CN109526441A - A kind of topping machine - Google Patents
A kind of topping machine Download PDFInfo
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- CN109526441A CN109526441A CN201910066996.9A CN201910066996A CN109526441A CN 109526441 A CN109526441 A CN 109526441A CN 201910066996 A CN201910066996 A CN 201910066996A CN 109526441 A CN109526441 A CN 109526441A
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- Prior art keywords
- mechanical arm
- frame
- connect
- control device
- image
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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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
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
Abstract
The invention discloses a kind of topping machines, comprising: frame；Walking component, mechanical arm, the first imaging sensor, the second imaging sensor and control device；Walking component is connect with frame；One end of mechanical arm is fixedly connected with frame, and the other end is provided with cutting head；First imaging sensor is connect with frame；Second imaging sensor is connect with frame；Control device is connect with frame, and is connect respectively with the first imaging sensor, the second imaging sensor, mechanical arm and walking component；Control device carries out image recognition to target image and ambient image respectively, determines the apical position of target plant and the movement routine of topping machine, and the apical position based on target plant, carries out topping operation to target plant by controlling mechanical arm；By control walking component topping machine is moved along the movement routine based on movement routine.Realize automation topping operation, and can the target plant to different height uniformly pinch.
Description
Technical field
The present invention relates to agricultural equipment field more particularly to a kind of topping machines.
Background technique
Topping refers to the top of removal crops, is allowed to increase production.The principle of topping is to remove the growing point of stem, inhibits growth
Element secretion makes plant yield positive results more so that nutrient growth be inhibited to promote reproductive growth, also referred to as removal " apical dominance ".
When in agricultural production, many crops such as cotton, tobacco etc. require to pinch, to obtain higher
Yield.Especially in cotton production areas such as the Xinjiang in China, need to pinch to the cotton of large area every year, the mistake entirely pinched
Journey needs to expend a large amount of manpower and material resources.So how it is more convenient pinch to crops, be always agriculture skill
One of the direction of art field primary study.
In existing topping equipment, all assume that crop growth height is consistent, and it is top all on one wire.Into
Before row topping operation, need to set the height of topping or cutting, the height of the topping or cutting can not during topping
Adjustment, no matter so the height of crops, what can only all be unified pinches for the height set.
However since the individual difference of crops is very big, the height of plant and disunity, so existing topping machine into
When row topping, it just will appear the non-uniform situation of topping, the top of individual plant may be cut excessive, and individual plant
It is short not to be removed.Due to the above problem, existing topping machine in agricultural production, is not widely used.
Most area greatly reduces labor efficiency still by the way of pinching by hand.
Summary of the invention
The object of the present invention is to provide a kind of topping machine, can the crops to different height uniformly pinch, mention
High labor efficiency.Concrete scheme is as follows:
The embodiment of the invention provides a kind of topping machines, comprising:
Frame；
Walking component, the walking component are connect with the frame, and the walking component is for driving the frame mobile；
Mechanical arm, one end of the mechanical arm are fixedly connected with the frame, and the other end is provided with cutting head, and the cutting head is used
It pinches in target plant；
First imaging sensor, the first image sensor are connect with the frame, for acquiring the mesh of the target plant
Logo image；
Second imaging sensor, second imaging sensor are connect with the frame, in place for acquiring the topping machine institute
The ambient image set；
Control device, the control device are connect with the frame, and respectively with the first image sensor, second figure
As sensor, the mechanical arm are connected with the walking component；
The control device is used to carry out image recognition to the target image, determines the apical position of the target plant,
And according to the apical position, Xiang Suoshu mechanical arm issues the first control information, cuts off the cutting head of the mechanical arm
The top of the target plant,
Also, the control device is used to carry out image recognition to the ambient image, determines the mobile road of the topping machine
Diameter, and according to the movement routine, issues the second control information to the walking component, makes the walking component according to described the
Two control information are moved.
Optionally, the walking component includes: driving motor and rotating wheel；
The driving motor is connected with the rotating wheel；
The driving motor and the rotating wheel, connect with the frame respectively；
The driving motor is connect with the control device.
Optionally, the rotating wheel is multiple, the corresponding driving motor of each described rotating wheel.
