CN109673304A - Electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision - Google Patents
Electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision Download PDFInfo
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- CN109673304A CN109673304A CN201910135868.5A CN201910135868A CN109673304A CN 109673304 A CN109673304 A CN 109673304A CN 201910135868 A CN201910135868 A CN 201910135868A CN 109673304 A CN109673304 A CN 109673304A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 101
- 235000011430 Malus pumila Nutrition 0.000 title claims abstract description 32
- 235000015103 Malus silvestris Nutrition 0.000 title claims abstract description 32
- 244000141359 Malus pumila Species 0.000 title claims abstract description 30
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 25
- 229910052742 iron Inorganic materials 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 12
- 238000004904 shortening Methods 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 239000002420 orchard Substances 0.000 abstract description 3
- 238000009510 drug design Methods 0.000 abstract description 2
- 210000003128 head Anatomy 0.000 description 27
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 241000220225 Malus Species 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003831 deregulation Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012706 support-vector machine Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- 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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- 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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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Botany (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to a kind of electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision, is mainly characterized by: including pusher gear, cart handle, trolley pole, support frame, turntable, connecting plate, knife head device, Telescopic rod device, CCD camera and control circuit；The top for being fixed on trolley pole, the bottom of trolley pole are mounted on pusher gear rear end by cart；Support frame is four and is fixed at the angle of four ends in pusher gear upper end that turntable is packed in right above the connecting plate at the top of support frame, and Telescopic rod device is mounted on turntable, and knife head device is mounted on the front end of Telescopic rod device；CCD camera is two and is mounted on the front end of two support frames, and two CCD cameras are connected with the control circuit and backstage computer being mounted in support frame.The present invention has rational design, can be realized to the automatic flower and fruit thinning operation of apple tree in full wafer orchard, is easy to use, the degree of automation is higher, greatlys save labour, flower and fruit thinning accurate positioning.
Description
Technical field
The invention belongs to technical field of agricultural machinery, especially a kind of electromagnetic type apple tree based on computer binocular vision
Intelligent flower and fruit thinning device.
Background technique
In Apple Growth early period, in order to guarantee that the nutrient of fruit is sufficiently fed and improves the quality of fruit, generally to apple
The part flowers and fruits of fruit tree are extractd, and healthy and strong flowers and fruits are left.If not flower thinning, blooming, it is inadequate to will lead to nutrition too much, can make
At a large amount of fallen flowers, influence as a result, if not fruit thinning, as subalimentation makes to come annual output reduction, the quality of fruit
Can be impacted, therefore flower and fruit thinning is of great significance.
Currently employed flower and fruit thinning technique is manual mode mostly or mechanical, when in face of large stretch of orcharding, can be increased
Add working strength, when trimming time-consuming and laborious, even electronic flower and fruit thinning device, the pruning efficiency is also relatively low, and often
The problem of will appear miscut.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose that a kind of design is reasonable, time saving and energy saving, trimming is accurate
The efficiently electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision, including pusher gear, cart
, trolley pole, support frame, turntable, connecting plate, knife head device, Telescopic rod device, CCD camera and control circuit；The cart handle
It is fixed on the top of trolley pole, the bottom of the trolley pole is mounted on pusher gear one end；Support frame as described above is four and fixes
At the angle of four ends in pusher gear upper end, it is solidly installed at the top of four support frames with connecting plate；The turntable is packed in connection
The surface of plate, the Telescopic rod device are mounted on turntable, and the knife head device is mounted on the front end of Telescopic rod device；It is described
CCD camera is two and is mounted on the front ends of two support frames, two CCD cameras and the control circuit being mounted in support frame and
Backstage computer is connected.
The pusher gear includes brake switch, brake cable, idler wheel, disc brake sheet and plate；The top of the plate is installed by branch
Support, the idler wheel are four and are mounted at the following four corners of plate that the disc brake sheet is mounted on idler wheel, the brake cable
It is mounted on beside idler wheel, the brake switch is mounted on the plate beside trolley pole and is connected with brake cable.
