CN109168627A - A kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique - Google Patents
A kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique Download PDFInfo
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- CN109168627A CN109168627A CN201811184937.3A CN201811184937A CN109168627A CN 109168627 A CN109168627 A CN 109168627A CN 201811184937 A CN201811184937 A CN 201811184937A CN 109168627 A CN109168627 A CN 109168627A
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- WQZGKKKJIJFFOK-GASJEMHNSA-N Glucose Natural products OC[C@H]1OC(O)[C@H](O)[C@@H](O)[C@@H]1O WQZGKKKJIJFFOK-GASJEMHNSA-N 0.000 title claims abstract description 22
- 239000008103 glucose Substances 0.000 title claims abstract description 22
- 238000003384 imaging method Methods 0.000 title claims abstract description 20
- 241000219095 Vitis Species 0.000 claims abstract description 288
- 235000009754 Vitis X bourquina Nutrition 0.000 claims abstract description 288
- 235000012333 Vitis X labruscana Nutrition 0.000 claims abstract description 288
- 235000014787 Vitis vinifera Nutrition 0.000 claims abstract description 288
- 238000003860 storage Methods 0.000 claims abstract description 272
- 238000010521 absorption reaction Methods 0.000 claims abstract description 54
- 238000005520 cutting process Methods 0.000 claims abstract description 27
- 230000001681 protective effect Effects 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 8
- 239000000741 silica gel Substances 0.000 claims abstract description 8
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 8
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 132
- 240000000560 Citrus x paradisi Species 0.000 claims description 86
- 229910052757 nitrogen Inorganic materials 0.000 claims description 66
- 238000002955 isolation Methods 0.000 claims description 63
- 238000001179 sorption measurement Methods 0.000 claims description 22
- 239000002184 metal Substances 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 10
- 238000000227 grinding Methods 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 8
- 238000000926 separation method Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000008676 import Effects 0.000 claims description 2
- 230000027455 binding Effects 0.000 description 16
- 238000009739 binding Methods 0.000 description 16
- 235000013305 food Nutrition 0.000 description 8
- 239000000725 suspension Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 241000219094 Vitaceae Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 235000021021 grapes Nutrition 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/28—Vintaging machines, i.e. grape harvesting machines
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23B—PRESERVING, e.g. BY CANNING, MEAT, FISH, EGGS, FRUIT, VEGETABLES, EDIBLE SEEDS; CHEMICAL RIPENING OF FRUIT OR VEGETABLES; THE PRESERVED, RIPENED, OR CANNED PRODUCTS
- A23B7/00—Preservation or chemical ripening of fruit or vegetables
- A23B7/14—Preserving or ripening with chemicals not covered by groups A23B7/08 or A23B7/10
- A23B7/144—Preserving or ripening with chemicals not covered by groups A23B7/08 or A23B7/10 in the form of gases, e.g. fumigation; Compositions or apparatus therefor
- A23B7/148—Preserving or ripening with chemicals not covered by groups A23B7/08 or A23B7/10 in the form of gases, e.g. fumigation; Compositions or apparatus therefor in a controlled atmosphere, e.g. partial vacuum, comprising only CO2, N2, O2 or H2O
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23V—INDEXING SCHEME RELATING TO FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES AND LACTIC OR PROPIONIC ACID BACTERIA USED IN FOODSTUFFS OR FOOD PREPARATION
- A23V2002/00—Food compositions, function of food ingredients or processes for food or foodstuffs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Chemical & Material Sciences (AREA)
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Abstract
A kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique, including unmanned plane device, storage device, picker, protective device, telescopic device, identification device, locking device, wireless device and control centre, unmanned plane device includes unmanned plane warehouse, transport unmanned plane and picking unmanned plane, storage device includes bindiny mechanism, grape storage silo, telescope motor, flexible absorption pillar, grape memory plane, rotating platform and grape holding tray, picker includes picking mechanical arm, remove mechanical arm and cutting mechanics arm, protective device includes protection layer of silica gel, protection channel, protect telescope motor and protection telescopic baffle, telescopic device includes Telescopic path, telescopic hydraulic pump, telescopic hydraulic bar and flexible suspending buckle, identification device includes the first camera, second camera and TOF sensor, closing Device includes that storage closing motor and storage closed plate, wireless device are set to inside control centre, and control centre is set to the position of planning.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of intelligent glucose based on unmanned plane and TOF imaging technique
Picker system.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation, or fully or intermittently automatically operated by computer.Unmanned plane is by answering
With field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.Civilian aspect, unmanned plane+industry
Using being that unmanned plane has really just needed；At present take photo by plane, agricultural, plant protection, miniature self-timer, express transportation, disaster relief, observation
It answers in wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture romance etc. field
With greatly having expanded the purposes of unmanned plane itself, developed country also in actively extension industrial application and develops unmanned air vehicle technique.
TOF, original name are Time Of Flight, are literally exactly " time flight ".The main realization shape of TOF technology
Formula is exactly that sensor emission is utilized to go out continuously impulse wave, and then impulse wave encounters solid back reflection and returns, and sensor will
Reflected impulse wave captures, then the distance of sensor distance object is then got by calculating the time difference.As long as impulse wave
Quantity it is enough, the distance of every bit can be clear from, we can generate a 3D mould in terminal device
Type, the principle of this namely TOF imaging.
Therefore, how the picking of unmanned plane, TOF imaging technique and grape to be combined, is being tested with grape growing region
After the grape maturity in domain, the position for meeting the grape of standard of plucking is obtained using unmanned plane and is adopted by the acquisition of TOF imaging technique
The 3D model of the grape of standard is plucked, unmanned plane is then controlled and picks mature grape to storing in grape storage silo, mention
The picking efficiency of high grape is current urgent problem.
Summary of the invention
Goal of the invention: in order to overcome the disadvantage in background technique, the embodiment of the invention provides one kind based on unmanned plane with
And the intelligent glucose picker system of TOF imaging technique, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution:
A kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique, including unmanned plane device, storage device,
Picker, protective device, telescopic device, identification device, locking device, wireless device and control centre, the unmanned plane
Device includes unmanned plane warehouse, transport unmanned plane and picking unmanned plane, and the unmanned plane warehouse is set to wine-growing region
Position, for storing transport unmanned plane and picking unmanned plane；The transport unmanned plane is provided with several and sets storage and nothing
Man-machine store interior position, and side is provided with transport camera, for transporting specified article；The picking unmanned plane is provided with
Several are simultaneously stored in unmanned plane store interior position, the grape fruit ear for the plantation of grape-picking planting area；The storage
Device includes bindiny mechanism, grape storage silo, telescope motor, flexible absorption pillar, grape memory plane, rotating platform and grape
Holding tray, the bindiny mechanism are provided with several and are respectively arranged in transport unmanned plane lower position and grape storage silo
Orientation is set, for connecting respectively with transport unmanned plane and grape storage silo；The grape storage silo is provided with several and sets
It is placed in wine-growing region position, for storing the grape fruit ear of picking unmanned plane picking；The telescope motor is provided with several
It is a and be set to picking unmanned plane lower inner position, and connect respectively with picking unmanned plane and flexible absorption pillar, it is used for
The telescopic prop of drive connection is flexible；The flexible absorption pillar is the telescopic prop that front end has electromagnetic absorption device, described
Flexible absorption pillar is provided with several and is set to picking unmanned plane lower position, and connect with picking unmanned plane, be used for
The absorption point electromagnetic adsorption of grape memory plane；The grape memory plane is provided with several and is placed in position in grape storage silo
It sets, and is provided with the absorption of several ironys and selects and bound with the grape storage silo of placement, for placing rotating platform and platform
Absorption point is simultaneously adsorbed pillar electromagnetic adsorption with flexible by holding tray；The rotating platform is provided with several and is set to grape and deposits
Plate overhead surface position is stored up, and is connect respectively with grape memory plane and grape holding tray, the grape for drive connection is placed
Disc spins；The grape holding tray is provided with several and is set to rotating platform top position, and connect simultaneously with rotating platform
It is provided with the grape placing groove for placing grape fruit ear, for placing the grape fruit ear of picking mechanical arm picking；The picker
Including picking mechanical arm, removal mechanical arm and cutting mechanics arm, the picking mechanical arm is front end stretching with grabbing device
