CN113597966A - Intelligent robot and method for flower and fruit thinning of grapes based on image recognition - Google Patents
Intelligent robot and method for flower and fruit thinning of grapes based on image recognition Download PDFInfo
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- CN113597966A CN113597966A CN202110817394.XA CN202110817394A CN113597966A CN 113597966 A CN113597966 A CN 113597966A CN 202110817394 A CN202110817394 A CN 202110817394A CN 113597966 A CN113597966 A CN 113597966A
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- flower
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- fruit thinning
- guide rail
- image recognition
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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
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/02—Cultivation of hops or vines
- A01G17/023—Machines for priming and/or preliminary pruning of vines, i.e. removing shoots and/or buds
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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
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/02—Cultivation of hops or vines
- A01G17/026—Machines for removing leaves of vines
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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
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0408—Apparatus for trimming hedges, e.g. hedge shears specially adapted for trellis work, e.g. machines for pruning vine or the like
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
Abstract
The application discloses grape flower and fruit thinning intelligent robot and method based on image recognition relates to agricultural equipment technical field, and the robot includes: the controller is respectively in communication connection with the walking device and the flower and fruit thinning device, and the flower and fruit thinning device is provided with image acquisition equipment and an execution mechanism; in the walking process of the walking device, the controller determines a first position with first characteristic information according to the images of the grape flowers and the fruits collected by the image collecting equipment, and controls the executing mechanism to cut off grape spica at the first position of the grape plant. When the flower and fruit thinning operation is needed to be carried out on the grapes, the walking device is controlled to walk in the vineyard, the grape flower spikes needing to be cut are positioned through the image acquisition equipment and the controller, then the execution mechanism is controlled to carry out cutting operation, and the flower and fruit thinning operation efficiency of the grapes is improved.
Description
Technical Field
The application relates to the technical field of agricultural equipment, in particular to an intelligent flower and fruit thinning robot and method for grapes based on image recognition.
Background
During the growth process of grapes, if the grapes bloom too much and nutrient supply is insufficient, many small fruits and secondary fruits can grow, and yield of the grapes in the next year is reduced. Moreover, the excessive grape fruits easily cause the shortage of grape varieties and the reduction of the sale price. Therefore, flower thinning and fruit thinning of grapes are an important link in the grape planting process, and the flower thinning and fruit thinning of grapes means that excessive flowers and grapes in grape spica are removed to facilitate the subsequent growth of grapes. The grape flower and fruit thinning can keep the sufficient nutrition supply of the grapes and ensure the good growth of the grapes.
In the traditional technology, the flower and fruit thinning mode of the grapes is mainly carried out manually, and the excessive spikelets in the whole grape are removed by adopting a manual tool such as fruit tree scissors. Or a semi-automatic hand tool is adopted for carrying out, such as a handheld electric flower and fruit thinning device, although the efficiency is improved compared with that of the hand tool, the small ear stems still need to be found for removing, the fatigue is easily generated during long-time operation, and the working efficiency is low.
Therefore, a device capable of replacing manual work to complete flower and fruit thinning of grapes is needed to improve the working efficiency of flower and fruit thinning of grapes.
Disclosure of Invention
In order to solve the technical problems, the following technical scheme is provided:
in a first aspect, an embodiment of the present application provides an intelligent robot for flower thinning and fruit thinning of grapes based on image recognition, including: the controller is respectively in communication connection with the walking device and the flower and fruit thinning device, and the flower and fruit thinning device is provided with image acquisition equipment and an execution mechanism; in the walking process of the walking device, the controller determines a first position with first characteristic information according to the images of the grape flowers and the fruits collected by the image collecting equipment, and controls the executing mechanism to cut off grape spica at the first position of the grape plant.
