CN109168630A - A kind of short picking fruit device based on machine vision - Google Patents
A kind of short picking fruit device based on machine vision Download PDFInfo
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- CN109168630A CN109168630A CN201811064047.9A CN201811064047A CN109168630A CN 109168630 A CN109168630 A CN 109168630A CN 201811064047 A CN201811064047 A CN 201811064047A CN 109168630 A CN109168630 A CN 109168630A
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- fruit
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The present invention provides a kind of short picking fruit device based on machine vision, including negative pressure mechanism, finds out mechanism, mobile foundation, vision module, cutting mechanism and control module.Described device is under the analysis and manipulation of control module, short fruit location information is obtained by vision module, negative pressure mechanism forms selective absorption region absorption fruit in adsorption hole according to fruit location information on the net, it finds out mechanism and cutting mechanism is bound, after fruit is absorbed and fixed at absorption hole pattern, finds out mechanism and move forward on mobile foundation, fruit is perceived to stalk portion, fruit is cut using cutting mechanism to obstruct, then removes adsorption capacity, falls fruit naturally in collection basket on the base.Applied widely, high degree of automation of the invention damages small, saving labour, raising picking efficiency to fruit.
Description
Technical field
The present invention relates to a kind of picking fruit device more particularly to a kind of short picking fruit dresses based on machine vision
It sets.
Background technique
This aspect is picked in agricultural, picker is one of the main means of Development of Morden agricultural production, and is adopting
During plucking, accurately positioning and do not damage fruit is one of the key technology successfully completed.Therefore, the vision in picker
Positioning system must be able to accurately, effectively carry out identification positioning to fruit.Especially, the usual plant of short fruit is shorter, people
Picking generally requires to bend the knee or jackknife to be picked, and picking fruit so not only makes picker very arduous but also picking rate
Slowly, low efficiency will greatly increase labour cost when being picked in face of the short fruit of large area.
However, the research achievement of picker is less in current development in science and technology, and since the complexity of planting environment is more
Sample, experimental result is usually unsatisfactory, all there is a problem of on precision and cost bigger.This to picker from
More stringent requirements are proposed for the research and development of dynamicization technology and vision positioning system, it is therefore desirable to a kind of picker increase machine
Vision automatic recognition function makes it have bigger breakthrough to improve the degree of manual intelligent.Existing visual identity method
Be the color and vein feature of fruit is extracted using singular value decomposition method and phase-wrapping technology, then with least square method into
Row fitting obtains fruit textural characteristics, and such method accuracy of identification is low and more complex, and processing speed is slow, and being unfavorable for daily picking makes
With.
Summary of the invention
The present invention provides a kind of short picking fruit based on machine vision for the deficiency of picker in background technique
Device.
To solve the above-mentioned problems, the invention solves technical solution are as follows:
A kind of short picking fruit device based on machine vision, including negative pressure mechanism, find out mechanism, mobile foundation, vision mould
Block, cutting mechanism and control module.Described device obtains short fruit under the analysis and manipulation of control module, through vision module
Real location information, negative pressure mechanism form selective absorption region in adsorption hole according to fruit location information on the net, adsorb fruit, visit
Know that mechanism and cutting mechanism are bound, after fruit is absorbed and fixed at absorption hole pattern, finds out mechanism and move forward on mobile foundation, visit
After knowing perception fruit stalk portion of mechanism, cutting mechanism cuts fruit stalk, and negative pressure mechanism removes adsorption capacity, and fruit is fallen naturally in pedestal
On collection basket in, complete picking.
The negative pressure mechanism, including vacuum pump, absorption hole pattern, evacuated panel, the first rectangle support and air-blowing nozzle, it is described
Absorption hole pattern is that a length and width fix, have a certain thickness rectangular thin plate, is equipped with dot matrix hole pattern among absorption hole pattern, dot matrix aperture it
Between be equipped with varistor, for detecting whether fruit is adsorbed tightly；The evacuated panel length and width are consistent with absorption hole pattern length and width, vacuum
Plate has certain thickness, hollow out inside evacuated panel, and evacuated panel front surface is equipped with dot matrix through-hole, dot matrix through-hole aperture size and dot matrix
Lead to the hole site is consistent with the absorption aperture of hole pattern, and absorption hole pattern can be fitted in the front surface of evacuated panel, and evacuated panel rear surface is logical
Gas-guide tube connection vacuum pump is crossed, negative pressure is formed inside vacuum pump startup, evacuated panel, adsorption hole net surface is made to have adsorption capacity.