The Telescopic rod device includes photoscope, elongation switchs, shortens switch, flower and fruit thinning handle, motor, electromagnetism are opened
Pass, focusing ring and telescopic rod main body；The photoscope is mounted on above telescopic rod main body, and the flower and fruit thinning handle, which is mounted on, to be stretched
The two sides of contracting bar main body, the electromagnetic switch are mounted in front of the flower and fruit thinning handle of side, the elongation switch and shortening switch
Be mounted in front of other side flower and fruit thinning handle up and down, the motor is four and is located in front of photoscope, four motors with stretch
Contracting bar main body is connected, and described focus is mounted on the rear of telescopic rod main body and is located at beside flower and fruit thinning handle.
The knife head device include accept rotary table, fixed station, spring, magnetic induction loop, six pawl cutter heads, iron plate, trundle and
Blade；The spring stack is six and is uniformly mounted on and accepts between rotary table and fixed station, each spring stack by cylinder and its
The spring being sleeved on outside cylinder is constituted, and the magnetic induction loop is six and is evenly distributed among insertion undertaking rotary table, the six pawls cutter head
On fixed station；Six perforation and six iron sheets are staggeredly equipped on fixed station, the iron plate is tightly embedded under fixed station
Surface is simultaneously corresponding with the magnetic induction loop accepted on rotary table；The trundle is mounted on blade obliquely downward, and six cover spring
Cylinder passes through perforation and is connected with trundle.
The undertaking rotary table and fixed station are made of aluminum material.
The control circuit includes microprocessor and inserted computer interconnected, the microprocessor and two CCD
Camera is connected to form image collecting device, which is transmitted to inserted computer and backstage computer for image information,
The inserted computer obtains object three-dimensional coordinate information with backstage compunlcation and from backstage computer simultaneously；The embedded-type electric
Brain, which is connected with turntable, elongation switch and shortening switch and controls motor, to be gone control Telescopic rod device mobile and positions object,
The inserted computer is connected with electromagnetic switch and starts to object flower and fruit thinning.
The advantages and positive effects of the present invention are:
1, the present invention is easy to use: its six pawl cutter head for installing electromagnetic type additional on flower and fruit thinning device simultaneously uses computer binocular
Vision technique is moved at the position of desired flower and fruit thinning by pusher gear and is fixed by brake switch, passes through telescopic rod
Work covering surface can be increased with turntable, reduce workload.During working using flower and fruit thinning device, focusing can be passed through
Circle adjusts suitable focal length, and the position of Telescopic rod device is adjusted by turntable, and the length of telescopic rod is adjusted by motor, right in this way
For orchard worker, the flowers and fruits removed on apple tree will be become easy.
2, flower and fruit thinning of the present invention is high-efficient: its cutter head acts on iron by the electromagnetic attraction that flower and fruit thinning switch generates
Piece, so that fixed station moves down, spring stack can be closed six pawl cutter heads by trundle, six pawl cutter head after flower and fruit thinning
It opens, the position that can continue to adjust telescopic rod carries out flower and fruit thinning operation next time, as long as pressing flower and fruit thinning switch at this time,
Can continue generation electromagnetic attraction is closed six pawl cutter heads.If flower and fruit thinning needs to carry out operation to large stretch of orcharding,
Advantage of the invention can be more obvious, only pusher gear need to be pushed to the apple tree of desired flower and fruit thinning before, using turn
Platform and motor switch arbitrarily adjust the position of telescopic rod, make the alignment flowers and fruits that cutter head is more accurate, efficiently position.Largely save
Manpower and accurate positioning, when flower and fruit thinning, are not required to ladder, are also not required to lift hand and ceaselessly operate, and cutter head registration substantially will not
There is the case where miscut.
3, flower and fruit thinning accurate positioning of the present invention: it uses computer binocular vision technology in image acquisition and processing link,
Image information is acquired by CCD camera, then image is handled, obtains the three-dimensional information of apple tree flowers and fruits.Wherein, scheming
As CCD camera acquired image is classified by mode identification technology in processing links, gone so that needs be accurately positioned
The flowers and fruits removed.This processing can be accurately positioned flowers and fruits and not need manual operation.
4, the present invention has rational design, under conditions of not needing too many artificial participation, can be realized in full wafer orchard
Apple tree automatic flower and fruit thinning operation, be easy to use, the degree of automation is higher, greatlys save labour, apparatus structure feature
Distinctness, flower and fruit thinning accurate positioning, beneficial effect are obvious.
