CN108353622B - Full-automatic pineapple picking method - Google Patents
Full-automatic pineapple picking method Download PDFInfo
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- CN108353622B CN108353622B CN201810214537.6A CN201810214537A CN108353622B CN 108353622 B CN108353622 B CN 108353622B CN 201810214537 A CN201810214537 A CN 201810214537A CN 108353622 B CN108353622 B CN 108353622B
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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
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Abstract
The invention discloses a full-automatic pineapple picking method, which comprises a vehicle body (28), wherein a turntable (30) is arranged on the vehicle body (28), a plurality of gaps (36) are formed in the turntable, a pressure sensor (32) is arranged in the gaps, a picking executing mechanism is arranged on the turntable (30), a control system (1) is arranged on the picking executing mechanism, a camera support (27) is arranged at the front end of the vehicle body (28), a vision acquisition system is arranged above the camera support, and the vision acquisition system comprises a first camera (25) and a second camera (26). The finger clamping system can be used for grabbing fruits. The mechanical arm can realize accurate grabbing and twisting actions. The fruit placing turntable (30) can realize separate storage of fruits. The vision acquisition system can accurately determine the fruit position and judge whether the pineapple is ripe or not. The invention can effectively judge the maturity, has simpler control scheme and can be effectively applied to fruit growers.
Description
Technical Field
The invention relates to the field of automatic fruit picking, in particular to a full-automatic pineapple picking method.
Background
It is well known that pineapple picking is one of the most time consuming and laborious links in the pineapple production chain. The pineapple picking operation has strong seasonality, high labor intensity, hot picking environment and high labor cost, and the pineapple burrs are sharp to cause the problems of potential safety hazards and the like, so that an automatic pineapple picking machine is generated, but the existing automatic patent design has the following problems: 1. and 2, the maturity judgment can not be effectively carried out, and the control scheme is complex. Therefore, there is a need to develop a fully automatic pineapple picking method to solve the above problems.
Disclosure of Invention
The invention aims to provide a full-automatic pineapple picking method which can effectively judge the maturity of pineapples, has a simple control scheme, can be effectively applied to fruit growers and has good market prospect.
The invention adopts the technical scheme that: the utility model provides a full-automatic pineapple picking method, includes automobile body (28), be equipped with carousel (30) on automobile body (28), be equipped with a plurality of vacancies (36) on the carousel, be equipped with pressure sensor (32) in the vacancy, be equipped with on carousel (30) and pick actuating mechanism, be equipped with control system (1) on the picking actuating mechanism, automobile body (28) front end is equipped with camera support (27), camera support top is equipped with vision acquisition system, vision acquisition system includes first camera (25) and second camera (26).
Preferably, the front end part of the picking executing mechanism is provided with a clamping finger system, the clamping finger system comprises a clamping finger support frame (9), a clamping stepping motor (21) is arranged on the clamping finger support frame (9), a clamping motor output shaft (22) of the clamping stepping motor (21) is connected with a high polymer wire rope reel (15), a high polymer wire rope (34) is arranged on the high polymer wire rope reel (15), a finger base (19) is arranged at the front end of the high polymer wire rope reel (15), a middle joint (16) is arranged on the finger base (19), a tail joint (17) is connected with the middle joint (16), a rubber clamping groove (18) is formed in the tail joint (17), rubber is arranged on the rubber clamping groove (18), and an ultrasonic sensor (8) is further arranged on the clamping finger system.
Preferably, the main body structure of the picking executing mechanism is a mechanical arm, the mechanical arm comprises a frame (12), a main shaft rotating stepping motor (33) is arranged at the lower end of the frame (12), a lifting stepping motor (13) is arranged at one side above the frame (12), a lifting rod (11) is connected to the lifting stepping motor (13), a first supporting rod (3) is arranged on the frame (12), the lifting rod (11) and the upper end of the first supporting rod (3) are connected with a triangular connecting rod (5), the triangular connecting rod (5) is connected with a first front extending rod (7) and a second front extending rod (6), and a second supporting rod (10) is further arranged between the triangular connecting rod (5) and the frame (12); the telescopic stepping motor (14) is arranged on the other side above the frame (12), and the telescopic stepping motor (14) is connected with the telescopic rod (4) through the telescopic rod front connecting block (2).