Contracting mechanical arm, the picking mechanical arm be provided with several and be set to picking unmanned plane side position, and with picking unmanned plane
Connection, for being fixed with the grape fruit ear to be picked that wine-growing region is planted and putting the grape fruit ear that picking is completed
The grape for entering grape holding tray places groove location；The removal mechanical arm is the flexible machinery that front end has vacuum absorption device
Arm, the removal mechanical arm is provided with several and is set to picking unmanned plane side position, and connect with picking unmanned plane, uses
In will not meet the grape fruit Adsorption of standard of plucking in the fixed grape fruit ear of picking mechanical arm；The cutting mechanics arm
The telescopic mechanical arm of cutter device is had for front end, the cutting mechanics arm is provided with several and is set to the unmanned pusher side of picking
Orientation is set, and is connect with picking unmanned plane, for separating the fixed grape fruit ear of picking mechanical arm with grape branch cutting；Institute
Stating protective device includes protection layer of silica gel, protection channel, protection telescope motor and protection telescopic baffle, the protection layer of silica gel
It is provided with several and is set to the grabbing device surface of picking mechanical arm front end, the grape for protecting picking mechanical arm fixed
Fruit ear；The protection channel is provided with several and is set to grape storage Board position, flexible for providing protection telescopic baffle；
The protection telescope motor quantity is consistent with protection channel quantity and is set to protection channel interior location, and logical with protection respectively
Road and protection telescopic baffle connection, the protection telescopic baffle for drive connection are flexible；The protection telescopic baffle quantity with
Protection telescope motor quantity is consistent and is set to protection channel interior location, and connect with protection telescope motor, after stretching, is used for
Form the grape fruit ear placed above grape placement region isolating and protecting grape memory plane；The telescopic device includes flexible logical
Road, telescopic hydraulic pump, telescopic hydraulic bar and flexible suspending buckle, the Telescopic path are provided with several and are set to picking
Unmanned plane top position, it is flexible for providing flexible suspending buckle；The telescopic hydraulic pump quantity is consistent with Telescopic path quantity
And it is set to Telescopic path interior location, and connect respectively with Telescopic path and telescopic hydraulic bar, for stretching for drive connection
Contracting hydraulic stem is flexible；The telescopic hydraulic bar quantity is consistent with telescopic hydraulic pump quantity and is set to Telescopic path interior location,
And snapped connection respectively with telescopic hydraulic pump and flexible suspending, the flexible suspending buckle for drive connection is flexible；It is described to stretch
Contracting suspension buckle quantity is consistent with telescopic hydraulic bar quantity and is set to telescopic hydraulic bar front position, and connects with telescopic hydraulic bar
It connects, for being fixed with the grape trellis in wine-growing region；The identification device include the first camera, second camera with
And TOF sensor, first camera are provided with several and are set to grape storage silo inner wall position, and store with grape
Storehouse connection, the environmental images inside grape storage silo for absorbing connection；The second camera is provided with several and sets
It is placed in picking unmanned plane side position, and is connect with picking unmanned plane, the environment around picking unmanned plane for absorbing connection
Image；The TOF sensing is provided with several and is set to picking unmanned plane side position, for scanning and establishing to be picked
Grape fruit ear 3D model；The locking device includes that motor number is closed in storage closing motor and storage closed plate, the storage
Measure it is consistent with grape storage silo quantity and be set to grape storage silo upper interior position, and respectively with grape storage silo and deposit
Closed plate connection is stored up, the storage closed plate for drive connection is flexible；The storage closed plate quantity and storage closing motor number
Amount is consistent and is set to grape storage silo upper interior position, and connect respectively with grape storage silo and storage closing motor,
For switching the grape storage silo of connection；The wireless device is set to control centre's interior location, for respectively with transport nothing
Man-machine, picking unmanned plane, bindiny mechanism, telescope motor, flexible absorption pillar, rotating platform, picking mechanical arm, removal are mechanical
Arm, cutting mechanics arm, protection telescope motor, telescopic hydraulic pump, flexible suspending buckle, the first camera, second camera, TOF
Sensor, storage closing motor, control centre, the external equipment of wine-growing region administrative department, fire-fighting center, in alarm
The heart, first-aid centre and network connection；The control centre is set to the placement control of wine-growing region administrative department planning
Center carries out grape fruit ear picking operations for intelligent.
As a kind of preferred embodiment of the invention, the bindiny mechanism includes that connection lock, fixed lock and metal connect
Splicing, connection lock are provided with several and are set to transport unmanned plane lower position, and respectively with transport unmanned plane with
And wireless device connection, the metal connecting rope for setting with fixing lock button bit are connect；The fixed lock is provided with several simultaneously
It is set to side coil above grape storage silo to set, and is connect respectively with grape storage silo and wireless device, for storing and admittedly
Deposit category connecting rope；The metal connecting rope quantity is consistent with fixed lock quantity and is set to fixing lock button bit and sets, for dividing
Not with connect lock and fixed lock connection.
As a kind of preferred embodiment of the invention, the picker further includes damage storage silo and grinding device, institute
It states damage storage silo to be provided with several and be set to wine-growing region, the grape fruit ear that can not be eaten for storing human body；
The grinding device quantity with damage storage silo quantity it is consistent and be set to damage storage silo internal ground position, and respectively with damage
Bad storage silo and wireless device connection, the grape fruit ear for that can not eat the human body that damage storage silo storage inside carry out
It crushes.
As a kind of preferred embodiment of the invention, locking device further includes damage closing motor and damage closed plate, institute
State damage closing number of motors with damage storage silo quantity it is consistent and be set to damage storage silo upper interior position, and respectively with
It is flexible to damage storage silo, wireless device and damage closed plate connection, the damage closed plate for drive connection；The damage envelope
Closing plate quantity is consistent with damage closing number of motors and is set to damage storage silo upper interior position, and stores respectively with damage
Storehouse and damage closing motor connection, for switching the damage storage silo of connection.
As a kind of preferred embodiment of the invention, locking device further includes flexible closing motor and flexible closed plate, institute
It is consistent with Telescopic path quantity and be set to the channel side and pick unmanned plane interior location to state flexible closing number of motors, and
It is connect respectively with picking unmanned plane, wireless device and flexible closed plate, the flexible closed plate for drive connection is flexible；It is described
Flexible closed plate quantity is consistent with flexible closing number of motors and is set to Telescopic path side picking unmanned plane interior location, and
It is connect respectively with Telescopic path, picking unmanned plane and damage closing motor, for switching the Telescopic path of connection.
As a kind of preferred embodiment of the invention, the protective device further includes channel isolation and fixes channel, described
Channel isolation is provided with several and is set to grape storage silo inside left side wall position；The fixed number of channels be isolated it is logical
Road quantity is consistent and is set to grape storage silo inside right side wall position, and the fixed channel and channel isolation keep same water
Plane.
As a kind of preferred embodiment of the invention, the protective device further includes isolation motor and isolation expansion plate, institute
It is consistent with channel isolation quantity and be set to channel isolation interior location to state isolation number of motors, and respectively with channel isolation, nothing
Line apparatus and isolation expansion plate connection, the isolation expansion plate for drive connection are flexible；The isolation expansion plate quantity with every
It is consistent from number of motors and be set to channel isolation interior location, and respectively with channel isolation and motor connection, stretching be isolated
Afterwards, it is fixed for being contradicted with fixed channel interior bottom surface.
As a kind of preferred embodiment of the invention, the protective device further includes electromagnetic absorption device, the electromagnetic adsorption
Device is provided with several and is set to grape memory plane side outer surface interior location, and keeps with grape memory plane outer surface
Same level is simultaneously connect with wireless device and protection telescopic baffle respectively, the grape memory plane for that will connect and conflict
Another grape memory plane electromagnetic adsorption is fixed.
As a kind of preferred embodiment of the invention, the storage device includes nitrogen storage silo, the nitrogen storage silo with
Grape storage silo quantity is consistent and is set to grape storage silo interior location, for storing liquid nitrogen.
