CN109328638A - A kind of tobacco harvesting machine with intelligent bionic picking hands - Google Patents
A kind of tobacco harvesting machine with intelligent bionic picking hands Download PDFInfo
- Publication number
- CN109328638A CN109328638A CN201811393760.8A CN201811393760A CN109328638A CN 109328638 A CN109328638 A CN 109328638A CN 201811393760 A CN201811393760 A CN 201811393760A CN 109328638 A CN109328638 A CN 109328638A
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- bionical
- tobacco
- picking
- cigarette strain
- leaf
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- 241000208125 Nicotiana Species 0.000 title claims abstract description 76
- 235000002637 Nicotiana tabacum Nutrition 0.000 title claims abstract description 76
- 238000003306 harvesting Methods 0.000 title claims abstract description 31
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 14
- 235000019504 cigarettes Nutrition 0.000 claims description 45
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 11
- 229910052751 metal Inorganic materials 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/16—Harvesting of standing crops of tobacco
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of tobacco harvesting machine with intelligent bionic picking hands, including vehicle frame and traveled portion, vehicle frame includes main car frame top plate and bottom leaf case baffle, main car frame top plate is connected with bottom leaf case baffle by carriage frame, driving subsystem in traveled portion is mounted on the leaf case baffle of bottom, engine is housed on main car frame top plate, tobacco leaf collecting box is on main car frame top plate, tobacco leaf conveyer belt main belt part is housed between bottom leaf case baffle and tobacco leaf collecting box, tobacco leaf conveyer belt main belt part is connected by conveyer belt input system with engine, tobacco leaf conveyer belt bottom conveyor part is housed below the leaf case of bottom, tobacco leaf conveyer belt bottom conveyor part is connected also by conveyer belt input system with engine.It is the configuration of the present invention is simple, at low cost, and realize the automatic picking of tobacco leaf, collect and dress basket, harvest efficiency is high, net picking rate with higher and lower broken leaf breaking rate.
Description
Technical field
The present invention relates to agricultural machinery, and in particular to a kind of tobacco harvesting machine with intelligent bionic picking hands.
Background technique
China is leaf tobacco production big country in the world, and tobacco business occupies an important position in the national economy in China.?
In the production process of tobacco leaf, the picking of tobacco leaf is basic work, and can timely pick can largely influence tobacco leaf
Quality.At abroad, the cropper for having all kinds of semi-mechanizations and mechanization comes into operation, picking efficiency is higher, can be complete in time
At picking work, but these equipment majorities are biggish machinery, and mechanism is complicated, higher cost.And it is domestic, then mostly is pure craft
Operation, since artificial picking efficiency is low, needs to consume a large amount of labour and time, and be difficult to ensure timely picking.
By finding mainly there are a kind of Chinese patent " tobacco receipts with roller cutter head to existing literature retrieval
Obtain machine " (number of patent application: 201010227313.2), a kind of Chinese patent " tobacco harvesting machine with click " (patent
And a kind of Chinese patent " tobacco harvesting machine with spiral harvesting blade " (patent application application number: 201010252708.8)
Number: 201010226327.2).The tobacco harvesting machine being related in above-mentioned patent is by " Patting type harvesting knife " this pure machine
Tool structure realizes the picking to tobacco leaf, although picking efficiency is higher by a lot than artificial picking, also can be realized timely picking,
But the damage in this kind of tobacco harvesting machine picking process to tobacco leaf and cigarette strain stalk is larger, tobacco leaf breakage rate is higher, it is difficult to reach
Requirement on to China's tobacco market to tobacco leaf integrity degree.
Summary of the invention
To solve the above problems, the present invention provides a kind of tobacco harvesting machine with intelligent bionic picking hands.