Optionally, the mechanical arm is the mechanical arm of parallel institution composition；
The fixed platform of the parallel institution is fixedly connected with the frame；
The moving platform of the parallel institution is provided with the cutting head.
Optionally, the mechanical arm is multiple, and multiple mechanical arms press default distribution mode, is connected respectively with the frame
It connects.
Optionally, the first image sensor is multiple, each the first image sensor corresponds to described in one
Mechanical arm；
The mechanical arm is installed on the lower end surface of the frame；
The corresponding the first image sensor of each described mechanical arm, is installed on the lower end surface of the frame close to the machinery
At the position of arm.
Optionally, the control device includes wireless controller；
The wireless controller is connect with the walking component；
The wireless controller issues third control to the walking component for receiving wireless signal, and according to the wireless signal
Information processed makes the walking component control information according to the third and is moved.
Optionally, the topping machine further includes battery component, and the battery component is connect with the frame；
The battery component respectively with the walking component, the first image sensor, second imaging sensor and institute
State control device connection.
Optionally, the battery component includes photovoltaic panel and battery, and the photovoltaic panel is connect with the battery；
The battery respectively with, the walking component, the first image sensor, second imaging sensor and described
Control device connection.
Optionally, the first image sensor is also used to acquire the Background within the scope of the target plant pre-determined distance
Picture；
Correspondingly, the control device is also used to carry out image recognition to the background image to determine when identifying weeds
The position of the weeds, and according to the position of the weeds, Xiang Suoshu mechanical arm issues the 4th control information, makes the mechanical arm
The cutting head cut off the weeds.
In topping machine provided in an embodiment of the present invention, comprising: frame, component of walking, mechanical arm, the first imaging sensor,
The components such as the second imaging sensor and control device.Wherein, the target figure of target plant is obtained by the first imaging sensor
Picture is obtained the ambient image of topping machine position by the second imaging sensor, and target image and ambient image is sent
To control device.Control device is handled target image and ambient image according to preset image processing program, is determined
The apical position of target plant and the movement routine of topping machine, and the apical position based on target plant, it is mechanical by control
Arm carries out topping operation to target plant；Enable topping machine along the shifting by control walking component based on movement routine
It is moved in dynamic path.Topping machine provided in an embodiment of the present invention realizes the automatic topping to target plant, and due to needle
To different target plants can determination its top position respectively, so realizing the mesh to different height during topping
The uniform topping of mark plant improves the problem of avoiding in the prior art, can only pinch to the crops of uniform height
Effect of pinching and labor efficiency.Meanwhile topping machine provided in an embodiment of the present invention is realized and is automatically moved and path planning, entirely
The realization that topping process can automate further improves topping efficiency, reduces human cost.
Detailed description of the invention
Fig. 1 is the front view of topping machine provided in an embodiment of the present invention；
Fig. 2 is the side view of topping machine provided in an embodiment of the present invention；
Fig. 3 is the structure chart of another topping machine provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm provided in an embodiment of the present invention；
Fig. 5 is the structure chart of another topping machine provided in an embodiment of the present invention.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, below in conjunction with attached drawing to this hair
It is bright to be further detailed.
Referring to Fig. 1, Fig. 1 is the front view of topping machine provided in an embodiment of the present invention, including: frame 101, walking group
Part 102, mechanical arm 103, the first imaging sensor 104, the components such as the second imaging sensor 105 and control device 106.
Frame 101 is the installation foundation of each component in topping machine provided in an embodiment of the present invention.The specific structure of frame 101
It can according to need and be designed, in embodiments of the present invention, frame 101 can be the frame structure or shell knot of rectangular hollow
Structure.Frame 101 is provided with the support column 111 for installing walking component 102.The height of support column 111 can be planted according to target
The height of object 100 is designed.The height of general support column 111 needs the growing height higher than target plant 100, so that
Mechanical arm 103 has sufficient space to carry out topping operation to target plant 100.Wherein target plant 100 is to pinch
Crops, such as can be cotton, tobacco etc..
Walking component 102 is connect with frame 101, and walking component 102 is for driving frame 101 mobile.
