastic force of spring, three curved surface pawls 7 keep open configuration, are moved downward by sliding block, pull steel wire rope 19,
So that curved surface pawl 7 closes up, fruit work is plucked in completion, and the actuating device of the linear motion can be leading screw and nut mechanism, cylinder machine
Any one in structure and belt dressing, actuating device of the linear motion passes through control system controlled motion.
The mechanical arm 3 can be the Multi-shaft mechanical arms such as two-link robotic manipulator, three shaft mechanical arms, four shaft mechanical arms, described to pluck
Fruit device can be multijaw fruit picking device in the prior art.
Positioning picking in the present invention has the characteristics that intelligent automation, and control system includes computer and microprocessor, work
After personnel press start button, binocular camera 1 starts to acquire fruit image information on book, passes through the computer of control system
It carries out Digital Image Processing and obtains the three-dimensional coordinate of target object, by inverse solution 3 kinematics of mechanical arm of trajectory planning algorithm, calculate
Each steering engine angle, angular speed are converted into the built-in command of PLC controls, are subsequently sent to each steering engine controller, then pass through drive
Movable plate drives each steering engine movement, mechanical arm 3 is made to reach corresponding position, three-jaw device for picking 2 captures apple, picks.
When the full collection frame 6 of apple product, collection frame 6 is replaced by staff, repeats whole process, until the apple in the region
Picking finishes, and staff pushes moving trolley 5 to continue to pick to subsequent region, it is pointed out that the present invention not only can be with
For picking apple, the relatively hard fruits such as picking pear, orange, shaddock, peach tomato are applied also for.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those of ordinary skill in the art are not departing from power of the present invention under the enlightenment of the present invention
Profit is required under protected ambit, can also be made replacement or deformation, be each fallen within protection scope of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (10)
1. a kind of intelligent positioning conveys fruit picking auxiliary machine certainly, it is characterised in that：Including device for visual identification, picker, machinery
Arm, collection device, control system and moving trolley, the device for visual identification and picker are set on the top of mechanical arm end
End, mechanical arm are mounted on above collection device, and collection device is mounted in moving trolley, and the device for visual identification is used to identify
Fruit to be plucked is positioned, the control system is moved according to the information control machinery arm that device for visual identification identifies, passes through mechanical arm
Picker is driven to carry out picking fruit, the fruit that the collection device is picked for the picker at the top of collecting mechanical arm
It is real.
2. intelligent positioning as described in claim 1 conveys fruit picking auxiliary machine certainly, it is characterised in that：The collection device includes taper
Collection bucket and the collection frame below cone-shaped collection bucket, the cone-shaped collection bucket are the soft material system with pooling feature
Into equipped with supporting rack in the middle part of cone-shaped collection bucket, the mechanical arm is by support column mounted on midfoot support frame in cone-shaped collection bucket
On, the outlet at bottom of cone-shaped collection bucket is equipped with the buffer subsystem of undergauge.
3. intelligent positioning as claimed in claim 2 conveys fruit picking auxiliary machine certainly, it is characterised in that：It is equipped in the cone-shaped collection bucket
The minibuffer for being looped around support column surrounding is fluffy.
4. intelligent positioning as claimed in claim 3 conveys fruit picking auxiliary machine certainly, it is characterised in that：The minibuffer is fluffy using soft
Material is made, and support frame as described above surface is made of soft material.
5. intelligent positioning as claimed in claim 3 conveys fruit picking auxiliary machine certainly, it is characterised in that：The mechanical arm include large arm,
Forearm, joint and pedestal, on the support columns, large arm is mounted on pedestal for the pedestal installation, and forearm is mounted on big by joint
On arm, device for visual identification and picker are mounted at the top of forearm.
6. intelligent positioning conveys fruit picking auxiliary machine certainly as described in claim 1-5 any one, it is characterised in that：The vision is known
Other device is the binocular camera that can identify image and location information simultaneously.