Detailed description of the invention
Fig. 1 is overall structure figure of the invention；
Fig. 2 is the partial schematic diagram of pusher gear of the invention；
Fig. 3 is the schematic diagram of Telescopic rod device of the invention；
Fig. 4 is the schematic diagram of cutter head single unit system of the invention；
Fig. 5 is the schematic diagram of cutter head local device of the invention；
Fig. 6 is electric control schematic diagram of the invention；
Wherein, A- pusher gear, B- connecting plate, C- knife head device, D- Telescopic rod device, 1- cart handle, 2- trolley pole, 3-
Support frame, 4- turntable, 5-CCD camera, 6- brake switch, 7- brake cable, 8- idler wheel, 9- disc brake sheet, 10- plate, 11- perspective
Mirror, 12- elongation switch, 13- shorten switch, 14- flower and fruit thinning handle, 15- motor, 16- electromagnetic switch, 17- focusing ring, 18-
Spring stack, 19- fixed station, 20- magnetic induction loop, six pawl cutter head of 21-, 22- perforation, 23- iron plate, 24- trundle, 25- blade,
26- accepts rotary table.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.
A kind of electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision, as shown in Figure 1, including cart
Device A, cart are 1, trolley pole 2, support frame 3, turntable 4, connecting plate B, knife head device C, Telescopic rod device D, 5 and of CCD camera
Control circuit.The top that the cart is fixed on trolley pole 21, the bottom of the trolley pole 2 are mounted on the one end pusher gear A.
Support frame as described above 3 is four and is fixed at the angle of four ends in the upper end pusher gear A, passes through four nuts at the top of four support frames 3
It is solidly installed with connecting plate B.The turntable 4 is packed in the surface of connecting plate B, and the Telescopic rod device D is mounted on turntable 4
On, the position of Telescopic rod device D can be freely adjusted by turntable 4.Before the knife head device C is mounted on Telescopic rod device D
End.The CCD camera 5 is two and is mounted on the front ends of two support frames 3, two CCD cameras 5 and is mounted in support frame 3
Control circuit and backstage computer be connected.
As shown in Fig. 2, pusher gear A includes brake switch 6, brake cable 7, idler wheel 8, disc brake sheet 9 and plate 10.It is described flat
Support frame 3 is installed in the top of plate 10, and four rolling 8 is housed at the following four corners of plate 10, and disc brake sheet 9 is on idler wheel 8, brake
Line 7 is located at 8 side of idler wheel.Brake switch 6 is mounted on the plate 10 on 2 side of trolley pole, can be by idler wheel 8 by brake cable 7
It fixes on the ground, uses disc brake technology can be by brake switch stationary carts device.
As shown in figure 3, Telescopic rod device D includes photoscope 11, elongation switch 12, shortens switch 13, flower and fruit thinning handle
14, motor 15, electromagnetic switch 16, focusing ring 17 and telescopic rod main body.In the present embodiment, it is specified that direction knife head device C is front,
17 directions focus as rear, the position of electromagnetic switch 16 is a left side, and the position for extending switch 12 and shortening switch 13 is the right side.It is flexible
Lever apparatus D is installed on turntable 4, can adjust the direction Telescopic rod device D by turntable 4.Equipped with perspective above telescopic rod main body
Mirror 11, the two sides of telescopic rod main body are equipped with flower and fruit thinning handle 14, and electromagnetic switch 16 is located in front of flower and fruit thinning left handle, flower thinning
Elongation switch 12 is installed in front of the right handle of fruit thinning and shortens switch 13, extends switch 12 upper, shortening switch 13 is under, motor
15 are located at 11 front of photoscope, and four motors 15 connect with telescopic rod main body, by elongation switch 12 and can shorten switch 13
The length that motor 15 controls telescopic rod is acted on, focusing ring 17 is mounted on the rear of telescopic rod main body, closely in flower and fruit thinning handle
Hand 14, with the use of focusing ring 17 and photoscope 11, so that flower and fruit thinning operation positioning can be more accurate.