Component 102 of walking is the component that can be realized displacement, for example, can be the structures such as crawler belt or wheel.Walking group
Part 102 can be rotatablely connected by various rotation connection modes with the realization of frame 102, when walking component 102 rotates
When, then frame 101 can be driven mobile.
In one embodiment, the topping machine of the offer of the embodiment of the present invention, itself does not have dynamical system, can drag
It is moved under the traction of the machinery such as machine drawing.
In another embodiment, by the power of itself position can occur for the topping machine of the offer of the embodiment of the present invention
It moves.Specifically, walking component 102 may include: driving motor 201 and rotating wheel 202；Driving motor 201 and rotating wheel 202 connect
It connects；Driving motor 201 and rotating wheel 202, connect with frame 101 respectively；Driving motor 201 is connect with control device 106.
Driving motor 201 can be the motor of the diversified forms such as alternating current generator, stepper motor.Driving motor 201 and frame
101 are fixedly connected, and rotating wheel 202 and frame 101 are rotatablely connected.For example, as shown in Figure 1, driving motor 201 and rotating wheel 202
It is mounted on the support column 111 of frame.
Driving motor 201 is connect by deceleration device and corresponding drive mechanism with rotating wheel 202.201 turns of driving motor
When dynamic, rotating wheel 202 can be made to rotate torque output to rotating wheel 202, so that the embodiment of the present invention be driven to provide
Topping machine move.
Driving motor 201 is connect by controlling cable with control device 106, and driving electricity can be controlled by control device 106
Machine 201 starts or stops.
In order to which the more flexible movement to topping machine controls, in embodiments of the present invention, rotating wheel 202 is more
It is a, the corresponding driving motor 201 of each rotating wheel 202.Topping machine provided in an embodiment of the present invention can generally be equipped with 4
A rotating wheel 202.Since topping machine generally works in farmland, the environment of travelling route is generally complex, so each
A rotating wheel 202 is corresponding with a driving motor 201.I.e. each rotating wheel 202 is driven by a driving motor 201 is independent
It is dynamic.So as to the mobile route of more flexible control topping machine, and complicated route environment is preferably adapted to, avoids beating
The appearance of situations such as sliding.
Further, referring to Fig. 3, in topping machine provided in an embodiment of the present invention, walking component 102 can also include turning
To motor 203.Steering motor 203 is connect with control device 106.
Rotating wheel 202 is the universal wheel that can be realized 360 degree of steerings, and steering motor 203 is connect with rotating wheel 202, is being turned
To under the drive of motor 203, rotating wheel 202 can relatively rotate with support column 111, to realize the steering of topping machine.
Equally, the corresponding steering motor 203 of each rotating wheel 202, so as to more flexible control topping machine
Movement.And steering motor 203 is similarly connect by controlling cable with control device 106, can be controlled by control device 106
Steering motor 203 processed starts or stops, to control the steering of topping machine.
Referring to Fig. 1 to Fig. 3, in topping machine provided in an embodiment of the present invention, one or more mechanical arms can be installed
103.One end of mechanical arm 103 is fixedly connected with frame 101, and the other end is provided with cutting head 113, and cutting head 113 is used for mesh
Mark plant 100 is pinched.
Mechanical arm 103 can be multiple structural forms, for example, mechanical arm 103 can be multi-joint manipulator, each joint
Place is equipped with steering engine, so that mechanical arm 103 can have multiple freedom degrees.It being capable of the free movement in certain space.
The fixing end of mechanical arm 103 can be fixedly connected with frame 101, for example, the lower end of frame 101 can be installed on
Face.During the motion, frame 101 is across the top of target plant 100 for topping machine, so that mechanical arm 103 is always positioned at target
The top of plant 100, to realize that the topping to target plant 100 operates.
The other end of mechanical arm 103 is free end, is equipped with cutting head 113 in the free end.Cutting head 113 can be to cut
The various tools that can be realized cutting 100 tip portion of target plant such as cutter, small-sized electric saw.Cutting head 113 can be in machinery
Under the control of arm 103, the tip portion of target plant 100 is cut, realizes that the topping to target plant 100 operates.
In practical applications, in order to further reduce the cost, and the reliability and maintainability of mechanical arm 103 is improved.