The evacuated panel left and right sides are provided with limit hole, and the left and right sides of every a line through-hole is all provided with limit hole;Often
A movable rack is provided in a limit hole, movable rack crosses through-hole, and activity in left and right sides insertion evacuated panel
Rack gear can shelter from through-hole just, and movable rack drives its horizontal movement by first motor, and when work passes through horizontal movement and hides
Some through-holes are blocked, so that some adsorption holes lose adsorption capacity, form selective absorption region.
The first rectangle support length and width are consistent with absorption hole pattern, closely pasted evacuated panel, absorption hole pattern by screw
It closes, and is fixed on mobile foundation vertically by the first rectangle support.Frame upper is fixed with air-blowing nozzle, and the connection of air-blowing nozzle is true
Sky pump outlet side, blows forward.
The mobile foundation includes support plate, crawler belt, idler wheel and horizontal cross bar, and the mechanism of finding out is on water balance bar
It moves horizontally；The base bottom is driven by the mating idler wheel of crawler belt, idler wheel by the second motor, drives crawler belt, so that whole
Device is moved forward or rearward.
The mechanism of finding out includes movable block, the second rectangle support and photoelectric sensor；The second rectangle support ruler
Very little consistent with the first rectangle support size, left and right frame is all bonded rack gear, and upper bracket bilateral symmetry opens that there are two radius and water
The flat consistent through-hole of cross bar radius, bracket can integrally be moved on horizontal cross bar by transmission device；The movable block is a pair
Collocation uses, and movable block front is fixed with cutting mechanism, and rear surface is reduction gearbox, with the second rectangle support flank engagement, activity
Hollow out inside block, is placed with third motor, photoelectric sensor, and third motor is connected with reduction gearbox, drives movable block along rectangle branch
Frame rack gear face moves up and down.One of movable block side is photo-sensor signal transmitting terminal, another movable block side is
Photoelectric sensor receiving terminal.
The cutting mechanism includes the 4th motor, concave tool apron and plug-in strip；The rear surface of the plug-in strip is Profile of AT, left
The right is the knife edge；4th motor output shaft is socketed gear, and gear is engaged with the Profile of AT of plug-in strip, when the motor is energized, control
Check knife moves horizontally on movable block sustained height；The concave tool apron is the lesser cuboid of a thickness, one of side
Face is fluted, and groove agrees with the plug-in strip knife edge, is fixed on a movable block.The concave tool apron and plug-in strip are separately fixed at two
A movable block front position.Two movable blocks remain same level height by motor control on rectangle support.
The control module includes control panel and central controller, and the control panel is used to manual setting device phase
Close operating parameter.The central controller is based on Raspberry Pi 3B+, the image of analysis vision module transmission and reception
The feedback information of each mechanism, then the first, second, third and fourth motor and vacuum pump are controlled, picking fruit is completed in collaboration.
The vision module includes CCD camera and image pick-up card；The CCD camera is USBFHD01M camera shooting
Head, and be fixed on the second rectangle support center upper portion, can interval acquiring fruit image at regular intervals, be sent to center
Controller analyzes fruit position by fruit color；Described image capture card uses PCI-V211 FW2000 image pick-up card.
