CN111615946A - Tomato lateral branch intelligent trimming device - Google Patents
Tomato lateral branch intelligent trimming device Download PDFInfo
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- CN111615946A CN111615946A CN202010618327.0A CN202010618327A CN111615946A CN 111615946 A CN111615946 A CN 111615946A CN 202010618327 A CN202010618327 A CN 202010618327A CN 111615946 A CN111615946 A CN 111615946A
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 47
- 240000003768 Solanum lycopersicum Species 0.000 title claims description 56
- 238000009966 trimming Methods 0.000 title claims description 24
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000013138 pruning Methods 0.000 claims abstract description 14
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- 241000227653 Lycopersicon Species 0.000 abstract 5
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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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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
The invention provides an intelligent tomato lateral branch pruning device which comprises a rail arranged at the top end of a greenhouse tomato planting greenhouse, wherein a pulley is arranged in the rail, the bottom end of an intermediate shaft of the pulley is provided with a support through a mechanical connecting piece, shell type main arms are also fixed, a middle arm is respectively and rotatably connected in the two shell type main arms, and the other end of the middle arm is rotatably connected with a small arm; the horizontal pole middle section of support still is provided with orientation module and laser radar module, orientation module, laser radar module, secondary short-range view camera and two mesh cameras respectively with central processing unit between signal connection, through two mesh camera discernments, location leaf armpit positions, the tomato plant trunk is fixed to arm two, judge through terminal vision unit whether leaf armpit is located and is grown the side branch to prune or paint the inhibitor, accomplish the pruning work of tomato side branch, solve among the daily management of tomato inefficiency, the difficult technical problem that the precision is low.
Description
Technical Field
The invention belongs to the technical field of tomato trimming devices, and particularly relates to an intelligent trimming device for side branches of tomatoes.
Background
In the tomato planting management process, due to vigorous growth and strong branching capability of tomatoes, side branch trimming needs to be performed regularly to ensure effective utilization of nutrients, reduce energy waste and improve the economic benefit of tomato planting. However, in the pruning and forking link of many farmers, the problems of too late pruning, pinching off lateral branches by hands, improper treatment of diseased and disabled branches and the like exist, so that the growth of tomato plants is influenced, and the quality of tomatoes is reduced. For large-scale growers, large-area manual trimming of tomatoes requires investment of a large amount of manpower and material resources, the cost is too high, and the research and popularization of an automatic trimming technology of tomatoes becomes a problem to be solved urgently at the present stage. In view of the above situation, the present invention provides an intelligent tomato lateral branch pruning device to solve the above problems.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide an intelligent trimming device for tomato lateral branches to solve the problems in the background art.
In order to solve the technical problems, the invention adopts the technical scheme that: an intelligent tomato lateral branch trimming device comprises a rail mounted at the top end of a greenhouse tomato planting greenhouse, wherein a pulley is arranged in the rail, a support is arranged at the bottom end of an intermediate shaft of the pulley through a mechanical connecting piece, the support is specifically an inverted Y-shaped frame with two supporting rods, bases are respectively fixed at the bottom ends of the two supporting rods of the support, a rotating shaft is rotatably connected in the bases, shell-type main arms are respectively fixed at the bottom ends of the rotating shaft, middle arms are respectively rotatably connected in the two shell-type main arms, and a small arm is rotatably connected at the other end of each middle arm;
the tail end of one of the small arms is connected with a binocular camera and a first mechanical arm, the first mechanical arm is provided with two finger ends, and the finger ends are respectively provided with a rubber clip;
the tail end of the other small arm is connected with a secondary close-range camera, a second mechanical arm and a third mechanical arm, the second mechanical arm is provided with a finger end, the finger ends of the second mechanical arm are respectively provided with absorbent cotton, the third mechanical arm is provided with two finger ends, and the finger ends of the third mechanical arm are respectively fixed with a trimming blade;
the middle section of the cross rod of the support is also provided with a positioning module and a laser radar module, and the positioning module, the laser radar module, the secondary close-range camera and the binocular camera are respectively in signal connection with the central processing unit.
