CN111247963A - Banana intelligence system of gathering - Google Patents
Banana intelligence system of gathering Download PDFInfo
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- CN111247963A CN111247963A CN202010227618.7A CN202010227618A CN111247963A CN 111247963 A CN111247963 A CN 111247963A CN 202010227618 A CN202010227618 A CN 202010227618A CN 111247963 A CN111247963 A CN 111247963A
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- banana
- ear
- cluster
- profiling
- magnetorheological fluid
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Abstract
The invention discloses an intelligent banana harvesting system which comprises a crawler, a stereoscopic vision recognition control system, a six-degree-of-freedom mechanical arm and a fruit ear profiling supporting and connecting device, wherein the crawler is arranged on the crawler; the stereoscopic vision recognition control system is arranged on the crawler and used for planning a harvesting path, controlling the crawler to move to the position of the banana plant to be harvested and calculating the coordinate position of a proper picking point; the six-degree-of-freedom mechanical arm is arranged on the crawler and is controlled to move to a calculated proper picking point through the stereoscopic vision recognition control system; the ear profiling supporting and grafting device is arranged at the front end of the six-degree-of-freedom mechanical arm and moves to a proper picking point under the drive of the six-degree-of-freedom mechanical arm. The invention can effectively solve the problems of low harvesting efficiency, high labor intensity, high labor cost and easy mechanical damage to banana clusters in the harvesting process.
Description
Technical Field
The invention relates to the technical field of non-destructive harvesting of banana clusters, in particular to an intelligent banana harvesting system.
Background
At present, most of banana harvesting links at home and abroad depend on manual work to finish the banana chopping and picking work in turn, wherein the most common banana chopping operation mode is that two workers cooperate, one shoulder flexible protection pad is positioned below the fruit cluster, and the other hand holds a cutter to chop the fruit cluster shaft from the banana tree. And picking the cut fruit ears to banana collecting points in a banana garden by another worker, and finally uniformly transporting the fruit ears in batches by a cableway for field transportation. The harvesting of the banana ears is different from that of other fruits and vegetables, firstly, the whole weight of the ears is very large, taking a main cultivar of Guangdong province, namely Banana as an example, the banana ears suitable for harvesting are about 30-40 kg each, and in addition, the banana fruits are easily subjected to mechanical damage, so that the product quality and the shelf life of bananas are influenced, the economic benefit is further influenced, and the mechanical damage is a difficult problem which is difficult to avoid in the harvesting process of the banana ears. Meanwhile, manual banana chopping and picking not only has low operation efficiency and high labor intensity and labor cost, but also is not beneficial to connecting each link of mechanical treatment of bananas after delivery and is not beneficial to the rapid development of mechanization of banana industry, so that research on related technologies of mechanical and nondestructive harvesting of banana clusters and development of practical equipment are urgent.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an intelligent banana harvesting system which can effectively solve the problems of low harvesting efficiency, high labor intensity, high labor cost and easiness in causing mechanical damage to banana ears in a harvesting process.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: an intelligent banana harvesting system comprises a crawler, a stereoscopic vision identification control system, a six-degree-of-freedom mechanical arm and an ear profiling supporting and grafting device; the stereoscopic vision recognition control system is arranged on the crawler and used for collecting and analyzing the environment of the banana garden, the information of the banana plants and the banana ears, segmenting the banana ear images, extracting geometric shape parameters and gravity center coordinates of the banana ears, further planning a harvesting path, controlling the crawler to move to the positions of the banana plants to be harvested, estimating the weight of the banana ears and calculating the coordinate position of a proper harvesting point; the six-degree-of-freedom mechanical arm is arranged on the crawler, and the six-degree-of-freedom mechanical arm is controlled to move to a calculated proper picking point through the stereoscopic vision recognition control system according to the geometric shape parameters, the gravity center coordinates and the cluster weight of the banana clusters; the ear profiling supporting and grafting device is arranged at the front end of the six-degree-of-freedom mechanical arm and moves to a proper picking point under the driving of the six-degree-of-freedom mechanical arm, and the stereoscopic vision recognition control system controls the vertical lifting height and the in-plane unfolding or folding of a nondestructive profiling guard plate of the ear profiling supporting and grafting device, so that the nondestructive profiling guard plate carries out self-adaptive enveloping on the whole ear, an ear shaft is cut off from a banana plant under the action of external force, and the whole ear falls into a bearing base of the ear profiling supporting and grafting device.