By adopting the implementation mode, when flowers and fruits of grapes need to be thinned, the walking device is controlled to walk in a vineyard, grape flower ears needing to be cut are positioned through the image acquisition equipment and the controller, then the execution mechanism is controlled to cut the grape flower ears, and the operation efficiency of the flowers and fruits of the grapes is improved.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the walking device includes: the crawler-type electric bicycle comprises a crawler chassis, wherein a controller is arranged on the bottom surface of the crawler chassis, two sides of the crawler chassis are respectively provided with a driving wheel and a guide wheel, the driving wheel and the guide wheel are connected through crawler transmission, the driving wheels corresponding to the two sides are respectively provided with a first motor and a second motor, and the first motor and the second motor are electrically connected with the controller. The controller controls the first motor and the second motor to be started synchronously to drive the driving wheels on two sides to rotate, and the driving wheels drive the crawler belt to rotate when rotating to realize the walking of the walking device. The walking device is driven by the crawler belt, so that the robot can smoothly cross obstacles when walking in the orchard, and the robot is suitable for operation in various complex environments such as mountainous regions, hills and the like.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the actuating mechanism includes a manipulator disposed on the crawler chassis, a movable end of the manipulator is provided with an end effector, the end effector is used for cutting off excess grape flowers and fruits, and the image capturing device is disposed on the end effector. The position of the tail end executing piece is controlled through a manipulator, and the redundant grape spica is cut off.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the manipulator includes a manipulator base, the manipulator base is fixedly disposed on the crawler base, a first manipulator is disposed on the manipulator base, a first end of the first manipulator is rotatably connected to the manipulator base, and a rotation angle of the first manipulator is 360 degrees; the tail end executing part is fixedly arranged at the tail end of the third mechanical arm. The manipulator has the characteristics of accurate positioning, low gravity center, stable installation and the like due to the multi-joint and multi-dimensional arrangement and compact structure. The manipulator can deliver the tail end executive component to the position needing to be operated, and then can accurately cut off redundant grape spica.
With reference to the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, the end effector includes a motion control mechanism, the motion control mechanism includes a first guide rail, a first stepping motor disposed on one side of the first guide rail and a lead screw disposed in the guide rail, a rotation output end of the first stepping motor is fixedly connected to the lead screw, the lead screw is rotatably connected to two ends of the first guide rail, a first slider is disposed on the lead screw, the first slider is in threaded connection with the lead screw, the image capturing device is fixedly disposed on a housing of the first stepping motor, and a shearing mechanism is fixedly disposed on the first slider. The first stepping motor can control the first sliding block to move up and down along the lead screw through positive rotation and reverse rotation, so that the shearing mechanism is driven to move up and down, and the position of the shearing mechanism can be finely adjusted.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the shearing mechanism includes a supporting seat, the supporting seat is fixedly disposed on the first slider, a first tool support and a second tool support are slidably disposed at two ends of the supporting seat in the horizontal direction, and tools are disposed on the first tool support and the second tool support.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, a second guide rail and a third guide rail are arranged on the inner sides of two ends of the support seat in the vertical direction, a first rack and a second rack are respectively arranged in parallel corresponding to the second guide rail and the third guide rail, a gear is arranged between the first rack and the second rack, the first rack and the second rack are both in meshed connection with the gear, a second stepping motor is arranged corresponding to the gear, and a rotation output end of the second stepping motor is fixedly connected with the gear; the second guide rail with the third guide rail both ends all slide and are provided with the slider, first cutter support and the slider and the first rack fixed connection who correspond one side, second cutter support and the slider and the second rack fixed connection of opposite side. The second stepping motor rotates to drive the gear to rotate, and the first rack and the second rack move oppositely, so that the cutters on the first cutter support and the second cutter support are relatively close to each other and clamp the grape flower spike handle. Under the drive of the screw guide rail, the first cutter bracket and the second cutter bracket start to move downwards, and the specific moving distance can be completed by controlling the rotation of the first stepping motor. And cutting off redundant grape spica by a cutting edge of the cutter so as to finish the whole flower and fruit thinning process.