Preferably, the turntable (30) further comprises a motor-driven rotating system, the motor-driven rotating system is formed by matching and connecting an output shaft of the turnover steering engine (31) with internal teeth (37) of the turntable (30), and the empty space (36) is formed by a rubber protective sleeve.
Preferably, the vision acquisition system further comprises an image acquisition card and a processor.
Preferably, the two sides of the vehicle body (28) are provided with tracks (29).
Preferably, the control system (1) comprises a controller, an image acquisition card and a processor, wherein the controller is a singlechip, a PLC (programmable logic controller) or an industrial personal computer; the image acquisition card is connected with the first camera (25) and the second camera (26), and the collected images are processed by the processor and then are decided by the controller.
Preferably, the vehicle body (28) is a shell closed by a thick steel plate as a main body foundation of the machine.
Compared with the prior art, the invention has the beneficial effects that: the invention comprises a finger clamping system, a mechanical arm, a fruit placing turntable, a vision acquisition system, a vehicle body, a crawler belt and a control system; the finger clamping system can be used for grabbing fruits; the mechanical arm can realize accurate grabbing and twisting actions; the fruit placing turntable can realize separate storage of fruits; the vision acquisition system can accurately determine the fruit position and judge whether the pineapple is ripe or not; the vehicle body is used as a main body foundation of the machine; the crawler belt is driven by 4 crawler wheels; the control system can make a decision through the input signal to output a corresponding motion signal; in general, the full-automatic pineapple picking machine can effectively judge the maturity, has a simpler control scheme and can be effectively applied to fruit growers.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of a picking actuator of the present invention;
FIG. 3 is a rear view of the picking actuator of the present invention;
FIG. 4 is a top view of the picking actuator of the present invention;
FIG. 5 is a fully extended view of the picking actuator of the present invention;
FIG. 6 is a semi-extended state diagram of the picking performing robot of the present invention;
FIG. 7 is a fully contracted state of the picking performing robot of the present invention;
FIG. 8 is a first schematic structural view of an end effector of the present invention;
FIG. 9 is a second schematic structural view of an end effector of the present invention;
FIG. 10 is a third schematic view of an end effector of the present invention;
FIG. 11 is a finger tight view of an end effector of the present invention;
FIG. 12 is a perspective view of the fruit holding carousel of the present invention;
FIG. 13 is a pressure sensing system of the fruit holding carousel of the present invention;
FIG. 14 is a side view of the motor drive system of the fruit containing turntable of the present invention;
fig. 15 is a flowchart of the vision acquisition system of the present invention.
1. A control system, 2, a telescopic rod front connecting block, 3, a first support rod, 4, a telescopic rod, 5, a triangle connecting rod, 6, a second front extension rod, 7, a first front extension rod, 8, an ultrasonic sensor, 9, a clamping finger support frame, 10, a second support rod, 11, a lifting rod, 12, a stand, 13, a lifting stepping motor, 14, a telescopic stepping motor, 15, a high polymer wire rope reel, 16, a middle joint, 17, a last joint, 18, a rubber clamping groove, 19, a finger base, 20, a clamping finger support frame, 21, a clamping stepping motor, 22, a clamping motor output shaft, 23, a lifting motor output shaft, 24, a telescopic motor output shaft, 25, a first camera 26, a second camera 27, a camera support 28, a vehicle body 29, a track 30, a turntable 31, a turnover steering engine 32, a pressure sensor, a main shaft rotary stepping motor 34, a high polymer wire rope 35, a nitrile rubber layer 36, and internal teeth.
Detailed Description
The technical scheme of the invention is further described below with reference to specific embodiments.