As shown in Figures 4 and 5, knife head device C includes spring 18, fixed station 19, magnetic induction loop 20, six pawl cutter heads 21, iron
Piece 23, blade 25, accepts rotary table 26 at trundle 24.In the present embodiment, it is specified that focusing ring position is the beginning of Telescopic rod device
End, six pawl cutter head positions are the end of Telescopic rod device, and entire knife head device is connected with Telescopic rod device, and are located at telescopic rod and fill
The end set.Spring stack 18, which is mounted on, to be accepted between rotary table 26 and fixed station, and spring stack 18 is by cylinder and its is sleeved on outside cylinder
Spring constitute, cylinder one end, which is fixed on, accepts on rotary table, and the other end passes through fixed station, and six springs are respectively sleeved in six circles
On column.It accepts rotary table and fixed station is made by aluminum material, six magnetic induction loops 20, which are respectively embedded into, to be accepted among rotary table, six pawls
Cutter head 21 is located on fixed station, and six pawl cutter heads 21 are in open configuration when not working.Perforation 22, iron are equipped on fixed station 19
Piece 23 is tightly embedded in fixed station lower surface, corresponding with the magnetic induction loop accepted on rotary table, and six perforation and six iron plates are handed over
Mistake is arranged between fixed station.Trundle 24 is satisfied with blade obliquely downward, and six cylinders for covering spring pass through perforation 22 and small rolling
Wheel 24 is connected, and six pawl cutter heads can be removed by rotating entirety, and replacement cutter head is convenient.Knife head device technology is that electromagnetic relay is former
Reason, starting knife head device switch are located at flower and fruit thinning handle lower left, facilitate operation
As shown in fig. 6, control circuit of the invention includes microprocessor, inserted computer, microprocessor and embedded-type electric
Brain is connected, and the microprocessor and two CCD cameras 5 are connected to form image collecting device, and image collecting device believes image
The backstage computer that breath is transmitted to inserted computer and is mounted on outside electromagnetic type apple tree intelligence flower and fruit thinning device, inserted computer is simultaneously
With backstage compunlcation, object three-dimensional coordinate information is obtained from backstage computer.Inserted computer and electromagnetic switch 16, turntable 4,
Elongation switch 12 is connected with switch 13 is shortened, and inserted computer controls turntable 4, elongation switch 12 and shortens switch 13, thus
Starting motor 15 goes control Telescopic rod device mobile and positions object, while object flower thinning is dredged in the starting of electromagnetic switch 16
Fruit.
The present invention use computer binocular vision technology, taken pictures by two CCD cameras to apple tree, after switch to grayscale image
Picture obtains two dimensional image after pretreatment operation, is classified according to the SVM principle in pattern-recognition to flowers and fruits, respectively
For larger, moderate, smaller three kinds of states, flowers and fruits Information locating object is utilized.Backstage computer is two-dimentional according to two width of object
Image calculates the three-dimensional coordinate of object and is transferred to inserted computer, and inserted computer is sat according to the three-dimensional of object is collected
Mark information goes control Telescopic rod device to be automatically moved to target position.In the present embodiment, inserted computer uses on hardware
PC104 embedded computer uses the xPC kernel of The Mathworks company on software.The backstage computer is common computer.
Flower and fruit thinning process of the invention is illustrated below.
It is assumed that large stretch of orcharding needs flower and fruit thinning, the mode that manual control turntable 4 and Telescopic rod device can be used is fixed
Position flowers and fruits.A kind of electromagnetic type apple tree intelligence flower thinning based on computer binocular vision of the present invention is dredged 1 by cart at this time
Before fruit device shifts the apple tree for needing to carry out flower and fruit thinning onto, suitable vacant lot is found, presses brake switch 6, at this time brake switch 6
Flower and fruit thinning device is fixed on herein by brake cable 7 and disc brake sheet 9.Next it holds flower and fruit thinning handle 14 and adjusts cutter head
Position can first pass through focusing ring 17 and 11 Dual positioning of photoscope, it is only necessary to during eye alignment focuses, next
Can be moved up and down Telescopic rod device by turntable 4, be positioned successfully at this time, but Telescopic rod device away from flowers and fruits farther out, can
To make at cutter head alignment flowers and fruits by the length for pressing elongation switch 12 and shortening 13 de-regulation Telescopic rod device of switch back and forth,
It extends switch 12 and shortens four motors 15 of control of switch 13, the starting of motor 15 is so that Telescopic rod device elongates or shortens, principle
Intuitively, easy to operate.It works followed by flower and fruit thinning, presses electromagnetic switch 16, iron plate 23 is produced by magnetic induction loop 20
Raw electromagnetic attraction, fixed station 19 made of aluminum at this time moves down, so that trundle 24 be driven to move down, at this moment six pawl knife
Head closure, can be cut flowers and fruits by blade 25, and electromagnetic switch 16 generates 3 seconds electromagnetic attractions, after 3 seconds, due to electromagnetism
Suction disappears, and since spring is in compressive state always, electromagnetic attraction will be restored to reset condition after disappearing, so that fixed
Platform 19 moves up again and is restored to original position, and trundle 24 is also begun to move up, and then six pawl cutter heads open, then
Complete the process of a flower and fruit thinning.It next proceeds to through turntable 4, elongation switch 12 and shortens the adjusting telescopic rod of switch 13
The length of device and position position next flowers and fruits for needing to cut, when most of flower and fruit thinning of an apple tree has worked
Cheng Hou does not need mobile handcart device, continues the length and the position that adjust telescopic rod, so just saves a large amount of
Man power and material.When complete an apple tree it is all flower and fruit thinning work after, press brake switch 6, pusher gear is solved
Lock before continuing to press on the apple tree that electromagnetic type apple tree flower and fruit thinning device needs flower and fruit thinning to next at this time, repeats above-mentioned
Step is accurately positioned flowers and fruits and wipes out.It, only need to be by six pawls of damage if six pawl cutter heads are damaged because a large amount of flower and fruit thinnings work
Cutter head is screwed down by way of rotation, and changing six new pawl cutter heads can work on.
