CN113348871A - Liftable rotary spindle picking platform - Google Patents
Liftable rotary spindle picking platform Download PDFInfo
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- CN113348871A CN113348871A CN202110396530.2A CN202110396530A CN113348871A CN 113348871 A CN113348871 A CN 113348871A CN 202110396530 A CN202110396530 A CN 202110396530A CN 113348871 A CN113348871 A CN 113348871A
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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 relates to a liftable rotary spindle platform, which comprises: the walking robot main body comprises a rotary ingot picking structure, a lifting platform device, an ingot body containing bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism; the rotary spindle picking structure comprises a rotary spindle picking head, a rotary motor, a mechanical arm and an arm driving motor; and a lifting motor is arranged in the lifting platform device and is used for enabling the height of the bottom of the lifting platform device after lifting to be consistent with the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel row with the largest number of spindle body pixel points. The liftable rotary spindle picking platform is compact in structure, energy-saving and environment-friendly. The positioning height of the lifting device is set in a self-adaptive manner according to the most dense height of the apple ingot body, so that the stroke of the ingot picking operation is shortened, and the power consumption consumed on site is saved.
Description
Technical Field
The invention relates to the field of rotary spindles, in particular to a liftable rotary spindle platform.
Background
The apple is a plant of Malus of Maloideae of Rosaceae, and its tree is deciduous tree. The apple has high nutritive value, is rich in minerals and vitamins, has rich calcium content, is helpful for metabolizing excessive salt in vivo, and malic acid can metabolize heat to prevent obesity of lower body.
Apple is a low calorie food that produces approximately 60 kcal per 100 grams. The apple has high solubility of nutrient components and is easy to be absorbed by human body, so it is called "running water". It is beneficial to dissolving sulfur element and making skin smooth and tender.
At present, there are following defects in the structure is snatched to the apple that uses rotation type spindle and from taking elevating gear: the height of the lifting device is fixed, or manual adjustment is needed, so that the picking requirements of picking spindles of various apple trees with different growth heights and different distribution densities of the apple spindles cannot be met, and the situation that the lifting device is too high or too low relative to the proper picking spindle height of the apple trees easily occurs.
Disclosure of Invention
In order to solve the technical problems in the related field, the invention provides a liftable rotary spindle picking platform, which can be used for adaptively setting the positioning height of a lifting device according to the most intensive height of a spindle body of an apple grabbing structure using a rotary spindle and the apple grabbing structure with the lifting device, so that a rotary spindle picking mechanism can conveniently execute spindle picking operation, and the stroke required by spindle picking operation is shortened.
For this reason, the present invention needs to have at least the following important points:
(1) a targeted visual detection mechanism is introduced, the spindle body distribution density of the layer-by-layer height of the apple tree body to be spindle currently is measured on site, wherein the visual spindle body distribution density is analyzed line by line in a pixel line unit;
(2) the current lifting height of a lifting device for executing spindle picking is selected in a self-adaptive mode based on the spindle distribution density of the layer-by-layer height of the apple tree body to be currently spindle picked, and therefore the lifting device is kept at the proper height convenient for spindle picking operation.
According to an aspect of the present invention, there is provided a liftable rotary spindle platform, the platform comprising:
the walking robot main body comprises a rotary ingot picking structure, a lifting platform device, an ingot body containing bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism;
wherein, in the walking robot main part, running gear sets up the bottom of walking robot main part, the setting of lift platform device is in directly over running gear.
More specifically, in the liftable rotary spindle platform:
in the walking robot main body, the obstacle detection mechanism performs positioning detection on surrounding obstacles in an infrared ranging mode or an ultrasonic ranging mode.
More specifically, in the liftable rotary spindle platform:
in the walking robot main body, the rotary spindle structure, the wireless communication mechanism and the real-time positioning mechanism are all installed on the lifting platform device, and the real-time positioning mechanism provides real-time positioning data of the walking robot main body in an apple plantation.