Further, the stereo vision discernment control system integration has camera module, processing module and control module, camera module is used for gathering banana garden environment, the image information of banana plant and banana ear, processing module carries out the analysis according to the image information that the camera gathered to cut apart and draw the geometric configuration parameter and the barycentric coordinate of banana ear to the banana ear image, and then plan the route of gathering and estimate the ear weight, calculate the coordinate position of suitable picking point, control module is used for controlling six degrees of freedom arms motion to suitable picking point according to the geometric configuration parameter, the barycentric coordinate and the ear weight of banana ear, and control the vertical lift height of the harmless profile modeling support backplate of ear profile modeling support device and its expansion or draw in.
Furthermore, the ear profiling supporting and connecting device comprises a rack with a chute guide rail, a hollow slide block, a driving gear arranged in the hollow slide block, a lossless profiling supporting and protecting plate with an incomplete gear, a bearing base, a buffer spring, a first power source and a second power source, wherein the hollow slide block is arranged on the rack with the chute guide rail and is driven by the first power source to move up and down to a set height along the chute guide rail under the control of a stereoscopic vision identification control system, the lossless profiling supporting and protecting plates are two and are in a semi-annular structure, the two lossless profiling supporting and protecting plates are respectively connected to two sides of the hollow slide block in a rotating way in a shaft hole matching way, wherein the edge of each lossless profiling supporting and protecting plate is provided with an incomplete gear, the incomplete gear is meshed with the driving gear in the hollow slide block, and the stereoscopic vision identification control system controls the second power source to drive, and then the expansion or the furling of two lossless profiling support guard plates are controlled, namely the outer diameter of the cluster to be harvested is self-adapted and the cluster to be harvested is wholly enveloped, the bearing base is arranged on the bottom plate of the frame and is positioned under the two lossless profiling support guard plates, a plurality of buffer springs are arranged between the bearing base and the bottom plate of the frame, the chopped cluster is prevented from falling down by the enveloping of the lossless profiling support guard plates all the time in the falling process and then falls into the bearing base, and the rigid impact of the bearing base and the chopped cluster is reduced through the buffer springs.
Furthermore, the inner wall of the lossless profiling guard plate is covered with a magnetorheological fluid bag, magnetorheological fluid is contained in the magnetorheological fluid bag, the magnetorheological fluid bag is connected with a circuit module in a matched mode, a plurality of pistons are installed on the surface of the magnetorheological fluid bag in a matrix mode to form a piston array, one end of each piston extends into the magnetorheological fluid bag, the other end of each piston extends out of the magnetorheological fluid bag, and a flexible piston head sleeve is arranged; when the cluster is enveloped, the piston array is deformed in a manner of adapting to the shape of the cluster under the action of the pressure of the cluster, meanwhile, the magnetorheological fluid is instantly changed into a quasi-solid state through electromagnetic excitation adjustment, and the piston array deformed in a manner of adapting to the shape of the cluster is fixed.
Furthermore, the circumferential surface of the inner part of the receiving base is covered with a flexible pearl cotton protection pad, the inner bottom surface of the receiving base is covered with a magnetorheological fluid bag, magnetorheological fluid is filled in the magnetorheological fluid bag and is connected with a circuit module in a matching way, a plurality of pistons are arranged on the surface of the receiving base in a matrix form and form a piston array, wherein one end of each piston extends into the magnetorheological fluid bag, and the other end of each piston extends out of the magnetorheological fluid bag and is provided with a flexible piston head sleeve; when the cluster is cut off and falls into the bearing base, the piston array is adapted to the shape of the cluster to deform under the action of the gravity of the cluster, meanwhile, the magnetorheological fluid is instantly changed into a solid-like state through electromagnetic excitation adjustment, and the piston array adapted to the shape of the cluster to deform is fixed.
Furthermore, the tail end of the six-degree-of-freedom mechanical arm is provided with a balancing weight, so that the balance of the whole supporting and connecting process is ensured.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the stereoscopic vision recognition control system is adopted to collect and analyze the environment of the banana garden and the information of banana plants and banana ears, divide the banana ear image and extract the geometric shape parameters and the gravity center coordinates of the banana ears, so as to plan the harvesting path, control the crawler to move to the position of the banana plant to be harvested, estimate the weight of the banana ears, calculate the coordinate position of a proper picking point, position the banana harvesting and prepare for the banana harvesting, and the manual additional adjustment of the position and the posture of the banana ears is not needed, so that the mechanization of the banana harvesting is realized.
2. The nondestructive profiling supporting and protecting plate can be wholly and vertically lifted and can also be unfolded and folded in the plane, so that self-adaptive harvesting and supporting and grafting can be carried out according to clusters of different varieties, different growth vigors and different forms, and the nondestructive profiling supporting and protecting plate is convenient and practical and has wide applicability.