7. intelligent positioning conveys fruit picking auxiliary machine certainly as described in claim 1-5 any one, it is characterised in that：The movement is small
Vehicle is the small handcart manually pushed, and small handcart bottom is equipped with the universal wheel with auto-lock function.
8. intelligent positioning conveys fruit picking auxiliary machine certainly as described in claim 1-5 any one, it is characterised in that：It is described to pluck fruit dress
Three-jaw device for picking is set to, including curved surface pawl, sleeve and spring, there are three the curved surface pawls, and three curved surface pawls are hinged on set
Cylinder top, curved surface pawl are equipped with the lug boss extended into sleeve far from curved surface one end, and the spring is set in sleeve, spring bottom
Sleeve inner is fixed on, spring top withstands the lug boss of three curved surface pawls, is equipped with the sliding block slided up and down in sleeve, sliding block leads to
It crosses end of the steel wire rope respectively with the lug boss of each curved surface pawl to be connected, sliding block is driven by actuating device of the linear motion in sleeve
Interior up and down motion, by spring force, three curved surface pawls keep open configuration, are moved downward by sliding block, pull steel wire rope, from
And so that curved surface pawl closes up, fruit work is plucked in completion.
9. intelligent positioning as claimed in claim 8 conveys fruit picking auxiliary machine certainly, it is characterised in that：The actuating device of the linear motion
For any one in leading screw and nut mechanism, cylinder mechanism and belt dressing, the actuating device of the linear motion passes through control
System controlled motion.
10. intelligent positioning as described in claim 1 conveys fruit picking auxiliary machine certainly, it is characterised in that：The mechanical arm can be more
Shaft mechanical arm, the picker can be multijaw fruit picking device in the prior art.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103519.0A CN108207320A (en) | 2018-02-01 | 2018-02-01 | Intelligent positioning conveys fruit picking auxiliary machine certainly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103519.0A CN108207320A (en) | 2018-02-01 | 2018-02-01 | Intelligent positioning conveys fruit picking auxiliary machine certainly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108207320A true CN108207320A (en) | 2018-06-29 |
Family
ID=62670471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810103519.0A Pending CN108207320A (en) | 2018-02-01 | 2018-02-01 | Intelligent positioning conveys fruit picking auxiliary machine certainly |
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| CN (1) | CN108207320A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633472A (en) * | 2018-07-12 | 2018-10-12 | 广东工业大学 | A kind of apple-picking machinery hand |
| CN109258110A (en) * | 2018-11-06 | 2019-01-25 | 天津科技大学 | A kind of controllable type indirect labor fruit-picking machine |
| CN110741808A (en) * | 2019-12-09 | 2020-02-04 | 湖南省农友机械集团有限公司 | Multifunctional transport vehicle |
| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
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| 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 |
| CN203788729U (en) * | 2014-04-17 | 2014-08-27 | 西安工业大学 | Fruit packing manipulator |
| KR20160070409A (en) * | 2014-12-10 | 2016-06-20 | 대한민국(산림청 국립산림과학원장) | Device of collecting tree fruit |
| CN107593113A (en) * | 2017-09-21 | 2018-01-19 | 昆明理工大学 | A kind of intelligent fruit picking robot based on machine vision |
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2018
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| CN2045572U (en) * | 1989-03-03 | 1989-10-11 | 李昌植 | Picking unit for fruits |
| 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 |
| CN203788729U (en) * | 2014-04-17 | 2014-08-27 | 西安工业大学 | Fruit packing manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633472A (en) * | 2018-07-12 | 2018-10-12 | 广东工业大学 | A kind of apple-picking machinery hand |
| CN108633472B (en) * | 2018-07-12 | 2023-07-25 | 广东工业大学 | Apple picking manipulator |
| CN109258110A (en) * | 2018-11-06 | 2019-01-25 | 天津科技大学 | A kind of controllable type indirect labor fruit-picking machine |
| CN110741808A (en) * | 2019-12-09 | 2020-02-04 | 湖南省农友机械集团有限公司 | Multifunctional transport vehicle |
| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
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Application publication date: 20180629 |
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