CN108718761A - A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning - Google Patents
A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning Download PDFInfo
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- CN108718761A CN108718761A CN201810800255.4A CN201810800255A CN108718761A CN 108718761 A CN108718761 A CN 108718761A CN 201810800255 A CN201810800255 A CN 201810800255A CN 108718761 A CN108718761 A CN 108718761A
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- 238000013138 pruning Methods 0.000 title claims abstract description 25
- 238000000465 moulding Methods 0.000 title claims abstract description 21
- 238000010413 gardening Methods 0.000 title claims abstract description 15
- 238000009966 trimming Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 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 12
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000002955 isolation Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 241000196324 Embryophyta Species 0.000 description 20
- 238000010586 diagram Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 4
- 241000191291 Abies alba Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005465 channeling Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Forests & Forestry (AREA)
- Ecology (AREA)
- Robotics (AREA)
- Biodiversity & Conservation Biology (AREA)
- Electromagnetism (AREA)
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Abstract
The present invention relates to a kind of gardening pruning moulding machines, more particularly to a kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning, the purpose of the present invention is to provide it is a kind of it is easy to operate, work efficiency is high, labor intensity is low, the greening plant trimming being directed in the isolation strip of garden ornamental value plant and highway, it automatic identification plant and can be automatically positioned, the link position between knife rest is adjusted, realizes plant various shapes moulding；Tool holder height is adjusted, disclosure satisfy that the plant trimming of different height.It is an advantage of the invention that can the whole a variety of modeling scissors of strain, automatic identification plant is simultaneously automatically positioned, and high degree of automation, work efficiency is high, saves hand labor cost, has certain promotional value.
Description
(1) technical field
The present invention relates to a kind of gardening pruning moulding machine more particularly to it is a kind of based on machine vision self-identifying, it is self-positioning
Gardening pruning moulding machine.
(2) background technology
Gardening trimmer mainly has two kinds of swinging trimmer and reciprocating trimmer at present.Swinging trimmer utilizes knife
Trimming operation is completed in the revolution at a high speed movement of tool, and reciprocating trimmer completes trimming operation using the reciprocating motion of cutter.Revolution
The non-selective trim mode of formula trimmer can only trim a complete side for tree, can not accomplish single plant pruning.It is past
Compound trimmer can trim whole tree, but it can only trim complete topology information, especially suitable for trimming Christmas tree, but due to
It can only realize single side trimming, highly differ during trimming, consistency is poor, be not suitable for the complicated trees of trimming.The two is more
It for man-hour manually hand-held or is equipped on moveable platform, needs to be positioned manually, single can only trim a side for plant, need
Repeatedly trimming could complete whole strain plant moulding, be trimmed only in relatively simple shape, and need manual operation, right
It can not then be used in trimming various shapes plant, the degree of automation is low, and operation labor intensity is high, and plant moulding consistency is poor.This
Outside, there is still a need for artificial centering plant positions during trimming, not yet realize automation.
(3) invention content
In view of the above problems, the purpose of the present invention is to provide it is a kind of it is easy to operate, work efficiency is high, labor intensity is low
It from walking, self-identifying gardening pruning moulding machine, automatic identification plant and can be automatically positioned, adjust the connection position between knife rest
It sets, you can realize that plant various shapes moulding, the purpose of the present invention are achieved through the following technical solutions：
A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning comprising：Load carrier, power rotation
Rotation mechanism, pruning mechanism and image procossing and control section.
The load carrier, including bearing beam 9, handle 10, vertical beam 1, vertical beam 2 31, longeron 1, longeron two
30, wheel hub motor 1, wheel hub motor 2 18, universal wheel 1, universal wheel 2 17, directional wheel 1, directional wheel 2 19, wheel
Shaft coupling 13, the bearing beam 9 are connect by articulation piece with vertical beam 1 and vertical beam 2 31, and vertical beam 1 is connected by articulation piece
It is connected on longeron 1, vertical beam 2 31 is connected to by articulation piece on longeron 2 30, and handle 10 passes through 30 ° of articulation pieces and vertical beam one
11 connections, directional wheel 1 are bolted on longeron 1, and directional wheel 2 19 is bolted on longeron 2 30, universal wheel one
14 are bolted on longeron 1, and universal wheel 2 17 is bolted on longeron 2 30, and the wheel hub motor 1 passes through vehicle
Wheel shaft coupling 13 is connect with universal wheel 1, and wheel hub motor 2 18 is connect by wheel shaft coupling 13 with universal wheel 2 17.