3. The nondestructive profiling support guard plate and the bearing base are both covered with the magnetorheological fluid bags, and the magnetorheological fluid is filled in the space between the piston on the magnetorheological fluid bag and the magnetorheological fluid bag, so that a flexible surface with controllable rigidity is formed under the action of electromagnetic excitation, the flexible surface can effectively increase the contact area with the fruit cluster, reduce the contact stress and increase the friction force, thereby preventing the banana fruit from being mechanically damaged, improving the enveloping stability and improving the quality of the banana fruit.
4. The buffer spring is arranged below the bearing base, so that the rigid impact on fruits at the lower part of the fruit cluster caused by the action of gravity when the fruit cluster falls into the bearing base when being just cut down can be avoided, and the mechanical damage of the fruit cluster is greatly reduced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the ear profiling supporting and connecting device in a folded state.
Fig. 3 is a top view of the ear profiling holding device in a folded state.
Fig. 4 is a structural schematic view of the ear profiling holding device in the unfolding state.
Fig. 5 is a plan view of the ear profiling holding device of the invention in an unfolded state.
Fig. 6 is a partially enlarged view of a portion a of the ear profiling receiving device of the present invention in a spread state.
Detailed Description
The present invention will be further described with reference to the following specific examples.
As shown in fig. 1, the intelligent banana harvesting system according to the present embodiment includes a crawler 1, a stereoscopic vision recognition control system 2, a six-degree-of-freedom mechanical arm 3, and an ear profiling supporting device 4; the stereoscopic vision recognition control system 2 is arranged on the crawler 1 and is used for collecting and analyzing the environment of the banana garden, the information of banana plants and banana ears, segmenting the banana ear images, extracting geometric shape parameters and gravity center coordinates of the banana ears, planning a harvesting path, controlling the crawler 1 to move to the position of the banana plant to be harvested, estimating the weight of the banana ears and calculating the coordinate position of a proper picking point; the six-degree-of-freedom mechanical arm 3 is arranged on the crawler 1, and the six-degree-of-freedom mechanical arm 3 is controlled to move to a calculated proper picking point through the stereoscopic vision recognition control system 2 according to the geometric shape parameters, the gravity center coordinates and the cluster weight of the banana clusters; the fruit ear profiling supporting and grafting device 4 is arranged at the front end of the six-degree-of-freedom mechanical arm 3, the balancing weight 301 is arranged at the tail end of the six-degree-of-freedom mechanical arm 3 in a matched mode, balance of the whole supporting and grafting process can be guaranteed, the fruit ear profiling supporting and grafting device 4 moves to a proper picking point under the driving of the six-degree-of-freedom mechanical arm 3, the vertical lifting height and the plane in-plane unfolding or folding of a nondestructive profiling guard board of the fruit ear profiling supporting and grafting device 4 are controlled by the stereoscopic vision recognition control system 2, the nondestructive profiling guard board carries out self-adaptive enveloping on the whole fruit ears, fruit ear shafts are cut off from banana plants under the action of external force, and the whole fruit ears fall into the supporting base 406 of the fruit ear profiling.
Wherein, the integration of stereovision discernment control system 2 has camera module, processing module and control module, camera module is used for gathering banana garden environment, the image information of banana plant and banana ear, processing module carries out the analysis according to the image information that the camera gathered to cut apart and draw the geometric configuration parameter and the barycentric coordinate of banana ear to the banana ear image, and then plan and gather route and estimate the ear weight, calculate the coordinate position of suitable picking point, control module is used for controlling the motion of six degree of freedom arms 3 to suitable picking point according to the geometric configuration parameter, the barycentric coordinate and the ear weight of banana ear, and control the vertical lift height of the harmless profile modeling support backplate 404 of ear profile modeling support device 4 and its expansion or draw in.