The method for carrying out short picking fruit using described device, comprising the following steps:
(1) after the control panel described in receives the order for manually implementing to start to work to it, the command information of start-up operation is passed
It is sent to central controller, after central controller analyzes it, starts the second motor, the second motor drives idler wheel rotation, rolling
Wheel drives caterpillar drive, so that device be made to move forward or back；
(2) CCD camera of vision module also receives the start-up operation of the order from central controller, CCD camera every
A fruit image is obtained every certain period of time, image pick-up card collects acquired image information, is then delivered to center
Controller carries out image analysis processing, and central controller is obtained big where fruit by information such as the colors of analysis image
Position approximate is set；
(3) it is moved horizontally near fruit on horizontal cross bar after finding out authorities to the approximate location information of fruit；
(4) central controller sends the order started to work to negative pressure mechanism, by starting vacuum pump, is formed inside evacuated panel
Negative pressure makes adsorption hole net surface have adsorption capacity；
(5) start first motor, drive movable rack mobile in evacuated panel inner horizontal by limit hole, block through-hole, so that
Some adsorption holes lose adsorption capacity, so that forming selective absorption region adsorbs fruit；
(6) central processing unit judges whether fruit is inhaled by the state of the varistor on binding domain between dot matrix hole and hole
Attached tight, if unadsorbed tight, central processing unit will send to vacuum pump and order, and vacuum pump increases power and increases adsorption capacity, to
Fruit absorption is next, and central controller finds out the photoelectric sensing in mechanism to mechanism and cutting mechanism transmission work order is found out
Behind device identification perception fruit stalk portion, fruit is directed at by the cutting mechanism that the mobile bracket of third motor integrally allows movable block front fixed
Real stalk portion, by starting the 4th motor, control plug-in strip moves horizontally on movable block sustained height, cooperation concave tool apron shearing
Fruit stalk portion, separates fruit with branches and leaves；
(7) after completing shearing, vacuum pump receives the order from central controller and stops working, and removes adsorption capacity, and fruit falls
Collection basket is dropped down onto, entire picking process is completed.
Technical effect of the invention are as follows: the accurate automatic identification to fruit is realized by machine vision, by every one
The fruit image for interval acquiring of fixing time is sent to central controller by fruit color and analyzes fruit position, to realize fruit
Real accurate picking.
Detailed description of the invention
Following further describes the present invention with reference to the drawings:
Fig. 1 is stereochemical structure Fig. 1 of the present invention.
Fig. 2 is stereochemical structure Fig. 2 of the present invention.
Fig. 3 is evacuated panel structure chart of the present invention.
Fig. 4 is the movable block structural diagram of the present invention.
Fig. 5 is control flow chart of the present invention.
Fig. 6 is movable block of the present invention and the identical detail view of rectangle support.
In figure: 1 vacuum pump, 2 absorption hole patterns, 3 evacuated panels, 4 first rectangle supports, 5 air-blowing nozzles, 6 first motors, 7 is living
Dynamic block, 8 support plates, 9 crawler belts, 10 idler wheels, 11 horizontal cross bars, 12 movable blocks, 13 second rectangle supports, 14CCD camera, 15
Control panel, the 16 reduction gearbox flank of tooth, 17 photoelectric sensors, 18 concave tool aprons, 19 plug-in strips.
Specific embodiment
As shown in Figure 1, a kind of short picking fruit device based on machine vision, including negative pressure mechanism, finds out mechanism, moves
Moving base, vision module, cutting mechanism and control module.Described device passes through vision under the analysis and manipulation of control module
Module obtains short fruit location information, and negative pressure mechanism forms selective absorption area in adsorption hole according to fruit location information on the net
Fruit is adsorbed in domain, finds out mechanism and cutting mechanism is bound, after fruit is absorbed and fixed at absorption hole pattern, finds out mechanism and moving
It moves forward on moving base, after finding out perception fruit stalk portion of mechanism, cutting mechanism cuts fruit stalk, and negative pressure mechanism removes adsorption capacity, fruit
In the real collection basket fallen naturally on the base, picking is completed.
