CN114586545A - Robot agricultural picking device based on machine vision detection - Google Patents
Robot agricultural picking device based on machine vision detection Download PDFInfo
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- CN114586545A CN114586545A CN202210201097.7A CN202210201097A CN114586545A CN 114586545 A CN114586545 A CN 114586545A CN 202210201097 A CN202210201097 A CN 202210201097A CN 114586545 A CN114586545 A CN 114586545A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention discloses a robot agricultural picking device based on machine vision detection, which comprises: the picking device is provided with a visual detection device, and the picking device, the visual detection device and the walking device are all electrically connected with the controller; picking is carried out through the cooperation of the walking device, the visual detection device and the picking device, manual operation and control for picking are avoided, and the intelligent degree is high; meanwhile, in the picking process, the counting device can count picked fruits and confirm the picked quantity.
Description
Technical Field
The invention relates to the technical field of agricultural intelligent machinery, in particular to a robot agricultural picking device based on machine vision detection.
Background
Picking mode in the market at present is to pick through manual operation and control robot, and intelligent degree is low, and picking process can't count. Therefore, there is a need for a robotic agricultural picking apparatus based on machine vision inspection to at least partially solve the problems of the prior art.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, the present invention provides a robotic agricultural picking device based on machine vision inspection, comprising:
the bin, the bin bottom is equipped with running gear, be equipped with counting assembly on the bin, the bin top is equipped with picks the device, be equipped with visual detection device on picking the device, it all is connected with the controller electricity to pick device, visual detection device and running gear.
Preferably, be equipped with in the bin and store the chamber, it is equipped with the buffer board to store the intracavity, the buffer board sliding connection in store in the chamber, the buffer board with be equipped with buffer spring between the inner wall bottom of storing the chamber.
Preferably, the counting device comprises:
one end of the first pipeline penetrates through the storage box and is connected with the funnel, the other end of the first pipeline is connected with one end of a second pipeline, and the other end of the second pipeline is communicated with the storage cavity;
the counter is arranged on the inner wall of the first pipeline and is electrically connected with the controller;
the buffer cushion is arranged at the bottom end of the inner wall of the second pipeline.
Preferably, the picking device comprises:
the robot, the one end of robot is located the bin top, the other end of robot is equipped with electronic clamping jaw, electronic clamping jaw of robot all with the controller electricity is connected, visual detection device locates on the electronic clamping jaw.
Preferably, the visual inspection device includes:
the detection block is arranged on the electric clamping jaw;
the camera is arranged on the detection block and is electrically connected with the controller.
Preferably, the walking device is a crawler chassis.
Preferably, the funnel is made of a rubber material.
Preferably, a camera protection device is arranged in the detection block, and the camera protection device includes:
the camera groove is formed in the detection block, and the camera is arranged in the camera groove;
the first motor is arranged below the camera slot and is electrically connected with the controller;
the camera comprises a camera groove, a first baffle plate, a second baffle plate, a baffle plate hole, a first baffle plate and a second baffle plate, wherein the inner wall of the camera groove is provided with the two baffle plate holes;
the first coil cavity is arranged in the first baffle, the inner wall of the first coil cavity is provided with a second motor, and the second motor is electrically connected with the controller;
the first winding roller is sleeved on a rotating shaft, one end of the rotating shaft is connected with the second motor, and the other end of the rotating shaft is rotatably connected with the inner wall of the first winding cavity;
the clamping block is arranged on the first baffle;
the clamping block groove is formed in the second baffle plate, and the clamping block is matched with the clamping block groove;
the second rolling cavity is arranged in the second baffle, and a switching cavity is arranged on one side of the second rolling cavity;
one end of the base is rotatably connected to the inner wall of the switching cavity, a spline groove is formed in the other end of the base, an electromagnet is arranged in the spline groove, and the electromagnet is electrically connected with the controller;
one end of the iron rod is slidably connected into the spline groove through a spline, a clinging spring is arranged between the iron rod and the electromagnet, one end of the iron rod is connected with one end of the switching block, and the other end of the switching block is provided with a polygonal groove;
the annular block is sleeved on the base, and a torsion spring is arranged between the annular block and the inner wall of the switching cavity;
one end of the first rotating rod is rotatably connected with the inner wall of the second rolling cavity, the other end of the first rotating rod extends into the switching cavity to be connected with a polygonal block, and the polygonal block is matched with the polygonal groove;
the second winding roller is sleeved on the rotating rod and is positioned in the second winding cavity;
one end of the dustproof film is connected with the first winding roller, and the other end of the dustproof film extends into the second winding cavity and is wound on the second winding roller;
the baffle device, baffle device locates in the detection piece, adjacent two baffle device symmetry is located the both sides in camera groove, baffle device includes:
the meshing cavity is arranged in the detection block and is positioned on one side of the first motor;
one end of the second rotating rod is connected with the first motor, and the other end of the second rotating rod extends into the meshing cavity to be connected with the first bevel gear;
the third dwang, the one end of third dwang with second bevel gear connects, second bevel gear with first bevel gear meshing, the other end of third dwang stretches into the baffle downthehole and is connected with the serrated wheel, the serrated wheel with the sawtooth meshing.