As shown in fig. 2 to 6, the ear profiling supporting and receiving device 4 comprises a frame 401 with a chute guide rail, a hollow slider 402, a driving gear 403 arranged in the hollow slider 402, a lossless profiling supporting and protecting plate 404 with an incomplete gear 405, a receiving base 406, a buffer spring 407, a first power source (not shown in the figure) and a second power source (not shown in the figure), wherein the hollow slider 402 is arranged on the frame 401 with the chute guide rail and is driven by the first power source to move up and down to a set height along the chute guide rail under the control of the stereoscopic vision identification control system 2, the lossless profiling supporting and protecting plate 404 has two and all semi-annular structures, the two lossless profiling supporting and protecting plates 404 are respectively rotatably connected to two sides of the hollow slider 402 in a shaft hole matching manner, wherein the edge of each lossless profiling supporting and protecting plate 404 is provided with the incomplete gear 405, the incomplete gear 405 is meshed with the driving gear 403 in the hollow slide block 402, the stereoscopic vision identification control system 2 controls a second power source to drive the driving gear 403 to rotate, so as to control the unfolding or folding of the two lossless profiling supporting and protecting plates 404, namely, the outer diameter of the cluster to be harvested is self-adapted and the cluster to be harvested is wholly enveloped, the bearing base 406 is arranged on the bottom plate of the frame 401 and is positioned under the two lossless profiling supporting and protecting plates 404, a plurality of buffer springs 407 are arranged between the bearing base 406 and the bottom plate of the frame 401, the chopped cluster is always prevented from falling down by the enveloping of the lossless profiling supporting and protecting plates 404 in the falling process and then falls into the bearing base 406, the rigid impact between the chopped cluster and the bearing base 406 is reduced through the buffer springs 407, and meanwhile, a magnetorheological fluid bag 409 is respectively covered on the inner wall of the lossless profiling supporting and the inner bottom surface of the bearing base 406, magnetorheological fluid is filled in the magnetorheological fluid bag 409, a circuit module (not shown in the figure) is connected in a matched manner, a plurality of pistons 410 are arranged on the surface of the magnetorheological fluid bag 409 in a matrix manner to form a piston array, one end of each piston 410 extends into the magnetorheological fluid bag 409, the other end of each piston extends out of the magnetorheological fluid bag 409, and a flexible piston head sleeve 411 is arranged, so that the piston 411 can be prevented from being in rigid contact with the cluster, and mechanical damage is reduced; when the cluster is enveloped (or the cluster is cut off and falls into the bearing base 406), the piston array adapts to the shape of the cluster to deform under the action of the pressure of the cluster (or under the action of the gravity of the cluster), meanwhile, the magnetorheological fluid is instantly changed into a solid state through electromagnetic excitation adjustment, and the piston array adapting to the shape of the cluster to deform is fixed; in addition, the inner peripheral surface of the receiving base 406 is covered with a flexible pearl cotton protection pad 408, so that the fruit ears can be prevented from being in rigid contact with the receiving base 406, further mechanical damage to banana fruits can be avoided, and the quality of the banana fruits can be reduced.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (6)
1. The utility model provides a banana intelligence system of gathering which characterized in that: comprises a tracked vehicle, a stereoscopic vision identification control system, a six-degree-of-freedom mechanical arm and a fruit ear profiling supporting and grafting device; the stereoscopic vision recognition control system is arranged on the crawler and used for collecting and analyzing the environment of the banana garden, the information of the banana plants and the banana ears, segmenting the banana ear images, extracting geometric shape parameters and gravity center coordinates of the banana ears, further planning a harvesting path, controlling the crawler to move to the positions of the banana plants to be harvested, estimating the weight of the banana ears and calculating the coordinate position of a proper harvesting point; the six-degree-of-freedom mechanical arm is arranged on the crawler, and the six-degree-of-freedom mechanical arm is controlled to move to a calculated proper picking point through the stereoscopic vision recognition control system according to the geometric shape parameters, the gravity center coordinates and the cluster weight of the banana clusters; the ear profiling supporting and grafting device is arranged at the front end of the six-degree-of-freedom mechanical arm and moves to a proper picking point under the driving of the six-degree-of-freedom mechanical arm, and the stereoscopic vision recognition control system controls the vertical lifting height and the in-plane unfolding or folding of a nondestructive profiling guard plate of the ear profiling supporting and grafting device, so that the nondestructive profiling guard plate carries out self-adaptive enveloping on the whole ear, an ear shaft is cut off from a banana plant under the action of external force, and the whole ear falls into a bearing base of the ear profiling supporting and grafting device.
2. The intelligent banana harvesting system according to claim 1, wherein: the stereo vision discernment control system integration has camera module, processing module and control module, the camera module is used for gathering banana garden environment, the image information of banana plant and banana ear, processing module carries out the analysis according to the image information that the camera gathered to cut apart and draw the geometric configuration parameter and the barycentric coordinate of banana ear to the banana ear image, and then plan and gather the route and estimate the ear weight, calculate the coordinate position of suitable picking point, control module is used for controlling six degree of freedom arms motion to suitable picking point according to the geometric configuration parameter, the barycentric coordinate and the ear weight of banana ear, and control the vertical lift height of the harmless profile modeling support backplate of ear profile modeling support device and its expansion or draw in.