Preferably, the mechanical connecting piece comprises a first mechanical connecting rod, a second mechanical connecting rod and a lifting rope body, the top end of the first mechanical connecting rod is fixed to the bottom end of the middle shaft of the pulley, the lifting rope body is arranged at the bottom end of the first mechanical connecting rod, the second mechanical connecting rod is arranged at the other end of the lifting rope body, and the support is fixedly connected with the second mechanical connecting rod.
Preferably, the lifting rope body is a stainless steel wire rope with the length of 4m, and the first mechanical connecting rod and the second mechanical connecting rod are both hollow steel pipes with the length of 0.2 m.
Preferably, the tail end of the forearm connected with the binocular camera is also connected with a first auxiliary light source, the tail end of the forearm connected with the secondary close-range camera is connected with a second auxiliary light source, and the first auxiliary light source and the second auxiliary light source are respectively in signal connection with the central processing unit.
Preferably, the track is planted the greenhouse along the tomato and is laid to ridge direction in, and orbital interval width equals with tomato planting ridge interval, sets up horizontal intercommunication track in orbital one end perpendicular its direction simultaneously for constitute the track group, the pulley comprises two the same gyro wheels that the bearing is connected, installs in the track, and the welding has the intermediate lever in the middle of the bearing, the interlude at the intermediate lever is fixed on mechanical connecting piece's top.
Preferably, the length of the cross bar of the support is set between 0.2m and 0.3 m.
Preferably, a hook and a siphon are further arranged at the joint of the shell type main arm connected with the secondary close-range camera and the middle arm.
Compared with the prior art, the invention has the following advantages:
the invention is characterized in that a track is arranged on the top of a tomato planting greenhouse, trimming equipment is connected to the top of the greenhouse in a sliding manner through a pulley, the trimming equipment can be folded, restored and suspended above the greenhouse, a laser radar module and a positioning module are also arranged for acquiring crop planting and obstacle information below a device and transmitting the information to a central processing unit to realize navigation, path planning and autonomous lifting, a binocular camera acquires image information of tomato plants by adopting elevation angle, the acquired image information of the tomato plants is transmitted to the central processing unit, the central processing unit identifies the position of a leaf armpit of a tomato by utilizing a set training model, controls a mechanical finger to fix the main stem at a position 1-2 cm above the growth point of the leaf armpit, and a secondary close-range camera is matched with a second auxiliary light source to cut off the position 1cm above the growth point of a lateral branch of the leaf armpit, growth inhibitors are smeared at axillary parts of leaves without lateral branches, the pruning period is prolonged, the rotating shaft is arranged at the base, 360-degree rotation can be realized, the automatic pruning precision of tomato plants is realized, the accurate and efficient application effect is realized to the maximum extent, and support is provided for the automatic pruning of tomatoes.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a shell-type main arm linkage of the present invention;
fig. 3 is a schematic view of another shell-type main arm connecting structure of the present invention.
Description of reference numerals:
1-a track; 2-a first mechanical connecting rod; 3-a second mechanical connecting rod; 4-shell main arm; 5-a first manipulator; 6-a positioning module; 7-a laser radar module; 8-a second manipulator; 9-a third manipulator; 10-a base; 11-a scaffold; 12-a lifting rope body; 13-a pulley; 14-hanging hooks; 15-siphon; 16-middle arm; 17-a second-order close-range camera; 18-absorbent cotton; 19-a trimming blade; 20-a second auxiliary light source; 21-a rotating shaft; 22-small arm; 23-a binocular camera; 24-a rubber clip; 25-second auxiliary light source.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, the present invention provides a technical solution: an intelligent trimming device for tomato side branches comprises a rail 1 arranged at the top end of a greenhouse tomato planting greenhouse, wherein the rail 1 is arranged along the ridge direction in the greenhouse tomato planting greenhouse, the interval width of the rail 1 is equal to the space between tomato planting ridges, meanwhile, a transverse communicating rail is arranged at one end of the rail in a direction perpendicular to the direction of the rail and is used for forming a rail group, equipment can move at the top in the greenhouse tomato planting greenhouse conveniently, a pulley 13 consists of two identical rollers connected through a bearing, the pulley is arranged in the rail 1, and the trimming device moves in the rail group under the action of the pulley 13;
the pulley 13 is also connected with a driving motor through a chain ring and a chain wheel, the driving motor is specifically a servo motor, the servo motor is in signal connection with the central processing unit, and the driving motor is used for accurately driving the pulley 13 to move in the track 1 and move to a position needing to be trimmed;
the middle of the bearing is welded with an intermediate rod, the top end of the mechanical connecting piece is fixed to the middle section of the intermediate rod, the mechanical connecting piece comprises a first mechanical connecting rod 2, a second mechanical connecting rod 3 and a lifting rope body 12, the top end of the first mechanical connecting rod 2 is fixed to the bottom end of an intermediate shaft of a pulley 13, the bottom end of the first mechanical connecting rod 2 is provided with the lifting rope body 12, specifically, the bottom end of the first mechanical connecting rod 2 is provided with a rope winder, the top end of the lifting rope body 12 is fixed to a reel of the rope winder, the other end of the lifting rope body 12 is provided with the second mechanical connecting rod 3, the lifting rope body 12 is accommodated in the second mechanical connecting rod 3, and when the height of the lifting rope body 12 needs to be adjusted, the lifting rope body can be driven to be wound up or put down through the rope winder so as to; meanwhile, the lifting rope body can be coated with fluorescent materials or bright colors, and accidental loss caused by mistaken touch of workers and the trimming device during simultaneous working is avoided.