As shown in Figures 1 and 2, it is preferred that mechanical arm 103 can be the mechanical arm 103 of parallel institution composition.The fixed platform of parallel institution
It is fixedly connected with frame 101.The moving platform of parallel institution is provided with cutting head 113.
It is independent by least two can be defined as moving platform and fixed platform for parallel institution (Parallel Mechanism)
Kinematic chain be connected, mechanism have two or more freedom degrees, and with parallel way drive a kind of close loop mechanism.And
For online structure without accumulated error, precision is higher；And compact-sized, bearing capacity is big, is suitable for the lesser working environment of working space.
In embodiments of the present invention, mechanical arm 103 can be constituted using 2DOF parallel institution.Referring to fig. 4, Fig. 4 is this
The structural schematic diagram for the mechanical arm that inventive embodiments provide.The fixed platform of the mechanical arm 103 is fixedly connected with frame 101.It allocates
It is made up of between platform 301 and moving platform 302 multiple master arms 303, slave arm 304.3 groups are only schematically depicted in Fig. 4
The case where master arm 303 and slave arm 304, can also use the diversified forms such as 2 groups, 4 groups in practical applications.
Driving mechanism is installed on fixed platform 301, master arm 303 can be driven to move under the influence of control signals, from
And slave arm 304 and moving platform 302 is driven to be moved.So that the cutting head 113 installed on moving platform 302 is completed to plant target
The topping of object 100 operates.
In practical applications, such as tobacco leaf, cotton crops can be using the forms planted side by side.In order to improve topping
Efficiency, topping machine provided in an embodiment of the present invention can each time simultaneously pinch to multirow target plant 100 arranged side by side.
To achieve the goals above, as shown in figures 1 and 3, in topping machine provided in an embodiment of the present invention, mechanical arm
103 is multiple, and multiple mechanical arms 103 press default distribution mode, connect respectively with frame 101.
Default distribution mode can be determined according to the plantation situation of target plant 100.For example, target plant 100 is using simultaneously
When arranging the form of plantation, mechanical arm 103 can such as the distribution form in Fig. 1 and Fig. 3, side by side be evenly distributed on frame 101
Lower end surface.The distance between every two mechanical arm 103 can be adjusted according to the plantation width of target plant 100.In reality
In, mode and the mounting hole on frame 101 that mechanical arm 103 can be connected by screw bolts are attached.In order to make
The position width obtained between mechanical arm 103 is adjusted flexibly, and the mounting hole on frame 101 can be set to the installation of strip
Slot.When screw is not tightened, the position of mechanical arm 103 can be slided along the mounting groove of the strip.Work as screw-driving
When, then the position of solid mechanical arm 103.The power supply and control route of mechanical arm 103 use on-fixed wire laying mode, in mechanical arm
When 103 progress position adjustment, mechanical arm 103 can be followed to be moved.Wherein, the quantity of mechanical arm 103 can according to need
It is configured, specific quantity is not limited in the embodiment of the present invention.It is only schematically to list 2 machinery in Fig. 1 and Fig. 3
The case where arm and 4 mechanical arms.Also, the distribution mode of multiple mechanical arms 103, can also be according to target plant 100 in practice
Planting patterns determine, for example, in the embodiment of the present invention multiple mechanical arms 103 are distributed in a row, but when practical application,
Multiple mechanical arms 103 multiple rows of can also be distributed.Those skilled in the art can with according to embodiments of the present invention described in mode,
The quantity of mechanical arm 103 is increased or decreased according to actual needs and changes the distribution mode of mechanical arm 103.
First imaging sensor 104 is connect with frame 101, for acquiring the target image of target plant 100.
First imaging sensor 104 can be the imaging sensor of plurality of specifications, such as can be simulation camera or number
Word camera etc. can be applied in the embodiment of the present invention as long as the image for meeting demand can be shot or be collected.The
One imaging sensor 104 is fixedly mounted on frame 101, for example, the lower end surface of frame 101 can be installed on, so as to side
Just the target image of high angle shot target plant 100.