As a kind of preferred embodiment of the invention, the storage device further includes nitrogen sprayer head and nitrogen conduit, described
Nitrogen sprayer head is provided with several and is set to grape storage silo inner wall position, and respectively with grape storage silo, wireless device with
And nitrogen conduit connection, the liquid nitrogen of nitrogen storage silo storage inside is converted into nitrogen spray for the nitrogen conduit by connecting
Out；The nitrogen conduit quantity is consistent with nitrogen sprayer head quantity and connect respectively with nitrogen storage silo and nitrogen sprayer head, is used for
Liquid nitrogen inside the nitrogen storage silo of connection is imported to the nitrogen sprayer head interior location of connection.
The present invention realizes following the utility model has the advantages that 1. intelligent glucose picker systems starting and after receiving picking instruction, control
Pick unmanned plane starting Portugal according to the 3D grape model of TOF sensor scanning generation that the wine-growing region is mature and intact
Grape fruit ear carries out intelligence picking deposit grape holding tray position, after the grape holding tray above grape memory plane is fully loaded, will expire
The grape memory plane of load is stored in grape storage silo and is stored, and circulation is executed and will extremely be adopted to meeting for grape-picking planting area
All grape fruit ears picking for plucking standard is completed, to save human resources and improve grape picking efficiency.
2. when grape storage silo grape placement region place after the completion of, control isolation expansion plate stretch out with formed grape every
The grape fruit ear in the grape holding tray above protection grape memory plane is carried out from region.
3. after and closing fully loaded in grape storage silo, control nitrogen sprayer head sprays nitrogen, inside for grape storage silo
The grape progress of storage is fresh-keeping, prevents the grape inside grape storage silo from the problems such as rotting, is rotten occurs, improves the storage of grape
Time.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is the side partial schematic sectional view in the unmanned plane warehouse that the one of example of the present invention provides；
Fig. 2 is the front cross-sectional schematic diagram for the picking unmanned plane that the one of example of the present invention provides；
Fig. 3 is the schematic top plan view for the grape memory plane that the one of example of the present invention provides；
Fig. 4 is the side schematic view for the picking unmanned plane that the one of example of the present invention provides；
Fig. 5 is the front cross-sectional schematic diagram for the closed grape storage silo that the one of example of the present invention provides；
Fig. 6 is the schematic top plan view for the closed grape storage silo that the one of example of the present invention provides；
Fig. 7 is the front schematic view that the transport unmanned plane that the one of example of the present invention provides suspends grape storage silo in midair；
Fig. 8 is the front cross-sectional schematic diagram for the damage storage silo that the one of example of the present invention provides；
Fig. 9 is the annexation figure for the intelligent glucose picker system that the one of example of the present invention provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Unless otherwise defined, positioned opposite, the numerical expression of the component and step that illustrate in these embodiments
It is not limited the scope of the invention with numerical value.Simultaneously, it should be appreciated that for ease of description, various pieces shown in attached drawing
Size is not to draw according to actual proportionate relationship.For technology, method known to person of ordinary skill in the relevant and
Equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing specification
A part.All technical and scientific terms used herein are usually managed with those skilled in the art of the invention are belonged to
The meaning of solution is identical.Term as used herein in the specification of the present invention is intended merely to the mesh of description specific embodiment
, it is not intended that in the limitation present invention.Term " and or " used herein can not one or more relevant listed items
Any and all combinations.
For ease of description, spatially relative term, such as " on being set to ... ", " setting can be used herein
In ... top ", " being set to ... upper surface ", " above " etc., for describing such as a device shown in the figure or spy
The spatial relation of sign and other devices or feature.It should be understood that spatially relative term is intended to comprising in addition to device exists
Different direction in use or operation except orientation described in figure.For example, if the device in attached drawing is squeezed,
It is described as to be positioned as " above other devices or construction " or after the device of " on other devices or construction " " at it
His device or construction lower section " or " under other devices or construction ".Thus, exemplary term " being set to ... top " can be with
Including " being set to ... top " and " being set to ... lower section " two kinds of orientation.The device can also be positioned with other different modes,
And respective explanations are made to the opposite description in space used herein above.
Embodiment one
With reference to shown in Fig. 1-9.
Specifically, the present embodiment provides a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique, packet
Include unmanned plane device 1, storage device 2, picker 3, protective device 4, telescopic device 5, identification device 6, locking device 7, nothing
Line apparatus 8 and control centre 9, the unmanned plane device 1 include unmanned plane warehouse 10, transport unmanned plane 11 and pick nobody
Machine 12, the unmanned plane warehouse 10 are set to wine-growing region position, for storing transport unmanned plane 11 and picking nobody
Machine 12；The transport unmanned plane 11 is provided with several and sets storage and 10 interior location of unmanned plane warehouse, and side is provided with
Camera is transported, for transporting specified article；The picking unmanned plane 12 is provided with several and is stored in unmanned plane warehouse 10
Interior location, the grape fruit ear for the plantation of grape-picking planting area；The storage device 2 includes bindiny mechanism 20, grape
Storage silo 21, telescope motor 22, flexible absorption pillar 23, grape memory plane 24, rotating platform 25 and grape holding tray 26, institute
Bindiny mechanism 20 is stated to be provided with several and be respectively arranged at 21 top of transport 11 lower position of unmanned plane and grape storage silo
Position, for being connect respectively with transport unmanned plane 11 and grape storage silo 21；The grape storage silo 21 is provided with several
And it is set to wine-growing region position, the grape fruit ear picked for storing picking unmanned plane 12；The telescope motor 22 is set
Be equipped with several and be set to picking 12 lower inner position of unmanned plane, and respectively with picking unmanned plane 12 and flexible absorption branch
Column 23 connects, and the telescopic prop for drive connection is flexible；The flexible absorption pillar 23 is that front end has electromagnetic absorption device
48 telescopic prop, the flexible absorption pillar 23 are provided with several and are set to picking 12 lower position of unmanned plane, and with
It picks unmanned plane 12 to connect, for the absorption point electromagnetic adsorption with grape memory plane 24；If the grape memory plane 24 is provided with
Dry and it is placed in 21 interior location of grape storage silo, and is provided with the absorption of several ironys and selects and the grape storage silo with placement
21 bindings, for placing rotating platform 25 and platform holding tray and point and flexible absorption 23 electromagnetic adsorption of pillar being adsorbed；Institute
Rotating platform 25 is stated to be provided with several and be set to 24 overhead surface position of grape memory plane, and respectively with grape memory plane 24
And grape holding tray 26 connects, the grape holding tray 26 for drive connection rotates；If the grape holding tray 26 is provided with
Dry and it is set to 25 top position of rotating platform, and connect with rotating platform 25 and be provided with the grape of placement grape fruit ear and put
Slot is set, for placing the grape fruit ear of the picking of picking mechanical arm 30；The picker 3 includes picking mechanical arm 30, removal machine
Tool arm 31 and cutting mechanics arm 32, the picking mechanical arm 30 is the telescopic mechanical arm that front end has grabbing device, described to adopt
It plucks mechanical arm 30 to be provided with several and be set to picking 12 side position of unmanned plane, and is connect with picking unmanned plane 12, is used for
It is fixed with the grape fruit ear to be picked of wine-growing region plantation and the grape fruit ear that picking is completed is put into grape and put
The grape for setting disk 26 places groove location；The removal mechanical arm 31 is the telescopic mechanical arm that front end has vacuum absorption device, institute
It states removal mechanical arm 31 to be provided with several and be set to picking 12 side position of unmanned plane, and is connect with picking unmanned plane 12,
For will not meet the grape fruit Adsorption of standard of plucking in the fixed grape fruit ear of picking mechanical arm 30；The cutting machine
Tool arm 32 is the telescopic mechanical arm that front end has cutter device, and the cutting mechanics arm 32 is provided with several and is set to picking
12 side position of unmanned plane, and connect with picking unmanned plane 12, for grape fruit ear and grape that picking mechanical arm 30 is fixed
Branch cutting separation；The protective device 4 includes protection layer of silica gel 40, protection channel 41, protection telescope motor 42 and protection
Telescopic baffle 43, the protection layer of silica gel 40 are provided with several and are set to the grabbing device table of 30 front end of picking mechanical arm