The dynamic rotation mechanism, including direct current generator 1, shaft coupling 2, driving gear shaft 3, driving gear 4, driven gear
5, turntable bearing 6, outer casing base 7, casing cover 8, collecting ring 32, afflux ring connector 33, the outer casing base 7 are welded in carrying
On crossbeam 9, turntable bearing 6 is secured by bolts on outer casing base 7, and driven gear 5 is interference fitted with turntable bearing 6, shell
8 bolt of lid is fixed on outer casing base 7, and direct current generator 1 is secured by bolts on casing cover 8, and driving gear shaft 3 passes through shaft coupling
Device 2 is connected with direct current generator 1, driving gear 4 by key connection on driving gear shaft 3 and with 5 internal messing of driven gear, afflux
33 bolt of ring connector is fixed on 8 inside center of casing cover, and 32 bolt of collecting ring is fixed on afflux ring connector 33.
The pruning mechanism, including knife rest 20, reciprocating knife 21, cutter pedestal 22, cutter drive motor 23, driving cog
Wheel 24, motor rack 25, knife rest connecting plate 26, knife rest connector 27,21 bolt of the reciprocating knife are fixed on cutter pedestal 22
On, 22 bolt of cutter pedestal is fixed on knife rest 20, and knife rest connecting plate 26 is bolted in 20 both sides of knife rest, 25 bolt of motor rack
It is fixed on knife rest 20,23 bolt of cutter drive motor is fixed on motor rack 25, and cutter drive motor 23 passes through transmission gear
24 drive reciprocating knife 21 to act.
Described image processing and control section, including stm32 microcontrollers 34, camera 28, camera connecting plate 29, it is described
34 bolt of stm32 microcontrollers is fixed on casing cover 8, and 29 bolt of camera connecting plate is fixed on casing cover 8,28 spiral shell of camera
Bolt is fixed on camera connecting plate 29.
The beneficial effects of the present invention are：
It is an advantage of the invention that easy to disassemble, dynamic rotation mechanism drive pruning mechanism is bolted in most of part
Three-dimensional trimming operation is completed in 360 ° of rotations, adjusts the connection relation between pruning mechanism component units, you can realizes that plant is a variety of
Moulding is trimmed, the greening plant trimming being suitable in the isolation strip of garden ornamental value plant and highway greatly reduces
Operator's labor intensity, processing cost is low, and work efficiency is high.Further, since the addition automatically controlled with image procossing makes machine
Device positions and trimming precision greatly improves, and reduces cost of labor, has certain promotional value.
(4) it illustrates
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the rotating mechanism upper part of the housing separation structure schematic diagram of the present invention；
Fig. 3 is the deceleration device planar structure schematic diagram of the present invention；
Fig. 4 is the machine deceleration device dimensional structure diagram of the present invention；
Fig. 5 is the pruning mechanism structural schematic diagram of the present invention；
Fig. 6 is the load carrier structural schematic diagram of the present invention；
Fig. 7 is the knife rest knife unit structural schematic diagram of the present invention；
Fig. 8 is the control system schematic diagram of the present invention.
Parts list represented by the reference numerals are as follows in attached drawing：
1, direct current generator；2, shaft coupling；3, driving gear shaft；4, driving gear；5, driven gear；6, turntable bearing；7,
Outer casing base；8, casing cover；9, bearing beam；10, handle；11, vertical beam one；12, wheel hub motor one；13, wheel shaft coupling；
14, universal wheel one；15, longeron one；16, directional wheel one；17, universal wheel two；18, wheel hub motor two；19, directional wheel two；20, knife
Frame；21, reciprocating knife；22, cutter pedestal；23, cutter drive motor；24, transmission gear；25, motor rack；26, knife rest connects
Fishplate bar；27, knife rest connector；28, camera；29, camera connecting plate；30, longeron two；31, vertical beam two；32, collecting ring；
33, afflux ring connector；34, stm32 microcontrollers.