As shown in fig. 1-15, there is a full-automatic pineapple picking method, which comprises a vehicle body (28), wherein a turntable (30) is arranged on the vehicle body (28), a plurality of gaps (36) are formed in the turntable, a pressure sensor (32) is arranged in the gaps, a picking executing mechanism is arranged on the turntable (30), a control system (1) is arranged on the picking executing mechanism, a camera support (27) is arranged at the front end of the vehicle body (28), a vision acquisition system is arranged above the camera support, and the vision acquisition system comprises a first camera (25) and a second camera (26).
Further, the front end part of the picking executing mechanism is provided with a clamping finger system, the clamping finger system comprises a clamping finger support frame (9), a clamping stepping motor (21) is arranged on the clamping finger support frame (9), a clamping motor output shaft (22) of the clamping stepping motor (21) is connected with a high polymer wire rope reel (15), a high polymer wire rope (34) is arranged on the high polymer wire rope reel (15), a finger base (19) is arranged at the front end of the high polymer wire rope reel (15), a middle joint (16) is arranged on the finger base (19), a tail joint (17) is connected with the middle joint (16), a rubber clamping groove (18) is formed in the tail joint (17), rubber is arranged on the rubber clamping groove (18), and an ultrasonic sensor (8) is further arranged on the clamping finger system. In addition, after receiving the signal of the control system (1), the pineapple can be grabbed by the cooperation of fingers, and the rubber can effectively protect fruits from being scratched.
Further, the main body structure of the picking executing mechanism is a mechanical arm, the mechanical arm comprises a frame (12), a main shaft rotating stepping motor (33) is arranged at the lower end of the frame (12), a lifting stepping motor (13) is arranged on one side above the frame (12), a lifting rod (11) is connected to the lifting stepping motor (13), a first supporting rod (3) is arranged on the frame (12), the lifting rod (11) and the upper end of the first supporting rod (3) are connected with a triangular connecting rod (5), the triangular connecting rod (5) is connected with a first front extending rod (7) and a second front extending rod (6), and a second supporting rod (10) is further arranged between the triangular connecting rod (5) and the frame (12); the telescopic stepping motor (14) is arranged on the other side above the frame (12), and the telescopic stepping motor (14) is connected with the telescopic rod (4) through the telescopic rod front connecting block (2). The mechanical arm can accurately simulate basic actions such as elbow lifting, elbow lowering, hand stretching, hand shrinking, finger tightening, finger opening and the like when a person picks fruits, and realizes twisting-off action and carrying action on pineapple stems.
Further, the turntable (30) further comprises a motor-driven rotating system, and the pressure sensing system senses whether pineapple falls down or not through a pressure sensor built in the turntable. When the pineapple falls down, the pressure sensor is extruded, so that the pressure sensor has a certain pressure value, and then the value of the pressure sensor is transmitted back to the control system, so that the control system knows whether the pineapple falls down or not, and further controls the motor driving system. The motor-driven rotating system is formed by matching and connecting an output shaft of the turnover steering engine (31) with internal teeth (37) of the turntable (30), and the empty space (36) is formed by a rubber protective sleeve. Through the accurate meshing of motor output shaft gear and carousel inner edge, turn into the rotation of carousel with the rotation of output shaft, the soft protection of no harm can be realized to the pineapple of whereabouts to the rubber protective sheath.
Further, the vision acquisition system further comprises an image acquisition card and a processor. The first camera directly sends the shot pictures to an image acquisition card in the control system, then the processor carries out gray level processing, threshold segmentation, area processing and central point extraction to determine the central position of the fruit, a yellow band filter is added in front of the second camera lens for filtering, the acquired pictures also reach the processor through the image acquisition card, and the positions of yellow mature pineapples can be accurately determined by matching the two images, so that the filtering of immature cyan fruits is realized.