With reference to the sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, two ends of the second guide rail and the third guide rail are provided with limit screws, and the limit screws are used for limiting a sliding block arranged on the guide rails from falling off.
With reference to the sixth possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, the first stepping motor and the second stepping motor are both electrically connected to the controller. The controller can control the starting, stopping and rotating amounts of the first stepping motor and the second stepping motor, and further can realize accurate control of the tail end executing piece. In a second aspect, an embodiment of the present application provides an image recognition-based grape flower and fruit thinning method, which is implemented by a robot according to the first aspect or any one of possible implementations of the first aspect, and the method includes: the walking device acquires images of flowers and fruits of the grapes in real time by using the image acquisition equipment in the walking process of the vineyard; the controller receives image information sent by image acquisition equipment, and the image information is imported into a pre-established image recognition model, wherein the image recognition model is obtained by training batch grape images which are not subjected to flower thinning and fruit thinning and grape images which are subjected to flower thinning and fruit thinning; identifying image information according to the image identification model, and determining first characteristic information in the image information, wherein the grape spica needing to be cut off corresponds to the first characteristic information; determining first position information of grape spica needing to be cut, and controlling an execution mechanism to cut the grape spica at the first position.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent robot for flower thinning and fruit thinning of grapes based on image recognition according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an end effector provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a shearing mechanism provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a cutter provided in an embodiment of the present application;
fig. 5 is a schematic flowchart of a grape flower thinning and fruit thinning method based on image recognition according to an embodiment of the present disclosure;
in fig. 1 to 5, the symbols are represented as:
1-a controller, 2-an image acquisition device, 3-a crawler chassis, 4-a driving wheel, 5-a guide wheel, 6-a crawler, 7-a first motor, 8-a second motor, 9-an end effector, 10-a manipulator base, 11-a first manipulator, 12-a second manipulator, 13-a third manipulator, 14-a first guide rail, 15-a first stepper motor, 16-a lead screw, 17-a first slider, 18-a support base, 19-a first tool support, 20-a second tool support, 21-a tool, 22-a second guide rail, 23-a third guide rail, 24-a first rack, 25-a second rack, 26-a gear, 27-a second stepper motor.
Detailed Description
The present invention will be described with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic structural diagram of an image recognition-based intelligent grape flower and fruit thinning robot provided in an embodiment of the present application, and referring to fig. 1, the image recognition-based intelligent grape flower and fruit thinning robot provided in the embodiment of the present application includes: the walking device comprises a controller 1 and a flower and fruit thinning device, wherein the controller 1 and the flower and fruit thinning device are arranged on the walking device, the controller 1 is in communication connection with the walking device and the flower and fruit thinning device respectively, and an image acquisition device 2 and an execution mechanism are arranged on the flower and fruit thinning device. In the walking process of the walking device, the controller 1 determines a first position with first characteristic information according to the images of the grape flowers and the fruits collected by the image collecting equipment 2, and controls the executing mechanism to cut off grape spica at the first position of the grape plant.
When flowers and fruits of grapes need to be thinned, the walking device is controlled to walk in a vineyard, grape flower spikes needing to be cut are positioned through the image acquisition equipment 2 and the controller 1, then the executing mechanism is controlled to cut, and the flower and fruit thinning operation efficiency of the grapes is improved.
With further reference to fig. 1, the walking device comprises: the crawler-type vehicle-mounted controller comprises a crawler chassis 3, a controller 1 is arranged on the bottom surface of the crawler chassis 3, two sides of the crawler chassis 3 are respectively provided with a driving wheel 4 and a guide wheel 5, the driving wheel 4 and the guide wheel 5 are in transmission connection through a crawler 6, the driving wheel 4 corresponding to the two sides is respectively provided with a first motor 7 and a second motor 8, and the first motor 7 and the second motor 8 are both electrically connected with the controller 1.