Preferably, still be equipped with buffer on the electronic clamping jaw, buffer includes:
the buffer groove is arranged on the electric clamping jaw, a pressure sensor is arranged at the bottom end of the inner wall of the buffer groove, and the pressure sensor is electrically connected with the controller;
the mounting block is arranged in the buffer groove, a mounting groove is formed in the top end of the mounting block, a welding plate is arranged at the bottom end of the mounting block, a plurality of first buffer springs are arranged between the welding plate and the pressure sensor, and a plurality of second buffer springs are arranged between the side wall of the mounting block and the inner wall of the buffer groove;
the inner wall of the mounting groove is provided with two fixing grooves, a fixing block is connected in the fixing grooves in a sliding mode, and a fixing spring is arranged between the fixing block and the inner wall of each fixing groove;
the two fixing block grooves are arranged on the detection block;
the two stabilizing grooves are arranged on the outer wall of the mounting block;
and the electric telescopic rods are arranged on the inner wall of the buffer tank and are electrically connected with the controller.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the robot agricultural picking device based on machine vision detection provided by the invention picks through the cooperation of the walking device, the vision detection device and the picking device, so that manual operation and control are avoided for picking, and the intelligent degree is high; meanwhile, in the picking process, the counting device can count the picked fruits and confirm the picked quantity.
While the present invention is described in terms of a robotic agricultural picking apparatus based on machine vision inspection, other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination and practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a robotic agricultural picking device based on machine vision inspection according to the present invention;
FIG. 2 is a schematic structural diagram of a detection block of the robotic agricultural picking device based on machine vision detection according to the present invention;
FIG. 3 is a schematic structural diagram of a robot agricultural picking device camera protection device based on machine vision inspection according to the present invention;
FIG. 4 is a schematic structural diagram of the robot agricultural picking apparatus based on machine vision inspection at the position A in FIG. 3;
FIG. 5 is a schematic structural diagram of a first baffle of the robotic agricultural picking device based on machine vision inspection according to the present invention;
FIG. 6 is a schematic structural diagram of a switching chamber of a robotic agricultural picking device based on machine vision inspection according to the present invention;
FIG. 7 is a partial schematic structural view of a first winding chamber of a robotic agricultural picking device based on machine vision inspection according to the present invention;
fig. 8 is a schematic structural diagram of a buffer device of a robot agricultural picking device based on machine vision detection.