3. The intelligent banana harvesting system according to claim 1, wherein: the ear profiling supporting and connecting device comprises a rack with a chute guide rail, a hollow slide block, a driving gear arranged in the hollow slide block, a lossless profiling supporting and protecting plate with an incomplete gear, a supporting base, a buffer spring, a first power source and a second power source, wherein the hollow slide block is arranged on the rack with the chute guide rail and is driven by the first power source to move up and down to a set height along the chute guide rail under the control of a stereoscopic vision identification control system, the lossless profiling supporting and protecting plate is provided with two semi-annular structures, the two lossless profiling supporting and protecting plates are respectively connected to two sides of the hollow slide block in a rotating way in a shaft hole matching way, wherein the edge of each lossless profiling supporting and protecting plate is provided with the incomplete gear, the incomplete gear is meshed with the driving gear in the hollow slide block, and the stereoscopic vision identification control system controls the second power source to drive the, and then the expansion or the furling of two lossless profiling support guard plates are controlled, namely the outer diameter of the cluster to be harvested is self-adapted and the cluster to be harvested is wholly enveloped, the bearing base is arranged on the bottom plate of the frame and is positioned under the two lossless profiling support guard plates, a plurality of buffer springs are arranged between the bearing base and the bottom plate of the frame, the chopped cluster is prevented from falling down by the enveloping of the lossless profiling support guard plates all the time in the falling process and then falls into the bearing base, and the rigid impact of the bearing base and the chopped cluster is reduced through the buffer springs.
4. The intelligent banana harvesting system according to claim 3, wherein: the inner wall of the lossless profiling guard plate is covered with a magnetorheological fluid bag, magnetorheological fluid is filled in the magnetorheological fluid bag and is matched and connected with a circuit module, a plurality of pistons are arranged on the surface of the magnetorheological fluid bag in a matrix form to form a piston array, one end of each piston extends into the magnetorheological fluid bag, the other end of each piston extends out of the magnetorheological fluid bag, and a flexible piston head sleeve is arranged; when the cluster is enveloped, the piston array is deformed in a manner of adapting to the shape of the cluster under the action of the pressure of the cluster, meanwhile, the magnetorheological fluid is instantly changed into a quasi-solid state through electromagnetic excitation adjustment, and the piston array deformed in a manner of adapting to the shape of the cluster is fixed.
5. The intelligent banana harvesting system according to claim 3, wherein: the flexible pearl cotton protection pad is covered on the circumferential surface of the inner part of the bearing base, the magnetorheological fluid bag is covered on the inner bottom surface of the bearing base, the magnetorheological fluid is filled in the magnetorheological fluid bag, the bearing base is connected with a circuit module in a matching way, a plurality of pistons are arranged on the surface of the bearing base in a matrix form and form a piston array, one end of each piston extends into the magnetorheological fluid bag, and the other end of each piston extends out of the magnetorheological fluid bag and is provided with a flexible piston head sleeve; when the cluster is cut off and falls into the bearing base, the piston array is adapted to the shape of the cluster to deform under the action of the gravity of the cluster, meanwhile, the magnetorheological fluid is instantly changed into a solid-like state through electromagnetic excitation adjustment, and the piston array adapted to the shape of the cluster to deform is fixed.
6. The intelligent banana harvesting system according to claim 1, wherein: the tail end of the six-degree-of-freedom mechanical arm is provided with a balancing weight, so that the balance of the whole supporting and connecting process is ensured.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010227618.7A CN111247963A (en) | 2020-03-27 | 2020-03-27 | Banana intelligence system of gathering |
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| CN202010227618.7A CN111247963A (en) | 2020-03-27 | 2020-03-27 | Banana intelligence system of gathering |
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Cited By (4)
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| CN112237291A (en) * | 2020-09-27 | 2021-01-19 | 华南农业大学 | Comb cutting platform falls of self-adaptation banana fruit spike stalk |
| CN112606011A (en) * | 2020-12-11 | 2021-04-06 | 华南农业大学 | Banana bud breaking method based on visual recognition, bionic banana bud breaking mechanism, banana bud breaking robot and application |
| CN113303096A (en) * | 2021-06-24 | 2021-08-27 | 华南农业大学 | Self-adaptive flexible banana supporting and connecting device |
| CN114711029A (en) * | 2022-04-29 | 2022-07-08 | 华南农业大学 | Vision-positioned large bunch banana fruit combing and picking method and device |
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| CN112606011A (en) * | 2020-12-11 | 2021-04-06 | 华南农业大学 | Banana bud breaking method based on visual recognition, bionic banana bud breaking mechanism, banana bud breaking robot and application |
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