More specifically, in the liftable rotary spindle platform, the platform further comprises:
the rotary spindle picking structure comprises a rotary spindle picking head, a rotary motor, a mechanical arm and an arm driving motor, wherein the rotary motor is connected with the rotary spindle picking head and used for providing power for rotation of the rotary spindle picking head, and the arm driving motor comprises a plurality of motor units for providing power for each arm body unit of the mechanical arm respectively;
the data recording mechanism is internally provided with a photoelectric sensor and is used for executing recording operation on the apple tree body to be spindle currently when the walking robot main body reaches the front of the apple tree body to be spindle currently, so as to obtain a corresponding tree body recording picture;
the signal filtering equipment is arranged in the shell of the lifting platform device, is connected with the data recording mechanism and is used for executing directional filtering processing on the received tree body recording pictures to obtain corresponding filtering processing pictures;
the content enhancement equipment is arranged in the shell of the lifting platform device, is connected with the signal filtering equipment and is used for performing enhancement processing on the image content of the received filtering processing picture so as to obtain a corresponding content enhancement picture;
the ingot body identification mechanism is connected with the content enhancement equipment and is used for identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on the appearance characteristics of the apples;
the region analysis mechanism is connected with the ingot body identification mechanism and is used for acquiring all pixel points forming each image region in the content enhancement picture so as to acquire each ingot body pixel point and detecting the number of the ingot body pixel points distributed on each pixel line in the content enhancement picture;
the number analysis mechanism is connected with the region analysis mechanism and used for sequencing the number of ingot pixel points distributed on each pixel line in the content enhancement picture and sending out the number of the pixel line with the largest number of distributed ingot pixel points as a target number;
the device comprises a lifting platform device, a number analyzing mechanism and a number analyzing mechanism, wherein the lifting platform device is internally provided with a lifting motor, is connected with the number analyzing mechanism and is used for adjusting the lifting height of the lifting platform device based on a received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel row with the largest number of spindle body pixel points;
adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel row with the largest number of distributed spindle body pixel points, comprises: the larger the received numerical value of the target number is, the higher the lifting height of the lifting platform device after adjustment is;
wherein, adjust the lift height of lift platform device based on the target number that receives so that the height of the bottom of lift platform device after the lift and the height of the entity position of the apple tree body that the pixel row that the quantity of distribution spindle body pixel point is the biggest corresponds at present treating the spindle still include: and adopting a numerical fitting function to establish a numerical correspondence relationship between the number of the pixel line in the content enhancement picture and the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel line in the content enhancement picture by using input data of the numerical fitting function and output data of the function by using the number of the pixel line in the content enhancement picture as the number of the pixel line in the content enhancement picture and the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel line in the content enhancement picture as the function.
According to another aspect of the invention, a liftable rotary spindle picking method is also provided, and the method comprises the step of using a liftable rotary spindle picking platform as described above for adaptively selecting the current lifting height of a lifting device for carrying out spindle picking based on the spindle distribution density of the layer-by-layer height of the apple tree body to be currently spindle picked.
The liftable rotary spindle picking platform is compact in structure, energy-saving and environment-friendly. The positioning height of the lifting device is set in a self-adaptive manner according to the most dense height of the apple ingot body, so that the stroke of the ingot picking operation is shortened, and the power consumption consumed on site is saved.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a configuration view of a robot arm of a liftable rotary spindle platform according to an embodiment of the present invention.
Detailed Description
Embodiments of the liftable and lowerable rotary spindle platform of the present invention will be described in detail with reference to the accompanying drawings.
The number of apple products is hundreds, and the apple products are divided into 3 types of wine varieties, cooking varieties and fresh food varieties. The 3 varieties have different characteristics such as size, color, aroma, smoothness (possibly brittleness, flavor) and the like. Many varieties have high sugar content, moderate acidity and very low tannin content. Apples have many ways of cooking besides raw foods, and are commonly used as snack fillings, with apple-filled scones being probably the earliest american style desserts. The fried apple is often eaten with dishes such as sausage and pork chop, and is particularly common in Europe. Recent taxonomic evidence suggests that members of the genus Malus are also 38 species, and finding a "genus spectrum" seems not difficult, but each species seems to have something in common with the apple we eat, and each species can provide some fruit, albeit with little taste. From this perspective, each species of the genus Malus may contribute a share of the sweetness of apples in the supermarket. Orchards around the world have been planted, perhaps more than 2000 years ago.
Most apple trees are cross pollinated, and 2-4% of flowers and fruit setting are ideal. Although the size, shape, color and acidity of mature apples vary greatly depending on the variety and environmental conditions, they are generally round, 50-100 mm in diameter, reddish or yellow.
At present, there are following defects in the structure is snatched to the apple that uses rotation type spindle and from taking elevating gear: the height of the lifting device is fixed, or manual adjustment is needed, so that the picking requirements of picking spindles of various apple trees with different growth heights and different distribution densities of the apple spindles cannot be met, and the situation that the lifting device is too high or too low relative to the proper picking spindle height of the apple trees easily occurs.
In order to overcome the defects, the invention builds a lifting type rotary spindle picking platform, and can effectively solve the corresponding technical problem.