Technical solution of the present invention specifically:
A kind of tobacco harvesting machine with intelligent bionic picking hands, including vehicle frame and traveled portion, vehicle frame include main car frame top plate
With bottom leaf case baffle, main car frame top plate is connected with bottom leaf case baffle by carriage frame, the driving subsystem in traveled portion
It is mounted on the leaf case baffle of bottom, engine is housed, tobacco leaf collecting box is on main car frame top plate, in bottom on main car frame top plate
Tobacco leaf conveyer belt main belt part is housed, tobacco leaf conveyer belt main belt part passes through between leaf case baffle and tobacco leaf collecting box
Conveyer belt input system is connected with engine, and tobacco leaf conveyer belt bottom conveyor part is housed below the leaf case of bottom, and tobacco leaf passes
Band bottom conveyor part is sent to be connected also by conveyer belt input system with engine；Driver's cabin is arranged in frame front, drives
Chamber interior installation control total system work box, left and right front-wheel is connected by top guider, symmetrically placed at left and right sides of frame
Bionical picking hands height regulating rod, bionical picking hands height regulating rod are flexibly connected with frame, high in each bionical picking hands
It is provided with bionical picker system on degree adjusting rod, bionical picking hands corresponding position installs binocular camera shooting system in bionical picker system
System；Total system control biomimetics picker system and thermoacoustic prime engine subsystem are controlled, control total system receives the letter of binocular camera shooting system
Number；Thermoacoustic prime engine subsystem controls vehicle power.
Further: the bionical picking subsystem specific structure is that bionical picking hands are mounted on spring lever, spring
Bar is moved up and down by cam gear drive, and cam motor provides rotational power for cam gear, and spring lever is solid by fixed ring
It is scheduled in fixed plate, telescope motor drives fixed plate stretching motion by screw rod transmission structure, and bionical picking hands are two finger hand-types
Device, two finger junctions are provided with steering engine, complete two movements referred to by steering engine control；Wherein steering engine, cam motor and flexible electricity
Machine is all by control total system control.
Further: the fixed plate is vertically disposed with mobile shaft, mobile shaft and bionical picking hands height regulating rod
Contact position has screw thread, drives when rotating shaft fixed plate mobile, adjusts bionical picker system in bionical picking hands height adjustment
Position on bar.
Further: described two refer to that the finger-type structure of hand-type device is the S being formed by connecting by two half-round metal pieces
Type structure.
Further: the sheet metal is Al-alloy metal piece.
A kind of tobacco harvesting machine working method with intelligent bionic picking hands: the first step passes through bionical picking hands height
Adjusting rod adjusts the height of bionical picking hands, reaches the requirement of tobacco leaf height to be picked, and adjusts the mobile bearing in fixed plate
Keep bionical picking hand position and binocular camera shooting system corresponding, starting tobacco harvesting machine enters tobacco field to be picked and opens bionical picking
System；
Second step, binocular camera shooting system starts to acquire cigarette strain image in real time, and locks cigarette strain stalk to be picked, and utilizes existing pair
Mesh location algorithm calculates the distance between cigarette strain stalk and semicircle bionical picking hands central point in real time, waits picker system hair
Picking instruction out；
Third step, during binocular camera shooting system tracks cigarette strain stalk, by constantly detecting cigarette strain stalk and bionical picking
The distance between hand central point L, if certain moment distance between the two is L0, subsequent time distance between the two is L1, from
It correctly identifies that cigarette strain stalk feature starts, if detecting that distance between the two starts to become larger, i.e. executes the 4th when L0 < L1
Step；
4th step executes picking movement, harvesting ripe tobacco leaf.
Further: detailed process is as follows for the second step:
Step 1: the vision signal wait pick cigarette strain in tobacco field is constantly acquired after binocular camera shooting system starts, by the video
Signal is sent to image processor；
Step 2: as processor chooses a frame picture from vision signal, and using sharpness evaluation function to its clarity into
Row judgement: if the picture clarity meets the requirement of system identification cigarette strain stalk feature, third step is carried out, if the picture
Clarity does not meet the requirement of system identification cigarette strain stalk feature, then returns to the picture continued in selecting video sequence, Zhi Daoqing
Until clear degree meets the requirement of system；
Step 3: carrying out characteristic matching processing after choosing clear picture in vision signal to cigarette strain image, identifying cigarette strain stem
Stalk feature；
Step 4: calculating cigarette strain stalk and bionical picking hands using existing binocular location algorithm after identifying cigarette strain stalk
The distance between central point, and the real-time update distance lock cigarette strain stalk.
Compared with the existing technology, technical effect of the invention is that structure is simple, at low cost, and realizes the automatic of tobacco leaf
Basket is collected and is filled in picking, and harvest efficiency is high, net picking rate with higher and lower broken leaf breaking rate.
Detailed description of the invention
Fig. 1 is stereoscopic schematic diagram of the present invention.
Fig. 2 is that the present invention harvests tobacco leaf schematic diagram to be adopted.
Fig. 3 is the bionical picking hands mechanical structure 3-D view of tobacco harvesting machine.
