CN109005920A - Automatic fruit picker and its method based on informationization retrospect - Google Patents
Automatic fruit picker and its method based on informationization retrospect Download PDFInfo
- Publication number
- CN109005920A CN109005920A CN201810682261.4A CN201810682261A CN109005920A CN 109005920 A CN109005920 A CN 109005920A CN 201810682261 A CN201810682261 A CN 201810682261A CN 109005920 A CN109005920 A CN 109005920A
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- Prior art keywords
- fruit
- picking
- automatic
- dimensional code
- retrospect
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
A kind of automatic fruit picker based on informationization retrospect, it is related to a kind of picker and method, device includes device for visual identification, two dimensional code patch code device, automatic picking apparatus, fruit picking robot etc., and automatic picking apparatus is connect by transporting hose with fruit collecting box；Device for visual identification, two dimensional code patch code device, automatic picking apparatus are separately mounted on fruit picking robot；The connection of the input terminal of device for visual identification and fruit picking robot, the output end of fruit picking robot are connect with two dimensional code patch code device, automatic picking apparatus respectively.Method is to set positioning and maturity judgement to the fruit line position on fruit tree by device for visual identification, start two dimensional code sticker and planting information stickup is carried out to fruit, starting automatic picking apparatus picks fruit, and the fruit after picking is transmitted in fruit collecting box by transporting hose.The present invention can be achieved to have a large promotion value the automation picking of fruit and quality tracing.
Description
Technical field
The present invention relates to a kind of automation picker of modernization of industry orchard planting and its method, especially a kind of base
In the automatic fruit picker and its method of informationization retrospect.
Background technique
With the development of society, the popularization application of automatic technology has become more and more extensive, such as orchard planting
Industry, pervious fruit picking work is short in view of the maturity period of fruit, and picking difficulty is big, needs a large amount of manpower in a short time
The high quality picking of fruit is realized, to guarantee the listing quality and the preferable market price of fruit.It is bad especially to encounter the time
When, the selling price of fruit can't compensate artificial picking expense, this brings very big financial burden and essence to orchard workers
Refreshing pressure.The application publication number of the applicant is that a kind of " the tower crane type automatic fruit picker " of CN106982597A provides
It is a kind of can quickly, the fruit in orchard is picked in high quality device.But it is not met by epoch fast development
And the needs that bring carries out information-based Internet of Things to fruit, realizes fruit quality retrospect and control.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of automation picking for being not only able to achieve fruit, but also can be to water
Fruit carries out information-based Internet of Things, realizes the quality tracing of fruit and the automatic fruit picker based on informationization retrospect of control
And its method.
The technical solution for solving above-mentioned technical problem is: a kind of automatic fruit picker based on informationization retrospect, packet
Device for visual identification, automatic picking apparatus, transporting hose, fruit collecting box are included, automatic picking apparatus is soft by the transmission
Pipe is connect with fruit collecting box；The automatic fruit picker based on informationization retrospect further includes two dimensional code patch code device
And fruit picking robot, the device for visual identification, two dimensional code patch code device, automatic picking apparatus are separately mounted to water
On fruit picking machine device people；The input terminal of the device for visual identification and fruit picking robot connects, fruit picking robot
Output end connect respectively with two dimensional code patch code device, automatic picking apparatus.
A further technical solution of the present invention is: the two dimensional code every that the two dimensional code patch code device is puted up all is assigned
The planting information of present lot fruit.
A further technical solution of the present invention is: the automatic picking apparatus, using flexible picker, which adopts
Device and picking includes clamping device, picking hands, cuts stalk knife, flexible sponge, and clamping device is mounted on fruit picking robot, described
One end of picking hands is connect with clamping device, and the other end is connect with stalk knife is cut, and the interior table of picking hands is arranged in the flexibility sponge
On face.
The further technical solution of the present invention is: the fruit picking robot includes six shaft type manipulators and control
Device processed, the device for visual identification, two dimensional code paste code device, the clamping device of automatic picking apparatus is separately mounted to six shaft types
On manipulator, the input terminal of the device for visual identification and controller is connected, and the output end of controller is pasted with two dimensional code respectively
Code device, the clamping device of automatic picking apparatus, the connection of six shaft type manipulators.