(5) specific implementation mode
A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning includes：Load carrier, dynamic rotation machine
Structure, pruning mechanism, image procossing and control section.
Wherein, the load carrier, including it is bearing beam 9, handle 10, vertical beam 1, vertical beam 2 31, longeron 1, vertical
Beam 2 30, wheel hub motor 1, wheel hub motor 2 18, universal wheel 1, universal wheel 2 17, directional wheel 1, directional wheel 2 19,
Wheel shaft coupling 13.The bearing beam 9 is connect by articulation piece with vertical beam 1 and vertical beam 2 31, and dynamic rotation is used to support
Mechanism, by adjusting link position of the bearing beam 9 on vertical beam 1 and vertical beam 2 31, to meet repairing for different height plant
Job requirements are cut, vertical beam 1 is connected to by articulation piece on longeron 1, and vertical beam 2 31 is connected to longeron two by articulation piece
On 30, handle 10 is connect with vertical beam 1 for pushing load carrier, the directional wheel 1 to be bolted by 30 ° of articulation pieces
In the front end of longeron 1, directional wheel 2 19 is bolted in the front end of longeron 2 30, is used for channeling direction, the universal wheel one
14 are bolted in the rear end of longeron 1, and universal wheel 2 17 is bolted in 2 30 rear end of longeron, for do power output and
Change direction, the wheel hub motor 1 is connect by wheel shaft coupling 13 with universal wheel 1, and wheel hub motor 2 18 passes through vehicle
Wheel shaft coupling 13 is connected to the power output of load carrier with universal wheel 2 17 and provides the element of steering torque.
The dynamic rotation mechanism, including direct current generator 1, shaft coupling 2, driving gear shaft 3, driving gear 4, driven gear
5, turntable bearing 6, outer casing base 7, casing cover 8, collecting ring 32, afflux ring connector 33, the outer casing base 7 are welded in carrying
Support is provided for turntable bearing 6 on crossbeam 9, driven gear 5 is interference fitted with turntable bearing 6 and is fixedly supported on by fixing bolt
Inside outer casing base 7,8 bolt of casing cover is fixed on outer casing base 7, and direct current generator 1 is secured by bolts on casing cover 8,
Driving gear shaft 3 is connected by shaft coupling 2 with direct current generator 1, driving gear 4 key connection on driving gear shaft 3 and by with
5 internal messing of driven gear with moving gear so that rotate and realize that deceleration, 33 bolt of afflux ring connector are fixed on inside casing cover 8
Center, 32 bolt of collecting ring is fixed on afflux ring connector 33, and during blade holder turns, collecting ring 32 can ensure from upper
Wrapping phenomena does not occur for the harness just introduced.
The pruning mechanism, including knife rest 20, reciprocating knife 21, cutter drive motor 23, transmission gear 24, motor rack
25, knife rest connecting plate 26, knife rest connector 27.21 bolt of the reciprocating knife is fixed on cutter pedestal 22, cutter pedestal
22 bolts are fixed on knife rest 20, and knife rest connecting plate 26 is bolted on knife rest 20, are connected knife rest connecting plate 26 by adjusting
Between link position relationship, you can change knife rest shape, realize a variety of trimming moulding of plant, 25 bolt of motor rack is fixed on knife
On frame 20,23 bolt of cutter drive motor is fixed on motor rack 25, and cutter drive motor 23 is driven past by transmission gear 24
Reciprocating knife 21 works.
Described image processing and control section, including stm32 microcontrollers 34, camera 28, camera connecting plate 29, it is described
34 bolt of stm32 microcontrollers is fixed on casing cover 8, and 29 bolt of camera connecting plate is fixed on casing cover 8,28 spiral shell of camera
Bolt is fixed on camera connecting plate 29, and stm32 microcontrollers 34 control camera 28 and take pictures, and pictorial information is read monolithic
In machine development board, behind 32 calculation process of stm32 microcontrollers identification plant center, wheel hub motor 1 and wheel hub motor two are controlled
The surface of 18 driving trolley positioning plants, controls direct current generator 1 in the process of walking and cutter drive motor 23 does not work, when
When trolley navigates to the surface of plant, microcontroller 34 controls wheel hub motor 1 and wheel hub motor 2 18 is stopped, simultaneously
It controls direct current generator 1 and trimming operation is completed in the work of cutter drive motor 23.After the completion of a plant is trimmed, repeated work is complete
It is trimmed at next plant.