In order to be conveniently matched with the tomato planting greenhouse for use, the lifting rope body 12 is a stainless steel wire rope with the length of 4m, and the first mechanical connecting rod 2 and the second mechanical connecting rod 3 are both hollow steel pipes with the length of 0.2 m.
The support 11 and the second mechanical connecting rod 3 are fixedly connected, the support 11 is an inverted Y-shaped frame with two supporting rods, and in order to enable the two mechanical arms to work in a coordinated mode, the length of a cross rod of the support 11 is set to be 0.2-0.3 m.
The bottom ends of the two supporting rods of the bracket 11 are respectively fixed with a base 10, the base 10 is rotatably connected with a rotating shaft 21, the bottom ends of the rotating shaft 21 are respectively fixed with shell type main arms 4, the two shell type main arms 4 are respectively rotatably connected with a middle arm 16, and the other end of the middle arm 16 is rotatably connected with a small arm 22; in the embodiment, the length of the shell type main arm 4 is about 0.25m, the length of the middle arm 16 is 0.15m, the length of the small arm 22 is 0.1m, and the middle arm 16 and the small arm 22 are folded and placed in the shell type main arm 4.
The tail end of one of the small arms 22 is connected with a binocular camera 23 and a first manipulator 5, the binocular camera 23 is used for preliminarily judging the whole structure of a tomato plant through elevation angles and is mainly used for distinguishing a main tomato trunk and side tomato branches, preliminarily positioning all leaves and armpits of one tomato plant, sequentially determining the gripping position of the first manipulator 5, the tail end of the small arm 22 connected with the binocular camera 23 is also connected with a first auxiliary light source 25, the first manipulator 5 is provided with two finger ends, and the finger ends are respectively provided with a rubber clamp 24 for finishing gripping the tomato plant;
the tail end of the other small arm 22 is connected with a secondary close-range camera 17, a second mechanical arm 8 and a third mechanical arm 9, the tail end of the small arm 22 connected with the secondary close-range camera 17 is connected with a second auxiliary light source 20, the second mechanical arm 8 is provided with a finger end, the finger ends of the second mechanical arm are respectively provided with absorbent cotton 18, the third mechanical arm 9 is provided with two finger ends, and the finger ends of the third mechanical arm are respectively fixed with a trimming blade 19;
the middle section of the cross rod of the support 11 is also provided with a positioning module 6 and a laser radar module 7, and the positioning module 6, the laser radar module 7, the secondary close-range camera 17, the binocular camera 23, the first auxiliary light source 25 and the second auxiliary light source 20 are respectively in signal connection with the central processing unit.