A more step technical solution of the invention is: the automatic fruit picker based on informationization retrospect further includes
Fruit picking locomotive, fruit picking robot, fruit collecting box are respectively positioned on the fruit picking locomotive.
It is of the invention another solution is that a kind of automatic fruit picking method based on informationization retrospect, this method are
Plucker positions locomotive is picked to the appropriate location of fruit tree, and starts six shaft type manipulators of fruit picking robot,
Under the control of the controller, six shaft type manipulators carry out position positioning and maturation to the fruit on fruit tree by device for visual identification
Degree determines, then start two dimensional code sticker and carry out two dimensional code stickup to fruit, every two dimensional code assignment present lot water
The planting information of fruit carries out the operating process of Internet of Things, and starts automatic picking apparatus simultaneously and pick to fruit, after picking
Fruit be transmitted in fruit collecting box by transporting hose, repeatedly, realize fruit automation Internet of Things and picked
Journey.
Due to using the above structure, the automatic fruit picker based on informationization retrospect and its method of the present invention and existing
There is technology to compare, has the advantages that
1. the automation picking of fruit can be realized
Since the present invention includes device for visual identification, two dimensional code patch code device, automatic picking apparatus, transporting hose, fruit picking
Robot, fruit collecting box, automatic picking apparatus are connect by the transporting hose with fruit collecting box；Visual identity dress
It sets, two dimensional code patch code device, automatic picking apparatus are separately mounted on fruit picking robot；Device for visual identification is adopted with fruit
The input terminal connection of robot is plucked, the output end of fruit picking robot pastes code device, automatic picking apparatus with two dimensional code respectively
Connection.When needing to pick fruit, plucker is positioned locomotive is picked to the appropriate location of fruit tree, and starts water
Fruit picking machine device people, under the control of automated procedures, fruit picking robot is by device for visual identification to the water on fruit tree
Fruit line position sets positioning and maturity determines, then starts automatic picking apparatus and picks to fruit, the fruit after picking passes through
Transporting hose is transmitted in fruit collecting box, and carries out the automatic boxing function of fruit, repeatedly, oneself of fruit can be realized
Dynamicization picking process.
2. information-based Internet of Things can be carried out to fruit, quality tracing and the control of fruit are realized
Since the present invention is in addition to including device for visual identification, automatic picking apparatus, transporting hose, fruit picking robot, fruit
It further include two dimensional code patch code device, two dimensional code patch code device is mounted on fruit picking robot, and fruit is adopted outside collecting box
The output end for plucking robot is connect with two dimensional code patch code device.The two dimensional code every that the described two dimensional code patch code device is puted up all by
The assignment planting information of present lot fruit, planting information include implantation time, Fertilizer Type and number, fruit quality information
With plucking time, the picking information such as people.Therefore, the present invention has carried out the Internet of Things picking mode of application information, allows orchard worker
Which type of chemical fertilizer is the plantation situation that fruit can easily and be easily understood with consumer, be, the frequency of fertilising is more
Few, the frequency of watering is how many, and the sugariness of fruit is how many, what etc. crop cycle and picking date are, carries out real
Fruit quality retrospect and control.
3. fruit picking is more efficient
Since device for visual identification of the invention, two dimensional code patch code device, automatic picking apparatus are separately mounted to fruit picking
On device people；In addition, fruit picking robot includes six shaft type manipulators and controller, wherein device for visual identification and controller
Input terminal connection, the output end of controller respectively with two dimensional code paste code device, the clamping device of automatic picking apparatus, six shaft types
Manipulator connection.Since six shaft type manipulators itself have biggish brachium space, the multi-angle, a wide range of of fruit can be carried out
Picking, so picking it is more efficient.
4. fruit picking quality is more preferable
(1) since the transporting hose that the present invention is used for transmission picked fruits is made of to use soft telescopic material, thus
Fruit is to slip down in cabinet under good package by self weight, the scuffing to fruit can be reduced to greatest extent, to mention
Height picking quality.
(2) automatic picking apparatus of the invention is included clamping device, is adopted using flexible picker, the flexibility picker
It plucks hand, cut stalk knife, flexible sponge, wherein clamping device is mounted on fruit picking robot, and one end of picking hands and clamping fill
Connection is set, the other end is connect with stalk knife is cut, and flexible sponge is arranged on the inner surface of picking hands, and clamping device pushes picking hands real
The movement of fruit is now clamped, the flexible sponge protection fruit in picking hands preserves from, and cuts the stalk of stalk knife cutting fruit, final real
Now the flexibility of fruit is picked, uses flexible picker fruit-picking, it is ensured that the skin and flesh of fruit is intact, to fruit
Realize complete picking.
