CN108353622A - A kind of full-automatic pineapple picking method - Google Patents
A kind of full-automatic pineapple picking method Download PDFInfo
- Publication number
- CN108353622A CN108353622A CN201810214537.6A CN201810214537A CN108353622A CN 108353622 A CN108353622 A CN 108353622A CN 201810214537 A CN201810214537 A CN 201810214537A CN 108353622 A CN108353622 A CN 108353622A
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- China
- Prior art keywords
- camera
- turntable
- full
- rack
- stepper motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
Abstract
The invention discloses a kind of full-automatic pineapple picking methods, including car body (28), the car body (28) is equipped with turntable (30), the turntable is equipped with several vacancy (36), pressure sensor (32) is equipped in the vacancy, the turntable (30) is equipped with picking executing agency, the picking executing agency is equipped with control system (1), car body (28) front end is equipped with camera support (27), vision collecting system is equipped with above the camera support, the vision collecting system includes first camera (25) and second camera (26).The holding finger system of the present invention can capture fruit.The mechanical arm may be implemented accurately to capture twisting actions.The fruit placing rotary disk (30) may be implemented separately to store fruit.The vision collecting system can accurately determine fruit position, and can determine whether pineapple is ripe.The present invention can effectively differentiate that maturity, control program are simpler, can be efficiently applied in orchard worker's operation.
Description
Technical field
The present invention relates to fruit to pick field more particularly to a kind of full-automatic pineapple picking method automatically.
Background technology
It is well known that pineapple picking operation is a link most time-consuming, most laborious in pineapple production chain.Pineapple picking is made
Industry seasonality is by force, labor intensity is big, picking environment is hot, high labor cost, and pineapple burr sharply causes in the presence of safe hidden
The problems such as suffering from, pineapple automation picking machine comes into being, but existing automation Patent design has the following problems at present：1.
Fail effectively to carry out maturity judgement, 2. control programs are complicated.Therefore we are there is an urgent need for developing a kind of full-automatic pineapple picking method,
To solve the above problems.
Invention content
It is an object of the invention to propose a kind of full-automatic pineapple picking method, pineapple maturity, control can be effectively differentiated
Scheme is simpler, can be efficiently applied in orchard worker's operation, has good market prospects.
The technical solution adopted in the present invention：A kind of full-automatic pineapple picking method, including car body (28), the car body
(28) it is equipped with turntable (30), the turntable is equipped with several vacancy (36), and pressure sensor (32), institute are equipped in the vacancy
It states turntable (30) and is equipped with picking executing agency, the picking executing agency is equipped with control system (1), before the car body (28)
End is equipped with camera support (27), and vision collecting system is equipped with above the camera support, and the vision collecting system includes first
Camera (25) and second camera (26).
Preferably, the front end of the picking executing agency is equipped with holding finger system, and the holding finger system includes
Holding finger supporting rack (9), the holding finger supporting rack (9) are equipped with clamping stepper motor (21), the clamping stepping electricity
Clamping motor output shaft (22) the connection high polymer cord plate wheel (15) of machine (21), the high polymer cord plate wheel (15) are equipped with
High polymer cord (34), high polymer cord plate wheel (15) front end is equipped with finger base (19), on the finger base (19)
Equipped with middle joint (16), the middle joint (16) is connected with last joint (17), and the end joint (17) is equipped with rubber card slot
(18), the rubber card slot (18) is equipped with rubber, and ultrasonic sensor (8) is additionally provided in the holding finger system.
Preferably, the agent structure of the picking executing agency is mechanical arm, and the mechanical arm includes rack (12), described
Rack (12) lower end is equipped with main shaft rotating stepper motor (33), and lifting stepper motor is equipped at the upper side of the rack (12)
(13) connection elevating lever (11) on the lifting stepper motor (13), the rack (12) are equipped with first support bar (3), institute
It states elevating lever (11) and connects delta link (5) with first support bar (3) upper end, the delta link (5) is even
It is connected to the first protrusive rod (7) and the second protrusive rod (6), is additionally provided between the triangle connecting rod (5) and the rack (12)
Second support bar (10)；The other side is equipped with flexible stepper motor (14), the flexible stepping electricity above the rack (12)
Machine (14) passes through link block before telescopic rod (2) connection expansion link (4).