When there are multiple mechanical arms 103, each mechanical arm 103 can be used for the target plant 100 of a line into
Row topping operation.In order to more accurately control mechanical arm 103, in embodiments of the present invention, the first imaging sensor 104
Or multiple, the corresponding mechanical arm 103 of each first imaging sensor 104.Mechanical arm 103 is installed on frame 101
Lower end surface；Each corresponding first imaging sensor 104 of mechanical arm 103, is installed on the lower end surface of frame 101 close to the machine
At the position of tool arm 103.
As can be seen that each first imaging sensor 104 is installed in first imaging sensor in from Fig. 1 to Fig. 3
At the fixed platform of 104 corresponding mechanical arms 103.So that first imaging sensor 104, targetedly right for shooting its
The target image for the target plant 100 that the mechanical arm 103 answered is pinched.
So the image range of target image captured by first imaging sensor 104 can be smaller, control is facilitated to fill
It sets 106 pairs of target images and carries out image procossing, to improve the control precision to mechanical arm 103.
The second imaging sensor 105 is also equipped on topping machine provided in an embodiment of the present invention.Second imaging sensor 105
It is connect with frame 101, for acquiring the ambient image of topping machine position.
As shown in Figure 1 to Figure 3, the second imaging sensor 105 is generally mounted to the upper surface of frame 101, and has one
Fixed height.Second imaging sensor 105 can use full-view camera, the ring of the surrounding for acquiring topping machine position
Border image.Ambient image includes the various barriers etc. on current surface conditions and road surface.
Control device 106 is connect with frame 101, and respectively with the first imaging sensor 104, the second imaging sensor 105,
Mechanical arm 103 and walking component 102 connect.
Control device 106 may be mounted in the inside or upper surface of frame 101, pass through the modes such as cable or data/address bus
It is connect respectively with the first imaging sensor 104, the second imaging sensor 105, mechanical arm 103 and walking component 102, so as to
The interaction of data information is carried out between said modules.
Control device 106 may include: processor, mainboard, memory, hard disk and other corresponding electronic components.Wherein
Processor is the computer chip with data and image-capable.It such as can be CPU, GPU(Graphics
Processing Unit, image processor), FPGA(Field-Programmable Gate Array, field-programmable gate array
Column) etc. elements.The data such as preset image processing program, and corresponding runs software can be preserved in memory and hard disk.
Processor, memory, hard disk etc. are mounted on mainboard, and various data lines or cable interface are provided on mainboard.Control
Device 106 processed can be encapsulated in shell, form complete absolute construction, and as a component or module, installation to frame
On 101, then it is connect with other assemblies by modes such as cable or data/address bus.
It is provided with corresponding image processing program in control device 106, existing various image recognition technologys can be based on,
Image captured by first imaging sensor 104 and the second imaging sensor 105 is handled.And it is based on processing result, it produces
Raw corresponding control signal passes through cable or data bus transmission to mechanical arm 103 and walking component 102.To control machinery
The movement of arm 103 to realize that the topping to target plant 100 operates, and realizes the control to walking component 102 and topping machine
Automatically move.
Lower mask body introduces control device 106 respectively to the treatment process and method of target image and ambient image.
Control device 106 is used to carry out image recognition to target image, determines the apical position of target plant 100, and
According to apical position, the first control information is issued to mechanical arm 103, the cutting head of mechanical arm 103 is made to cut off target plant 100
Top.
Specifically, the image can be passed after the first imaging sensor 104 obtains the target image of target plant 100
Transport to control device 106.Control device 106 is based on its internal pre-set image processing program, to the target image received
It is identified.
Knowing method for distinguishing can use various image-recognizing methods in the prior art, such as the image based on characteristic matching to know
Other algorithm etc..In embodiments of the present invention, in order to improve accuracy of identification, it is preferred that the side of convolutional neural networks can be used
Formula identifies target image.
Preparatory trained convolutional neural networks model, the convolutional neural networks mould are provided in control device 106
Type can identify the apical position of target plant in image by a large amount of sample training.
Target image is inputted into the convolutional neural networks model, then can quickly determine that target is planted in the target image
The apical position of object.
After determining the apical position in target image, control device 106 can basis pre-set track calculate
Method, according to the intrinsic height of the position angle of the first imaging sensor 104, the first imaging sensor 104 when photographic subjects image,
And the information such as apical position in target image, it is determined in the actual environment by geometrical relationship, the top of target plant 100
Positional relationship between end position and mechanical arm 103.To according to the positional relationship.The first control letter is issued to mechanical arm 103
Breath.To control mechanical arm 103, the top of target plant 100 is cut off by cutting head 113.