Binocular vision technology intelligent positioning can be used when flower and fruit thinning, when shifting the present invention onto needs 1 by cart
Before the apple tree for carrying out flower and fruit thinning, suitable vacant lot is found, brake switch 6 is pressed, intelligent flower and fruit thinning device is fixed herein.
Inserted computer and backstage computer are opened at this time, by two CCD cameras 5, different angle takes pictures to apple tree from different directions,
The two dimensional image of apple tree is obtained after the pretreatment such as filtering, according to the SVM principle in pattern-recognition to flowers and fruits point
Class, respectively larger, moderate, smaller three kinds of states, utilizes flowers and fruits Information locating object.Backstage computer is according to the two of object
Dimension image calculates the three-dimensional coordinate of object, is then inserted into formula computer and goes control telescopic rod to move automatically according to this three-dimensional coordinate
To target position.After telescopic rod is directed at the flowers and fruits of positioning with six pawl cutter heads 21, if feeling there are error, photoscope 11 can be passed through
It is finely tuned with focusing ring 17, presses electromagnetic switch 16 after adjustment is suitable, electromagnetic attraction is generated to iron plate 23 by magnetic induction loop 20, this
When fixed station 19 made of aluminum move down, so that trundle 24 be driven to move down, at this moment six pawl cutter heads are closed, and pass through knife
Sword 25 can cut flowers and fruits.
Inserted computer on flower and fruit thinning device is used to control Telescopic rod device and knife head device, including whole
The position control of body motion planning and each motor.When inserted computer receives the three-dimensional coordinate for the object that backstage computer is sent
Afterwards, it will be planned according to motion path of the three-dimensional coordinate to telescopic rod, and implement motor position control.In flower and fruit thinning
The image acquisition and processing device used in the process is related to binocular vision technology positioning, captures image letter by a pair of of CCD camera 5
Breath, it is general just as two eyes, sense of depth is obtained according to the image difference captured, establishes feature corresponding relationship, it will be same
Photosites of the space physics point in different images are mapped, and (this technology can be found in: the positioning based on binocular vision technology
Research, Southern Yangtze University, 2016, which illustrates the principle using binocular visual positioning).Image procossing link will adopt
The image collected is converted to gray level image, two dimensional image is obtained after the pretreatment operations such as filtering, using parallel thinning algorithm
The profile of apple tree flowers and fruits is extracted from two dimensional image.Support vector machines is mainly used to handle classification problem, and the present invention is using branch
Vector machine principle is held, is classified to the shape size of flowers and fruits, so that it is determined that flower and fruit thinning object.Backstage computer is according to image
The three-dimensional coordinate for calculating object, then is transmitted to the inserted computer on flower and fruit thinning device for three-dimensional coordinate, due to electromagnetic switch 16,
Turntable 4, elongation switch 12 and the single-chip microcontroller shortened in switch 13 are connected with inserted computer respectively, therefore inserted computer obtains
I.e. controllable electromagnetic switch 16, turntable 4, elongation switch 12 and shortening switch 13 after the three-dimensional coordinate that backstage computer transmits, thus
Plan telescopic rod motion path, the telescopic rod automatic positioning controlled by turntable 4 and motor 15 implements flower thinning to target object location
Fruit thinning operation.Analysis shows the system can obtain higher positioning accuracy.