Description of reference numerals: 1. a storage tank; 2. a picking device; 3. a visual inspection device; 4. a counting device; 5. a traveling device; 6. a robot; 7. an electric jaw; 8. a storage chamber; 9. a buffer plate; 10. a buffer spring; 11. a funnel; 12. a first conduit; 13. a counter; 14. a cushion pad; 15. a detection block; 16. a first lens; 17. a second lens; 18. a second conduit; 19. a camera guard; 20. a first motor; 21. an engagement cavity; 22. a baffle hole; 23. a second rotating lever; 24. a first bevel gear; 25. a second bevel gear; 26. a third rotating rod; 27. a serrated wheel; 28. a first baffle plate; 29. a second baffle; 30. a sliding groove; 31. a first roll chamber; 32. a second roll cavity; 33. a first winding roller; 34. a dust-proof film; 35. a first rotating lever; 36. a second winding roller; 37. a block clamping groove; 38. a clamping block; 39. a second motor; 40. a switching chamber; 41. polygonal blocks; 42. a switching block; 43. a polygonal groove; 44. a base; 45. an iron rod; 46. a spline groove; 47. an electromagnet; 48. clinging to the spring; 49. a ring block; 50. a torsion spring; 51. a camera slot; 52. a buffer device; 53. mounting blocks; 54. a fixed block groove; 55. mounting grooves; 56. fixing grooves; 57. fixing grooves; 58. a fixed block; 59. a stabilizing slot; 61. an electric telescopic rod; 62. a buffer tank; 63. welding the plate; 64. a second buffer spring; 65. a pressure sensor; 66. a first buffer spring.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-8, the present invention provides a robotic agricultural picking apparatus based on machine vision inspection, comprising:
The working principle of the technical scheme is as follows: in the in-service use process, the controller passes through running gear 5 and removes to picking the position, and the controller detects out the position of fruit on the fruit tree through visual detection device 3, then picks through picking device 2, and picking device 2 places the fruit after picking on counting assembly 4, and counting assembly 4 accomplishes the count and makes the fruit enter into inside the bin 1 and store.
The beneficial effects of the above technical scheme are that: through the structural design, the walking device 5, the visual detection device 3 and the picking device 2 are matched for picking, so that manual operation and control for picking are avoided, and the intelligent degree is high; meanwhile, in the picking process, the counting device 4 counts picked fruits and confirms the picked quantity.
In one embodiment, a storage chamber 8 is provided in the storage box 1, a buffer plate 9 is provided in the storage chamber 8, the buffer plate 9 is slidably connected in the storage chamber 8, and a buffer spring 10 is provided between the buffer plate 9 and the bottom end of the inner wall of the storage chamber 8.
The working principle and the beneficial effects of the technical scheme are as follows: the fruit enters into storage chamber 8 through counting assembly 4 after, can fall on buffer board 9 to make buffer spring 10 take place deformation, carry out certain buffering to the fruit, avoid the fruit collision to damage, simultaneously at the removal in-process, fruit on the buffer board 9 can cushion through buffer spring 9 when the shock, avoid the fruit to damage in moving.
In one embodiment, the counting device 4 comprises:
a first pipe 12, one end of the first pipe 12 passing through the storage box 1 and being connected to the funnel 11, the other end of the first pipe 12 being connected to one end of a second pipe 18, the other end of the second pipe 18 being communicated with the storage chamber 8;
the counter 13 is arranged on the inner wall of the first pipeline 12, and the counter 13 is electrically connected with the controller;
a buffer pad 14, wherein the buffer pad 14 is arranged at the bottom end of the inner wall of the second pipeline 18.
The working principle and the beneficial effects of the technical scheme are as follows: after the fruit is picked by the picking device 2, the fruit is placed above the funnel 11, the fruit enters the first pipeline 12 through the funnel 11, is counted by the counter 13 in the first pipeline 12, falls on the cushion pad 14 of the second pipeline 18, enters the storage cavity 8 from the second pipeline 18, and after the fruit is picked, the counting device 4 counts the picked fruit to confirm the picked amount.
In one embodiment, the picking apparatus 2 comprises:
The working principle and the beneficial effects of the technical scheme are as follows: after the position of the fruit is determined by the visual detection device 3, the controller controls the robot 6 to drive the electric clamping jaw 7 to the position of the fruit, then the electric clamping jaw 7 is started to finish picking of the fruit, the picking device 2 is matched with the visual detection device 3 to finish picking, manual operation and control are avoided, and the intelligent degree in the picking process is improved; wherein the model of the robot is R6-0308, and the model of the electric clamping jaw 7 is GEP 500.