When there are multiple first imaging sensors 104, control device 106 then need to multiple target images respectively into
Row image recognition and processing, to generate multiple independent first control information respectively, the mechanical arm 103 for controlling different is right
Different target plants 100 carry out topping operation.
Control device 106 is also used to carry out image recognition to ambient image, determines the movement routine of topping machine, and according to
Movement routine issues the second control information to walking component 102, moves walking component 102 according to the second control information.
Specifically, the ambient image can be transmitted to control dress after the second imaging sensor 105 obtains ambient image
Set 106.Control device 106 is based on its internal pre-set image processing program, carries out to the ambient image received corresponding
Processing.
Containing the environmental information around topping machine in ambient image, control device 106 identifies the ambient image, can
To determine individual different targets in ambient image.Being also based on acquisition also can get about target range, size and speed
The a series of images information of degree.In addition, can also assess the colouring information of image.Concrete implementation mode, with existing automatic Pilot
It is identical for the processing mode of ambient image in technology.
By the identification to ambient image, the movement routine of topping machine can be calculated, for example, by ambient image
Identification, the channel position being capable of determining that between every a line target plant, then the position in the channel and extending direction, as pinch
The movement routine of machine.
According to the movement routine, control device 106, which can calculate, executes the movement routine, walks needed for component 102
Motion state.To issue corresponding second control information to walking component 102, believe that walking component 102 according to the second control
Breath is moved, so that topping machine can be moved along the calculated movement routine of institute.
In practical application, in topping machine provided in an embodiment of the present invention, can also be wrapped in order to improve safety
It includes: the equipment such as scanning laser radar sensor and millimetre-wave radar.
Wherein, laser three-D scanning laser radar sensor technology can provide simultaneously real time machine vision and environment mapping
Function.No matter daytime or night, be all remarkably improved the fineness to the ambient enviroment visual field, while under poor weather
It can also work normally.
Millimetre-wave radar can perceive the object movement speed in environment, can directly obtain the speed of target.
Scanning laser radar sensor and millimetre-wave radar can connect to control device 106, and control device 106 can
With the data information according to provided by scanning laser radar sensor and millimetre-wave radar, topping machine is more accurately calculated
Movement routine.
In topping machine provided in an embodiment of the present invention, the target image of target plant is obtained by the first imaging sensor,
The ambient image of topping machine position is obtained by the second imaging sensor, and target image and ambient image are sent to control
Device processed.Control device is handled target image and ambient image according to preset image processing program, determines target
The apical position of plant and the movement routine of topping machine, and the apical position based on target plant, by controlling mechanical arm pair
Target plant carries out topping operation；Topping machine is enabled to move road along this by control walking component based on movement routine
Diameter is moved.Topping machine provided in an embodiment of the present invention realizes the automatic topping to target plant, and due to for not
With target plant can determination its top position respectively, so realizing the target plant to different height during topping
The problem of uniform topping of object, avoids in the prior art, can only pinch to the crops of uniform height, so that topping effect
Fruit is more preferable, improves labor efficiency.Meanwhile topping machine provided in an embodiment of the present invention, it realizes and automatically moves and path planning,
The realization that entire topping process can automate, further improves topping efficiency, reduces human cost.
Optionally, in conjunction with the above embodiments, in embodiments of the present invention, control device 106 can also include wireless controlled
Device processed；Wireless controller is connect with walking component 102；Wireless controller for receiving wireless signal, and according to wireless signal to
Component 102 of walking issues third and controls information, so that walking component 102 is controlled information according to third and is moved.
In practical applications, the movement of topping machine can also be controlled by the way of manual remote control.Wireless controller can
To receive long-range wireless control signal, such as the radio signal etc. issued by the remote controler of operator.
After wireless controller receives the wireless control signal of operator's sending, which can be carried out corresponding
Identification and conversion, thus be based on the wireless control signal, pass through walking component 102 between cable or control line, Xiang Hang
It walks component 102 and issues third control information.So that walking component 102 can be moved by corresponding path, such as before
Into, turn to and retreat etc..