The present invention does not address place and is suitable for the prior art, and related component can be commercially available.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
Include and be not limited to embodiment described in specific embodiment, it is all by those skilled in the art according to the technique and scheme of the present invention
The other embodiments obtained, also belong to the scope of protection of the invention.
Claims (6)
1. a kind of electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision, it is characterised in that: including cart
Device, cart handle, trolley pole, support frame, turntable, connecting plate, knife head device, Telescopic rod device, CCD camera and control circuit；
The top for being fixed on trolley pole, the bottom of the trolley pole are mounted on pusher gear one end by the cart；Support frame as described above is
It four and is fixed at the angle of four ends in pusher gear upper end, is solidly installed at the top of four support frames with connecting plate；The turntable
It is packed in the surface of connecting plate, the Telescopic rod device is mounted on turntable, and the knife head device is mounted on Telescopic rod device
Front end；The CCD camera is two and is mounted on the front ends of two support frames, two CCD cameras and is mounted in support frame
Control circuit and backstage computer be connected.
2. the electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision according to claim 1, feature
Be: the pusher gear includes brake switch, brake cable, idler wheel, disc brake sheet and plate；The top of the plate is installed by support
Frame, the idler wheel are four and are mounted at the following four corners of plate that the disc brake sheet is mounted on idler wheel, the brake cable peace
Beside idler wheel, the brake switch is mounted on the plate beside trolley pole and is connected with brake cable.
3. the electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision according to claim 1, feature
Be: the Telescopic rod device includes photoscope, elongation switch, shortens switch, flower and fruit thinning handle, motor, electromagnetic switch, tune
Focus circle and telescopic rod main body；The photoscope is mounted on above telescopic rod main body, and the flower and fruit thinning handle is mounted on telescopic rod
The two sides of main body, the electromagnetic switch are mounted in front of the flower and fruit thinning handle of side, and the elongation switch and shortening switch are up and down
It is mounted in front of the flower and fruit thinning handle of the other side, the motor is four and is located in front of photoscope, four motors and telescopic rod
Main body is connected, and described focus is mounted on the rear of telescopic rod main body and is located at beside flower and fruit thinning handle.
4. the electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision according to claim 1, feature
Be: the knife head device includes accepting rotary table, fixed station, spring, magnetic induction loop, six pawl cutter heads, iron plate, trundle and knife
Sword；The spring stack is six and is uniformly mounted between undertaking rotary table and fixed station that each spring stack is by cylinder and its set
Spring outside cylinder is constituted, and the magnetic induction loop is six and is evenly distributed among insertion undertaking rotary table, the six pawls cutter head position
In on fixed station；Six perforation and six iron sheets are staggeredly equipped on fixed station, the iron plate is tightly embedded in fixed station following table
Face is simultaneously corresponding with the magnetic induction loop accepted on rotary table；The trundle is mounted on blade obliquely downward, and six cover the circle of spring
Column passes through perforation and is connected with trundle.
5. the electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision according to claim 4, feature
Be: the undertaking rotary table and fixed station are made of aluminum material.
6. according to claim 1 to the electromagnetic type apple tree intelligence flower and fruit thinning described in 5 any one based on computer binocular vision
Device, it is characterised in that: the control circuit includes microprocessor and inserted computer interconnected, the microprocessor and two
Platform CCD camera is connected to form image collecting device, which is transmitted to inserted computer and backstage for image information
Computer, the inserted computer obtain object three-dimensional coordinate information with backstage compunlcation and from backstage computer simultaneously；It is described embedding
Enter formula computer and turntable, elongation switch and shorten switch and be connected and control motor to go control Telescopic rod device mobile and position mesh
Object is marked, the inserted computer is connected with electromagnetic switch and starts to object flower and fruit thinning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135868.5A CN109673304A (en) | 2019-02-25 | 2019-02-25 | Electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135868.5A CN109673304A (en) | 2019-02-25 | 2019-02-25 | Electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109673304A true CN109673304A (en) | 2019-04-26 |
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| CN201910135868.5A Pending CN109673304A (en) | 2019-02-25 | 2019-02-25 | Electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision |
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