Preferably, the turntable (30) further includes motor driving rotary system, and the motor drives rotary system by having enough to meet the need
Steering engine (31), the output shaft of the turnover steering engine (31) and the internal tooth (37) of the turntable (30) are connected, the vacancy
(36) it is made of rubber protecting jacket.
Preferably, the vision collecting system further includes image pick-up card and processor.
Preferably, car body (28) both sides are equipped with crawler belt (29).
Preferably, the control system (1) includes controller, image pick-up card, processor, and the controller type is
Microcontroller, PLC program controller or industrial personal computer；Described image capture card is connected with first camera (25) and second camera (26),
The image being collected into gives processor processing, then is made a policy by controller.
Preferably, subjective basis of the car body (28) as machine is the closed shell of steel plate.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention includes holding finger system, mechanical arm, fruit
Placing rotary disk, vision collecting system, car body, crawler belt, control system；The holding finger system can grab fruit
It takes；The mechanical arm may be implemented accurately to capture twisting actions；The fruit placing rotary disk may be implemented to fruit point
Open storage；The vision collecting system can accurately determine fruit position, and can determine whether pineapple is ripe；The car body
Subjective basis as machine；The crawler belt is driven by 4 Athey wheels；The control system can pass through input signal
It carries out decision and exports corresponding motor message；All in all, which can effectively differentiate maturation to the present invention
Degree, control program are simpler, can be efficiently applied in orchard worker's operation.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of the picking executing agency of the present invention；
Fig. 3 is the rearview of the picking executing agency of the present invention；
Fig. 4 is the vertical view of the picking executing agency of the present invention；
Fig. 5 is the complete elongation state figure of picking executing agency of the present invention；
Fig. 6 is that the picking of the present invention executes half elongation state figure of mechanical arm；
Fig. 7 is that the picking of the present invention executes the complete tightening state figure of mechanical arm；
Fig. 8 is the first structure schematic diagram of the end effector mechanism of the present invention；
Fig. 9 is the second structural schematic diagram of the end effector mechanism of the present invention；
Figure 10 is the third structural schematic diagram of the end effector mechanism of the present invention；
Figure 11 is the end effector mechanism finger tightening figure of the present invention；
Figure 12 is that the fruit of the present invention holds the stereogram of turntable；
Figure 13 is that the fruit of the present invention holds the pressure capsule system of turntable；
Figure 14 is that the fruit of the present invention holds the motor driven systems side view of turntable；
Figure 15 is the vision collecting working-flow figure of the present invention.
1. link block, 3. first support bars, 4. telescopic rods, 5. delta links, 6. second before control system, 2. telescopic rods
Protrusive rod, 7. first protrusive rods, 8. ultrasonic sensors, 9. holding finger supporting racks, 10. second support bars, 11. elevating levers,
12. joint, 17. ends in rack, 13. lifting stepper motors, 14. flexible stepper motors, 15. high polymer cord plate wheels, 16.
Joint, 18. rubber card slots, 19. finger bases, 20. holding finger supporting racks, 21. clamping stepper motors, 22. clamping motors are defeated
Shaft, 23. lifting motor output shafts, 24. telescope motor output shafts, 25. first camera, 26. second camera, 27. camera support 28.
29. crawler belt of car body, 30. turntable 31. has enough to meet the need 32. pressure sensor of steering engine, 33. main shaft rotating stepper motor, 34. high polymer cord 35.
36. vacancy of nitrile rubber layer, 37. internal tooth.
Specific implementation mode
The technical solution further illustrated the present invention with reference to specific embodiment.
