CN109328638B - Tobacco harvester with intelligent bionic picking hand - Google Patents
Tobacco harvester with intelligent bionic picking hand Download PDFInfo
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- CN109328638B CN109328638B CN201811393760.8A CN201811393760A CN109328638B CN 109328638 B CN109328638 B CN 109328638B CN 201811393760 A CN201811393760 A CN 201811393760A CN 109328638 B CN109328638 B CN 109328638B
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- 235000002637 Nicotiana tabacum Nutrition 0.000 title claims abstract description 127
- 239000011664 nicotinic acid Substances 0.000 title claims description 80
- 244000061176 Nicotiana tabacum Species 0.000 title claims description 52
- 241000208125 Nicotiana Species 0.000 claims abstract description 75
- 238000000034 method Methods 0.000 claims description 14
- 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 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003466 welding Methods 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
Abstract
The utility model provides a tobacco harvester with intelligent bionical picking hand, including frame and driving part, the frame includes main frame roof and bottom leaf case baffle, main frame roof and bottom She Xiangdang board link to each other through the frame, driving subsystem in the driving part is installed on bottom leaf case baffle, be equipped with the engine on the main frame roof, the tobacco leaf collecting box is adorned on main frame roof, be equipped with tobacco leaf conveyer belt main conveyor belt part between bottom leaf case baffle and tobacco leaf collecting box, tobacco leaf conveyer belt main conveyor belt part links to each other with the engine through conveyer belt input system, tobacco leaf conveyer belt bottom conveyer belt part is equipped with to the bottom leaf case below, tobacco leaf conveyer belt bottom conveyer belt part also links to each other with the engine through conveyer belt input system. The invention has simple structure and low cost, realizes automatic picking, collecting and basket loading of tobacco leaves, has high picking efficiency, and has higher picking rate and lower tobacco leaf breaking rate.
Description
Technical Field
The invention relates to agricultural machinery, in particular to a tobacco harvester with an intelligent bionic picking hand.
Background
The tobacco industry plays an important role in national economy of China. In the production process of tobacco leaves, tobacco leaf picking is basic work, and whether timely picking can influence the quality of tobacco leaves to a great extent. In abroad, various semi-mechanized and mechanized harvesters are put into use, the picking efficiency is high, picking work can be completed in time, but most of the devices are large machines, the mechanisms are complex, and the cost is high. However, in China, the manual picking is mostly purely manual operation, and because of low manual picking efficiency, a great deal of labor and time are consumed, and timely picking is difficult to ensure.
The prior literature data is searched, and the main Chinese patent ' a tobacco harvester with a roller cutter head ' (patent application number: 201010227313.2) ', the main Chinese patent ' a tobacco harvester with a ratchet pawl ' (patent application number: 201010252708.8) ', and the main Chinese patent ' a tobacco harvester with a spiral harvesting blade ' (patent application number: 201010226327.2) '. The tobacco harvester that relates to in above-mentioned patent relies on this kind of pure mechanical structure of "beating to adopt the sword" to realize picking to the tobacco leaf, and its efficiency of picking is higher than manual picking very much, also can realize timely picking, but the harm to tobacco leaf and tobacco plant stalk is great in this kind of tobacco harvester picking process, and the tobacco leaf breakage rate is higher, is difficult to reach the requirement to the tobacco leaf integrality in the tobacco market of china.
Disclosure of Invention
In order to solve the problems, the invention provides a tobacco harvester with an intelligent bionic picking hand.
The technical scheme of the invention is as follows:
the tobacco harvester with the intelligent bionic picking hand comprises a frame and a traveling part, wherein the frame comprises a main frame top plate and a bottom leaf box baffle, the main frame top plate is connected with the bottom She Xiangdang plate through a frame, a traveling subsystem in the traveling part is arranged on the bottom leaf box baffle, an engine is arranged on the main frame top plate, a tobacco leaf collecting box is arranged on the main frame top plate, a tobacco leaf conveyor belt main conveyor belt part is arranged between the bottom leaf box baffle and the tobacco leaf collecting box, the tobacco leaf conveyor belt main conveyor belt part is connected with the engine through a conveyor belt input system, a tobacco leaf conveyor belt bottom conveyor belt part is arranged below a bottom leaf box, and the tobacco leaf conveyor belt bottom conveyor belt part is also connected with the engine through a conveyor belt input system; the front part of the vehicle frame is provided with a cab, the inside of the cab is provided with a control total system working box, the left front wheel and the right front wheel are connected through an upper guide device, the left side and the right side of the vehicle frame are symmetrically provided with bionic picking hand height adjusting rods, the bionic picking hand height adjusting rods are movably connected with the vehicle frame, each bionic picking hand height adjusting rod is provided with a bionic picking system, and binocular camera systems are arranged at positions corresponding to the bionic picking hands in the bionic picking systems; the control total system controls the bionic picking system and the driving control subsystem, and receives signals of the binocular shooting system; the driving control subsystem controls the power of the whole vehicle.