The controller 1 controls the first motor 7 and the second motor 8 to be started synchronously to drive the driving wheels 4 on two sides to rotate, and the driving wheels 4 drive the crawler belt 6 to rotate when rotating to realize the walking of the walking device. The walking device is driven by the crawler belt 6, so that the robot can smoothly cross obstacles when walking in an orchard, and is suitable for operation in various complex environments such as mountainous regions, hills and the like.
Further, the actuating mechanism comprises a manipulator arranged on the crawler chassis 3, a tail end actuating part 9 is arranged at the movable end of the manipulator, the tail end actuating part 9 is used for cutting off redundant grape spica, and the image acquisition equipment 2 is arranged on the tail end actuating part 9. The position of the end effector 9 is controlled by a manipulator, so that the redundant grape spica can be cut off.
In this embodiment, the manipulator includes a manipulator base 10, the manipulator base 10 is fixedly arranged on the crawler chassis 3, a first manipulator 11 is arranged on the manipulator base 10, a first end of the first manipulator 11 is rotatably connected with the manipulator base 10, and a rotation angle of the first manipulator 11 is 360 degrees. A second mechanical arm 12 hinged with the second end of the first mechanical arm 11 and a third mechanical arm 13 hinged with the second mechanical arm 12, wherein the end effector 9 is fixedly arranged at the end of the third mechanical arm 13.
The manipulator has the characteristics of accurate positioning, low gravity center, stable installation and the like due to the multi-joint and multi-dimensional arrangement and compact structure. The manipulator can send the end executive component 9 to the position where the operation is needed, and then the redundant grape spica can be accurately cut.
Referring to fig. 2, the end effector 9 includes a motion control mechanism, the motion control mechanism includes a first guide rail 14, a first stepping motor 15 disposed on one side of the first guide rail 14, and a lead screw 16 disposed in the guide rail, a rotation output end of the first stepping motor 15 is fixedly connected to the lead screw 16, the lead screw 16 is rotatably connected to two ends of the first guide rail 14, a first slider 17 is disposed on the lead screw 16, the first slider 17 is in threaded connection with the lead screw 16, the image capturing device 2 is fixedly disposed on a housing of the first stepping motor 15, and a shearing mechanism is fixedly disposed on the first slider 17. The first stepping motor 15 can control the first sliding block 17 to move up and down along the lead screw 16 through positive rotation and negative rotation, so that the shearing mechanism is driven to move up and down, and the position of the shearing mechanism can be finely adjusted.
Referring to fig. 2 and 3, the shearing mechanism includes a supporting seat 18, the supporting seat 18 is fixedly disposed on the first sliding block 17, a first tool support 19 and a second tool support 20 are slidably disposed at two ends of the supporting seat 18 in the horizontal direction, and a tool 21 is disposed on the first tool support 19 and the second tool support 20. Referring to fig. 4, the cutters 21 in this embodiment are semi-circular in shape and are in operation translated together.
Further, a second guide rail 22 and a third guide rail 23 are disposed at the inner sides of the two ends of the support seat 18 in the vertical direction, and a first rack 24 and a second rack 25 are respectively disposed in parallel corresponding to the second guide rail 22 and the third guide rail 23. A gear 26 is arranged between the first rack 24 and the second rack 25, and both the first rack 24 and the second rack 25 are engaged with the gear 26. A second stepping motor 27 is arranged corresponding to the gear 26, and the rotation output end of the second stepping motor 27 is fixedly connected with the gear 26. The two ends of the second guide rail 22 and the third guide rail 23 are both provided with sliding blocks in a sliding manner, the first tool support 19 is fixedly connected with the sliding block and the first rack 24 on one corresponding side, and the second tool support 20 is fixedly connected with the sliding block and the second rack 25 on the other side.