The negative pressure mechanism, including vacuum pump 1, absorption hole pattern 2, evacuated panel 3, the first rectangle support 4 and air-blowing nozzle
5, the absorption hole pattern 2 is that a length and width fix, have certain thickness rectangular thin plate, is equipped with dot matrix hole pattern, point among absorption hole pattern
It is equipped with varistor between battle array aperture, for detecting whether fruit is adsorbed tightly；3 length and width of evacuated panel and absorption hole pattern 2 are long
Wide consistent, evacuated panel has certain thickness, hollow out inside evacuated panel, and evacuated panel front surface is equipped with dot matrix through-hole, dot matrix through-hole hole
Diameter size and dot matrix lead to the hole site are consistent with the absorption aperture of hole pattern 2, and absorption hole pattern 2 can be fitted in the front surface of evacuated panel 3,
3 rear surface of evacuated panel connects vacuum pump 1 by gas-guide tube, forms negative pressure inside the starting of vacuum pump 1, evacuated panel 3, makes adsorption hole
2 surface of net has adsorption capacity.
3 left and right sides of evacuated panel are provided with limit hole, and the left and right sides of every a line through-hole is all provided with limit hole;Often
A movable rack is provided in a limit hole, movable rack crosses through-hole, and activity in left and right sides insertion evacuated panel
Rack gear can shelter from through-hole just, and movable rack drives its horizontal movement by first motor 6, and when work passes through horizontal movement screening
Some through-holes are blocked, so that some adsorption holes lose adsorption capacity, form selective absorption region.Thus structure, device can roots
It is adjusted according to the concentrated area of fruit and the number of concentrated area.
First rectangle support, 4 length and width are consistent with absorption hole pattern, by screw that evacuated panel 3, absorption hole pattern 2 is close
Fitting, and be fixed on mobile foundation vertically by the first rectangle support 4；Frame upper is fixed with air-blowing nozzle 5, air-blowing nozzle 5
Vacuum pump outlet side is connected, is blown forward.
The mobile foundation includes support plate 8, crawler belt 9, idler wheel 10 and horizontal cross bar 11, and the mechanism of finding out is in level
It is moved horizontally on weighing apparatus bar 11；The base bottom is driven by the mating idler wheel 10 of crawler belt 9, idler wheel 10 by the second motor, drives crawler belt,
So that single unit system is moved forward or rearward.
The mechanism of finding out includes movable block 12, the second rectangle support 13 and photoelectric sensor 17；Second rectangle
13 size of bracket is consistent with 4 size of the first rectangle support, and left and right frame is all bonded rack gear, there are two upper bracket bilateral symmetry is opened
Radius and the consistent through-hole of 11 radius of horizontal cross bar, bracket can integrally be moved on horizontal cross bar 11 by transmission device；It is described
Movable block 12 is that a pair of of collocation uses, and movable block front is fixed with cutting mechanism, and rear surface is reduction gearbox 16, with the second rectangle branch
13 flank engagement of frame, 12 inside hollow out of movable block are placed with third motor, photoelectric sensor 17, third motor and reduction gearbox 16
It is connected, movable block 12 is driven to move up and down along rectangle support rack gear face.One of 12 side of movable block is photoelectric sensor 17
Signal transmitting terminal, another 12 side of movable block are 17 receiving terminal of photoelectric sensor.
The cutting mechanism includes the 4th motor, concave tool apron 18 and plug-in strip 19；The rear surface of the plug-in strip 19 is tooth
Type face, left and right side are the knife edge；4th motor output shaft is socketed gear, and gear is engaged with the Profile of AT of plug-in strip, when motor opens
When dynamic, control plug-in strip 19 moves horizontally on 12 sustained height of movable block；The concave tool apron 18 is that a thickness is lesser rectangular
Body, one of side is fluted, and groove agrees with the plug-in strip knife edge, is fixed on a movable block 12.The concave tool apron 18
Two movable block front positions are separately fixed at plug-in strip 19.Two movable blocks 12 are protected on rectangle support by motor control always
Hold same level height.
The control module includes control panel 15 and central controller, and the control panel 15 is for manual setting dress
Set related operating parameter.The central controller be based on Raspberry Pi 3B+, the image of analysis vision module transmission and
The feedback information of each mechanism is received, then controls the first, second, third and fourth motor and vacuum pump, picking fruit is completed in collaboration.