The specific structure type of wireless controller and the processing method of wireless control signal, can use all kinds of existing
Some remote control technologies realizes that details are not described herein.
Referring to Fig. 5, Fig. 5 is the structure chart of another topping machine provided in an embodiment of the present invention.The embodiment of the present invention provides
Topping machine can also include: battery component 107, battery component 107 is connect with frame 101.Battery component 107 respectively with, row
Component 102, the first imaging sensor 104, the second imaging sensor 105 and control device 106 is walked to connect.
Topping machine provided in an embodiment of the present invention can take various forms power supply, for example, can be equipped with small-sized hair
The modes such as motor.In conjunction with actual applicable cases, in embodiments of the present invention, in order to mitigate weight, it is easy to use.Preferably,
Power supply can be provided for the various components of topping machine by the way of battery component 107.
Battery component 107 can use existing all kinds of power batteries, such as lithium battery or sodium-ion battery etc..Battery
Component 107 may include the components such as battery management system, voltage-operated device and circuit protection device, specific structure type and
Connection type belongs to the prior art, and details are not described herein.
Battery component 107 have charging interface and output interface, each output interface can by cable, respectively with walking
Component 102, the first imaging sensor 104, the second imaging sensor 105 and control device 106 connect, to mention for various components
For working power.
Further, as shown in figure 5, can also include photovoltaic panel in battery component 107 in embodiments of the present invention
401 and battery 402, photovoltaic panel 401 connect with battery 402.
Battery 402 respectively with, walking component 102, the first imaging sensor 104, the second imaging sensor 105 and control
Device 106 connects.
In practical applications, in order to reduce the charging times to battery component 107, photovoltaic can be installed on topping machine
Plate 401.Photovoltaic panel 401 is fixedly installed in the upper surface of frame 101, thus the irradiation for receiving sunlight of maximum area.Work as topping
When machine is in outdoor, it can charge by the way that the photovoltaic panel 401 is lasting for battery 402.It ensure that the energy of topping machine
It is sufficient.
May be used also in conjunction with above-mentioned each embodiment in order to extend the application function of topping machine provided in an embodiment of the present invention
To be provided with other kinds of image processing program in control device 106, such as identify the image recognition algorithm of other targets
Deng so that control device 106 can recognize that other targets other than the apical position for locating target plant.
Specifically, can be provided in control device 106 can identify the image recognition algorithms of weeds in image, for example,
The convolutional neural networks model of the trained weeds of various types for identification.
Correspondingly, the first imaging sensor 104 can be also used for the background within the scope of acquisition 100 pre-determined distance of target plant
Image.
First imaging sensor 104 not only can shoot or obtain the target image of target plant 100, can also clap simultaneously
Take the photograph the background image near target image in preset range.Preset range can according to need, to the first imaging sensor 104
Coverage is configured to realize.In background image, not only contain target plant itself, it can also be containing near target plant
Environment and background image.
The background image is transmitted to control device 106, control device 106 can carry out image knowledge to the background image
Not, such as by the convolutional neural networks models of the above-mentioned weeds of various types for identification, to the weeds in background image into
Row identification.When identifying weeds, the position of weeds can be calculated and determined out by corresponding geometrical relationship, and according to weeds
Position, to mechanical arm 103 issue the 4th control information, control mechanical arm 103 motion profile, make the cutting of mechanical arm 103
The corresponding weeds of first 113 excision.
In embodiments of the present invention, by the way that different types of image processing program is arranged in control device 106, can make
Control device 106 can identify various types of target.In practical applications, so that topping provided in an embodiment of the present invention
Machine not only can carry out topping operation to target plant, additionally it is possible to while the operation cut weeds, application function is extended,
Improve agricultural automation level.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It is above that certain exemplary embodiments of the invention are only described by way of explanation, undoubtedly, for ability
The those of ordinary skill in domain without departing from the spirit and scope of the present invention can be with a variety of different modes to institute
The embodiment of description is modified.Therefore, above-mentioned attached drawing and description are regarded as illustrative in nature, and should not be construed as to the present invention
The limitation of claims.