In one embodiment, the visual inspection device 3 comprises:
the detection block 15 is arranged on the electric clamping jaw 7;
the camera 16 is arranged on the detection block 15, and the camera 16 is electrically connected with the controller.
The working principle and the beneficial effects of the technical scheme are as follows: after determining ripe fruit position through camera 16, controller control picks device 2 and picks, has avoided artifical definite fruit position, provides the intelligent degree of picking in-process.
In one embodiment, the running gear 5 is a crawler chassis.
The working principle and the beneficial effects of the technical scheme are as follows: the crawler chassis can drive the picking robot to move automatically to pick fruits, so that the position of the picking robot is prevented from being manually transferred, wherein the model of the crawler chassis 5 is 3T350 x 54.
In one embodiment, the funnel 11 is made of a rubber material.
The working principle and the beneficial effects of the technical scheme are as follows: the funnel 11 made of rubber material acts as a buffer when the fruit falls from the picking device, avoiding damage to the fruit.
In one embodiment, a camera guard 19 is disposed within the detection block 15, the camera guard 19 comprising:
the camera slot 51, the said camera slot 51 is set up on the said detection block 15, the said camera 16 is set up in the said camera slot 51;
the first motor 20, the first motor 20 is arranged below the camera slot 51, and the first motor 20 is electrically connected with the controller;
the camera slot 51 comprises two baffle holes 22, two baffle holes 22 are formed in the inner wall of the camera slot 51, a first baffle 28 and a second baffle 29 are connected in the two baffle holes 22 in a sliding mode, sliding grooves 30 are formed in the bottom ends of the first baffle 28 and the second baffle 29, and sawteeth are formed in the inner side walls of the sliding grooves 30;
the first roll cavity 31 is arranged in the first baffle 28, the inner wall of the first roll cavity 31 is provided with a second motor 39, and the second motor 39 is electrically connected with the controller;
the first winding roller 33 is sleeved on a rotating shaft, one end of the rotating shaft is connected with the second motor 39, and the other end of the rotating shaft is rotatably connected with the inner wall of the first winding cavity 31;
a latch 38, wherein the latch 38 is arranged on the first baffle 28;
the block groove 37, the block groove 37 is arranged on the second baffle 29, and the block 38 is matched with the block groove 37;
the second rolling cavity 32 is arranged in the second baffle 29, and a switching cavity 40 is arranged on one side of the second rolling cavity 32;
one end of the base 44 is rotatably connected to the inner wall of the switching cavity 40, a spline groove 46 is formed in the other end of the base 44, an electromagnet 47 is arranged in the spline groove 46, and the electromagnet 47 is electrically connected with the controller;
one end of the iron rod 45 is slidably connected into the spline groove 46 through a spline, a clinging spring 48 is arranged between the iron rod 45 and the electromagnet 47, one end of the iron rod 45 is connected with one end of the switching block 42, and the other end of the switching block 42 is provided with a polygonal groove 43;
the annular block 49 is sleeved on the base 44, and a torsion spring 50 is arranged between the annular block 49 and the inner wall of the switching cavity 40;
one end of the first rotating rod 35 is rotatably connected with the inner wall of the second rolling cavity 32, the other end of the first rotating rod 35 extends into the switching cavity 40 to be connected with a polygonal block 41, and the polygonal block 41 is matched with the polygonal groove 43;
the second winding roller 36 is sleeved on the rotating rod 35, and the second winding roller 36 is positioned in the second winding cavity 32;
one end of the dustproof film 34 is connected with the first winding roller 33, and the other end of the dustproof film 34 extends into the second winding cavity 32 and is wound on a second winding roller 36;
the baffle device, the baffle device is located in detecting the piece 15, two adjacent baffle device symmetry is located the both sides of camera groove 51, the baffle device includes:
the meshing cavity 21 is formed in the detection block 15, and the meshing cavity 21 is located on one side of the first motor 20;
one end of the second rotating rod 23 is connected with the first motor 20, and the other end of the second rotating rod 23 extends into the meshing cavity 21 and is connected with a first bevel gear 24;
a third rotating rod 26, one end of the third rotating rod 26 is connected with the second bevel gear 25, the second bevel gear 25 is meshed with the first bevel gear 24, the other end of the third rotating rod 26 extends into the baffle hole 22 to be connected with a sawtooth wheel 27, and the sawtooth wheel 27 is meshed with the sawtooth.