The second stepping motor 27 rotates to drive the gear 26 to rotate, so that the first rack 24 and the second rack 25 move oppositely, and the cutters on the first cutter support 19 and the second cutter support 20 are relatively close to and clamp the handle of the grape spike. The first tool support 19 and the second tool support 20 start to move downwards under the driving of the guide rail of the lead screw 16, and the specific moving distance can be completed by controlling the rotation of the first stepping motor 15. The excessive grape spica is cut off by the cutting edge of the cutter 21, thereby completing the whole flower and fruit thinning process.
In this embodiment, two ends of the second guide rail 22 and the third guide rail 23 are provided with limit screws, and the limit screws are used for limiting the sliding blocks arranged on the guide rails to fall off.
The first stepping motor 15 and the second stepping motor 27 are electrically connected to the controller 1. The controller 1 can control the start, stop and rotation of the first stepping motor 15 and the second stepping motor 27, so that the end effector 9 can be accurately controlled.
Corresponding to the intelligent robot for flower and fruit thinning for grapes based on image recognition provided by the above embodiment, the present application also provides an embodiment of a method for flower and fruit thinning for grapes based on image recognition, and referring to fig. 5, the method for flower and fruit thinning for grapes based on image recognition includes:
s101, the image acquisition equipment acquires images of flowers and fruits of the grapes in real time in the vineyard walking process by the walking device.
S102, the controller receives image information sent by the image acquisition equipment, and the image information is imported into a pre-established image recognition model, wherein the image recognition model is obtained by training batch grape images which are not subjected to flower thinning and fruit thinning and batch grape images which are subjected to flower thinning and fruit thinning.
Establishing a data set according to a pre-collected grape spica photo, carrying out image acquisition before unprocessed on grapes needing flower thinning and fruit thinning, then carrying out image acquisition again after flower thinning and fruit thinning, and carrying out grape spica model training by adopting an improved YOLO V5 algorithm. The trained model can realize the discrimination of grape spica in the graph information and mark the grape spica to be cut off.
S103, identifying the image information according to the image identification model, and determining first characteristic information in the image information, wherein the grape spica needing to be cut off corresponds to the first characteristic information.
The first characteristic information in this embodiment is grape spica image characteristic information corresponding to grape spica image in which the growth vigor of grape spica in the image is weak and the growth of other grape spica around the grape spica is affected.
And S014, determining first position information of the grape spica needing to be cut, and controlling the actuating mechanism to cut the grape spica at the first position.
Specifically, a second stepping motor in the executing mechanism rotates to drive the gear to rotate, so that the first rack and the second rack move oppositely, and the cutters on the first cutter support and the second cutter support are relatively close to each other and clamp the handle of the grape flower spike. Under the drive of the screw guide rail, the first cutter bracket and the second cutter bracket start to move downwards, and the specific moving distance can be completed by controlling the rotation of the first stepping motor. And cutting off redundant grape spica by a cutting edge of the cutter so as to finish the whole flower and fruit thinning process.
It is noted that, in this document, 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is only described in detail with reference to the preferred embodiments instead, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and the scope of the claims of the present application should also be covered.
Claims (10)
1. The utility model provides a grape flower thinning fruit thinning intelligent robot based on image recognition which characterized in that includes: the controller is respectively in communication connection with the walking device and the flower and fruit thinning device, and the flower and fruit thinning device is provided with image acquisition equipment and an execution mechanism; in the walking process of the walking device, the controller determines a first position with first characteristic information according to the images of the grape flowers and the fruits collected by the image collecting equipment, and controls the executing mechanism to cut off grape spica at the first position of the grape plant.
2. The intelligent robot for flower and fruit thinning of grapes based on image recognition according to claim 1, wherein the walking device comprises: the crawler-type electric bicycle comprises a crawler chassis, wherein a controller is arranged on the bottom surface of the crawler chassis, two sides of the crawler chassis are respectively provided with a driving wheel and a guide wheel, the driving wheel and the guide wheel are connected through crawler transmission, the driving wheels corresponding to the two sides are respectively provided with a first motor and a second motor, and the first motor and the second motor are electrically connected with the controller.