Preferably, the two sides of the vehicle body (28) are provided with tracks (29); the control system (1) comprises a controller, an image acquisition card and a processor, wherein the controller is a singlechip, a PLC or an industrial personal computer; the image acquisition card is connected with the first camera (25) and the second camera (26), the collected images are processed by the processor, and then the controller makes a decision; the vehicle body (28) is a shell which is closed by a thick steel plate and is used as a main body foundation of the machine.
The present invention will be further described in the following sections.
See fig. 1-7: the mechanical arm comprises a main shaft rotating stepping motor (33), a frame (12), a lifting stepping motor (13), a lifting rod (11), a first supporting rod (3), a triangular connecting rod (5), a first front extending rod (7), a telescopic stepping motor (14), a telescopic rod front connecting block (2), a telescopic rod (4), a second supporting rod (10), a second front extending rod (6), a lifting motor output shaft (23) and a telescopic motor output shaft (24). The main shaft rotating stepping motor (33) is connected with the frame (12) through a spline, and controls the whole mechanical arm to do a certain angle of rotating motion around the axis. The frame (12) is a supporting base of the whole picking mechanism. The lifting motor output shaft (23) is connected with one end of the lifting rod (11) through a spline, and the lifting rod (11) is driven to rotate around the axis of the lifting motor output shaft (23) within a certain angle. The lifting rod (11) is connected with the stepping motor (13) for lifting through a spline, and moves to rotate around the axis of the output shaft (23) of the lifting motor in a certain angle, so that the whole mechanical arm is driven to lift up and down. One end of the first supporting rod (3) is hinged with the triangular connecting rod (5), the other end of the first supporting rod is hinged with the frame (12), the first supporting rod and the frame can rotate in a certain angle, and the supporting auxiliary effect is achieved on the up-and-down lifting motion of the whole mechanical arm. The triangular connecting rod (5) is provided with three hinge holes which are hinged with the first supporting rod (3), the lifting rod (11) and the first front extending rod (7) for middle transmission. One end of the first front extending rod (7) is hinged with the triangular connecting rod (5), and the other end of the first front extending rod is hinged with the clamping finger supporting frame (9) to assist in completing the up-and-down lifting motion of the whole mechanical arm. The telescopic motor output shaft (24) is connected with the telescopic rod front connecting block (2) through a spline, and the telescopic rod front connecting block (2) rotates around the axis of the telescopic motor output shaft (24) in a certain angle. The telescopic rod front connecting block (2) is provided with two holes, one hole is matched with an output shaft (24) of the telescopic motor through a spline, and the other hole is hinged with the telescopic rod (4) to play a role in middle transmission. The telescopic rod (4) is hinged with the front connecting block (2) of the telescopic rod, and the telescopic rod and the front connecting block can mutually rotate at a certain angle, so that the whole mechanical arm is driven to stretch back and forth. The second supporting rod (10) is hinged with the second front extending rod (6), and the second supporting rod and the second front extending rod can rotate in a certain angle, so that the supporting auxiliary effect on the front-back telescopic movement of the whole mechanical arm is realized. The second front extension rod (6) is provided with three hinge holes which are hinged with the telescopic rod (4), the second support rod (10) and the clamping finger support frame (20) to assist in completing the front-back telescopic movement of the whole mechanical arm.
See fig. 8-9: the finger clamping system comprises a finger clamping support frame (20), a clamping stepping motor (21), a clamping motor output shaft (22), a high polymer wire rope reel (15), a finger base (19), a middle joint (16), a tail joint (17), a rubber clamping groove (18), a high polymer wire rope (34), an ultrasonic sensor (8) and the finger clamping support frame (20), wherein two hinge holes are formed in the two parts of the finger clamping support frame, and the two hinge holes are hinged with a first front extension rod (7) and a second front extension rod (6) to play a supporting role in the finger clamping system.
The clamping stepping motor (21) is fixed on the clamping finger support frame (20), and an output shaft (22) of the clamping motor is matched with the high polymer wire rope reel (15) through a spline to drive the high polymer wire rope reel to rotate. The high polymer wire rope reel (15) is fixedly connected with the high polymer wire rope (34) and plays a role of rotating the wire rope.