The central processing unit is a computer with a data processing function, and a set model is preset in the central processing unit, and the specific process is as follows:
s1, firstly, obtaining 30000 pictures of tomato plants in greenhouses and fields, marking the pictures of stems, leaves and side branches of the pretreated tomato plants, and dividing the marked samples into a training set and a testing set according to a ratio of 5: 1;
s2, then improving and training a DeepLab model, wherein the DeepLab model is provided by a Google team and is a semantic segmentation network widely applied, an inclusion module of a core structure part in the GoogleLeNet network is selected to optimize a network structure of the DeepLab model so as to reduce the complexity of the network, convolution layers with different sizes and pooling layers are stacked together, the width of the network is increased, and 5 x 5 convolutions in the original inclusion module are replaced by 3 x 3 convolutions which are connected together, so that the capability of extracting features is further improved, and the complexity is reduced;
s3, modifying a conv5 convolutional layer in a DeepLab network by using the improved inclusion module, accessing a characteristic diagram output by Pooling4 into the improved inclusion module, processing the output by the improved inclusion module, and accessing into an ASPP module, wherein the ASPP comprises two parts: multi-scale hole convolution and image-level features;
the multiscale void convolution includes 1 × 1 ordinary convolution, 3 × 3 void convolution with a void rate of 6, 3 × 3 void convolution with a void rate of 12, and 3 × 3 void convolution with a void rate of 18;
the image level characteristics are that the input is averaged on the [1,2] dimension, the average value is calculated through 1 x 1 ordinary convolution, the linear difference value resize is used to reach the size of the input image, finally, 4 convolutions and image level features are connected, and finally, the output of the network is obtained through 1 x 1 convolution.
The number of parameters of the improved part is reduced from about 708 thousands to about 104 thousands, and is less than 15% of the part of the original network, the number of parameters is greatly reduced on the basis of excellent feature extraction capability, so that the performance of the network in training is effectively improved, finally, a training set is used for training an improved DeepLab model, a test set is used for testing the model, and the precision is higher than 95% and is used for identifying the lateral branches of the tomatoes by the tomato lateral branch pruning device.
The method comprises the steps of extracting a target lateral branch image by using a trained deep learning tomato plant identification method, determining an interested area of a lateral branch growing point according to the profile boundaries of the lateral branch, a tomato plant trunk and leaves, extracting a lateral branch by using a fast parallel refinement algorithm, detecting a bifurcation point between the lateral branch and the plant trunk by using a Harris algorithm, and obtaining position information of a pruning point by calculating.
The positioning module 6 is specifically a GNSS, and collects crop planting and obstacle information below the device through the positioning module 6 and the laser radar module 7, and transmits the information to the central processing unit.
The binocular camera 23 collects image information of tomato plants by adopting elevation angle with the assistance of the first auxiliary light source 25, the collected image information of the tomato plants is transmitted to the central processing unit, the central processing unit utilizes a set model for training to identify positions of the axilla of the tomato and simultaneously control the first manipulator 5 to fix the main stem of the tomato 1-2 cm above the growth point of the axilla of the tomato through the rubber clamp 24, so that the other shell type main arm 4 can carry out fine operation.
Then the central processing unit controls the secondary close-range camera 17 to determine the relative positions of the trunk, the leaves and the lateral branches near the position fixed by the first manipulator 5 under the coordination of the auxiliary light source I20, on one hand, the secondary close-range camera 17 distinguishes the leaves and the lateral branches, and accurately positions the lateral branches at the positions 1cm above the leaf armpits as trimming positions to avoid mistaken trimming of the leaves; on the other hand, the position of the leaf axillary part without the lateral branch is accurately positioned, so that the second mechanical arm 8 accurately coats the growth inhibitor on the position where the lateral bud possibly grows, the coating position of the inhibitor is accurately controlled to cut off the position 1cm above the growth point of the lateral branch at the leaf axillary part, the growth inhibitor is coated on the leaf axillary part without the lateral branch, and the trimming period is prolonged.