A liftable rotary spindle platform according to an embodiment of the present invention includes:
the walking robot main body comprises a rotary ingot picking structure, a lifting platform device, an ingot body containing bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism;
wherein, in the walking robot main part, running gear sets up the bottom of walking robot main part, the setting of lift platform device is in directly over running gear.
Next, a detailed structure of the liftable rotary spindle platform according to the present invention will be described.
In the rotatory spindle platform of liftable formula:
in the walking robot main body, the obstacle detection mechanism performs positioning detection on surrounding obstacles in an infrared ranging mode or an ultrasonic ranging mode.
In the rotatory spindle platform of liftable formula:
in the walking robot main body, the rotary spindle structure, the wireless communication mechanism and the real-time positioning mechanism are all installed on the lifting platform device, and the real-time positioning mechanism provides real-time positioning data of the walking robot main body in an apple plantation.
The liftable rotatory spindle platform of formula can also include:
the rotary spindle picking structure comprises a rotary spindle picking head, a rotary motor, a mechanical arm and an arm driving motor, wherein the rotary motor is connected with the rotary spindle picking head and used for providing power for rotation of the rotary spindle picking head, and the arm driving motor comprises a plurality of motor units for providing power for each arm body unit of the mechanical arm respectively;
as shown in fig. 1, a specific structure of a mechanical arm in the rotary spindle structure is given;
the data recording mechanism is internally provided with a photoelectric sensor and is used for executing recording operation on the apple tree body to be spindle currently when the walking robot main body reaches the front of the apple tree body to be spindle currently, so as to obtain a corresponding tree body recording picture;
the signal filtering equipment is arranged in the shell of the lifting platform device, is connected with the data recording mechanism and is used for executing directional filtering processing on the received tree body recording pictures to obtain corresponding filtering processing pictures;
the content enhancement equipment is arranged in the shell of the lifting platform device, is connected with the signal filtering equipment and is used for performing enhancement processing on the image content of the received filtering processing picture so as to obtain a corresponding content enhancement picture;
the ingot body identification mechanism is connected with the content enhancement equipment and is used for identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on the appearance characteristics of the apples;
the region analysis mechanism is connected with the ingot body identification mechanism and is used for acquiring all pixel points forming each image region in the content enhancement picture so as to acquire each ingot body pixel point and detecting the number of the ingot body pixel points distributed on each pixel line in the content enhancement picture;
the number analysis mechanism is connected with the region analysis mechanism and used for sequencing the number of ingot pixel points distributed on each pixel line in the content enhancement picture and sending out the number of the pixel line with the largest number of distributed ingot pixel points as a target number;
the device comprises a lifting platform device, a number analyzing mechanism and a number analyzing mechanism, wherein the lifting platform device is internally provided with a lifting motor, is connected with the number analyzing mechanism and is used for adjusting the lifting height of the lifting platform device based on a received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel row with the largest number of spindle body pixel points;
adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel row with the largest number of distributed spindle body pixel points, comprises: the larger the received numerical value of the target number is, the higher the lifting height of the lifting platform device after adjustment is;
wherein, adjust the lift height of lift platform device based on the target number that receives so that the height of the bottom of lift platform device after the lift and the height of the entity position of the apple tree body that the pixel row that the quantity of distribution spindle body pixel point is the biggest corresponds at present treating the spindle still include: and adopting a numerical fitting function to establish a numerical correspondence relationship between the number of the pixel line in the content enhancement picture and the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel line in the content enhancement picture by using input data of the numerical fitting function and output data of the function by using the number of the pixel line in the content enhancement picture as the number of the pixel line in the content enhancement picture and the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel line in the content enhancement picture as the function.
In the rotatory spindle platform of liftable formula:
sending out the serial number of the pixel row with the largest number of the distributed ingot body pixel points as a target serial number, wherein the serial number comprises the following steps: in the content enhanced picture, the number of the bottommost pixel line is 1, and the numbers of the pixel lines on the bottommost pixel line are increased by 1 line by line.
In the rotatory spindle platform of liftable formula:
identifying each image area where each apple ingot is respectively located from the content enhancement picture based on the appearance characteristics of the apples comprises: and identifying each image area where each apple spindle body is respectively located from the content enhancement picture based on the standard imaging picture of the single-spindle apple.
In the rotatory spindle platform of liftable formula:
identifying each image area where each apple spindle body is respectively located from the content enhanced picture based on a standard imaging picture of a single-spindle apple comprises the following steps: the standard imaging pictures of the single-spindle apple are more than one and respectively correspond to different imaging visual angles.