The working principle of the technical scheme is as follows: in practical use, when the visual inspection device is started 2, the controller starts the first motor 20, the first motor 20 drives the first bevel gear 24 to rotate through the second rotating rod 23, the first bevel gear 24 drives the third rotating rod 26 through the second bevel gear 25 to drive the serrated wheel 27 to rotate, the serrated wheel 27 drives the first baffle 28 and the second baffle 29 to move in opposite directions through the serrations, during the movement of the first shutter 28 and the second shutter 29 in opposite directions, the first roller 33 pulls the dustproof film 34 from the second roller 36, when the dust-proof film 34 is pulled out, the second roller 36 will drive the first rotating rod 35 to rotate, the first rotating rod 35 will make the torsion spring 50 to twist and accumulate potential energy through the switching block 42, the iron rod 45, the base 44 and the annular block 49, thereby tightening the dust-proof membrane 34, and when the first 28 and second 29 shutters are moved toward each other, the torsion spring 50 drives the first rotating rod 35 to rewind the dustproof film 34 on the second winding roller 36; after the dustproof film 34 is used for a long time, the electromagnet 47 is started, the electromagnet 47 drives the iron rod 45 to move downwards through magnetic force, the iron rod 45 drives the switching block 42 to move downwards, the polygonal block 41 leaves the polygonal groove 43, then the second motor 39 is started, the second motor 39 drives the first roller 33 to rotate, the dustproof film 34 which is used for a long time is collected, the dustproof film which is used for a long time is wound on the first roller 33, the dustproof film 34 which is not used on the second roller 36 is used, then the electromagnet 47 is closed, the polygonal block 41 enters the polygonal groove 43 again, and replacement of the dustproof film 34 is completed, wherein the dustproof film 34 is an optical film.
The beneficial effects of the above technical scheme are that: through the design of the structure, in the actual use process, when the visual inspection device 3 is not used, the first baffle 28 and the second baffle 29 are tightly attached together, so that the camera 16 is protected in the camera groove 51, and the camera is prevented from being damaged; during the use of the visual inspection device, the first baffle 28 and the second baffle 29 are unfolded to expose the camera 16, and the dustproof film 34 is pulled out between the two baffles, so that dust is prevented from being accumulated on the lens of the camera 16, the visual inspection capability of the camera 16 is reduced, and the detection capability of the fruit is influenced; when the dust on the dustproof film 34 affects the visual detection capability of the camera 16, the camera protection device 19 can automatically replace the protective film 34, so that the intelligent degree of the picking machine is improved when the protective film 34 accumulates dust to affect the visual detection capability of the camera 16; and when picking device 2 was picked, when camera 16 detected that the distance of electronic clamping jaw 7 from the fruit was less than the default, the controller can make two baffles fold, protected camera 16, avoided the branch of fruit tree to pass dust-proof membrane 34 and scraped the camera lens flower or damage.
In one embodiment, a damping device 52 is further disposed on the electric clamping jaw 7, and the damping device 52 includes:
the buffer groove 62 is arranged on the electric clamping jaw 7, the bottom end of the inner wall of the buffer groove 63 is provided with a pressure sensor 65, and the pressure sensor 65 is electrically connected with the controller;
the mounting block 53 is arranged in the buffer groove 62, a mounting groove 55 is formed in the top end of the mounting block 53, a welding plate 63 is arranged at the bottom end of the mounting block 53, a plurality of first buffer springs 66 are arranged between the welding plate 63 and the pressure sensor 65, and a plurality of second buffer springs 64 are arranged between the side wall of the mounting block 53 and the inner wall of the buffer groove 62;
two fixing grooves 56 are arranged on the inner wall of the mounting groove 55, a fixing block 58 is connected in the fixing groove 56 in a sliding manner, and a fixing spring 57 is arranged between the fixing block 58 and the inner wall of the fixing groove 57;
the two fixing block grooves 54 are formed in the detection block 15;
two stabilizing grooves 59, two stabilizing grooves 59 are arranged on the outer wall of the mounting block 53;
and the electric telescopic rods 61 are arranged on the inner wall of the buffer groove 62, and the electric telescopic rods 61 are electrically connected with the controller.