As shown in figures 1-15, a kind of full-automatic pineapple picking method, including car body (28), the car body (28) are equipped with
Turntable (30), the turntable are equipped with several vacancy (36), and pressure sensor (32), the turntable (30) are equipped in the vacancy
It is equipped with picking executing agency, the picking executing agency is equipped with control system (1), and car body (28) front end is equipped with camera
Holder (27), is equipped with vision collecting system above the camera support, the vision collecting system include first camera (25) and
Second camera (26).
Further, the front end of the picking executing agency is equipped with holding finger system, the holding finger system packet
Holding finger supporting rack (9) is included, the holding finger supporting rack (9) is equipped with clamping stepper motor (21), the clamping stepping
The clamping motor output shaft (22) of motor (21) connects high polymer cord plate wheel (15), is set on the high polymer cord plate wheel (15)
There are high polymer cord (34), high polymer cord plate wheel (15) front end to be equipped with finger base (19), the finger base (19)
It is equipped with middle joint (16), the middle joint (16) is connected with last joint (17), and the end joint (17) is equipped with rubber card slot
(18), the rubber card slot (18) is equipped with rubber, and ultrasonic sensor (8) is additionally provided in the holding finger system.In addition,
The crawl realized to pineapple, rubber can effectively protect fruit can be coordinated by finger after receiving the signal of control system (1)
It is not pinched.
Further, the agent structure of the picking executing agency is mechanical arm, and the mechanical arm includes rack (12), institute
It states rack (12) lower end and is equipped with main shaft rotating stepper motor (33), lifting stepper motor is equipped at the upper side of the rack (12)
(13) connection elevating lever (11) on the lifting stepper motor (13), the rack (12) are equipped with first support bar (3), institute
It states elevating lever (11) and connects delta link (5) with first support bar (3) upper end, the delta link (5) is even
It is connected to the first protrusive rod (7) and the second protrusive rod (6), is additionally provided between the triangle connecting rod (5) and the rack (12)
Second support bar (10)；The other side is equipped with flexible stepper motor (14), the flexible stepping electricity above the rack (12)
Machine (14) passes through link block before telescopic rod (2) connection expansion link (4).Mechanical arm can accurately imitate when human hand plucks fruit ancon lifting,
The elemental motions such as ancon reduces, stretches out one's hand, drawing back one's hand, finger tightening, finger open are realized and twist off action to what pineapple obstruct and carry and move
Make.
Further, the turntable (30) further includes motor driving rotary system, and pressure capsule system is turned by being built in
Whether there is or not pineapple to fall for the pressure sensor senses of disk.Pressure sensor can be caused to squeeze when pineapple falls so that pressure
Sensor has certain pressure value, and then the numerical value of pressure sensor passes control system back, therefore control system learns that whether there is or not spinach
Trailing plants falls, and then controls motor driven systems.The motor drives rotary system by turnover steering engine (31), the turnover
The output shaft of steering engine (31) is connected with the internal tooth (37) of the turntable (30), and the vacancy (36) is by rubber protecting jacket group
At.It is engaged with the accurate of edge in turntable by motor output shaft gear, by the rotation for being changed into turntable of output shaft, rubber
Protective case can realize lossless soft protection to the pineapple of whereabouts.
Further, the vision collecting system further includes image pick-up card and processor.First camera passes through bat
The picture taken the photograph is directly sent to the image pick-up card in control system, then carries out gray proces, Threshold segmentation, region by processor
Reason, central point extraction, determine fruit center, and yellow band optical filter, which is added, before second camera camera lens filters, the figure of acquisition
Piece also passes through image pick-up card and reaches processor, and the two cooperation can accurately determine yellow mature pineapples position, realize
Filtering to the cyan fruit of non-maturation.
Preferably, car body (28) both sides are equipped with crawler belt (29)；The control system (1) includes controller, image
Capture card, processor, the controller type are microcontroller, PLC program controller or industrial personal computer；Described image capture card and
One camera (25) is connected with second camera (26), and the image being collected into gives processor processing, then is made a policy by controller；Institute
Subjective basis of the car body (28) as machine is stated, is the closed shell of steel plate.