The finger base is fixed on the finger clamping support frame (20) and hinged with the middle joint (16). One end of the middle joint (16) is hinged with the finger base (19), and the other end is hinged with the end joint (17) to play a role in cooperation with loosening and tightening actions, and a layer of nitrile rubber layer (35) is arranged on the middle joint to protect fruits. The tail joint (17) is hinged with the middle joint (16), one end of the tail joint (17) is fastened with one end of a high polymer wire rope (34), and a nitrile rubber layer (35) is also arranged on the tail joint. The rubber clamping groove (18) is in a T-shaped linear array shape and can be in interference fit with rubber. One end of the high polymer wire rope (34) is fastened with the end joint (17), passes through the upper channel of the middle joint (16), and the other end of the high polymer wire rope is fastened with the high polymer wire rope reel (15), so that the effect of driving the fingers to loosen or tighten is achieved. The ultrasonic sensor (8) is used for measuring the distance between the palm center of the finger and the fruit, converting the distance into an electric signal and feeding the electric signal back to the control system in real time.
The view directions described below are all the view directions of fig. 1, and the observer is located on the side of the elevating stepping motor (13), unless otherwise specified.
See fig. 2-4: according to the invention, the lifting stepping motor (13) receives a forward pulse signal from the control system (1) to act, the lifting motor output shaft (23) drives the lifting rod (11) to rotate clockwise around the axis of the lifting motor output shaft (23) by a certain angle, the first support rod (3) also rotates clockwise around the frame (12) by a certain angle under the traction of the triangular connecting rod (5), and the triangular connecting rod (5) also rotates clockwise around the frame (12) by a certain angle, so that the first front extending rod (7) drives the clamping finger support frame (20) to lift by a certain height, and the effect of the components is that the clamping finger support frame (20) is lifted by a certain height, so that the lifting action process (similar to the lifting action of human elbow joints) is defined. Conversely, if the lifting stepping motor (13) receives a reverse pulse signal from the control system (1) and acts, the above actions are opposite, and the action effect is to lower the clamping finger support frame (20) by a certain height, which is defined as a lowering action process (similar to the lowering action of human elbow joint).
See fig. 2-4: the telescopic stepping motor (14) receives a forward pulse signal from the control system (1) to act, the telescopic motor output shaft (24) drives the telescopic rod front connecting block (2) to rotate clockwise around the axis of the telescopic motor output shaft (24) by a certain angle, the telescopic rod (4) also acts along with the telescopic rod, the second front extending rod (6) rotates clockwise around the frame (12) by a certain angle under the cooperation of the second supporting rod (10), and accordingly the second front extending rod (6) drives the clamping finger support frame (20) to retract backwards by a certain distance, and the effect of the components is that the clamping finger support frame (20) is retracted backwards by a certain distance, so the telescopic stepping motor is defined as a backward retraction action process (similar to the human body). Conversely, if the telescopic stepping motor (14) receives a reverse pulse signal from the control system (1) to act, the action is opposite, and the action effect is that the clamping finger support frame (20) extends forwards by a certain distance, which is defined as a forward extending action process (similar to the hand extending action of a human body).
See fig. 8-11: the clamping stepping motor (21) of the invention receives a forward pulse signal from the control system (1) to act, the high polymer wire rope reel (15) is driven by the clamping motor output shaft (22) to rotate clockwise by a certain angle around the axis of the clamping motor output shaft (22) (taking the view angle of fig. 8 as an example), the winding quantity of 4 high polymer wires (34) tightly wound on the clamping stepping motor is increased, 4 end joints (17) at the other end of the 4 high polymer wires (34) are drawn towards the palm center, and 4 middle joints (16) are matched with the clamping stepping motor to generate the finger tightening action of fig. 11. On the contrary, if the clamping stepping motor (21) receives the reverse pulse signal from the control system (1) and acts, the above actions are opposite, and the action effect is the finger opening action of fig. 8.