Claims (10)
1. a kind of topping machine characterized by comprising
Frame；
Walking component, the walking component are connect with the frame, and the walking component is for driving the frame mobile；
Mechanical arm, one end of the mechanical arm are fixedly connected with the frame, and the other end is provided with cutting head, and the cutting head is used
It pinches in target plant；
First imaging sensor, the first image sensor are connect with the frame, for acquiring the mesh of the target plant
Logo image；
Second imaging sensor, second imaging sensor are connect with the frame, in place for acquiring the topping machine institute
The ambient image set；
Control device, the control device are connect with the frame, and respectively with the first image sensor, second figure
As sensor, the mechanical arm are connected with the walking component；
The control device is used to carry out image recognition to the target image, determines the apical position of the target plant,
And according to the apical position, Xiang Suoshu mechanical arm issues the first control information, cuts off the cutting head of the mechanical arm
The top of the target plant,
Also, the control device is used to carry out image recognition to the ambient image, determines the mobile road of the topping machine
Diameter, and according to the movement routine, issues the second control information to the walking component, makes the walking component according to described the
Two control information are moved.
2. topping machine according to claim 1, which is characterized in that the walking component includes: driving motor and rotating wheel；
The driving motor is connected with the rotating wheel；
The driving motor and the rotating wheel, connect with the frame respectively；
The driving motor is connect with the control device.
3. topping machine according to claim 2, which is characterized in that the rotating wheel is multiple, each described rotating wheel
A corresponding driving motor.
4. topping machine according to claim 1, which is characterized in that the mechanical arm is the mechanical arm of parallel institution composition；
The fixed platform of the parallel institution is fixedly connected with the frame；
The moving platform of the parallel institution is provided with the cutting head.
5. topping machine according to any one of claim 1 to 4, which is characterized in that the mechanical arm is multiple, Duo Gesuo
Mechanical arm is stated by default distribution mode, is connect respectively with the frame.
6. topping machine according to claim 5, which is characterized in that the first image sensor is multiple, each institute
State the corresponding mechanical arm of the first imaging sensor；
The mechanical arm is installed on the lower end surface of the frame；
The corresponding the first image sensor of each described mechanical arm, is installed on the lower end surface of the frame close to the machinery
At the position of arm.
7. topping machine according to claim 1, which is characterized in that the control device includes wireless controller；
The wireless controller is connect with the walking component；
The wireless controller issues third control to the walking component for receiving wireless signal, and according to the wireless signal
Information processed makes the walking component control information according to the third and is moved.
8. topping machine according to claim 1, which is characterized in that the topping machine further includes battery component, the battery
Component is connect with the frame；
The battery component respectively with the walking component, the first image sensor, second imaging sensor and institute
State control device connection.
9. topping machine according to claim 8, which is characterized in that the battery component includes photovoltaic panel and battery, institute
Photovoltaic panel is stated to connect with the battery；
The battery respectively with, the walking component, the first image sensor, second imaging sensor and described
Control device connection.
10. topping machine according to claim 1, which is characterized in that the first image sensor is also used to acquire described
Background image within the scope of target plant pre-determined distance；
Correspondingly, the control device is also used to carry out image recognition to the background image to determine when identifying weeds
The position of the weeds, and according to the position of the weeds, Xiang Suoshu mechanical arm issues the 4th control information, makes the mechanical arm
The cutting head cut off the weeds.
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| CN201910066996.9A CN109526441A (en) | 2019-01-24 | 2019-01-24 | A kind of topping machine |
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| CN201910066996.9A CN109526441A (en) | 2019-01-24 | 2019-01-24 | A kind of topping machine |
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| CN201910066996.9A Pending CN109526441A (en) | 2019-01-24 | 2019-01-24 | A kind of topping machine |
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| CN111758424A (en) * | 2020-06-22 | 2020-10-13 | 华中农业大学 | Automatic device of pinching of field cotton |
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| CN114946439A (en) * | 2022-03-23 | 2022-08-30 | 华中农业大学 | Intelligent accurate topping device for field cotton |
| CN114788465A (en) * | 2022-04-21 | 2022-07-26 | 农业农村部南京农业机械化研究所 | Multifunctional crop topping machine |
| CN114788465B (en) * | 2022-04-21 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Multifunctional crop topping machine |
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