The working principle of the technical scheme is as follows: in the actual use process, the detection block 3 is pressed into the mounting groove 55, so that the fixing block 58 is clamped in the fixing block groove 54, and the mounting of the detection block 3 is completed; when the picking device 2 picks, the electric clamping jaw 7 generates vibration in the moving process and the walking process of the picking robot, and when the vibration is not large, the vibration in each direction is buffered by the first buffer spring 66 and the second buffer spring 64 between the mounting block 53 and the picking robot when acting on the detection block 15, so that the stability of the detection block 15 is maintained; when vibrations are too big, in the buffering process of the first buffer spring 66, when the pressure value detected by the pressure sensor 65 is too big in difference with the preset value, the controller starts the electric telescopic rod 61, so that the electric telescopic rod 61 extends into the stabilizing groove 59, the mounting block 53 and the electric clamping jaw 7 are fixed together, and the detection block 15 is prevented from being thrown out.
The beneficial effects of the above technical scheme are that: through the design of the structure, the installation and the disassembly of the detection block 15 can be facilitated through the installation groove 62 of the buffer device 52, and the internal camera 16 can be conveniently overhauled and maintained; during the use, the slight vibration that picking device 2 and picking robot produced can be absorbed by buffer 52, avoids detecting camera 16 vibrations in piece 15 and influences camera focus, leads to camera 16 can't fix a position the fruit.
In one embodiment, the top end of the storage box 1 is provided with a camera, the camera is connected with the controller, the number of the fruits on the fruit tree is detected by the camera before picking, so that whether the picking robot completely picks the fruits or not is monitored in real time, and the following steps are carried out:
step 1: after the controller controls the traveling device 5 to reach the designated position, the controller controls the camera to photograph the fruit trees to obtain fruit tree images;
step 2: dividing the fruit tree image in the step 1 into w parts, and performing binarization processing and noise removal;
and step 3: the number of the pixel points of the mature fruit is measured to be x, and the pixel points of each part of the fruit are counted to be y1，y2，y3…yw；
And 4, step 4: the fruit number per part is obtained by the following formula:
wherein mu is a uniform element of a fruit individual, xmaxThe number of pixels of the largest fruit;
and 5: adding the fruit numbers of all parts to obtain the total fruit number Kj；
Step 6: after picking is completed, the real number S of the fruit obtained by the counting device 2 is compared with the total number K of the fruit, wherein the real number S of the fruit is smaller than the total number K of the fruit, and the controller controls the visual detection device 3 to detect the fruit tree again.
The working principle of the technical scheme is as follows: in the actual use process, after a picking position is reached, the fruit trees are shot through the camera, then an image of the fruit trees is obtained, the image of the fruit trees is processed, so that the total number K of the fruit trees is obtained, the number of the fruits picked by the picking device 2 at the position, namely the real number S of the fruit obtained by the counting device 2 at this time, is compared with the total number K of the fruit trees, and if the real number S of the fruit at the position is smaller than the total number K of the fruit trees, the visual detection device 3 detects the fruit trees again.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, this time fruit real number S that obtains through counting assembly 2 compares with fruit total number K, and when this fruit real number S was less than fruit total number K, visual detection device 3 detected the fruit tree once more, avoided visual detection device 3 to have the missed detection ripe fruit to lead to picking the rate to reduce.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (9)
1. A device is picked to robot agriculture based on machine vision detects which characterized in that includes:
bin (1), bin (1) bottom is equipped with running gear (5), be equipped with counting assembly (4) on bin (1), bin (1) top is equipped with picks device (2), be equipped with visual detection device (3) on picking device (2), it all is connected with the controller electricity to pick device (2), visual detection device (3) and running gear (5).