Further: the bionic picking subsystem has the specific structure that a bionic picking hand is arranged on a spring rod, the spring rod is driven by a cam device to do up-and-down motion, a cam motor provides rotating power for the cam device, the spring rod is fixed on a fixed plate through a fixed ring, a telescopic motor drives the fixed plate to move in a telescopic manner through a screw rod transmission structure, the bionic picking hand is a two-finger hand type device, a steering engine is arranged at the joint of two fingers, and the steering engine is used for controlling the two-finger motion; wherein the steering engine, the cam motor and the telescopic motor are controlled by a control total system.
Further: the movable rotating shaft is arranged up and down on the fixed plate, threads are arranged at the contact part of the movable rotating shaft and the bionic picking hand height adjusting rod, the fixed plate is driven to move when the rotating shaft is rotated, and the position of the bionic picking system on the bionic picking hand height adjusting rod is adjusted.
Further: the finger-shaped structure of the two-finger hand-shaped device is an S-shaped structure formed by connecting two semicircular metal sheets.
Further: the metal sheet is an aluminum alloy metal sheet.
A tobacco harvester working method with intelligent bionic picking hand comprises the following steps: the method comprises the steps that firstly, the height of a bionic picking hand is adjusted through a bionic picking hand height adjusting rod to meet the requirement of the height of tobacco leaves to be picked, a movable bearing on a fixed plate is adjusted to enable the position of the bionic picking hand to correspond to a binocular shooting system, a tobacco harvester is started to enter a tobacco field to be picked, and a bionic picking system is started;
secondly, a binocular shooting system starts to acquire tobacco plant images in real time, locks tobacco plant stems to be picked, calculates the distance between the tobacco plant stems and the center point of a semicircular bionic picking hand in real time by using the existing binocular distance algorithm, and waits for a picking system to send a picking instruction;
thirdly, in the process of tracking tobacco plant stalks by the binocular shooting system, continuously detecting the distance L between the tobacco plant stalks and the center point of the bionic picking hand, setting the distance L0 between the tobacco plant stalks and the center point of the bionic picking hand at a certain moment, setting the distance L1 between the tobacco plant stalks and the center point of the bionic picking hand at a next moment, starting from correctly identifying tobacco plant stalk features, and executing a fourth step when the distance L0< L1 is detected to be increased;
fourth, picking action is carried out, and mature tobacco leaves are picked.
Further: the specific process of the second step is as follows:
the first step: after the binocular camera system starts to work, continuously collecting video signals of tobacco plants in a tobacco field to be picked, and sending the video signals to the image processor;
and a second step of: the image processor selects a frame of picture from the video signal, and judges the definition of the picture by utilizing a definition evaluation function: if the picture definition meets the requirements of the system for identifying the stalk features of the tobacco plants, performing a third step, and if the picture definition does not meet the requirements of the system for identifying the stalk features of the tobacco plants, returning to continue to select pictures in the video sequence until the definition meets the requirements of the system;
and a third step of: after a clear picture is selected from the video signal, carrying out feature matching treatment on the tobacco plant image, and identifying the stem features of the tobacco plant;
fourth step: after the tobacco plant stems are identified, the distance between the tobacco plant stems and the center point of the bionic picking hand is calculated by adopting the existing binocular distance measuring algorithm, and the distance is updated in real time to lock the tobacco plant stems.