Face, the grape fruit ear for protecting picking mechanical arm 30 fixed；The protection channel 41 is provided with several and is set to grape
24 position of memory plane, it is flexible for providing protection telescopic baffle 43；42 quantity of protection telescope motor and the number of protection channel 41
Amount is consistent and is set to 41 interior location of protection channel, and connect respectively with protection channel 41 and protection telescopic baffle 43, uses
It is flexible in the protection telescopic baffle 43 of drive connection；43 quantity of protection telescopic baffle is consistent with protection 42 quantity of telescope motor
And it is set to 41 interior location of protection channel, and connect with protection telescope motor 42, after stretching, it is used to form grape placement region
The grape fruit ear placed above isolating and protecting grape memory plane 24；The telescopic device 5 includes Telescopic path 50, telescopic hydraulic pump
51, telescopic hydraulic bar 52 and flexible suspending buckle 53, the Telescopic path 50, which is provided with several and is set to, picks nobody
12 top position of machine, it is flexible for providing flexible suspending buckle 53；The telescopic hydraulic pumps 51 quantity and 50 quantity of Telescopic path
Unanimously and it is set to 50 interior location of Telescopic path, and is connect respectively with Telescopic path 50 and telescopic hydraulic bar 52, for driving
The telescopic hydraulic bar 52 of dynamic connection is flexible；It is consistent and be set to and stretch that 52 quantity of telescopic hydraulic bar and telescopic hydraulic pump 51 quantity
50 interior location of contracting channel, and connect respectively with telescopic hydraulic pump 51 and flexible suspending buckle 53, for stretching for drive connection
Contracting suspension buckle 53 is flexible；53 quantity of the flexible suspending buckle are consistent with 52 quantity of telescopic hydraulic bar and are set to telescopic hydraulic
52 front position of bar, and connect with telescopic hydraulic bar 52, for being fixed with the grape trellis in wine-growing region；The identification
Device 6 includes the first camera 60, second camera 61 and TOF sensor 62, and first camera 60 is provided with several
It is a and be set to 21 inner wall position of grape storage silo, and connect with grape storage silo 21, for absorbing the grape storage silo of connection
Environmental images inside 21；The second camera 61 is provided with several and is set to picking 12 side position of unmanned plane, and
It is connect with picking unmanned plane 12, the environmental images around picking unmanned plane 12 for absorbing connection；The TOF sensing is provided with
Several are simultaneously set to picking 12 side position of unmanned plane, for scanning and establishing grape fruit ear 3D model to be picked；It is described
Locking device 7 includes storage closing motor 70 and storage closed plate 71, and storage closing 70 quantity of motor and grape store
21 quantity of storehouse is consistent and is set to 21 upper interior position of grape storage silo, and closes respectively with grape storage silo 21 and storage
Plate 71 connects, and the storage closed plate 71 for drive connection is flexible；71 quantity of storage closed plate and storage closing motor 70
Quantity is consistent and is set to 21 upper interior position of grape storage silo, and closes motor with grape storage silo 21 and storage respectively
70 connections, for switching the grape storage silo 21 of connection；The wireless device 8 is set to 9 interior location of control centre, for dividing
Not with transport unmanned plane 11, picking unmanned plane 12, bindiny mechanism 20, telescope motor 22, flexible absorption pillar 23, rotating platform
25, picking mechanical arm 30, removal mechanical arm 31, cutting mechanics arm 32, protection telescope motor 42, telescopic hydraulic pump 51, stretch and hang
Hang tag button 53, the first camera 60, second camera 61, TOF sensor 62, storage closing motor 70, control centre 9, grape
External equipment, fire-fighting center, alarm center, first-aid centre and the network connection of planting area administrative department；In the control
The heart 9 is set to 9 position of placement control centre of wine-growing region administrative department planning, carries out grape fruit ear for intelligence and adopts
Pluck operation.
As a kind of preferred embodiment of the invention, the bindiny mechanism 20 include connection lock 200, fixed lock 201 with
And metal connecting rope 202, the connection lock 200 are provided with several and are set to transport 11 lower position of unmanned plane, and point
It is not connect with transport unmanned plane 11 and wireless device 8, for being connect with the metal connecting rope 202 of 201 positions of fixed lock；Institute
State fixed lock 201 and be provided with several and be set to 21 top side coil of grape storage silo and set, and respectively with grape storage silo
21 and wireless device 8 connect, for storing and fixing metal connecting rope 202；202 quantity of metal connecting rope and fixing lock
It is consistent and be set to 201 positions of fixed lock to detain 201 quantity, for respectively with connect 201 companies of lock 200 and fixed lock
It connects.
As a kind of preferred embodiment of the invention, the picker 3 further includes damage storage silo 33 and grinding device
34, the damage storage silo 33 is provided with several and is set to wine-growing region, the Portugal that can not be eaten for storing human body
Grape fruit ear；34 quantity of grinding device is consistent with damage 33 quantity of storage silo and is set to damage 33 internal ground position of storage silo
It sets, and is connect respectively with damage storage silo 33 and wireless device 8, the human body for that will damage 33 storage inside of storage silo can not
Edible grape fruit ear is crushed.
As a kind of preferred embodiment of the invention, locking device 7 further includes damage closing motor 72 and damage closed plate
73, damage closing 72 quantity of motor is consistent with damage 33 quantity of storage silo and is set to damage 33 upper interior position of storage silo
It sets, and is connect respectively with damage storage silo 33, wireless device 8 and damage closed plate 73, the damage for drive connection is closed
Plate 73 is flexible；73 quantity of damage closed plate is consistent with damage closing 72 quantity of motor and is set to 33 top of damage storage silo
Interior location, and connect respectively with damage storage silo 33 and damage closing motor 72, for switching the damage storage silo of connection
33。
As a kind of preferred embodiment of the invention, locking device 7 further includes flexible closing motor 74 and flexible closed plate
75, flexible 74 quantity of closing motor is consistent with 50 quantity of Telescopic path and is set to the channel side picking unmanned plane 12
Interior location, and connect respectively with picking unmanned plane 12, wireless device 8 and flexible closed plate 75, for stretching for drive connection
Contracting closed plate 75 is flexible；75 quantity of flexible closed plate is consistent with flexible closing 74 quantity of motor and is set to Telescopic path 50
12 interior location of unmanned plane is picked in side, and connects respectively with Telescopic path 50, picking unmanned plane 12 and damage closing motor 72
It connects, for switching the Telescopic path 50 of connection.
Wherein, the control centre 9 to transport unmanned plane 11, picking unmanned plane 12, bindiny mechanism 20, telescope motor 22,
Flexible absorption pillar 23, rotating platform 25, picking mechanical arm 30, removal mechanical arm 31, cutting mechanics arm 32, protection telescope motor
42, telescopic hydraulic pump 51, flexible suspending buckle the 53, first camera 60, second camera 61, TOF sensor 62, storage closing
Motor 70, the external equipment of wine-growing region administrative department, fire-fighting center, alarm center, first-aid centre, network, connection lock
Button 200, fixed lock 201, grinding device 34, damage closing motor 72, flexible closing motor 74, isolation motor 46, electromagnetism are inhaled
Adsorption device 48, nitrogen storage silo 27 and nitrogen sprayer head 28 send or receive information and/or instruction and/or request by wireless
Device 8 executes；The control centre 9 controls electronic device and refers to control centre 9 to need electronic device transmission pair to be controlled
The control instruction answered, transport unmanned plane 11, picking unmanned plane 12, bindiny mechanism 20, telescope motor 22, flexible absorption pillar 23,
Rotating platform 25, picking mechanical arm 30, removal mechanical arm 31, cutting mechanics arm 32, protection telescope motor 42, telescopic hydraulic pump
51, flexible suspending buckles the 53, first camera 60, second camera 61, TOF sensor 62, storage closing motor 70, connection lock
Button 200, fixed lock 201, grinding device 34, damage closing motor 72, flexible closing motor 74, isolation motor 46, electromagnetism are inhaled
Adsorption device 48, nitrogen storage silo 27 and nitrogen sprayer head 28 return after executing completion control instruction to control centre 9 corresponding
Information is completed in instruction；The transport unmanned plane 11, picking unmanned plane 12, grape storage silo 21, grape memory plane 24 and damage
Be provided with battery inside storage silo 33, the intelligent glucose picker system is provided with the center of supply, the center of supply to
The electronic device of intelligent glucose picker system supplies electric power；Unmanned plane warehouse 10 and the transport unmanned plane 11 of storage pick nobody
Machine 12, the wine-growing region at place, grape storage silo 21 and damage storage silo 33 are mutually bound；The intelligent glucose picking
The electronic device of system is all made of waterproofing design；The transport unmanned plane 11, grape storage silo 21, picking unmanned plane 12 and damage
Bad storage silo 33 is identified with unique number；Damage storage dish is provided with above the grape memory plane 24, the damage is deposited
Storage disk is for storing the grape fruit for not meeting sale or food sanitation standard.