The connecting part of the shell type main arm 4 connected with the secondary close-range camera 17 and the middle arm 16 is further provided with a hook 14 and a siphon 15, the hook 14 is used for extracting a medicament bottle carrying a growth inhibitor, the siphon 15 is used for extending into the bottom end of the medicament bottle and providing medicament for the coated cotton 18, when the medicament bottle hung on the hook 14 needs to be replaced, the device moves to a preset position, and the first mechanical hand 5 clamps the medicament bottle through a rubber clamp 24 for replacement.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a tomato side branch intelligence trimming means which characterized in that: the greenhouse tomato planting greenhouse comprises a track (1) arranged at the top end of a greenhouse tomato planting greenhouse, wherein a pulley (13) is arranged in the track (1), a support (11) is arranged at the bottom end of a middle shaft of the pulley (13) through a mechanical connecting piece, the support (11) is specifically an inverted Y-shaped frame with two supporting rods, bases (10) are respectively fixed at the bottom ends of the two supporting rods of the support (11), a rotating shaft (21) is connected in the bases (10) in a rotating manner, shell-type main arms (4) are respectively fixed at the bottom ends of the rotating shaft (21), middle arms (16) are respectively connected in the two shell-type main arms (4) in a rotating manner, and small arms (22) are rotatably connected at the other;
the tail end of one small arm (22) is connected with a binocular camera (23) and a first mechanical arm (5), the first mechanical arm (5) is provided with two finger ends, and the finger ends are respectively provided with a rubber clip (24);
the tail end of the other small arm (22) is connected with a secondary close-range camera (17), a second mechanical hand (8) and a third mechanical hand (9), the second mechanical hand (8) is provided with a finger end, the finger ends of the second mechanical hand are respectively provided with absorbent cotton (18), the third mechanical hand (9) is provided with two finger ends, and the finger ends of the third mechanical hand are respectively fixed with a trimming blade (19);
the horizontal pole middle section of support (11) still is provided with orientation module (6) and laser radar module (7), orientation module (6), laser radar module (7), secondary close-range camera (17) and two mesh camera (23) respectively with central processing unit between signal connection.
2. The intelligent tomato lateral branch trimming device according to claim 1, wherein the mechanical connecting member comprises a first mechanical connecting rod (2), a second mechanical connecting rod (3) and a lifting rope body (12), the top end of the first mechanical connecting rod (2) is fixed at the bottom end of an intermediate shaft of a pulley (13), the bottom end of the first mechanical connecting rod (2) is provided with the lifting rope body (12), the other end of the lifting rope body (12) is provided with the second mechanical connecting rod (3), and the bracket (11) is fixedly connected with the second mechanical connecting rod (3).
3. The intelligent tomato lateral branch pruning device according to claim 2, wherein the lifting rope body (12) is a stainless steel wire rope with a length of 4m, and the first mechanical connecting rod (2) and the second mechanical connecting rod (3) are both hollow steel pipes with a length of 0.2 m.
4. The intelligent tomato lateral branch trimming device as claimed in claim 1, wherein the tail end of the arm (22) connected with the binocular camera (23) is further connected with a first auxiliary light source (25), the tail end of the arm (22) connected with the secondary close range camera (17) is connected with a second auxiliary light source (20), and the first auxiliary light source (25) and the second auxiliary light source (20) are respectively in signal connection with the central processing unit.
5. The intelligent tomato lateral branch pruning device according to claim 1, wherein the rails (1) are arranged along ridge directions in the tomato planting greenhouse, the spacing width of the rails (1) is equal to the space between tomato planting ridges, meanwhile, a transverse communication rail is arranged at one end of each rail perpendicular to the direction of the rail to form a rail group, the pulleys (13) are formed by two identical rollers connected through bearings, the pulleys are installed in the rails (1), a middle rod is welded in the middle of each bearing, and the top end of each mechanical connecting piece is fixed to the middle section of the middle rod.
6. The intelligent tomato lateral branch pruning device according to claim 1, wherein the length of the cross bar of the support (11) is set between 0.2 and 0.3 m.
7. The intelligent tomato lateral branch pruning device according to claim 1, wherein a hook (14) and a siphon (15) are further arranged at the joint of the shell type main arm (4) connected with the secondary close-range camera (17) and the middle arm (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010618327.0A CN111615946B (en) | 2020-06-30 | 2020-06-30 | Intelligent pruning device for lateral branches of tomatoes |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010618327.0A CN111615946B (en) | 2020-06-30 | 2020-06-30 | Intelligent pruning device for lateral branches of tomatoes |
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| CN111615946A true CN111615946A (en) | 2020-09-04 |
| CN111615946B CN111615946B (en) | 2024-04-16 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN115088500B (en) * | 2022-08-25 | 2022-11-18 | 中化现代农业有限公司 | Pruning system for fruit trees and using method |
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