The vision module includes CCD camera 14 and image pick-up card；The CCD camera 14 is USBFHD01M
Camera, and be fixed on 13 center upper portion of the second rectangle support, can interval acquiring fruit image at regular intervals, transmission
Fruit position is analyzed by fruit color to central controller；Described image capture card is adopted using PCI-V211 FW2000 image
Truck.Thus structure can obtain clearly fruit image.
The method for carrying out short picking fruit using described device, comprising the following steps:
(1) after the control panel 15 described in receives the order for manually implementing to start to work to it, the command information of start-up operation
It is transmitted to central controller, after central controller analyzes it, starts the second motor, the second motor drives idler wheel rotation,
Idler wheel drives caterpillar drive, so that device be made to move forward or back；
(2) CCD camera 14 of vision module also receives the start-up operation of the order from central controller, CCD camera 14
A fruit image is obtained at interval of certain period of time, image pick-up card is collected acquired image information, is then delivered to
Central controller carries out image analysis processing, and central controller is obtained by information such as the colors of analysis image where fruit
Position Approximate；
(3) it is moved horizontally near fruit on horizontal cross bar 11 after finding out authorities to the approximate location information of fruit；
(4) central controller sends the order started to work to negative pressure mechanism, by starting vacuum pump 1, in 3 inside shape of evacuated panel
At negative pressure, absorption 2 surface of hole pattern is made to have adsorption capacity；
(5) start first motor 6, drive movable rack mobile in 3 inner horizontal of evacuated panel by limit hole, block through-hole, make
It obtains some adsorption holes and loses adsorption capacity, so that forming selective absorption region adsorbs fruit；
(6) central processing unit judges whether fruit is inhaled by the state of the varistor on binding domain between dot matrix hole and hole
Attached tight, if unadsorbed tight, central processing unit will send order to vacuum pump 1, and vacuum pump 1 increases power and increases adsorption capacity,
Next to fruit absorption, central controller finds out the photoelectric transfer in mechanism to mechanism and cutting mechanism transmission work order is found out
Behind sensor identification perception fruit stalk portion, the cutting mechanism pair that integrally allows the front of movable block 12 fixed by the mobile bracket of third motor
The stalk portion of quasi- fruit, by starting the 4th motor, control plug-in strip 19 moves horizontally on 12 sustained height of movable block, cooperates concave
Tool apron 18 shears fruit stalk portion, separates fruit with branches and leaves；
(7) after completing shearing, vacuum pump 1 receives the order from central controller and stops working, and removes adsorption capacity, and fruit falls
Collection basket is dropped down onto, entire picking process is completed.
Lower vegetation refers to that the shorter plant of shrub, usual plant are not higher than 1 meter, such as strawberry, capsicum etc..
Through the above description, those skilled in the art completely can be in the model without departing from this invention technical idea
In enclosing, various changes and amendments are carried out all within protection scope of the present invention.Unaccomplished matter of the invention, belongs to ability
The common knowledge of field technique personnel.
Claims (10)
1. a kind of short picking fruit device based on machine vision, it is characterised in that: including negative pressure mechanism, find out mechanism, shifting
Moving base, vision module, cutting mechanism and control module；Described device passes through vision under the analysis and manipulation of control module
Module obtains short fruit location information, and negative pressure mechanism forms selective absorption area in adsorption hole according to fruit location information on the net
Fruit is adsorbed in domain, finds out mechanism and cutting mechanism is bound, after fruit is absorbed and fixed at absorption hole pattern, finds out mechanism and moving
It moves forward on moving base, after finding out perception fruit stalk portion of mechanism, cutting mechanism cuts fruit stalk, and negative pressure mechanism removes adsorption capacity, fruit
In the real collection basket fallen naturally on the base, picking is completed.