(3) artificial changeable in mood and eager for instant success and quick profits due to avoiding present invention employs full-automatic Softening
Artificial damage can preferably guarantee the quality of fruit, to carry out better market price and consumer experience.
Therefore, fruit picking quality of the invention is preferable.
5. safe and reliable
The present invention passes through the use of automation function module, and whole device is allowed to become safer and reliable, and strong has saved society
Meeting resource, improves people's lives intelligent level.
6. having extensive dissemination
The automation picking of fruit not only may be implemented in the present invention, can also carry out to single fruit or batch fruit information-based
Internet of Things both ensure that the picking quality and efficiency of fruit, and also ensured fruit to realize quality tracing and the control of fruit
The transparent and data of planting information store, and no matter for orchard grower or for consuming public, this is all most to pacify
Full consumption pattern has preferable dissemination and realistic price.
In the following, in conjunction with the accompanying drawings and embodiments to the automatic fruit picker of the present invention traced based on informationization and its side
The technical characteristic of method is further described.
Detailed description of the invention
Fig. 1: the structural schematic diagram of the automatic fruit picker based on informationization retrospect described in embodiment one,
Fig. 2: the structural schematic diagram of automatic picking apparatus described in embodiment one,
In above-mentioned attached drawing, each the reference numerals are as follows:
1- fruit tree；2- fruit；3- device for visual identification；4- two dimensional code pastes code device；
5- automatic picking apparatus；51- clamping device, 52- picking hands, 53- cut stalk knife, 54- flexibility sponge,
6- transporting hose；7- fruit picking robot；8- fruit collecting box；9- fruit picking locomotive.
Specific embodiment
Embodiment one
It is a kind of based on informationization retrospect automatic fruit picker, including device for visual identification 3, two dimensional code patch code device 4, from
Dynamic picker 5, transporting hose 6, fruit picking robot 7, fruit collecting box 8, fruit picking locomotive 9, in which:
The device for visual identification 3 is mounted on fruit picking robot 7, for realizing the maturity judgement of fruit and position
Positioning, in order to which the picking puted up and automated etc. for showing Imformation label to fruit operates, which is existing
Technology, it will not be described in detail here.
The two dimensional code patch code device 4 is also mounted on fruit picking robot 7, for realizing to fruit two dimensional code
It puts up, it is patch ink recorder which, which pastes code device 4, when use by coiled two dimensional code on patch ink recorder, then passes through patch ink recorder
Interaction with visual identifying system and fruit picking robot 7, which is realized, puts up the scene of fruit.The two dimensional code each puted up
Be assigned the planting information of present lot fruit, including implantation time, Fertilizer Type and number, fruit quality information and
Information such as plucking time, and each fruit is just stuck before picking and has gone up the two dimensional code, it is ensured that the batch information of fruit is
It is accurate and effective, while orchard worker and consumer can also understand by the barcode scanning to two dimensional code and track the fruit
Planting information, it is ensured that the consumption of people and edible safety.
The automatic picking apparatus 5 is mounted on fruit picking robot 7, for realizing the automatic picking of fruit, water
Fruit picking machine device people 7 realizes the positioning of fruit by visual identifying system 3, while the signal is assigned to fruit picking robot
7, the picking to fruit is realized using automatic picking apparatus in the position current for fruit of fruit picking robot 7.This is adopted automatically
Using flexible picker, which includes clamping device 51, picking hands 52, cuts stalk knife 53, flexible sea device and picking 5
Silk floss 54, the clamping device 51 use well known structure, which is mounted on fruit picking robot 7, described to adopt
The one end for plucking hand 52 is connect with clamping device 51, and the other end is connect with stalk knife 53 is cut, and the flexibility sponge 54 is arranged in picking hands
On 52 inner surface, clamping device 51 pushes picking hands 52 to realize the movement for clamping fruit, the flexible sponge 54 in picking hands 52
Protection fruit preserves from, and cuts the stalk that stalk knife 53 cuts off fruit, and final realize picks the flexibility of fruit, uses flexibility picking dress
Set fruit-picking, it is ensured that the skin and flesh of fruit is intact, realizes complete picking to fruit.