Each section of the present invention is illustrated further below.
Referring to Fig. 1-7：The mechanical arm of patent of the present invention includes main shaft rotating stepper motor (33), rack (12), lifting use
Stepper motor (13), elevating lever (11), first support bar (3), delta link (5), the first protrusive rod (7), flexible stepping
Link block (2), telescopic rod (4), second support bar (10), the second protrusive rod (6), lifting motor are defeated before motor (14), telescopic rod
Shaft (23), telescope motor output shaft (24).Main shaft rotating stepper motor (33) is connect with rack (12) by spline, and control is whole
A mechanical arm makees the rotary motion of certain angle around axle center.Rack (12) is the support base of entire picking mechanism.Lifting motor
Output shaft (23) is connect with elevating lever (11) one end by spline, and driving elevating lever (11) is around lifting motor output shaft (23) axle center
It rotates within a certain angle.Elevating lever (11) is connect with lifting with stepper motor (13) by spline, and movement is around lifting electricity
Machine output shaft (23) axle center rotates within a certain angle, to drive entire mechanical arm oscilaltion to act.First support bar (3)
One end is hinged with delta link (5), and the other end is hinged with rack (12), and the two can be rotated mutually within a certain angle, to whole
The oscilaltion campaign of a mechanical arm plays support booster action.There are three fraisings on delta link (5), with first support bar
(3), elevating lever (11) and the first protrusive rod (7) are hinged, are used as intermediate transmission.First protrusive rod (7) one end connects with triangle
Bar (5) is hinged, and the other end is hinged with holding finger supporting rack (9), and auxiliary completes entire mechanical arm oscilaltion campaign.Flexible electricity
Machine output shaft (24) is connect with link block before telescopic rod (2) by spline, and link block (2) is around telescope motor output shaft before telescopic rod
(24) axle center rotates within a certain angle.There are two holes, a hole to be exported with telescope motor on link block (2) before the telescopic rod
For axis (24) by spline fitted, another hole is hinged with telescopic rod (4), plays intermediate transmission.Connect before telescopic rod (4) and telescopic rod
It is hinged to connect block (2), the two can make mutually rotation in certain angle, to drive the elastic action of entire mechanical arm.Second
Strut (10) is hinged with the second protrusive rod (6), and the two can be rotated mutually within a certain angle, to the elastic of entire mechanical arm
Support booster action is moved.There are three fraisings on second protrusive rod (6), with telescopic rod (4), second support bar (10), clamping
Finger supporting rack (20) is hinged, and auxiliary completes the entire elastic movement of mechanical arm.
Referring to Fig. 8-9：The holding finger system of patent of the present invention includes holding finger supporting rack (20), clamping stepper motor
(21), clamping motor output shaft (22), high polymer cord plate wheel (15), finger base (19), middle joint (16), last joint
(17), there are two hinges for rubber card slot (18), high polymer cord (34), ultrasonic sensor (8), holding finger supporting rack (20)
It is hinged at hole, with the first protrusive rod (7), the second protrusive rod (6) two, plays a supportive role in holding finger system.
Clamping stepper motor (21) is fixed on holding finger supporting rack (20), clamping motor output shaft (22) and high polymer
Cord plate wheel (15) drives its rotation by spline fitted.High polymer cord plate wheel (15) fastens phase with high polymer cord (34)
Even, serve and turn around cord.
The finger base is fixed on holding finger supporting rack (20), and hinged with middle joint (16).Middle joint
(16) one end and finger base (19) are hinged, and the other end and last joint (17) are hinged, play the work that cooperation is unclamped and tightening acts
With one layer of nitrile rubber layer (35) of installation, shields to fruit thereon.Last joint (17) is hinged with middle joint (16), end
It is fastened with high polymer cord (34) one end on joint (17), one layer of nitrile rubber layer (35) is also installed thereon.Rubber card slot (18)
For T-type linear array shape, can be interference fitted with rubber.Described high polymer cord (34) one end is fastened with last joint (17), is led to
Middle joint (16) upper channel is crossed, the other end is fastened with high polymer cord plate wheel (15), plays a part of that finger is driven to unclamp or tighten.