See fig. 2-11: the whole action process of the invention is as follows: when the control system (1) sends out a grabbing signal, the lifting stepping motor (13) receives a reverse pulse signal to act, the mechanical arm generates a lowering action process, the mechanical arm is in a semi-stretching state in fig. 6, the telescopic stepping motor (14) receives the reverse pulse signal to act, the mechanical arm generates a forward stretching action, the mechanical arm is in a fully stretching state in fig. 5, when the distance between the ultrasonic sensor (8) and a fruit is smaller than a certain threshold value in the above action process, the control system sends out a middle stop signal, the clamping stepping motor (21) receives a forward pulse signal to act, the clamping finger generates a tightening action in fig. 11, the clamping stepping motor (21) stops rotating and maintains a certain torque output after firmly grabbing the fruit, the lifting stepping motor (13) is locked, the telescopic stepping motor (14) receives a transient forward pulse signal to act, the mechanical arm generates a transient backward shrinking action, namely a fruit stalk part is twisted off (similar to a rotating torsion action with the fruit as a center), then the lifting stepping motor (13) receives a forward pulse signal to be unlocked, the clamping stepping motor (8) returns to a fully stretching state in the figure, the mechanical arm receives a forward pulse signal to fully stretching state, the clamping step signal returns to a clamping state (7) after the mechanical arm receives a forward pulse signal is completely stretched, and the mechanical arm receives a full stretching action is completely stretched, loosening fruits to fall into the empty space of the rotary table (30), and completing one-time grabbing action.
See fig. 1, 12, 13 and 14: according to the pressure sensing system disclosed by the invention, pineapple falls onto a vacancy of the turntable (30) and is further extruded to the pressure sensor (32) to enable the pressure sensor to have a certain pressure value, then the numerical value of the pressure sensor (32) is transmitted back to the control system (1), the control system (1) knows that the pineapple falls down, and then PWM (pulse-width modulation) pulses are output to the turnover steering engine (31), external teeth of an output shaft of the turnover steering engine (31) are meshed with internal teeth of the turntable (30), the turntable (30) is driven to rotate, and the pineapple is ready to be collected next. The mechanism is integrally arranged on a vehicle body (28), and a turntable (30) and a main shaft rotating stepping motor (33) are coaxial.
See fig. 1 and 15: the vision acquisition system of the invention comprises a camera bracket (27), a first camera (25), a second camera (26), an image acquisition card in a control system (1) and a processor. One end of the camera support (27) is fixed on the vehicle body (28), the other end of the camera support is a rotatable support short rod, and two ends of the support short rod are respectively fixedly connected with the first camera (25) and the second camera (26), so that the synchronism of pictures shot by the two cameras is ensured. The image 1 shot by the first camera (25) is directly sent to an image acquisition card in a control system, gray processing, threshold segmentation, area processing and center point extraction are carried out by a processor, the center position of fruits is determined, a yellow band filter is added in front of a lens of the second camera (26) for filtering, the acquired image 2 is also filtered by the yellow band filter and reaches the processor through the image acquisition card, the processor compares the image 1 with the image 2, if the image 2 has a yellow area, the image 2 has a largest yellow continuous area, the image 1 is used for further judging whether the 'fruit eye' feature on pineapple peel appears, if yes, positioning is carried out, a signal is sent by a rear controller for approaching clamping, if not, the controller controls a shooting short rod to continuously rotate, and a crawler wheel motor continuously operates until the image 2 has the features.