In the rotatory spindle platform of liftable formula:
in the walking robot main body, the walking mechanism is connected with the obstacle detection mechanism and used for determining a corresponding walking strategy based on a positioning detection result of the obstacle detection mechanism so as to avoid colliding with surrounding obstacles.
Meanwhile, in order to overcome the defects, the invention also discloses a liftable rotary spindle picking method, which comprises the step of using the liftable rotary spindle picking platform for adaptively selecting the current lifting height of a lifting device for executing spindle picking based on the spindle distribution density of the layer-by-layer height of the apple tree body to be currently spindle picked.
In addition, the apples are deciduous trees, have strong polarity, are usually vigorous in growth, have high crowns, can reach 15 meters in height, and are generally about 3-5 meters in height under cultivation conditions. The trunk is grey brown, the old bark has irregular longitudinal cracks or flaky flaking, and the small branches are smooth. The fruit is pome, and the color and size vary with the variety. Pleased to light, and slightly acidic to neutral soil. The method is most suitable for sandy soil which is deep in soil layer, rich in organic matters and good in ventilation and drainage of core soil.
Grafting propagation is used for propagation and cultivation. The stock has arbor stock and dwarfing stock. Common georgette stocks are: the catalpa bungei, the malus micromalus and the malus baccata and the dwarfing stock are mainly introduced into British varieties. The wide row close planting is adopted, and the rows are in the north and south. Planting before sealing and freezing the soil in autumn and winter in the south part, and planting when unfreezing in spring in the north part. The apple has poor self-bearing capacity and a pollinator is required to be configured during planting.
The apple trees begin to fruit after 2-3 years of planting, the economic life is 15-50 years under general management conditions, and the apple trees are barren in soil and only 20-30 years in extensive management. Apples generally have a strong dryness and distinct laminarity as a result of a combination of apical dominance and bud heterogeneity. Because of the difference in sprouting ability and branching ability among varieties, the obvious degree of layering is different. The apple buds are divided into leaf buds and flower buds according to the properties. The leaf buds are triangular, the tips are long and bent, and after the leaves are spread, the leaves grow into branches called new shoots or vegetative branches. The branches can be divided into: bare-rooted branches, common branches, fine branches, leaf clump branches: the flower bud of apple is mixed bud. Axillary buds, buds formed at the leaf axillary position of the current-year branches, are called axillary buds which can bloom and bear fruits in the next year. The flower bud differentiation of the apple is completed from the first 6 th to the winter, and the whole process is divided into three stages of physiological differentiation, morphological differentiation and sexual cell maturation. The flower bud is mixed bud, and the inflorescence is an umbrella chamber-shaped parasporal inflorescence. Each inflorescence blooms 5-7 flowers.
Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will appreciate that various modifications and substitutions can be made thereto without departing from the spirit and scope of the present invention as set forth in the appended claims.
Claims (9)
1. The utility model provides a rotatory spindle platform of liftable formula which characterized in that, the platform includes:
the walking robot main body comprises a rotary ingot picking structure, a lifting platform device, an ingot body containing bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism;
wherein, in the walking robot main part, running gear sets up the bottom of walking robot main part, the setting of lift platform device is in directly over running gear.
2. The liftable rotary spindle platform of claim 1, wherein:
in the walking robot main body, the obstacle detection mechanism performs positioning detection on surrounding obstacles in an infrared ranging mode or an ultrasonic ranging mode.
3. The liftable rotary spindle platform of claim 2, wherein:
in the walking robot main body, the rotary spindle structure, the wireless communication mechanism and the real-time positioning mechanism are all installed on the lifting platform device, and the real-time positioning mechanism provides real-time positioning data of the walking robot main body in an apple plantation.