2. a kind of short picking fruit device based on machine vision according to claim 1, it is characterised in that: described
Negative pressure mechanism, including vacuum pump (1), absorption hole pattern (2), evacuated panel (3), the first rectangle support (4) and air-blowing nozzle (5), institute
Stating absorption hole pattern (2) is that a length and width fix, have certain thickness rectangular thin plate, is equipped with dot matrix hole pattern, dot matrix among absorption hole pattern
Varistor is equipped between aperture, for detecting whether fruit is adsorbed tightly；Evacuated panel (3) length and width and absorption hole pattern (2)
Length and width are consistent, and evacuated panel has certain thickness, hollow out inside evacuated panel, and evacuated panel front surface is equipped with dot matrix through-hole, dot matrix through-hole
Pore size and dot matrix lead to the hole site are consistent with the absorption aperture of hole pattern (2), and absorption hole pattern (2) can be fitted in evacuated panel (3)
Front surface, evacuated panel (3) rear surface connects vacuum pump (1) by gas-guide tube, and when vacuum pump (1) starts, evacuated panel (3) is internal
Negative pressure is formed, absorption hole pattern (2) surface is made to have adsorption capacity.
3. a kind of short picking fruit device based on machine vision according to claim 2, it is characterised in that: described
Evacuated panel (3) left and right sides are provided with limit hole, and the left and right sides of every a line through-hole is all provided with limit hole;It is set in each limit hole
It is equipped with a movable rack, movable rack crosses through-hole in left and right sides insertion evacuated panel, and movable rack just can be with
Shelter from through-hole, movable rack drives its horizontal movement by first motor (6), and when work shelters from some logical by horizontal movement
Hole forms selective absorption region so that some adsorption holes lose adsorption capacity.
4. a kind of short picking fruit device based on machine vision according to claim 3, it is characterised in that: described
First rectangle support (4) length and width are consistent with absorption hole pattern, fitted closely evacuated panel (3), absorption hole pattern (2) by screw, and
It is fixed on mobile foundation vertically by the first rectangle support (4)；Frame upper is fixed with air-blowing nozzle (5), and air-blowing nozzle (5) is even
Vacuum pump outlet side is connect, is blown forward.
5. a kind of short picking fruit device based on machine vision according to claim 4, it is characterised in that: described
Mobile foundation includes support plate (8), crawler belt (9), idler wheel (10) and horizontal cross bar (11), and the mechanism of finding out is in water balance bar
(11) it is moved horizontally on；The base bottom is driven by crawler belt (9) mating idler wheel (10), idler wheel (10) by the second motor, driving
Crawler belt, so that single unit system is moved forward or rearward.
6. a kind of short picking fruit device based on machine vision according to claim 5, it is characterised in that: described
Finding out mechanism includes movable block (12), the second rectangle support (13) and photoelectric sensor (17)；Second rectangle support (13)
Size is consistent with the first rectangle support (4) size, and left and right frame is all bonded rack gear, and upper bracket bilateral symmetry opens that there are two radiuses
With the consistent through-hole of horizontal cross bar (11) radius, bracket can integrally be moved on horizontal cross bar (11) by transmission device；It is described
Movable block (12) is that a pair of of collocation uses, and movable block front is fixed with cutting mechanism, and rear surface is reduction gearbox (16), with the second square
Shape bracket (13) flank engagement, the internal hollow out of movable block (12), is placed with third motor, photoelectric sensor (17), third motor
It is connected with reduction gearbox (16), movable block (12) is driven to move up and down along rectangle support rack gear face；One of movable block (12) side
Face is photoelectric sensor (17) signal transmitting terminal, another movable block (12) side is photoelectric sensor (17) receiving terminal.
7. a kind of short picking fruit device based on machine vision according to claim 6, it is characterised in that: described
Cutting mechanism includes the 4th motor, concave tool apron (18) and plug-in strip (19)；The rear surface of the plug-in strip (19) is Profile of AT, left and right
While being the knife edge；4th motor output shaft is socketed gear, and gear is engaged with the Profile of AT of plug-in strip, when the motor is energized, control
Plug-in strip (19) moves horizontally on movable block (12) sustained height；The concave tool apron (18) is the lesser cuboid of a thickness,
One of side is fluted, and groove agrees with the plug-in strip knife edge, is fixed on a movable block (12)；The concave tool apron (18)
Two movable block front positions are separately fixed at plug-in strip (19)；Two movable blocks (12) are begun on rectangle support by motor control
Same level height is kept eventually.