Compared with the prior art, the tobacco leaf picking machine has the technical effects of simple structure, low cost, high picking efficiency, higher picking rate and lower tobacco leaf crushing rate, and realizes automatic picking, collecting and basket loading of tobacco leaves.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic diagram of the invention for harvesting tobacco leaves to be mined.
Fig. 3 is a three-dimensional view of a mechanical structure of a bionic picking manipulator of the tobacco harvester.
Fig. 4 is a left side view of a mechanical structure of the bionic picking manipulator of the tobacco harvester.
Fig. 5 is a block diagram of the intelligent control system of the present invention.
FIG. 6 is a flow chart of a harvester control system.
The device comprises a tobacco collecting box 1, a tobacco conveying belt 2, an engine 3, a guide 4, a working box of a 5 control total system, a cab 6, a front wheel 7, a main frame top plate 8, a leaf box baffle 9 at the bottom, a binocular shooting system 10, a bionic picking hand 11, a cam motor 12, a movable rotating shaft 13, a cam device 14, a screw rod 15, a fixed plate 16, a steering engine 17, a fixed ring 18, a bionic picking system 19 and a telescopic motor 20.
Detailed Description
As shown in fig. 1-2, the invention comprises a frame and a travelling crane part, wherein the frame comprises a main frame top plate 8 and a bottom leaf box baffle 9, the main frame top plate 8 and the bottom leaf box baffle 9 are connected through a frame, a travelling crane subsystem in the travelling crane part is arranged on the bottom leaf box baffle 9, an engine 3 is arranged on the main frame top plate 8, a tobacco leaf collecting box 1 is arranged on the main frame top plate 8, a main conveyor belt part of a tobacco leaf conveyor belt 2 is arranged between the bottom She Xiangdang plate 9 and the tobacco leaf collecting box 1, the main conveyor belt part of the tobacco leaf conveyor belt 2 is connected with the engine 3 through a conveyor belt input system, a bottom conveyor belt part of the tobacco leaf conveyor belt 2 is arranged below the bottom leaf box, and the bottom conveyor belt part of the tobacco leaf conveyor belt 2 is also connected with the engine 3 through the conveyor belt input system; the front part of the vehicle frame is provided with a cab 6, the inside of the cab 6 is provided with a control total system working box 5, the left and right front wheels 7 are connected through an upper guide 4, the left and right sides of the vehicle frame are symmetrically provided with bionic picking hand height adjusting rods, the bionic picking hand height adjusting rods are movably connected with the vehicle frame, each bionic picking hand height adjusting rod is provided with a bionic picking system 19, and binocular camera systems 10 are arranged at positions corresponding to the bionic picking hands 11 in the bionic picking systems 19.
As shown in fig. 5, the control total system controls the bionic picking system and the driving control subsystem, and receives signals of the binocular shooting system.
The driving control subsystem controls the power of the whole vehicle.
The bionic picking system 19 has the specific structure that a bionic picking hand 11 is arranged on a spring rod 15, the spring rod 15 is driven by a cam device 14 to move up and down, a cam motor 12 provides rotating power for the cam device 14, the spring rod 15 is fixed on a fixed plate 16 through a fixed ring 18, a telescopic motor 14 drives the fixed plate 16 to move in a telescopic manner through a screw rod transmission structure 15, the bionic picking hand 11 is a two-finger hand device, steering gears 17 are arranged at the joints of the two fingers, and the steering gears 17 control the two-finger movement to realize the two actions of holding tobacco stems and loosening of the bionic picking hand 11; the cam motor 12 drives the cam device 14 to rotate so as to drive the spring rod 15 to move up and down to realize two actions of downward picking and resetting of the bionic picking hand 11; the telescopic motor 20 drives the fixed plate 16 to realize the two actions of extending and retracting the bionic picking hand 11 through the screw rod transmission structure 15; the steering engine 17, the cam motor 12 and the telescopic motor 20 are mutually coordinated and matched to jointly realize the whole process of simulating manual tobacco leaf picking, namely the bionic picking is completed.
The fixed plate 16 is provided with a movable rotating shaft 13 up and down, the contact part of the movable rotating shaft 13 and the bionic picking hand height adjusting rod is provided with threads, the fixed plate 16 is driven to move when the rotating shaft is rotated, and the position of the bionic picking system 19 on the bionic picking hand height adjusting rod is adjusted.