The ultrasonic sensor (8) is converted into electric signal Real-time Feedback to control for measuring the finger centre of the palm at a distance from fruit
System processed.
View directions as described below are for the visual angles Fig. 1, i.e., observer is located at lifting stepping electricity unless otherwise specified
Machine (13) is on one side.
Referring to Fig. 2-4：The lifting of patent of the present invention receives the direct impulse from control system (1) with stepper motor (13)
Signal and act, by lifting motor output shaft (23) drive elevating lever (11) it is clockwise around lifting motor output shaft (23) axle center
It turns an angle, first support bar (3) also rotates clockwise certain angle under the involving of delta link (5) around rack (12)
Degree, delta link (5) also rotate clockwise certain angle around rack (12), to which the first protrusive rod (7) affects holding finger
Supporting rack (20) promotes certain altitude, and the function and effect of above-mentioned each component are that holding finger supporting rack (20) is made to promote certain height
Degree, therefore it is defined as enhancing action process (enhancing action of similar human elbow).Conversely, as lifting is connect with stepper motor (13)
It receives the reverse impulse signal from control system (1) and acts, then above-mentioned action is on the contrary, function and effect are that holding finger is made to support
Frame (20) reduces certain altitude, is defined as reducing action process (reduction for being similar to human elbow acts).
Referring to Fig. 2-4：The flexible of patent of the present invention receives the direct impulse from control system (1) with stepper motor (14)
Signal and act, by telescope motor output shaft (24) drive telescopic rod before link block (2) around telescope motor output shaft (24) axis
Hour hands of being in a good mood turn an angle, and telescopic rod (4) also acts therewith, make the second protrusive rod under second support bar (10) cooperation
(6) certain angle is rotated clockwise around rack (12), to which the second protrusive rod (6) affects holding finger supporting rack (20) retraction one
Set a distance, the function and effect of above-mentioned each component are to make holding finger supporting rack (20) retraction certain distance, therefore it is dynamic to be defined as retraction
Make process (similar to the action of drawing back one's hand of human body).Conversely, coming from the anti-of control system (1) as flexible stepper motor (14) receives
It is acted to pulse signal, then above-mentioned action is on the contrary, function and effect are determined to make holding finger supporting rack (20) extension certain distance
Justice is extension action process (stretching out one's hand action similar to human body).
Referring to Fig. 8-11：The clamping stepper motor (21) of patent of the present invention receives the direct impulse from control system (1)
Signal and act, by be clamped motor output shaft (22) drive high polymer cord plate wheel (15) around clamping motor output shaft (22) axis
Hour hands of being in a good mood turn an angle (by taking the visual angles Fig. 8 as an example), increase tightly around 4 high polymer cord (34) twining amounts thereon, 4
The last joint (17) of 4 of root high polymer cord (34) other end is drawn close under traction to the centre of the palm, and 4 middle joints (16) are matched
Generate Figure 11 finger tightenings action.Conversely, as clamping stepper motor (21) receives the reverse impulse signal from control system (1)
And act, then above-mentioned action is on the contrary, function and effect are Fig. 8 finger expansion actions.