The transporting hose 6 is made of soft telescopic material, such as elastic rubber mesh belt material, the transporting hose
6 one end is connect with automatic picking apparatus 5, and the other end is connect with fruit collecting box 8.Fruit after automatic picking can be by this
Transporting hose is directly slid onto fruit collecting box 8, since transporting hose 6 is made of using soft scalability material, fruit
It is to be slipped down in cabinet under good package by self weight, it is possible to the scuffing to fruit is reduced to greatest extent, to mention
Height picking quality.
The fruit picking robot 7 is placed on fruit picking locomotive 9, and fruit picking robot 7 includes six axis
The clamping of formula manipulator and controller, the device for visual identification 3, two dimensional code patch code device 4, automatic picking apparatus 5 fills
51 are set to be separately mounted on six shaft type manipulators；The device for visual identification 3 is connect with the input terminal of controller, controller
Output end is connect with two dimensional code patch code device 4, automatic picking apparatus 5, six shaft type manipulators respectively.Using six shaft type manipulators into
The full-automatic picking of row fruit is, it can be achieved that picking operations of the fruit 360 deg total space without dead angle, greatly promote water
The efficiency and picking quality of fruit picking, replace traditional artificial Softening completely, to liberate the double of worker to greatest extent
Hand reduces the labor intensity of worker.
The fruit collecting box 8, for collecting the fruit after patch code and picking, which is placed on water
Fruit is picked on locomotive 9.
The fruit picking locomotive 9, for realizing the space movement of fruit picking robot 7 and fruit collecting box 8
Loading.
Embodiment two
A kind of automatic fruit picking method based on informationization retrospect, this method are that plucker positions locomotive is picked to fruit
The appropriate location of tree, and start six shaft type manipulators of fruit picking robot, under the control of the controller, six shaft type manipulators
Position positioning is carried out to the fruit on fruit tree by device for visual identification and maturity determines, then starts two dimensional code sticker
Two dimensional code stickup carried out to fruit, every two dimensional code assignment planting information of present lot fruit, planting information include plantation
The information such as time, Fertilizer Type and number, fruit quality information and plucking time, picking people, so as to later period orchard worker and consumer
The planting information of the fruit can be understood and tracked by the barcode scanning to two dimensional code, so that the operating process of Internet of Things is carried out,
And start automatic picking apparatus simultaneously and fruit is picked, the fruit after picking is transmitted to fruit collecting box by transporting hose
It is interior, repeatedly, realize the automation Internet of Things and picking process of fruit.
Claims (6)
1. a kind of automatic fruit picker based on informationization retrospect, including device for visual identification (3), automatic picking apparatus
(5), transporting hose (6), fruit collecting box (8), automatic picking apparatus (5) are collected by the transporting hose (6) and fruit
Case (8) connection；It is characterized by: the automatic fruit picker based on informationization retrospect further includes two dimensional code patch code dress
Set (4) and fruit picking robot (7), the device for visual identification (3), two dimensional code patch code device (4), automatic picking dress
(5) are set to be separately mounted on fruit picking robot (7)；The device for visual identification (3) and fruit picking robot (7)
Input terminal connection, the output end of fruit picking robot (7) connect with two dimensional code patch code device (4), automatic picking apparatus (5) respectively
It connects.
2. the automatic fruit picker according to claim 1 based on informationization retrospect, it is characterised in that: described two
The two dimensional code every that dimension code patch code device (4) is puted up all has been assigned the planting information of present lot fruit.
3. the automatic fruit picker according to claim 2 based on informationization retrospect, it is characterised in that: it is described from
Dynamic picker (5) are included clamping device (51), picking hands (52), are cut stalk using flexible picker, the flexibility picker
Knife (53), flexible sponge (54), clamping device (51) are mounted on fruit picking robot (7), and the one of the picking hands (52)
End is connect with clamping device (51), and the other end is connect with stalk knife (53) is cut, and the flexibility sponge (54) is arranged in picking hands (52)
Inner surface on.