4. The liftable rotary spindle platform of claim 3, further comprising:
the rotary spindle picking structure comprises a rotary spindle picking head, a rotary motor, a mechanical arm and an arm driving motor, wherein the rotary motor is connected with the rotary spindle picking head and used for providing power for rotation of the rotary spindle picking head, and the arm driving motor comprises a plurality of motor units for providing power for each arm body unit of the mechanical arm respectively;
the data recording mechanism is internally provided with a photoelectric sensor and is used for executing recording operation on the apple tree body to be spindle currently when the walking robot main body reaches the front of the apple tree body to be spindle currently, so as to obtain a corresponding tree body recording picture;
the signal filtering equipment is arranged in the shell of the lifting platform device, is connected with the data recording mechanism and is used for executing directional filtering processing on the received tree body recording pictures to obtain corresponding filtering processing pictures;
the content enhancement equipment is arranged in the shell of the lifting platform device, is connected with the signal filtering equipment and is used for performing enhancement processing on the image content of the received filtering processing picture so as to obtain a corresponding content enhancement picture;
the ingot body identification mechanism is connected with the content enhancement equipment and is used for identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on the appearance characteristics of the apples;
the region analysis mechanism is connected with the ingot body identification mechanism and is used for acquiring all pixel points forming each image region in the content enhancement picture so as to acquire each ingot body pixel point and detecting the number of the ingot body pixel points distributed on each pixel line in the content enhancement picture;
the number analysis mechanism is connected with the region analysis mechanism and used for sequencing the number of ingot pixel points distributed on each pixel line in the content enhancement picture and sending out the number of the pixel line with the largest number of distributed ingot pixel points as a target number;
the device comprises a lifting platform device, a number analyzing mechanism and a number analyzing mechanism, wherein the lifting platform device is internally provided with a lifting motor, is connected with the number analyzing mechanism and is used for adjusting the lifting height of the lifting platform device based on a received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel row with the largest number of spindle body pixel points;
adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel row with the largest number of distributed spindle body pixel points, comprises: the larger the received numerical value of the target number is, the higher the lifting height of the lifting platform device after adjustment is;
wherein, adjust the lift height of lift platform device based on the target number that receives so that the height of the bottom of lift platform device after the lift and the height of the entity position of the apple tree body that the pixel row that the quantity of distribution spindle body pixel point is the biggest corresponds at present treating the spindle still include: and adopting a numerical fitting function to establish a numerical correspondence relationship between the number of the pixel line in the content enhancement picture and the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel line in the content enhancement picture by using input data of the numerical fitting function and output data of the function by using the number of the pixel line in the content enhancement picture as the number of the pixel line in the content enhancement picture and the height of the entity position of the apple tree body to be spindle currently corresponding to the pixel line in the content enhancement picture as the function.
5. The liftable rotary spindle platform of claim 4, wherein:
sending out the serial number of the pixel row with the largest number of the distributed ingot body pixel points as a target serial number, wherein the serial number comprises the following steps: in the content enhanced picture, the number of the bottommost pixel line is 1, and the numbers of the pixel lines on the bottommost pixel line are increased by 1 line by line.
6. The liftable rotary spindle platform of claim 5, wherein:
identifying each image area where each apple ingot is respectively located from the content enhancement picture based on the appearance characteristics of the apples comprises: and identifying each image area where each apple spindle body is respectively located from the content enhancement picture based on the standard imaging picture of the single-spindle apple.
7. The liftable rotary spindle platform of claim 6, wherein:
identifying each image area where each apple spindle body is respectively located from the content enhanced picture based on a standard imaging picture of a single-spindle apple comprises the following steps: the standard imaging pictures of the single-spindle apple are more than one and respectively correspond to different imaging visual angles.
8. The liftable rotary spindle platform of claim 7, wherein:
in the walking robot main body, the walking mechanism is connected with the obstacle detection mechanism and used for determining a corresponding walking strategy based on a positioning detection result of the obstacle detection mechanism so as to avoid colliding with surrounding obstacles.
9. A liftable rotary spindle picking method, the method comprising providing a liftable rotary spindle picking platform according to any one of claims 4 to 8, for adaptively selecting a current lifting height of a lifting device for carrying out spindle picking based on a spindle body distribution density of a layer-by-layer height of an apple tree body currently to be spindle picked.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6098909A (en) * | 1983-09-30 | 1985-06-01 | マーチン・マリエツタ・コーポレーシヨン | Robot type fruit harvester |
| CN209732041U (en) * | 2018-11-30 | 2019-12-06 | 东莞理工学院 | Fruit picking robot |
| CN110832991A (en) * | 2019-10-24 | 2020-02-25 | 广州大学 | Picking machine based on image recognition and control method thereof |
| CN112154778A (en) * | 2020-10-28 | 2021-01-01 | 唐山学院 | Intelligent fruit picking operation vehicle |
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2021
- 2021-04-13 CN CN202110396530.2A patent/CN113348871B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6098909A (en) * | 1983-09-30 | 1985-06-01 | マーチン・マリエツタ・コーポレーシヨン | Robot type fruit harvester |
| CN209732041U (en) * | 2018-11-30 | 2019-12-06 | 东莞理工学院 | Fruit picking robot |
| CN110832991A (en) * | 2019-10-24 | 2020-02-25 | 广州大学 | Picking machine based on image recognition and control method thereof |
| CN112154778A (en) * | 2020-10-28 | 2021-01-01 | 唐山学院 | Intelligent fruit picking operation vehicle |
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