Specifically, the picking instruction that the external equipment that wireless device 8 receives wine-growing region administrative department is sent is then
It is returned to control centre 9, the control centre 9 receives, and extracts the picking growing area that the picking instruction received includes
Field Number simultaneously controls inside the unmanned plane warehouse 10 for numbering consistent wine-growing region binding with the picking planting area extracted
The starting of picking unmanned plane 12 and control with the picking planting area extracted number the Portugal consistent wine-growing region bound
The storage closed plate 71 that storage closing motor 70 inside grape storage silo 21 is drivingly connected is shunk completely to open the grape of connection
Storage silo 21,61 the second shadow of real time shooting of second camera of picking 12 side of unmanned plane of the control of control centre 9 starting
As (second image refers to the environmental images around the picking unmanned plane 12 for the connection that second camera 61 absorbs) and control
(first image refers to the first camera shooting to 60 the first image of real time shooting of the first camera of 21 inner wall of grape storage silo of unlatching
Environmental images inside the grape storage silo 21 of the connection of first 60 intake), the picking unmanned plane of the control of control centre 9 starting
12 according to the second image flight go to binding wine-growing region top position and flight reach after control flight reach tie up
The picking unmanned plane 12 of fixed wine-growing region top position goes to the platform planting area of lower section to reach according to the second image
It hovers to the grape fruit ear side position of ripeness standard, reaches the grape fruit ear side of ripeness standard in picking unmanned plane 12
Position and after hovering, the control centre 9 control hovering in the grape fruit ear side position for reaching ripeness standard picking nobody
The flexible closed plate 75 that the flexible closing motor 74 of 50 side of Telescopic path of machine 12 is drivingly connected is shunk completely to open connection
Telescopic path 50 and Telescopic path 50 unlatching after control unlatching Telescopic path 50 inside telescopic hydraulic pump 51 driving companies
The flexible suspention hook of connection is stretched out the grape with picking 12 hovering position top position of unmanned plane by the telescopic hydraulic bar 52 connect
Frame contradicts, after flexible suspention is linked up with and is contradicted with grape trellis, the flexible Suspension hanger of the control of control centre 9 and grape trellis conflict
Hook and the grape trellis of conflict enter stationary state and after the completion of fixation where the control flexible suspention hook fixed with grape trellis
Picking unmanned plane 12 TOF sensor 62 scanning connection picking unmanned plane 12 around meet standard of plucking (standard of plucking
Refer to epidermis and not there is a problem of worm hole and the equal human body that influences that do not occur to rot is edible) grape fruit ear information and control and
The flexible absorption that the telescope motor 22 inside picking unmanned plane 12 where the fixed flexible suspention hook of grape trellis is drivingly connected
Pillar 23 is fully extended, and the control centre 9 establishes consistent grape fruit according to the grape fruit ear information that TOF sensor 62 scans
Fringe 3D model simultaneously controls the picking mechanical arm 30 with the fixed picking unmanned plane 12 of grape trellis according to the second image and grape fruit ear
3D model stretches out the grabbing device using front end with protection layer of silica gel 40 and the grape fruit ear for meeting standard of plucking is carried out safety
It fixed (the safety fixation refers to that grape fruit ear is fixed in the case where not damaging grape fruit for grabbing device), is adopting
Pluck mechanical arm 30 and grape fruit ear it is fixed after the completion of, the control of control centre 9 and the fixed picking mechanical completed of grape fruit ear
The removal mechanical arm 31 of picking unmanned plane 12 where arm 30 is according to the 3D model of the second image and the grape fruit ear by front end
Vacuum chuck and the fixed grape fruit ear of picking mechanical arm 30 include do not meet sale or the grape fruit of food sanitation standard is inhaled
It is attached and the grape fruit for not meeting sale standard of absorption is put into the grape memory plane 24 of place picking unmanned plane 12 lower section
Damage storage dish in (repeat removal and do not meet the grape fruit of sale or food sanitation standard, until picking mechanical arm 30 is solid
There are until the grape fruit for not meeting sale or food sanitation standard for fixed grape fruit ear), it will be picked in removal mechanical arm 31
The fixed grape fruit ear of mechanical arm 30 do not meet sale or the grape fruit removal of food sanitation standard after the completion of, the control centre
9 controls and fixed 30 institute of picking mechanical arm completed of the grape fruit ear that not there is no the grape fruit for not meeting sale or food sanitation standard
Picking unmanned plane 12 cutting mechanics arm 32 according to 3D model the cutting using front end of the second image and the grape fruit ear
(the safety will be separated with the fixed grape fruit ear of picking mechanical arm 30 with the grape branch of connection progress safe cutting by cutting device
Cutting separation refers to cutting mechanics arm 32 in the case where not damaging grape fruit by grape fruit ear and grape branch cutting point
From), after cutting mechanics arm 32 separates grape fruit ear with grape branch safe cutting, the control of control centre 9 is fixed with
Where fixed grape fruit ear is placed in by the picking mechanical arm 30 of the grape fruit ear separated with grape branch according to the second image
The grape for picking 25 top of rotating platform of the grape memory plane 24 of flexible absorption pillar 23 connection of 12 lower section of unmanned plane is placed
Grape placing groove interior location inside disk 26 is simultaneously controlled after the completion of picking mechanical arm 30 places grape fruit ear to grape placing groove
The rotating platform 25 that system is placed with 26 lower section of grape holding tray where the grape placing groove of grape fruit ear carries out primary clockwise
Rotation (rotating platform 25 clockwise primary rotation refer to the grape placing groove for being placed with grape fruit ear is rotated away from it is close
30 position of picking mechanical arm, the grape placing groove that will be controlled are rotated close to 30 position of picking mechanical arm), above-mentioned steps are grape
Step is picked, after the completion of picking mechanical arm 30 places grape fruit ear to grape placing groove, the control centre 9 controls picking machine
Tool arm 30 continues to repeat above-mentioned grape picking step, until 12 region of picking unmanned plane is not detected, there are symbols
Until the grape for closing standard of plucking, or, until the grape holding tray 26 of 12 lower section of picking unmanned plane is in full load condition；Work as institute
State picking unmanned plane 12 lower section grape holding tray 26 be in full load condition after, the control of control centre 9 is in fully loaded shape
The flexible suspension buckle 53 of picking unmanned plane 12 where the grape holding tray 26 of state release with the stationary state of grape trellis and
After flexible suspension buckle 53 releases stationary state, the control of control centre 9 releases 53 institute of flexible suspension buckle of stationary state
Telescopic path 50 inside the telescopic hydraulic bar 52 that is drivingly connected of telescopic hydraulic pump 51 by the flexible suspension buckle 53 of connection
It shrinks completely, after flexible suspension buckle 53 is shunk completely, control centre's control is in the grape holding tray of full load condition
The picking unmanned plane 12 for releasing stationary state where 26 and with grape trellis flies according to the second image to the grape growing region of binding
Domain binding 33 top position of damage storage silo and picking unmanned plane 12 flight reach after control picking unmanned plane 12 flight arrive
The damage closed plate 73 that damage closing motor 72 inside the damage storage silo 33 reached is drivingly connected is shunk completely to open connection
Damage storage silo 33, after the completion of damaging storage silo 33 and opening, in the damage storage silo 33 that the control centre 9 control is opened
The fixed taking-up of damage storage dish of side picked unmanned plane 12 and utilize picking mechanical arm 30 for 12 lower section of picking unmanned plane at place