The course of work of the present invention is as follows：
When the present invention starts to work, stm32 microcontrollers 34 control camera 28 and the plant being trimmed to about are taken pictures and schemed
The processing of piece identifies the center of plant, passes to stm32 microcontrollers, and stm32 microcontrollers control wheel hub motor 1 according to information
With wheel hub motor 2 18 at the uniform velocity walking and rotation direction forward, while direct current generator 1 is controlled and cutter drive motor 23 does not rotate,
When entire machine is located at identified good center, microcontroller controls dc motor 1 and cutter drive motor at this time
23 start, while controlling wheel hub motor 1 and wheel hub motor 2 18 is stopped, and direct current generator 1 passes through shaft coupling and drives actively
Gear shaft 3 and driving gear 4 rotate, and to drive driven gear 5 to rotate, realize that the while of slowing down drives and are connected to turntable bearing
Whole knife rest on 6 inner rings does 360 ° of circular motion around center.Meanwhile cutter drive motor 23 is driven by transmission gear 24
Reciprocating knife 21 does reciprocating cutting movement.Whole knife rest completes trimming after doing 2 360 ° of rotations, under subsequent repeated work is completed
One plant is trimmed.
Claims (5)
1. a kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning, which is characterized in that including load carrier,
Dynamic rotation mechanism, pruning mechanism, image procossing and control section；
The load carrier, including it is bearing beam (9), handle (10), vertical beam one (11), vertical beam two (31), longeron one (15), vertical
Beam two (30), wheel hub motor one (12), wheel hub motor two (18), universal wheel one (14), universal wheel two (17), directional wheel one
(16), directional wheel two (19), wheel shaft coupling (13), the bearing beam (9) pass through articulation piece and vertical beam one (11) and vertical beam
Two (31) connect, and vertical beam one (11) is connected to by articulation piece on longeron one (15), and vertical beam two (31) is connected to by articulation piece
On longeron two (30), handle (10) is connect by 30 ° of articulation pieces with vertical beam one (11), and directional wheel one (16) is bolted in longeron
On one (15), directional wheel two (19) is bolted on longeron two (30), and universal wheel one (14) is bolted in longeron one (15)
On, universal wheel two (17) is bolted on longeron two (30), and the wheel hub motor one (12) passes through wheel shaft coupling (13)
It is connect with universal wheel one (14), wheel hub motor two (18) is connect by wheel shaft coupling (13) with universal wheel two (17)；
The dynamic rotation mechanism, including it is direct current generator (1), shaft coupling (2), driving gear shaft (3), driving gear (4), driven
Gear (5), turntable bearing (6), outer casing base (7), casing cover (8), collecting ring (32), afflux ring connector (33), it is described outer
Shell pedestal (7) is welded on bearing beam (10), and turntable bearing (6) is secured by bolts on outer casing base (7), driven gear
(5) it is interference fitted with turntable bearing (6), casing cover (8) bolt is fixed on outer casing base (7), and direct current generator (1) passes through bolt
It is fixed on casing cover (8), driving gear shaft (3) is connected by shaft coupling (2) with direct current generator (1), and driving gear (4) passes through
Be keyed on driving gear shaft (3) and with driven gear (5) internal messing, afflux ring connector (33) bolt is fixed on casing cover
(8) inside center, collecting ring (32) bolt are fixed on afflux ring connector (33)；
The pruning mechanism, including knife rest (20), reciprocating knife (21), cutter pedestal (22), cutter drive motor (23), biography
Moving gear (24), motor rack (25), knife rest connecting plate (26), knife rest connector (27), reciprocating knife (21) bolt are solid
Due on cutter pedestal (22), cutter pedestal (22) bolt is fixed on knife rest (20), knife rest connecting plate (26) be bolted in
Knife rest (20) both sides, motor rack (25) bolt are fixed on knife rest (20), and cutter drive motor (23) bolt is fixed on motor rack
(25) on, cutter drive motor (23) drives reciprocating knife (21) to act by transmission gear (24)；
Described image processing and control section, including stm32 microcontrollers (34), camera (28), camera connecting plate (29), institute
Stm32 microcontrollers (34) bolt to be stated to be fixed on casing cover (8), camera connecting plate (29) bolt is fixed on casing cover (8),
Camera (28) bolt is fixed on camera connecting plate (29).