3. The intelligent robot for flower and fruit thinning of grapes based on image recognition according to claim 2, wherein the actuator comprises a manipulator arranged on the crawler chassis, a movable end of the manipulator is provided with an end effector, the end effector is used for cutting off superfluous grape flowers and fruits, and the image acquisition device is arranged on the end effector.
4. The intelligent grape flower and fruit thinning robot based on image recognition as claimed in claim 3, wherein the manipulator comprises a manipulator base, the manipulator base is fixedly arranged on the crawler chassis, a first mechanical arm is arranged on the manipulator base, a first end of the first mechanical arm is rotatably connected with the manipulator base, and the first mechanical arm is rotated by 360 degrees; the tail end executing part is fixedly arranged at the tail end of the third mechanical arm.
5. The intelligent grape flower and fruit thinning robot based on image recognition as claimed in claim 4, wherein the end effector comprises a motion control mechanism, the motion control mechanism comprises a first guide rail, a first stepping motor arranged on one side of the first guide rail and a lead screw arranged in the guide rail, a rotation output end of the first stepping motor is fixedly connected with the lead screw, the lead screw is rotatably connected with two ends of the first guide rail, a first sliding block is arranged on the lead screw, the first sliding block is in threaded connection with the lead screw, the image acquisition device is fixedly arranged on a housing of the first stepping motor, and a shearing mechanism is fixedly arranged on the first sliding block.
6. The intelligent robot for flower and fruit thinning of grapes based on image recognition according to claim 5, wherein the shearing mechanism comprises a supporting seat fixedly arranged on the first sliding block, a first cutter bracket and a second cutter bracket are arranged at two ends of the supporting seat in the horizontal direction in a sliding manner, and cutters are arranged on the first cutter bracket and the second cutter bracket.
7. The intelligent grape flower and fruit thinning robot based on image recognition as claimed in claim 6, wherein a second guide rail and a third guide rail are arranged at the inner sides of two ends of the support seat in the vertical direction, a first rack and a second rack are respectively arranged in parallel corresponding to the second guide rail and the third guide rail, a gear is arranged between the first rack and the second rack, the first rack and the second rack are both meshed with the gear, a second stepping motor is arranged corresponding to the gear, and the rotation output end of the second stepping motor is fixedly connected with the gear; the second guide rail with the third guide rail both ends all slide and are provided with the slider, first cutter support and the slider and the first rack fixed connection who correspond one side, second cutter support and the slider and the second rack fixed connection of opposite side.
8. The intelligent robot for flower and fruit thinning of grapes based on image recognition of claim 7, wherein two ends of the second guide rail and the third guide rail are provided with limit screws, and the limit screws are used for limiting sliding blocks arranged on the guide rails from falling off.
9. The intelligent robot for flower and fruit thinning of grapes based on image recognition according to claim 7, wherein the first stepping motor and the second stepping motor are both electrically connected with the controller.
10. An image recognition-based grape flower and fruit thinning method, characterized in that the robot of any one of claims 1-9 is adopted, and the method comprises the following steps: the walking device acquires images of flowers and fruits of the grapes in real time by using the image acquisition equipment in the walking process of the vineyard; the controller receives image information sent by image acquisition equipment, and the image information is imported into a pre-established image recognition model, wherein the image recognition model is obtained by training batch grape images which are not subjected to flower thinning and fruit thinning and grape images which are subjected to flower thinning and fruit thinning; identifying image information according to the image identification model, and determining first characteristic information in the image information, wherein the grape spica needing to be cut off corresponds to the first characteristic information; determining first position information of grape spica needing to be cut, and controlling an execution mechanism to cut the grape spica at the first position.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114711042A (en) * | 2022-04-01 | 2022-07-08 | 仲恺农业工程学院 | Automatic grape spica removing and shaping device based on image recognition |
| CN115529967A (en) * | 2022-11-03 | 2022-12-30 | 西北农林科技大学 | Bud picking robot and bud picking method for wine grapes |
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