And the grape fruit for not meeting sale or food sanitation standard placed inside fixed damage storage dish is poured into lower section unlatching completely
33 interior location of damage storage silo, after the completion of toppling over, the control centre 9 control topple over the picking mechanical arm 30 of completion will
24 upper surface location of grape memory plane of 12 lower section of picking unmanned plane, above-mentioned steps are where fixed damage storage dish is reset to
Grape processing step repeats grape step until the damage storage dish of 12 lower section of picking unmanned plane is not placed with and does not meet out
Sell or the grape fruit of food sanitation standard until；When mark is sold or eaten to picking unmanned plane 12 by not meeting for storage dish placement is damaged
After the completion of quasi- grape fruit processing, the control centre 9 picking unmanned plane 12 goes to binding according to the flight of the second image
The grape storage region position of the binding of wine-growing region and 21 internal layout of grape storage silo opened carries out parked and is adopting
It plucks after the flight of unmanned plane 12 reaches and is parked, the flexible absorption pillar 23 of 12 lower section of the control centre 9 control picking unmanned plane
Electromagnetic adsorption state is released with the grape memory plane 24 that absorption connects and controls the flexible absorption pillar 23 in lower section and absorption connection
The picking unmanned plane 12 that grape memory plane 24 releases electromagnetic adsorption state is back to the grape kind of binding according to the flight of the second image
10 interior location of unmanned plane warehouse of growing area domain binding is back to the wine-growing region binding of binding in picking unmanned plane 12
After 10 interior location of unmanned plane warehouse, the control of control centre 9 returns to the picking unmanned plane of 10 interior location of unmanned plane warehouse
12 grape memory planes 24 according to the second image that the flexible absorption pillar 23 of lower section and 10 inside of place unmanned plane warehouse is vacant
Absorption point contradict and after the completion of conflict, the absorption point of the control centre 9 control and grape memory plane 24, which contradicts, to be completed
Flexible absorption pillar 23 enters electromagnetic adsorption state (above-mentioned steps are grape storing step) and in the suction with grape memory plane 24
Attachment contradicts after the flexible absorption pillar 23 completed enters electromagnetic adsorption state and controls the flexible picking adsorbed where pillar 23
The wine-growing region that unmanned plane 12 returns to binding continues to repeat grape picking, processing and storing step, until not examining
Measure with picking instruction include there are the grapes for meeting standard of plucking in the grape harvest number of selecting and edit consistent wine-growing region is
Only, or, instructing all grape storage silos 21 for the consistent wine-growing region binding of the grape harvest number of selecting and edit for including complete with picking
Until portion is in full load condition；When picking the operation of unmanned plane 12, the center of supply is gone to charge immediately if not enough power supply；
When a picking unmanned plane 12 carries out grape-picking, avoid to spread 1 meter of radius centered on the picking unmanned plane 12 around
There are other picking unmanned planes 12 to enter in range, unmanned planes 12 of picking is avoided to collide damage more.
It is advised specifically, grape memory plane 24 is placed in grape storage silo 21 in the control picking unmanned plane 12 of control centre 9
The flexible absorption pillar 23 of the grape storage region and the picking unmanned plane 12 drawn and the absorption point of grape memory plane 24 release electricity
After magnetic suck, 9 control panel of control centre is placed in the grape memory plane of the grape storage region of the planning of grape storage silo 21
The protection telescopic baffle 43 that the protection telescope motor 42 of 24 placement channel interior is drivingly connected is fully extended to protect grape to put
Set the grape fruit ear of the storage of disk 26；When the control centre 9 according to the first image analysing computer go out to have in full load condition and it is internal not
After existing there are the grape storage silo 21 of picking unmanned plane 12, the control of control centre 9 is in full load condition and inside not
The storage closed plate 71 being drivingly connected there are the storage closing motor 70 of the grape storage silo 21 of picking unmanned plane 12 is stretched completely
The grape storage silo 21 of connection is closed out, after closing in fully loaded grape storage silo 21, the control of control centre 9 should
Idle (described idle refer to inactive) the transport unmanned plane 11 for the wine-growing region binding that grape storage silo 21 is bound
(the transport image refers to around the transport unmanned plane 11 of transport camera intake transport camera real time shooting transport image
Environmental images) and the idle transport unmanned plane 11 for the wine-growing region binding that the grape storage silo 21 is bound is controlled according to fortune
Defeated image is gone in full load condition and closed 21 top position of grape storage silo, after the completion of transporting the flight of unmanned plane 11,
The control of control centre 9 flight reaches transport unmanned plane 11 in full load condition and 21 top of closed grape storage silo
Lower section is successively connected into lock 200 and owning above full load condition and closed grape storage silo 21 according to image is transported
The metal connecting rope 202 of 201 positions of fixed lock connects, in the metal connecting rope of connection lock 200 and 201 positions of fixed lock
After the completion of 202 all connect, the connection that the control of control centre 9 connection is completed latches transport unmanned plane 11 where 200
According to transport image by lower section connect in full load condition and the suspention of closed grape storage silo 21 is flown to wine-growing region
Storage region is completed in the picking of administrative department's planning, after the completion of flight, transport that the control centre 9 control flight is completed nobody
The connection lock 200 of 11 lower section of machine is disconnected with the metal connecting rope 202 connecting, and is then reset to according to transport image flight
10 interior location of unmanned plane warehouse of binding enters idle state.
Specifically, after damage grape storage silo 21 is opened, in the damage storage silo 33 that the control of control centre 9 is opened
The grinding device 34 in portion, which starts, in real time crushes the grape of damage, to form animal feed or vegetable fertilizer.
Embodiment two
With reference to Fig. 5-6, shown in Fig. 9.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, the protective device 4 is also
It is provided with several including channel isolation 44 and fixed channel 45, the channel isolation 44 and is set in grape storage silo 21
Portion's left sidewall position；45 quantity of fixed channel is consistent with 44 quantity of channel isolation and is set to the 21 inside right side of grape storage silo
Sidewall locations, and the fixed channel 45 and channel isolation 44 keep same level.
As a kind of preferred embodiment of the invention, the protective device 4 further includes isolation motor 46 and isolation expansion plate
47,46 quantity of isolation motor is consistent with 44 quantity of channel isolation and is set to 44 interior location of channel isolation, and respectively with
Channel isolation 44, wireless device 8 and isolation expansion plate 47 connect, and the isolation expansion plate 47 for drive connection is flexible；It is described
Isolation 47 quantity of expansion plate and isolation 46 quantity of motor are consistent and be set to 44 interior location of channel isolation, and lead to respectively with being isolated
Road 44 and isolation motor 46 connect, and after stretching, fix for contradicting with fixed 45 inner bottom surface of channel.
As a kind of preferred embodiment of the invention, the protective device 4 further includes electromagnetic absorption device 48, and the electromagnetism is inhaled
Adsorption device 48 is provided with several and is set to 24 side outer surface interior location of grape memory plane, and with outside grape memory plane 24
Surface keeps same level and connect respectively with wireless device 8 and protection telescopic baffle 43, for depositing the grape of connection
Storage plate 24 is fixed with another 24 electromagnetic adsorption of grape memory plane contradicted.