Fig. 4 is the bionical picking hands mechanical structure left view of tobacco harvesting machine.
Fig. 5 is intelligent control total system block diagram of the present invention.
Fig. 6 is cropper control system flow chart.
Before 1 tobacco collecting box, 2 tobacco conveyer belts, 3 engines, 4 guiders, 5 control total system work boxs, 6 driver's cabins, 7
Wheel, 8 main car frame top plates, 9 bottom leaf case baffles, 10 binocular camera shooting systems, 11 bionical picking hands, 12 cam motors, 13 mobile turns
Axis, 14 cam gears, 15 screw rods, 16 fixed plates, 17 steering engines, 18 fixed rings, 19 bionical picker systems, 20 telescope motors.
Specific embodiment
As shown in Figs. 1-2, the present invention includes vehicle frame and traveled portion, and vehicle frame includes main car frame top plate 8 and bottom leaf case gear
Plate 9, main car frame top plate 8 are connected with bottom leaf case baffle 9 by carriage frame, and the driving subsystem in traveled portion is mounted on bottom
On leaf case baffle 9, engine 3 is housed, tobacco leaf collecting box 1 is on main car frame top plate 8, in bottom leaf case on main car frame top plate 8
2 main belt part of tobacco leaf conveyer belt is housed, 2 main belt part of tobacco leaf conveyer belt passes through between baffle 9 and tobacco leaf collecting box 1
Conveyer belt input system is connected with engine 3, and 2 bottom conveyor part of tobacco leaf conveyer belt, tobacco leaf are housed below the leaf case of bottom
2 bottom conveyor part of conveyer belt is connected also by conveyer belt input system with engine 3；Driver's cabin 6 is arranged in frame front,
Installation control total system work box 5, left and right front-wheel 7 are connected by top guider 4 inside driver's cabin 6, at left and right sides of frame
Symmetrically placed bionical picking hands height regulating rod, bionical picking hands height regulating rod is flexibly connected with frame, each bionical
Bionical picker system 19 is provided on picking hands height regulating rod, bionical 11 corresponding position of picking hands in bionical picker system 19
Binocular camera shooting system 10 is installed.
Such as Fig. 5, total system control biomimetics picker system and thermoacoustic prime engine subsystem are controlled, control total system receives binocular and takes the photograph
As the signal of system.
Thermoacoustic prime engine subsystem controls vehicle power.
Bionical 19 specific structure of picker system is that bionical picking hands 11 are mounted on spring lever 15, and spring lever 15 is by cam
The drive of device 14 moves up and down, and cam motor 12 is that cam gear 14 provides rotational power, and spring lever 15 passes through fixed ring 18
It is fixed in fixed plate 16, telescope motor 14 drives 16 stretching motion of fixed plate, bionical picking hands by screw rod transmission structure 15
11 refer to hand-type device for two, and two finger junctions are provided with steering engine 17, complete the movement that two refer to by the control of steering engine 17 and realize bionical adopt
Hand 11 is plucked to hold cigarette strain stalk and unclamp two movements；Cam motor 12 drives the rotation of cam gear 14 to drive spring lever 15
It moves up and down and realizes the bionical picking downwards of picking hands 11 and reset two movements；Telescope motor 20 passes through 15 band of screw rod transmission structure
Dynamic 16 stretching motion of fixed plate realizes that bionical picking hands 11 stretch out and withdraw two movements；Pass through steering engine 17,12 and of cam motor
The mutually coordinated cooperation of telescope motor 20, the common overall process for realizing the artificial picking tobacco leaf of simulation, that is, complete bionical picking.
Fixed plate 16 is vertically disposed with mobile shaft 13, and mobile shaft 13 and bionical picking hands height regulating rod contact position have
There is a screw thread, when rotating shaft drives fixed plate 16 mobile, adjusts bionical picker system 19 on bionical picking hands height regulating rod
Position.
The finger-type structure of the two finger hand-type devices is the S type structure being welded by two semicircle aluminum alloy sheets.
Wherein steering engine 17, cam motor 12 and telescope motor 20 are all by control total system control.