2. a kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning according to claim 1, feature
It is that the dynamic rotation mechanism is welded on by outer casing base (7) on the crossbeam (9) of load carrier, passes through up and down adjustment crossbeam
(9) in vertical beam one (11) and vertical beam two (31) link position, change the mounting height of dynamic rotation mechanism, to adapt to different height
Spend the trimming of plant.
3. a kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning according to claim 1, feature
Be dynamic rotation mechanism can 360 ° of rotations, collecting ring (32) enables to the harness being introduced from above into not wind.
4. a kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning according to claim 1, feature
It is that the knife rest connecting plate (26) is bolted in knife rest (20) both sides, adjusts the joint angle between knife rest connecting plate (26)
Degree, pruning mechanism realize a variety of trimming moulding of plant in shapes such as circular arc, straight line, waves.
5. a kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning according to claim 1, feature
It is that stm32 microcontrollers (34) the control camera (28) is taken pictures, is identified in plant through stm32 microcontrollers (34) calculation process
The heart, control wheel hub motor one (12) and wheel hub motor two (18) driving trolley positioning, and then control direct current generator (1) and cutter drive
Dynamic motor (23) completes trimming operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810800255.4A CN108718761A (en) | 2018-07-16 | 2018-07-16 | A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810800255.4A CN108718761A (en) | 2018-07-16 | 2018-07-16 | A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning |
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| CN109673297A (en) * | 2019-01-07 | 2019-04-26 | 北京信息科技大学 | A kind of trimming machine cuts people |
| CN110337934A (en) * | 2019-07-29 | 2019-10-18 | 安徽工程大学 | A kind of pruning reconfigurable formula GREEB HEDGE MACHINE |
| CN110583324A (en) * | 2019-08-25 | 2019-12-20 | 贵州大学 | Automatic cup machine of detaining of tobacco seedling transplantation based on image recognition technology |
| CN110989601A (en) * | 2019-12-11 | 2020-04-10 | 许昌学院 | Road green belt trimmer based on image recognition |
| CN111771565A (en) * | 2020-07-30 | 2020-10-16 | 和县绿源蔬菜种植有限责任公司 | High-quality and high-efficiency cultivation equipment for solanaceous vegetables |
| CN112021023A (en) * | 2020-09-16 | 2020-12-04 | 陈翠红 | Plant trimming equipment |
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| CN110337934A (en) * | 2019-07-29 | 2019-10-18 | 安徽工程大学 | A kind of pruning reconfigurable formula GREEB HEDGE MACHINE |
| CN110337934B (en) * | 2019-07-29 | 2024-02-23 | 安徽工程大学 | Automatic on-vehicle hedge trimmer of regulation formula |
| CN110583324A (en) * | 2019-08-25 | 2019-12-20 | 贵州大学 | Automatic cup machine of detaining of tobacco seedling transplantation based on image recognition technology |
| CN110989601A (en) * | 2019-12-11 | 2020-04-10 | 许昌学院 | Road green belt trimmer based on image recognition |
| CN110989601B (en) * | 2019-12-11 | 2023-05-02 | 许昌学院 | Road green belt trimmer based on image recognition |
| CN111771565A (en) * | 2020-07-30 | 2020-10-16 | 和县绿源蔬菜种植有限责任公司 | High-quality and high-efficiency cultivation equipment for solanaceous vegetables |
| CN111771565B (en) * | 2020-07-30 | 2022-03-15 | 和县绿源蔬菜种植有限责任公司 | High-quality and high-efficiency cultivation equipment for solanaceous vegetables |
| CN112021023A (en) * | 2020-09-16 | 2020-12-04 | 陈翠红 | Plant trimming equipment |
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