Specifically, being stored in the control centre 9 according to the grape that the first image analysing computer goes out to have grape storage silo 21 to plan
Region is in after full load condition (after i.e. all grape storage regions are placed with grape memory plane 24), the control centre 9
The grape memory plane 24 for the grape memory plane 24 that the grape storage silo 21 that control grape storage region is in full load condition is placed
Electromagnetic absorption device 48 enters electromagnetic adsorption state and inhales 48 electromagnetism of electromagnetic absorption device of another grape memory plane 24 of side
It is attached and control grape storage region be in full load condition grape storage silo 21 left side wall channel isolation 44 inside isolation
The isolation expansion plate 47 that motor 46 is drivingly connected stretches out and 45 inner bottom of fixation channel for 21 right side wall of grape storage silo connecting
Face, which contradicts, to be fixed to form grape area of isolation, and the grape area of isolation planning has several grape storage regions, stretches in isolation
Contracting plate 47 and fixed 45 inner bottom surface of channel contradict after the completion of fixing, what the grape memory plane 24 of 47 lower section of isolation expansion plate stretched out
Telescopic baffle 43 is protected to be separated by 1 centimetre of spacing with expansion plate 47 is isolated, and so on, until all isolation of grape storage silo 21
After the fully extended and all grape storage region of 47 expansion plate of isolation inside channel 44 piles grape, the grape storage silo
21 enter full load condition；When the storage that the external equipment that control centre 9 receives wine-growing region administrative department occurs is extracted
After instruction, the control centre 9 extracts the number of grape storage silo 21 that the storage extraction instruction received includes and according to extraction
The number of grape storage silo 21 control the storage closed plate that the storage closing motor 70 of consistent grape storage silo 21 is drivingly connected
71 shrink completely to open the grape storage silo 21 of connection, number consistent grape storage silo in the grape storage silo 21 with extraction
After 21 open, the protection of all grape memory planes 24 in 21 inside of grape storage silo that the control of control centre 9 is opened is flexible
The electromagnetic absorption device 48 of baffle 43 releases electromagnetic adsorption state, and the often grape inside one layer of all grape area of isolation
After being removed, controls this and do not have the isolation motor 46 inside the channel isolation 44 of the grape area of isolation where grape and be drivingly connected
Isolation expansion plate 47 completely shrink, and so on, until the grape storage silo 21 grape area of isolation disappearance until, for
Plant personnel takes out grape completely out of grape storage silo 21.
Embodiment three
With reference to Fig. 5, shown in Fig. 9.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, the storage device 2 is wrapped
Nitrogen storage silo 27 is included, the nitrogen storage silo 27 is consistent with 21 quantity of grape storage silo and is set to inside grape storage silo 21
Position, for storing liquid nitrogen.
As a kind of preferred embodiment of the invention, the storage device 2 further includes nitrogen sprayer head 28 and nitrogen conduit 29,
The nitrogen sprayer head 28 is provided with several and is set to 21 inner wall position of grape storage silo, and respectively with grape storage silo 21,
Wireless device 8 and nitrogen conduit 29 connect, for passing through the nitrogen conduit 29 connected for 27 storage inside of nitrogen storage silo
Liquid nitrogen is converted to nitrogen ejection；29 quantity of nitrogen conduit it is consistent with 28 quantity of nitrogen sprayer head and respectively with nitrogen storage silo 27
And nitrogen sprayer head 28 connects, the liquid nitrogen inside the nitrogen storage silo 27 for that will connect imports inside the nitrogen sprayer head 28 of connection
Position.
Specifically, the storage closing of the storage closing drive connection of motor 70 in the grape storage silo 21 in full load condition
After the completion of the fully extended closing by grape storage silo 21 of plate 71, the control of control centre 9 closing is completed and is in full load condition
Grape storage silo 21 inside nitrogen sprayer head 28 by connection nitrogen conduit 29 will be inside the nitrogen storage silo 27 of connection
Liquid nitrogen, which is converted to nitrogen and is sprayed to closing in real time, to be completed and inside the grape storage silo 21 in full load condition, when closing and be in
When the storage closed plate 71 that the storage closing motor 70 of the grape storage silo 21 of full load condition is drivingly connected is shunk completely, the control
The nitrogen sprayer head 28 of the control of the center 9 storage complete holosystolic grape storage silo 21 of closed plate 71 processed is out of service, in real time for place
It is fresh-keeping in the grape progress that full load condition and closed grape storage silo 21 store, avoid grape from occurring to rot, go bad etc..
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique, including unmanned plane device, storage dress
It sets, picker, protective device, telescopic device, identification device, locking device, wireless device and control centre, feature exist
In the unmanned plane device includes unmanned plane warehouse, transport unmanned plane and picking unmanned plane, and the unmanned plane warehouse is set to
Wine-growing region position, for storing transport unmanned plane and picking unmanned plane；The transport unmanned plane is provided with several
And storage and unmanned plane store interior position are set, and side is provided with transport camera, for transporting specified article；The picking
Unmanned plane is provided with several and is stored in unmanned plane store interior position, the grape fruit for the plantation of grape-picking planting area
Fringe；The storage device includes bindiny mechanism, grape storage silo, telescope motor, flexible absorption pillar, grape memory plane, rotation
Platform and grape holding tray, the bindiny mechanism be provided with several and be respectively arranged at transport unmanned plane lower position and
Grape storage silo top position, for being connect respectively with transport unmanned plane and grape storage silo；The grape storage silo setting
There are several and be set to wine-growing region position, for storing the grape fruit ear of picking unmanned plane picking；The flexible electricity
Machine is provided with several and is set to picking unmanned plane lower inner position, and respectively with picking unmanned plane and flexible absorption branch
Column connection, the telescopic prop for drive connection are flexible；The flexible absorption pillar is front end stretching with electromagnetic absorption device
Contracting pillar, the flexible absorption pillar be provided with several and be set to picking unmanned plane lower position, and with picking unmanned plane
Connection, for the absorption point electromagnetic adsorption with grape memory plane；The grape memory plane is provided with several and is placed in grape
Storage silo interior location, and be provided with the absorption of several ironys and select and bound with the grape storage silo of placement, for placing rotation
Absorption point is simultaneously adsorbed pillar electromagnetic adsorption with flexible by platform and platform holding tray；The rotating platform is provided with several simultaneously
It is set to grape memory plane overhead surface position, and is connect respectively with grape memory plane and grape holding tray, for the company of driving
The grape connect places disc spins；The grape holding tray is provided with several and is set to rotating platform top position, and with rotation
Turn platform and connect and be provided with the grape placing groove for placing grape fruit ear, for placing the grape fruit ear of picking mechanical arm picking；
The picker includes that picking mechanical arm, removal mechanical arm and cutting mechanics arm, the picking mechanical arm have for front end
The telescopic mechanical arm of grabbing device, the picking mechanical arm are provided with several and are set to picking unmanned plane side position, and
It is connect with picking unmanned plane, for being fixed with the grape fruit ear to be picked that wine-growing region is planted and completing picking
Grape fruit ear be put into grape holding tray grape place groove location；The removal mechanical arm is that front end has vacuum absorption device
Telescopic mechanical arm, the removal mechanical arm be provided with several and be set to picking unmanned plane side position, and with picking nothing
Man-machine connection, for will not meet the grape fruit Adsorption of standard of plucking in the fixed grape fruit ear of picking mechanical arm；Institute
Stating cutting mechanics arm is the telescopic mechanical arm that front end has cutter device, and the cutting mechanics arm is provided with several and is set to
Unmanned plane side position is picked, and is connect with picking unmanned plane, grape fruit ear and grape branch for fixing picking mechanical arm
Item cutting separation；The protective device includes protection layer of silica gel, protection channel, protection telescope motor and protects telescopic baffle,
The protection layer of silica gel is provided with several and is set to the grabbing device surface of picking mechanical arm front end, for protecting picking machine
The fixed grape fruit ear of tool arm；The protection channel is provided with several and is set to grape storage Board position, anti-for providing
It is flexible to protect telescopic baffle；The protection telescope motor quantity is consistent with protection channel quantity and is set to position in protection channel
It sets, and is connect respectively with protection channel and protection telescopic baffle, the protection telescopic baffle for drive connection is flexible；It is described anti-
Shield telescopic baffle quantity and protection telescope motor quantity are consistent and be set to protection channel interior location, and with protect telescope motor
Connection after stretching, is used to form the grape fruit ear placed above grape placement region isolating and protecting grape memory plane；It is described flexible
Device includes Telescopic path, telescopic hydraulic pump, telescopic hydraulic bar and flexible suspending buckle, and the Telescopic path is provided with several
It is a and be set to picking unmanned plane top position, it is flexible for providing flexible suspending buckle；The telescopic hydraulic pumps quantity and stretches
Contracting number of channels is consistent and is set to Telescopic path interior location, and connect respectively with Telescopic path and telescopic hydraulic bar, uses
It is flexible in the telescopic hydraulic bar of drive connection；The telescopic hydraulic bar quantity is consistent with telescopic hydraulic pump quantity and is set to flexible
Channel interior position, and snapped connection respectively with telescopic hydraulic pump and flexible suspending, the flexible suspending card for drive connection
Button is flexible；The flexible suspending buckle quantity is consistent with telescopic hydraulic bar quantity and is set to telescopic hydraulic bar front position, and
It is connect with telescopic hydraulic bar, for being fixed with the grape trellis in wine-growing region；The identification device includes the first camera shooting
Head, second camera and TOF sensor, first camera are provided with several and are set to grape storage silo inner wall position
It sets, and is connect with grape storage silo, the environmental images inside grape storage silo for absorbing connection；The second camera is set
It is equipped with several and is set to picking unmanned plane side position, and connect with picking unmanned plane, for absorbing the picking nothing of connection
Environmental images around man-machine；The TOF sensing is provided with several and is set to picking unmanned plane side position, for scanning
And establish grape fruit ear 3D model to be picked；The locking device includes storage closing motor and stores closed plate, described
Storage closing number of motors is consistent with grape storage silo quantity and be set to grape storage silo upper interior position, and respectively with Portugal
Grape storage silo and storage closed plate connection, the storage closed plate for drive connection are flexible；The storage closed plate quantity with
Storage closing number of motors is consistent and is set to grape storage silo upper interior position, and respectively with grape storage silo and storage
Motor connection is closed, for switching the grape storage silo of connection；The wireless device is set to control centre's interior location, is used for
Respectively with transport unmanned plane, picking unmanned plane, bindiny mechanism, telescope motor, flexible absorption pillar, rotating platform, picking mechanical
Arm, removal mechanical arm, cutting mechanics arm, protection telescope motor, telescopic hydraulic pump, flexible suspending buckle, the first camera, second
Camera, TOF sensor, storage closing motor, control centre, the external equipment of wine-growing region administrative department, in fire-fighting
The heart, alarm center, first-aid centre and network connection；The control centre is set to the planning of wine-growing region administrative department
Control centre position is placed, carries out grape fruit ear picking operations for intelligent.
2. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 1, special
Sign is that the bindiny mechanism includes connection lock, fixed lock and metal connecting rope, and the connection lock is provided with several
It is a and be set to transport unmanned plane lower position, and connect respectively with transport unmanned plane and wireless device, it is used for and fixing lock
The metal connecting rope connection that button bit is set；The fixed lock is provided with several and is set to side coil above grape storage silo
It sets, and is connect respectively with grape storage silo and wireless device, for storing and fixing metal connecting rope；The metal connecting rope
Quantity is consistent with fixed lock quantity and is set to fixing lock button bit and sets, for respectively with connect lock and the fixed company of lock
It connects.
3. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 1, special
Sign is that the picker further includes that damage storage silo and grinding device, the damage storage silo are provided with several simultaneously
It is set to wine-growing region, the grape fruit ear that can not be eaten for storing human body；The grinding device quantity and damage store
Storehouse quantity is consistent and is set to damage storage silo internal ground position, and connect respectively with damage storage silo and wireless device,
Grape fruit ear for that can not eat the human body that damage storage silo storage inside crushes.
4. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 3, special
Sign is that locking device further includes damage closing motor and damage closed plate, and the damage closing number of motors is deposited with damage
Warehouse quantity is consistent and is set to damage storage silo upper interior position, and respectively with damage storage silo, wireless device and damage
The connection of bad closed plate, the damage closed plate for drive connection are flexible；The damage closed plate quantity and damage closing motor number
Amount is consistent and is set to damage storage silo upper interior position, and connect respectively with damage storage silo and damage closing motor,
For switching the damage storage silo of connection.
5. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 1, special
Sign is that locking device further includes flexible closing motor and flexible closed plate, and the flexible closing number of motors is led to flexible
Road quantity is consistent and is set to the channel side picking unmanned plane interior location, and respectively with picking unmanned plane, wireless device
And flexible closed plate connection, the flexible closed plate for drive connection are flexible；The flexible closed plate quantity and flexible closing
Number of motors is consistent and is set to Telescopic path side picking unmanned plane interior location, and respectively with Telescopic path, pick nobody
Machine and damage closing motor connection, for switching the Telescopic path of connection.
6. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 1, special
Sign is that the protective device further includes that channel isolation and fixed channel, the channel isolation are provided with several and are arranged
In grape storage silo inside left side wall position；The fixed number of channels is consistent with channel isolation quantity and is set to grape storage
Storehouse inside right side wall position, and the fixed channel and channel isolation keep same level.
7. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 6, special
Sign is that the protective device further includes isolation motor and isolation expansion plate, the isolation number of motors and channel isolation number
Amount is consistent and is set to channel isolation interior location, and respectively with channel isolation, wireless device and expansion plate connection, use be isolated
It is flexible in the isolation expansion plate of drive connection；The isolation expansion plate quantity with isolation number of motors it is consistent and be set to isolation lead to
Road interior location, and respectively with channel isolation and motor connection is isolated, after stretching, be used for and fixed channel interior bottom surface contradict
It is fixed.
8. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 1, special
Sign is that the protective device further includes electromagnetic absorption device, and the electromagnetic absorption device is provided with several and is set to Portugal
Grape memory plane side outer surface interior location, and with grape memory plane outer surface keep same level and respectively with wireless device
And protection telescopic baffle connection, for the grape memory plane of connection and another grape memory plane electromagnetic adsorption of conflict to be consolidated
It is fixed.
9. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 1, special
Sign is that the storage device includes nitrogen storage silo, and the nitrogen storage silo is consistent with grape storage silo quantity and is set to
Grape storage silo interior location, for storing liquid nitrogen.
10. a kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique according to claim 1,
It is characterized in that, the storage device further includes nitrogen sprayer head and nitrogen conduit, and the nitrogen sprayer head is provided with several and sets
It is placed in grape storage silo inner wall position, and is connect respectively with grape storage silo, wireless device and nitrogen conduit, is connected for passing through
The liquid nitrogen of nitrogen storage silo storage inside is converted to nitrogen and sprayed by the nitrogen conduit connect；The nitrogen conduit quantity and nitrogen spray
Head quantity is consistent and connect respectively with nitrogen storage silo and nitrogen sprayer head, the liquid nitrogen inside nitrogen storage silo for that will connect
Import the nitrogen sprayer head interior location of connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811184937.3A CN109168627A (en) | 2018-10-11 | 2018-10-11 | A kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811184937.3A CN109168627A (en) | 2018-10-11 | 2018-10-11 | A kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique |
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| CN201811184937.3A Withdrawn CN109168627A (en) | 2018-10-11 | 2018-10-11 | A kind of intelligent glucose picker system based on unmanned plane and TOF imaging technique |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192471A (en) * | 2019-06-04 | 2019-09-03 | 大连理工大学 | A kind of hickory nut picking and collection device and method based on unmanned plane |
| CN110356559A (en) * | 2019-07-01 | 2019-10-22 | 上海电机学院 | A kind of puma manipulator formula four-axle aircraft system automatically grabbing object |
| CN113352335A (en) * | 2021-06-02 | 2021-09-07 | 王雨豪 | Machinery and vision correlation positioning experiment platform |
| CN113978732A (en) * | 2021-12-08 | 2022-01-28 | 长沙市第三医院 | Four-rotor unmanned aerial vehicle for taking medicine |
-
2018
- 2018-10-11 CN CN201811184937.3A patent/CN109168627A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192471A (en) * | 2019-06-04 | 2019-09-03 | 大连理工大学 | A kind of hickory nut picking and collection device and method based on unmanned plane |
| CN110356559A (en) * | 2019-07-01 | 2019-10-22 | 上海电机学院 | A kind of puma manipulator formula four-axle aircraft system automatically grabbing object |
| CN113352335A (en) * | 2021-06-02 | 2021-09-07 | 王雨豪 | Machinery and vision correlation positioning experiment platform |
| CN113978732A (en) * | 2021-12-08 | 2022-01-28 | 长沙市第三医院 | Four-rotor unmanned aerial vehicle for taking medicine |
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Application publication date: 20190111 |