Such as Fig. 6, working method of the invention is as follows:
The first step adjusts the height of bionical picking hands 11 by bionical picking hands height regulating rod, reaches tobacco leaf height to be picked
Requirement, and adjusting the mobile shaft 13 in fixed plate 16 keeps bionical 11 position of picking hands and binocular camera shooting system corresponding, starting
Tobacco harvesting machine enters tobacco field to be picked and opens bionical picker system；
Second step, binocular camera shooting system starts to acquire cigarette strain image in real time, and locks cigarette strain stalk to be picked, and utilizes existing pair
Mesh location algorithm calculates the distance between cigarette strain stalk and semicircle bionical picking hands central point in real time, waits picker system
Issue picking instruction；
Third step, during binocular camera shooting system tracks cigarette strain stalk, by constantly detecting cigarette strain stalk and bionical picking
The distance between hand central point L, if certain moment distance between the two is L0, subsequent time distance between the two is L1, from
Correctly identify that cigarette strain stalk feature starts, distance is successively undergone from large to small then by small between cigarette strain stalk and video camera
The process to become larger issues picking instruction when i.e. L0 < L1 once detecting that distance between the two starts to become larger at once；
4th step executes picking movement, harvesting ripe tobacco leaf.
Wherein the detailed process of second step is as follows:
Step 1: the vision signal wait pick cigarette strain in tobacco field is constantly acquired after binocular camera shooting system starts, by the video
Signal is sent to image processor；
Step 2: as processor chooses a frame picture from vision signal, and using sharpness evaluation function to its clarity into
Row judgement: if the picture clarity meets the requirement of system identification cigarette strain stalk feature, third step is carried out, if the picture
Clarity does not meet the requirement of system identification cigarette strain stalk feature, then returns to the picture continued in selecting video sequence, Zhi Daoqing
Until clear degree meets the requirement of system；
Step 3: carrying out characteristic matching processing after choosing clear picture in vision signal to cigarette strain image, identifying cigarette strain stem
Stalk feature；
Step 4: calculating cigarette strain stalk and bionical picking hands using existing binocular location algorithm after identifying cigarette strain stalk
The distance between central point, and the real-time update distance lock cigarette strain stalk.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without depart from that overall concept of the invention, several changes and improvements can also be made, these also should be considered as of the invention
Protection scope.
Claims (7)
1. a kind of tobacco harvesting machine with intelligent bionic picking hands, including vehicle frame and traveled portion, it is characterised in that: vehicle frame packet
Main car frame top plate and bottom leaf case baffle are included, main car frame top plate is connected with bottom leaf case baffle by carriage frame, in traveled portion
Driving subsystem be mounted on the leaf case baffle of bottom, on main car frame top plate be equipped with engine, tobacco leaf collecting box be mounted in main car frame
On top plate, tobacco leaf conveyer belt main belt part, tobacco leaf conveyer belt master are housed between bottom leaf case baffle and tobacco leaf collecting box
Transmission band part is connected by conveyer belt input system with engine, is transmitted below the leaf case of bottom equipped with tobacco leaf conveyer belt bottom
Band part, tobacco leaf conveyer belt bottom conveyor part are connected also by conveyer belt input system with engine；Frame front is set
Driver's cabin, cabin interior installation control total system work box are set, left and right front-wheel is connected by top guider, frame or so
The symmetrically placed bionical picking hands height regulating rod in two sides, bionical picking hands height regulating rod is flexibly connected with frame, each
It is provided with bionical picker system on bionical picking hands height regulating rod, the bionical picking hands corresponding position peace in bionical picker system
Fill binocular camera shooting system；Total system control biomimetics picker system and thermoacoustic prime engine subsystem are controlled, control total system receives binocular
The signal of camera system；Thermoacoustic prime engine subsystem controls vehicle power.
2. a kind of tobacco harvesting machine with intelligent bionic picking hands as described in claim 1, it is characterised in that: described is imitative
Raw picking subsystem specific structure is that bionical picking hands are mounted on spring lever, and spring lever does fortune up and down by cam gear drive
Dynamic, cam motor provides rotational power for cam gear, and spring lever is fixed in fixed plate by fixed ring, and telescope motor passes through
Screw rod transmission structure drives fixed plate stretching motion, and bionical picking hands are two finger hand-type devices, and two finger junctions are provided with steering engine,
Two movements referred to are completed by steering engine control；Wherein steering engine, cam motor and telescope motor are all by control total system control.
3. a kind of tobacco harvesting machine with intelligent bionic picking hands as claimed in claim 2, it is characterised in that: the fixation
Plate is vertically disposed with mobile shaft, and mobile shaft and bionical picking hands height regulating rod contact position have a screw thread, when rotating shaft
It drives fixed plate mobile, adjusts position of the bionical picker system on bionical picking hands height regulating rod.