4. the automatic fruit picker according to claim 3 based on informationization retrospect, it is characterised in that: the water
Fruit picking machine device people (7) includes six shaft type manipulators and controller, the device for visual identification (3), two dimensional code patch code dress
Set (4), the clamping device (51) of automatic picking apparatus (5) is separately mounted on six shaft type manipulators, the visual identity dress
It sets (3) to connect with the input terminal of controller, the output end of controller pastes code device (4), automatic picking apparatus with two dimensional code respectively
(5) clamping device (51), the connection of six shaft type manipulators.
5. special according to claim 1 to the automatic fruit picker based on informationization retrospect described in 4 any claims
Sign is: the automatic fruit picker based on informationization retrospect further includes fruit picking locomotive (9), fruit picking
Robot (7), fruit collecting box (8) are respectively positioned on the fruit picking locomotive (9).
6. a kind of automatic fruit picking method based on informationization retrospect, it is characterised in that: this method is that plucker will pick
Locomotive is positioned to the appropriate location of fruit tree, and starts six shaft type manipulators of fruit picking robot, in the control of controller
Under, six shaft type manipulators carry out position positioning to the fruit on fruit tree by device for visual identification and maturity determines, then open
Dynamic two dimensional code sticker carries out two dimensional code stickup to fruit, every two dimensional code assignment planting information of present lot fruit,
The operating process of Internet of Things is carried out, and starts automatic picking apparatus simultaneously and fruit is picked, the fruit after picking passes through biography
Defeated hose is transmitted in fruit collecting box, repeatedly, realizes the automation Internet of Things and picking process of fruit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810682261.4A CN109005920A (en) | 2018-06-27 | 2018-06-27 | Automatic fruit picker and its method based on informationization retrospect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810682261.4A CN109005920A (en) | 2018-06-27 | 2018-06-27 | Automatic fruit picker and its method based on informationization retrospect |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109005920A true CN109005920A (en) | 2018-12-18 |
Family
ID=65521993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810682261.4A Pending CN109005920A (en) | 2018-06-27 | 2018-06-27 | Automatic fruit picker and its method based on informationization retrospect |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109005920A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN109819768A (en) * | 2019-03-18 | 2019-05-31 | 南京禹智智能科技有限公司 | It is a kind of for slowing down the fruit tree stripper and its win method that fruit is got injured by a fall |
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| JP2003000031A (en) * | 2001-06-21 | 2003-01-07 | Bio Oriented Technol Res Advancement Inst | Method for detecting fruit |
| CN106982597A (en) * | 2017-05-17 | 2017-07-28 | 广西科技大学鹿山学院 | A kind of tower crane type automatic fruit picker |
| CN206506889U (en) * | 2017-01-23 | 2017-09-22 | 衡阳师范学院 | Picker and system |
| US20180012345A1 (en) * | 2016-07-05 | 2018-01-11 | Sharp Kabushiki Kaisha | Maturity determination device and maturity determination method |
| CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
| CN207022546U (en) * | 2017-06-29 | 2018-02-23 | 浙江省农业科学院 | A kind of rapid wear fruit picking car |
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2018
- 2018-06-27 CN CN201810682261.4A patent/CN109005920A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003000031A (en) * | 2001-06-21 | 2003-01-07 | Bio Oriented Technol Res Advancement Inst | Method for detecting fruit |
| US20180012345A1 (en) * | 2016-07-05 | 2018-01-11 | Sharp Kabushiki Kaisha | Maturity determination device and maturity determination method |
| CN206506889U (en) * | 2017-01-23 | 2017-09-22 | 衡阳师范学院 | Picker and system |
| CN106982597A (en) * | 2017-05-17 | 2017-07-28 | 广西科技大学鹿山学院 | A kind of tower crane type automatic fruit picker |
| CN207022546U (en) * | 2017-06-29 | 2018-02-23 | 浙江省农业科学院 | A kind of rapid wear fruit picking car |
| CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN109819768A (en) * | 2019-03-18 | 2019-05-31 | 南京禹智智能科技有限公司 | It is a kind of for slowing down the fruit tree stripper and its win method that fruit is got injured by a fall |
| CN112088653A (en) * | 2019-03-18 | 2020-12-18 | 南京禹智智能科技有限公司 | Fruit tree picking device for relieving fruit falling injury and picking method thereof |
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Application publication date: 20181218 |