Referring to Fig. 2-11：Patent molar behavior process of the present invention is：Mechanical arm initial actuating is the complete tightening states of Fig. 7,
When control system (1) sends out crawl signal, lifting stepper motor (13) receives reverse impulse signal and acts, mechanical arm hair
Raw to reduce action process, mechanical arm state is half elongation states of Fig. 6 at this time, and flexible stepper motor (14) receives reverse impulse letter
Number and act, extension action occurs for mechanical arm, and mechanical arm state is the complete elongation states of Fig. 5 at this time, and the above action process is when super
When sonic sensor (8) is measured with fruit distance less than a certain threshold value, control system stops signal in sending out, and then stepping electricity is clamped
Machine (21) receives direct impulse signal and acts, and Figure 11 tightenings action occurs for holding finger, and after firmly capturing fruit, stepping is clamped
Motor (21) stalls but certain torque is maintained to export, and lifting is locked with stepper motor (13), and flexible stepper motor (14) receives
Instantaneous direct impulse signal and act, instantaneous retraction action occurs for mechanical arm, this process function and effect, that is, fruit stalk portion is turned round
Disconnected (similar human hand catches rotation twisting actions of the fruit centered on stalk portion), lifting stepper motor (13) is unlocked and is connect later
It receives direct impulse signal and acts, enhancing action process occurs for mechanical arm, and mechanical arm state returns to half elongation states of Fig. 6 at this time,
Flexible stepper motor (14) receives direct impulse signal and acts, and retraction action occurs for mechanical arm, and mechanical arm state is returned at this time
The complete tightening states of Fig. 7 are returned, clamping stepper motor (21) receives reverse impulse signal and acts, and Fig. 8 openings occur for holding finger
Action is unclamped fruit and is fallen into turntable (30) vacancy, and one time grasping movement is completed.
Referring to Fig. 1, Figure 12, Figure 13 and Figure 14：The pressure capsule system of patent of the present invention falls to turntable by pineapple
(30) on vacancy, and then it is expressed to pressure sensor (32), it is made to have certain pressure value, then the number of pressure sensor (32)
Value passes control system (1) back, control system (1) therefore has learnt that pineapple falls, and then exports pwm pulse and give turnover steering engine
(31), the interior tooth engagement of the external tooth and turntable (30) of turnover steering engine (31) output shaft drives the rotation of turntable (30), preparation to connect down
Carry out the acquisition of pineapple.For the mechanism integrated installation on car body (28), turntable (30) and main shaft rotating stepper motor (33) are concentric.
Referring to Fig. 1 and Figure 15：The vision collecting system of the patent of invention includes by camera support (27), first camera
(25), second camera (26), the image pick-up card in control system (1) and processor composition.Camera support (27) one end is fixed
In on car body (28), the other end is a rotatable support quarter butt, support quarter butt both ends be respectively fixedly connected first camera (25) and
Second camera (26) ensures the synchronism of two camera shooting pictures.The image 1 of first camera (25) shooting is directly sent to control
Image pick-up card in system, then gray proces, Threshold segmentation, regional processing, central point are carried out by processor and extracted, determine fruit
Yellow band optical filter is added before second camera (26) camera lens and filters for real center, and the image 2 of acquisition also passes through image
Capture card reaches processor, and processor compares image 1 and image 2, if yellow area occurs in image 2, image 2 is taken to go out
Now maximum yellow continuum, further discriminated whether to occur " fruit eye " feature on pineapple peel by image 1, if
Then being positioned, rear controller sends out signal and carries out approach gripping, if otherwise controller control shooting quarter butt continues to rotate, crawler belt
Turbin generator remains in operation, until features described above occurs in image 2.
For those skilled in the art, technical solution that can be as described above and design are made other each
Kind is corresponding to be changed and deforms, and all these change and deform the protection model that should all belong to the claims in the present invention
Within enclosing.
Claims (8)
1. a kind of full-automatic pineapple picking method, it is characterised in that：Including car body (28), the car body (28) is equipped with turntable
(30), the turntable is equipped with several vacancy (36), and pressure sensor (32) is equipped in the vacancy, is set on the turntable (30)
There are picking executing agency, the picking executing agency to be equipped with control system (1), car body (28) front end is equipped with camera support
(27), it is equipped with vision collecting system above the camera support, the vision collecting system includes first camera (25) and second
Camera (26).