4. a kind of tobacco harvesting machine with intelligent bionic picking hands as claimed in claim 2, it is characterised in that: described two
The finger-type structure for referring to hand-type device is the S type structure being formed by connecting by two half-round metal pieces.
5. a kind of tobacco harvesting machine with intelligent bionic picking hands as claimed in claim 3, it is characterised in that: the metal
Piece is Al-alloy metal piece.
6. a kind of tobacco harvesting machine working method with intelligent bionic picking hands, it is characterised in that: the first step is adopted by bionical
The height that hand height regulating rod adjusts bionical picking hands is plucked, the requirement of tobacco leaf height to be picked is reached, and is adjusted in fixed plate
Mobile bearing keeps bionical picking hand position and binocular camera shooting system corresponding, and starting tobacco harvesting machine enters tobacco field to be picked and opens
Bionical picker system；
Second step, binocular camera shooting system starts to acquire cigarette strain image in real time, and locks cigarette strain stalk to be picked, and utilizes existing pair
Mesh location algorithm calculates the distance between cigarette strain stalk and semicircle bionical picking hands central point in real time, waits picker system hair
Picking instruction out；
Third step, during binocular camera shooting system tracks cigarette strain stalk, by constantly detecting cigarette strain stalk and bionical picking
The distance between hand central point L, if certain moment distance between the two is L0, subsequent time distance between the two is L1, from
It correctly identifies that cigarette strain stalk feature starts, if detecting that distance between the two starts to become larger, i.e. executes the 4th when L0 < L1
Step；
4th step executes picking movement, harvesting ripe tobacco leaf.
7. a kind of tobacco harvesting machine working method with intelligent bionic picking hands as claimed in claim 6, it is characterised in that:
Detailed process is as follows for the second step:
Step 1: the vision signal wait pick cigarette strain in tobacco field is constantly acquired after binocular camera shooting system starts, by the video
Signal is sent to image processor；
Step 2: as processor chooses a frame picture from vision signal, and using sharpness evaluation function to its clarity into
Row judgement: if the picture clarity meets the requirement of system identification cigarette strain stalk feature, third step is carried out, if the picture
Clarity does not meet the requirement of system identification cigarette strain stalk feature, then returns to the picture continued in selecting video sequence, Zhi Daoqing
Until clear degree meets the requirement of system；
Step 3: carrying out characteristic matching processing after choosing clear picture in vision signal to cigarette strain image, identifying cigarette strain stem
Stalk feature；
Step 4: calculating cigarette strain stalk and bionical picking hands using existing binocular location algorithm after identifying cigarette strain stalk
The distance between central point, and the real-time update distance lock cigarette strain stalk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393760.8A CN109328638B (en) | 2018-11-21 | 2018-11-21 | Tobacco harvester with intelligent bionic picking hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393760.8A CN109328638B (en) | 2018-11-21 | 2018-11-21 | Tobacco harvester with intelligent bionic picking hand |
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| Publication Number | Publication Date |
|---|---|
| CN109328638A true CN109328638A (en) | 2019-02-15 |
| CN109328638B CN109328638B (en) | 2024-02-13 |
Family
ID=65316939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811393760.8A Active CN109328638B (en) | 2018-11-21 | 2018-11-21 | Tobacco harvester with intelligent bionic picking hand |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109874501A (en) * | 2019-04-10 | 2019-06-14 | 潍坊市烟草专卖局 | A kind of electronic unmanned tobacco leaf picking transport all-in-one machine |
| CN113141865A (en) * | 2021-04-19 | 2021-07-23 | 河南省烟草公司三门峡市公司 | Flat-pressing type upper tobacco leaf harvesting machine |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109874501A (en) * | 2019-04-10 | 2019-06-14 | 潍坊市烟草专卖局 | A kind of electronic unmanned tobacco leaf picking transport all-in-one machine |
| CN113141865A (en) * | 2021-04-19 | 2021-07-23 | 河南省烟草公司三门峡市公司 | Flat-pressing type upper tobacco leaf harvesting machine |
| CN113141865B (en) * | 2021-04-19 | 2022-08-16 | 河南省烟草公司三门峡市公司 | Flat-pressing type upper tobacco leaf harvesting machine |
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| CN109328638B (en) | 2024-02-13 |
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