8. a kind of short picking fruit device based on machine vision according to claim 7, it is characterised in that: described
Control module includes control panel (15) and central controller, and the control panel (15) is for the operation of manual setting device correlation
Parameter；The central controller is based on Raspberry Pi 3B+, the image and each mechanism of reception of analysis vision module transmission
Feedback information, then control the first, second, third and fourth motor and vacuum pump, picking fruit is completed in collaboration.
9. a kind of short picking fruit device based on machine vision according to claim 8, it is characterised in that: described
Vision module includes CCD camera (14) and image pick-up card；The CCD camera (14) is USBFHD01M camera, and solid
Be scheduled on the second rectangle support (13) center upper portion, can interval acquiring fruit image at regular intervals, be sent to central control
Device processed analyzes fruit position by fruit color；Described image capture card uses PCI-V211 FW2000 image pick-up card.
10. a kind of short picking fruit device based on machine vision described in -9 according to claim 1, which is characterized in that benefit
The method for carrying out short picking fruit with described device, comprising the following steps:
(1) after the control panel (15) described in receives the order for manually implementing to start to work to it, the order of start-up operation is believed
Breath is transmitted to central controller, after central controller analyzes it, starts the second motor, the second motor drives idler wheel rotation
Turn, idler wheel drives caterpillar drive, so that device be made to move forward or back；
(2) CCD camera (14) of vision module also receives the start-up operation of the order from central controller, CCD camera
(14) a fruit image is obtained at interval of certain period of time, image pick-up card is collected acquired image information, then passed
It is sent to central controller and carries out image analysis processing, central controller is by information such as the colors of analysis image to obtain fruit
The Position Approximate at place；
(3) it is moved horizontally near fruit on horizontal cross bar (11) after finding out authorities to the approximate location information of fruit；
(4) central controller sends the order started to work to negative pressure mechanism, by starting vacuum pump (1), in evacuated panel (3)
Portion forms negative pressure, and absorption hole pattern (2) surface is made to have adsorption capacity；
(5) start first motor (6), drive movable rack mobile in evacuated panel (3) inner horizontal by limit hole, block logical
Hole, so that some adsorption holes lose adsorption capacity, so that forming selective absorption region adsorbs fruit；
(6) central processing unit judges whether fruit is inhaled by the state of the varistor on binding domain between dot matrix hole and hole
Attached tight, if unadsorbed tight, central processing unit will send order to vacuum pump (1), and vacuum pump (1) increases power increase absorption
Power, next to fruit absorption, central controller finds out the photoelectricity in mechanism to mechanism and cutting mechanism transmission work order is found out
Behind sensor identification perception fruit stalk portion, the cutter that integrally allows movable block (12) front fixed by the mobile bracket of third motor
Structure is directed at the stalk portion of fruit, and by starting the 4th motor, control plug-in strip (19) moves horizontally on movable block (12) sustained height,
Cooperate concave tool apron (18) to shear fruit stalk portion, separates fruit with branches and leaves；
(7) after completing shearing, vacuum pump (1) receives the order from central controller and stops working, and removes adsorption capacity, fruit
Collection basket is fallen to, entire picking process is completed.
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| CN109760062A (en) * | 2019-03-12 | 2019-05-17 | 潍坊学院 | A kind of picking robot control system |
| CN111279886A (en) * | 2020-04-16 | 2020-06-16 | 山东大学 | Picking device and picking method |
| CN112616437A (en) * | 2020-12-15 | 2021-04-09 | 北京林业大学 | Hand-held pepper picking terminal |
| CN112616438A (en) * | 2020-12-15 | 2021-04-09 | 北京林业大学 | Portable pepper picking equipment |
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| CN111279886A (en) * | 2020-04-16 | 2020-06-16 | 山东大学 | Picking device and picking method |
| CN112616437A (en) * | 2020-12-15 | 2021-04-09 | 北京林业大学 | Hand-held pepper picking terminal |
| CN112616438A (en) * | 2020-12-15 | 2021-04-09 | 北京林业大学 | Portable pepper picking equipment |
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