2. A robotic agricultural picking device based on machine vision inspection according to claim 1,
be equipped with in bin (1) and store chamber (8), be equipped with buffer board (9) in storing chamber (8), buffer board (9) sliding connection in store chamber (8), buffer board (9) with be equipped with buffer spring (10) between the inner wall bottom of storing chamber (8).
3. A robotic agricultural picking device based on machine vision inspection according to claim 2,
the counting device (4) comprises:
a first pipeline (12), wherein one end of the first pipeline (12) penetrates through the storage box (1) to be connected with a funnel (11), the other end of the first pipeline (12) is connected with one end of a second pipeline (18), and the other end of the second pipeline (18) is communicated with the storage cavity (8);
the counter (13), the counter (13) is arranged on the inner wall of the first pipeline (12), and the counter (13) is electrically connected with the controller;
the buffer pad (14), the buffer pad (14) is arranged at the bottom end of the inner wall of the second pipeline (18).
4. A robotic agricultural picking device based on machine vision inspection according to claim 1,
the picking device (2) comprises:
robot (6), the one end of robot (6) is located bin (1) top, the other end of robot (6) is equipped with electronic clamping jaw (7), robot (6) electronic clamping jaw (7) all with the controller electricity is connected, visual detection device (3) are located on electronic clamping jaw (7).
5. A robotic agricultural picking device based on machine vision inspection according to claim 4,
the visual inspection device (3) comprises:
the detection block (15), the detection block (15) is arranged on the electric clamping jaw (7);
the camera (16) is arranged on the detection block (15), and the camera (16) is electrically connected with the controller.
6. A robotic agricultural picking device based on machine vision inspection according to claim 1,
the walking device (5) is a crawler chassis.
7. A robotic agricultural picking device based on machine vision inspection according to claim 1,
the funnel (11) is made of rubber material.
8. A robotic agricultural picking device based on machine vision inspection according to claim 5,
be equipped with camera protector (19) in detecting piece (15), camera protector (19) include:
the camera groove (51), the camera groove (51) is arranged on the detection block (15), and the camera (16) is arranged in the camera groove (51);
the first motor (20), the first motor (20) is arranged below the camera slot (51), and the first motor (20) is electrically connected with the controller;
the camera comprises a baffle hole (22), wherein two baffle holes (22) are formed in the inner wall of the camera groove (51), a first baffle (28) and a second baffle (29) are respectively connected in the two baffle holes (22) in a sliding manner, sliding grooves (30) are formed in the bottom ends of the first baffle (28) and the second baffle (29), and sawteeth are formed in the inner side wall of each sliding groove (30);
the first coil cavity (31), the first coil cavity (31) is arranged in the first baffle (28), the inner wall of the first coil cavity (31) is provided with a second motor (39), and the second motor (39) is electrically connected with the controller;
the first winding roller (33) is sleeved on a rotating shaft, one end of the rotating shaft is connected with the second motor (39), and the other end of the rotating shaft is rotatably connected with the inner wall of the first winding cavity (31);
the fixture block (38), the fixture block (38) is arranged on the first baffle plate (28);
the clamping block groove (37), the clamping block groove (37) is formed in the second baffle plate (29), and the clamping block (38) is matched with the clamping block groove (37);
the second rolling cavity (32), the second rolling cavity (32) is arranged in the second baffle (29), and a switching cavity (40) is arranged on one side of the second rolling cavity (32);
one end of the base (44) is rotatably connected to the inner wall of the switching cavity (40), a spline groove (46) is formed in the other end of the base (44), an electromagnet (47) is arranged in the spline groove (46), and the electromagnet (47) is electrically connected with the controller;
one end of the iron rod (45) is slidably connected into the spline groove (46) through a spline, a clinging spring (48) is arranged between the iron rod (45) and the electromagnet (47), one end of the iron rod (45) is connected with one end of the switching block (42), and the other end of the switching block (42) is provided with a polygonal groove (43);
the annular block (49) is sleeved on the base (44), and a torsion spring (50) is arranged between the annular block (49) and the inner wall of the switching cavity (40);