The finger-shaped structure of the two-finger hand-shaped device is an S-shaped structure formed by welding two semicircular aluminum alloy sheets.
Wherein steering engine 17, cam motor 12 and telescoping motor 20 are all controlled by the overall system.
As shown in fig. 6, the working method of the present invention is as follows:
the first step, the height of a bionic picking hand 11 is adjusted through a bionic picking hand height adjusting rod to meet the requirement of the height of tobacco leaves to be picked, a movable rotating shaft 13 on a fixed plate 16 is adjusted to enable the position of the bionic picking hand 11 to correspond to a binocular shooting system, and a tobacco harvester is started to enter a tobacco field to be picked and a bionic picking system is started;
secondly, a binocular shooting system starts to acquire tobacco plant images in real time, locks tobacco plant stems to be picked, calculates the distance between the tobacco plant stems and the center point of a semicircular bionic picking hand in real time by using the existing binocular distance algorithm, and waits for a picking system to send a picking instruction;
thirdly, in the process of tracking tobacco plant stalks by the binocular shooting system, the distance L between the tobacco plant stalks and the center point of the bionic picking hand is continuously detected, the distance L0 between the tobacco plant stalks and the center point of the bionic picking hand is set, the distance L1 between the tobacco plant stalks and the camera is set at the next moment, the process of changing the distance between the tobacco plant stalks and the camera from large to small is sequentially carried out from correct identification of tobacco plant stalk features, and once the distance between the tobacco plant stalks and the camera is detected to be increased, picking instructions are immediately sent out when the distance L0< L1 is detected;
fourth, picking action is carried out, and mature tobacco leaves are picked.
The specific flow of the second step is as follows:
the first step: after the binocular camera system starts to work, continuously collecting video signals of tobacco plants in a tobacco field to be picked, and sending the video signals to the image processor;
and a second step of: the image processor selects a frame of picture from the video signal, and judges the definition of the picture by utilizing a definition evaluation function: if the picture definition meets the requirements of the system for identifying the stalk features of the tobacco plants, performing a third step, and if the picture definition does not meet the requirements of the system for identifying the stalk features of the tobacco plants, returning to continue to select pictures in the video sequence until the definition meets the requirements of the system;
and a third step of: after a clear picture is selected from the video signal, carrying out feature matching treatment on the tobacco plant image, and identifying the stem features of the tobacco plant;
fourth step: after the tobacco plant stems are identified, the distance between the tobacco plant stems and the center point of the bionic picking hand is calculated by adopting the existing binocular distance measuring algorithm, and the distance is updated in real time to lock the tobacco plant stems.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that several changes and modifications can be made without departing from the general inventive concept, and these should also be regarded as the scope of the invention.
Claims (4)
1. The utility model provides a tobacco harvester with intelligence is bionical to be picked hand, includes frame and driving part, its characterized in that: the frame comprises a main frame top plate and a bottom leaf box baffle, the main frame top plate is connected with the bottom She Xiangdang plate through a frame, a travelling subsystem in a travelling part is arranged on the bottom leaf box baffle, an engine is arranged on the main frame top plate, a tobacco leaf collecting box is arranged on the main frame top plate, a tobacco leaf conveying belt main conveying belt part is arranged between the bottom leaf box baffle and the tobacco leaf collecting box, the tobacco leaf conveying belt main conveying belt part is connected with the engine through a conveying belt input system, a tobacco leaf conveying belt bottom conveying belt part is arranged below the bottom leaf box, and the tobacco leaf conveying belt bottom conveying belt part is also connected with the engine through a conveying belt input system; the front part of the vehicle frame is provided with a cab, the inside of the cab is provided with a control total system working box, the left front wheel and the right front wheel are connected through an upper guide device, the left side and the right side of the vehicle frame are symmetrically provided with bionic picking hand height adjusting rods, the bionic picking hand height adjusting rods are movably connected with the vehicle frame, each bionic picking hand height adjusting rod is provided with a bionic picking system, and binocular camera systems are arranged at positions corresponding to the bionic picking hands in the bionic picking systems; the control total system controls the bionic picking system and the driving control subsystem, and receives signals of the binocular shooting system; the driving control subsystem controls the power of the whole vehicle;
the bionic picking system is specifically structurally characterized in that a bionic picking hand is arranged on a spring rod, the spring rod is driven by a cam device to move up and down, a cam motor provides rotating power for the cam device, the spring rod is fixed on a fixed plate through a fixed ring, a telescopic motor drives the fixed plate to move in a telescopic manner through a screw rod transmission structure, the bionic picking hand is a two-finger hand type device, a steering engine is arranged at the joint of two fingers, and the steering engine is used for controlling the two-finger motion; wherein the steering engine, the cam motor and the telescopic motor are controlled by a control total system;
the movable rotating shaft is arranged up and down and is provided with threads at the contact part with the bionic picking hand height adjusting rod, the movable rotating shaft is driven to move when rotating, and the position of the bionic picking system on the bionic picking hand height adjusting rod is adjusted;
the finger-shaped structure of the two-finger hand-shaped device is an S-shaped structure formed by connecting two semicircular metal sheets.