Various other corresponding changes and modifications will occur to those skilled in the art from the foregoing description and the accompanying drawings, and all such changes and modifications are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (6)
1. A full-automatic pineapple picking device is characterized in that: the novel multifunctional picking machine comprises a machine body (28), wherein a rotary table (30) is arranged on the machine body (28), a plurality of empty spaces (36) are formed in the rotary table, a pressure sensor (32) is arranged in each empty space, a picking actuating mechanism is arranged on the rotary table (30), a control system (1) is arranged on the picking actuating mechanism, a camera support (27) is arranged at the front end of the machine body (28), a vision acquisition system is arranged above the camera support, and the vision acquisition system comprises a first camera (25) and a second camera (26);
the picking executing mechanism is characterized in that the main body structure of the picking executing mechanism is a mechanical arm, the mechanical arm comprises a frame (12), a main shaft rotating stepping motor (33) is arranged at the lower end of the frame (12), a lifting stepping motor (13) is arranged on one side above the frame (12), the lifting stepping motor (13) is connected with a lifting rod (11), a first supporting rod (3) is arranged on the frame (12), the lifting rod (11) and the upper end of the first supporting rod (3) are connected with a triangular connecting rod (5), the triangular connecting rod (5) is connected with a first front extending rod (7) and a second front extending rod (6), and a second supporting rod (10) is further arranged between the triangular connecting rod (5) and the frame (12); a stepping motor (14) for stretching is arranged on the other side above the frame (12), and the stepping motor (14) for stretching is connected with a telescopic rod (4) through a front connecting block (2) of the telescopic rod;
both sides of the vehicle body (28) are provided with tracks (29).
2. A fully automatic pineapple picking apparatus as in claim 1, wherein: the picking executing mechanism comprises a picking executing mechanism body, wherein a clamping finger system is arranged at the front end part of the picking executing mechanism body, the clamping finger system comprises a clamping finger supporting frame (9), a clamping stepping motor (21) is arranged on the clamping finger supporting frame (9), a clamping motor output shaft (22) of the clamping stepping motor (21) is connected with a high polymer wire rope reel (15), a high polymer wire rope (34) is arranged on the high polymer wire rope reel (15), a finger base (19) is arranged at the front end of the high polymer wire rope reel (15), a middle joint (16) is arranged on the finger base (19), the middle joint (16) is connected with a tail joint (17), a rubber clamping groove (18) is formed in the tail joint (17), rubber is arranged on the rubber clamping groove (18), and an ultrasonic sensor (8) is further arranged on the clamping finger system.
3. A fully automatic pineapple picking apparatus as in claim 1, wherein: the turntable (30) further comprises a motor driving rotation system, the motor driving rotation system is connected with internal teeth (37) of the turntable (30) in a matched mode through an output shaft of the turnover steering engine (31) and the turnover steering engine (31), and the empty space (36) is formed by a rubber protection sleeve.
4. A fully automatic pineapple picking apparatus as in claim 1, wherein: the vision acquisition system also comprises an image acquisition card and a processor.
5. A fully automatic pineapple picking apparatus as in claim 1, wherein: the control system (1) comprises a controller, an image acquisition card and a processor, wherein the controller is a singlechip, a PLC or an industrial personal computer; the image acquisition card is connected with the first camera (25) and the second camera (26), and the collected images are processed by the processor and then are decided by the controller.
6. A fully automatic pineapple picking apparatus as in claim 1, wherein: the vehicle body (28) is a shell which is closed by a thick steel plate and is used as a main body foundation of the machine.
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 CN108353622A (en) | 2018-08-03 |
| CN108353622B true CN108353622B (en) | 2023-10-03 |
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| CN201810214537.6A Active CN108353622B (en) | 2018-03-15 | 2018-03-15 | Full-automatic pineapple picking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110298885B (en) * | 2019-06-18 | 2023-06-27 | 仲恺农业工程学院 | Stereoscopic vision recognition method and positioning clamping detection device for non-smooth spheroid target and application of stereoscopic vision recognition method and positioning clamping detection device |
| 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 |
| CN113366973B (en) * | 2021-07-13 | 2022-10-14 | 华南农业大学 | Automatic pineapple picking robot capable of keeping fruit buds and application thereof |
| CN114872007B (en) * | 2022-04-13 | 2023-04-18 | 仲恺农业工程学院 | Pineapple picking robot based on binocular vision |
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| CN108353622A (en) | 2018-08-03 |
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