one end of the first rotating rod (35) is rotatably connected with the inner wall of the second rolling cavity (32), the other end of the first rotating rod (35) extends into the switching cavity (40) to be connected with a polygonal block (41), and the polygonal block (41) is matched with the polygonal groove (43);
the second winding roller (36) is sleeved on the rotating rod (35), and the second winding roller (36) is positioned in the second winding cavity (32);
one end of the dustproof film (34) is connected with the first winding roller (33), and the other end of the dustproof film (34) extends into the second winding cavity (32) and is wound on a second winding roller (36);
the baffle device is arranged in the detection block (15), two adjacent baffle devices are symmetrically arranged on two sides of the camera slot (51), and the baffle device comprises:
the meshing cavity (21), the meshing cavity (21) is arranged in the detection block (15), and the meshing cavity (21) is positioned on one side of the first motor (20);
one end of the second rotating rod (23) is connected with the first motor (20), and the other end of the second rotating rod (23) extends into the meshing cavity (21) and is connected with a first bevel gear (24);
third dwang (26), the one end of third dwang (26) with second bevel gear (25) are connected, second bevel gear (25) with first bevel gear (24) meshing, the other end of third dwang (26) stretches into in baffle hole (22) and is connected with sawtooth wheel (27), sawtooth wheel (27) with the sawtooth meshing.
9. A robotic agricultural picking device based on machine vision inspection according to claim 1,
still be equipped with buffer (52) on electronic clamping jaw (7), buffer (52) include:
the buffer groove (62) is formed in the electric clamping jaw (7), the bottom end of the inner wall of the buffer groove (63) is provided with a pressure sensor (65), and the pressure sensor (65) is electrically connected with the controller;
the mounting block (53) is arranged in the buffer groove (62), a mounting groove (55) is formed in the top end of the mounting block (53), a welding plate (63) is arranged at the bottom end of the mounting block (53), a plurality of first buffer springs (66) are arranged between the welding plate (63) and the pressure sensor (65), and a plurality of second buffer springs (64) are arranged between the side wall of the mounting block (53) and the inner wall of the buffer groove (62);
the fixing device comprises fixing grooves (56), two fixing grooves (56) are arranged on the inner wall of the mounting groove (55), fixing blocks (58) are connected in the fixing grooves (56) in a sliding mode, and fixing springs (57) are arranged between the fixing blocks (58) and the inner wall of the fixing grooves (57);
the two fixing block grooves (54) are arranged on the detection block (15);
the two stabilizing grooves (59) are arranged on the outer wall of the mounting block (53);
electric telescopic handle (61), two electric telescopic handle (61) are located on the inner wall of dashpot (62), electric telescopic handle (61) with the controller electricity is connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210201097.7A CN114586545B (en) | 2022-03-03 | 2022-03-03 | Robot agricultural picking device based on machine vision detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210201097.7A CN114586545B (en) | 2022-03-03 | 2022-03-03 | Robot agricultural picking device based on machine vision detection |
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| CN114586545B CN114586545B (en) | 2023-01-17 |
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| CN210808316U (en) * | 2019-07-31 | 2020-06-23 | 安徽科技学院 | Agricultural fruit picking robot |
| CN111567222A (en) * | 2020-06-16 | 2020-08-25 | 重庆科创职业学院 | Robot agricultural picking device based on machine vision detection |
| CN111727740A (en) * | 2020-07-31 | 2020-10-02 | 广州极飞科技有限公司 | Picking device and unmanned picking equipment |
| CN214545736U (en) * | 2021-02-05 | 2021-11-02 | 安徽科技学院 | Robot agricultural picking device based on machine vision detection |
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| CN101669423A (en) * | 2009-10-13 | 2010-03-17 | 江苏大学 | End effector of fruit picking robot |
| CN103947380A (en) * | 2014-04-18 | 2014-07-30 | 金陵科技学院 | Double-arm fruit picking robot and fruit picking method |
| CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
| CN108551871A (en) * | 2018-06-23 | 2018-09-21 | 东莞理工学院 | A kind of fruit picking that can accurately search fruit position |
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| CN114586545B (en) | 2023-01-17 |
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