2. The tobacco harvester with intelligent bionic picking hand as in claim 1, wherein: the metal sheet is an aluminum alloy metal sheet.
3. A method of operating a tobacco harvester with the intelligent biomimetic picking hand of claim 1, characterized by: the method comprises the steps that firstly, the height of a bionic picking hand is adjusted through a bionic picking hand height adjusting rod to meet the requirement of the height of tobacco leaves to be picked, a movable bearing on a fixed plate is adjusted to enable the position of the bionic picking hand to correspond to a binocular shooting system, a tobacco harvester is started to enter a tobacco field to be picked, and a bionic picking system is started;
secondly, a binocular shooting system starts to acquire tobacco plant images in real time, locks tobacco plant stems to be picked, calculates the distance between the tobacco plant stems and the center point of a semicircular bionic picking hand in real time by using the existing binocular distance algorithm, and waits for a picking system to send a picking instruction;
thirdly, in the process of tracking tobacco plant stalks by the binocular shooting system, continuously detecting the distance L between the tobacco plant stalks and the center point of the bionic picking hand, setting the distance L0 between the tobacco plant stalks and the center point of the bionic picking hand at a certain moment, setting the distance L1 between the tobacco plant stalks and the center point of the bionic picking hand at a next moment, starting from correctly identifying tobacco plant stalk features, and executing a fourth step when the distance L0< L1 is detected to be increased;
fourth, picking action is carried out, and mature tobacco leaves are picked.
4. A method of operating a tobacco harvester with intelligent biomimetic picking hand as in claim 3, wherein: the specific process of the second step is as follows:
the first step: after the binocular camera system starts to work, continuously collecting video signals of tobacco plants in a tobacco field to be picked, and sending the video signals to the image processor;
and a second step of: the image processor selects a frame of picture from the video signal, and judges the definition of the picture by utilizing a definition evaluation function: if the picture definition meets the requirements of the system for identifying the stalk features of the tobacco plants, performing a third step, and if the picture definition does not meet the requirements of the system for identifying the stalk features of the tobacco plants, returning to continue to select pictures in the video sequence until the definition meets the requirements of the system;
and a third step of: after a clear picture is selected from the video signal, carrying out feature matching treatment on the tobacco plant image, and identifying the stem features of the tobacco plant;
fourth step: after the tobacco plant stems are identified, the distance between the tobacco plant stems and the center point of the bionic picking hand is calculated by adopting the existing binocular distance measuring algorithm, and the distance is updated in real time to lock the tobacco plant stems.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811393760.8A CN109328638B (en) | 2018-11-21 | 2018-11-21 | Tobacco harvester with intelligent bionic picking hand |
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| CN109328638A CN109328638A (en) | 2019-02-15 |
| CN109328638B true CN109328638B (en) | 2024-02-13 |
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| CN201811393760.8A Active CN109328638B (en) | 2018-11-21 | 2018-11-21 | Tobacco harvester with intelligent bionic picking hand |
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Families Citing this family (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 |
| 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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| CN209609230U (en) * | 2018-11-21 | 2019-11-12 | 河南农业大学 | Tobacco harvesting machine with intelligent bionic picking hands |
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2018
- 2018-11-21 CN CN201811393760.8A patent/CN109328638B/en active Active
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| CN109328638A (en) | 2019-02-15 |
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