2. a kind of full-automatic pineapple picking method according to claim 1, it is characterised in that：The picking executing agency
Front end is equipped with holding finger system, and the holding finger system includes holding finger supporting rack (9), the holding finger support
Frame (9) is equipped with clamping stepper motor (21), and clamping motor output shaft (22) connection of the clamping stepper motor (21) is high poly-
Object cord plate wheel (15), the high polymer cord plate wheel (15) are equipped with high polymer cord (34), the high polymer cord plate wheel
(15) front end is equipped with finger base (19), and the finger base (19) is equipped with middle joint (16), middle joint (16) connection
There are last joint (17), the end joint (17) to be equipped with rubber card slot (18), the rubber card slot (18) is equipped with rubber, described
Ultrasonic sensor (8) is additionally provided in holding finger system.
3. a kind of full-automatic pineapple picking method according to claim 1, it is characterised in that：The picking executing agency
Agent structure is mechanical arm, and the mechanical arm includes rack (12), and rack (12) lower end is equipped with main shaft rotating stepper motor
(33), lifting is equipped at the upper side of the rack (12) to be risen with connection on stepper motor (13) the lifting stepper motor (13)
Bar (11) drops, and the rack (12) is equipped with first support bar (3), the elevating lever (11) and the first support bar
(3) upper end connection delta link (5), the delta link (5) are connected with the first protrusive rod (7) and the second protrusive rod (6),
Second support bar (10) is additionally provided between the triangle connecting rod (5) and the rack (12)；It is another above the rack (12)
Side is equipped with flexible stepper motor (14), and flexible connected by link block before telescopic rod (2) with stepper motor (14) is stretched
Contracting bar (4).
4. a kind of full-automatic pineapple picking method according to claim 1, it is characterised in that：The turntable (30) further includes
Motor drives rotary system, and the motor driving rotary system is by turnover steering engine (31), the output shaft of the turnover steering engine (31)
It is connected with the internal tooth (37) of the turntable (30), the vacancy (36) is made of rubber protecting jacket.
5. a kind of full-automatic pineapple picking method according to claim 1, it is characterised in that：Vision collecting system
System further includes image pick-up card and processor.
6. a kind of full-automatic pineapple picking method according to claim 1, it is characterised in that：Car body (28) both sides are set
There is crawler belt (29).
7. a kind of full-automatic pineapple picking method according to claim 1, it is characterised in that：The control system (1)
Including controller, image pick-up card, processor, the controller type is microcontroller, PLC program controller or industrial personal computer；Institute
Image pick-up card to be stated with first camera (25) and second camera (26) to be connected, the image being collected into is given processor and is handled, then by
Controller makes a policy.
8. a kind of full-automatic pineapple picking method according to claim 1, it is characterised in that：The car body (28) is used as machine
The subjective basis of device is the closed shell of steel plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214537.6A CN108353622B (en) | 2018-03-15 | 2018-03-15 | Full-automatic pineapple picking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214537.6A CN108353622B (en) | 2018-03-15 | 2018-03-15 | Full-automatic pineapple picking method |
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| CN108353622A true CN108353622A (en) | 2018-08-03 |
| CN108353622B CN108353622B (en) | 2023-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810214537.6A Active CN108353622B (en) | 2018-03-15 | 2018-03-15 | Full-automatic pineapple picking method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110298885A (en) * | 2019-06-18 | 2019-10-01 | 仲恺农业工程学院 | A kind of stereoscopic vision recognition methods of Non-smooth surface globoid target and positioning clamping detection device and its application |
| CN110352702A (en) * | 2019-07-31 | 2019-10-22 | 江苏大学 | A kind of pineapple harvesting robot system and implementation method |
| CN111149513A (en) * | 2020-02-27 | 2020-05-15 | 中卫市阳光沐场农牧有限公司 | Honeysuckle harvester |
| CN113366973A (en) * | 2021-07-13 | 2021-09-10 | 华南农业大学 | Automatic pineapple picking robot capable of keeping fruit buds and application thereof |
| CN114872007A (en) * | 2022-04-13 | 2022-08-09 | 仲恺农业工程学院 | Pineapple picking robot based on binocular vision |
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