CN114711042B - Automatic grape spica removing and shaping device based on image recognition - Google Patents
Automatic grape spica removing and shaping device based on image recognition Download PDFInfo
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- CN114711042B CN114711042B CN202210347444.7A CN202210347444A CN114711042B CN 114711042 B CN114711042 B CN 114711042B CN 202210347444 A CN202210347444 A CN 202210347444A CN 114711042 B CN114711042 B CN 114711042B
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- 238000007493 shaping process Methods 0.000 title claims abstract description 34
- 235000009754 Vitis X bourquina Nutrition 0.000 title claims abstract description 28
- 235000012333 Vitis X labruscana Nutrition 0.000 title claims abstract description 28
- 235000014787 Vitis vinifera Nutrition 0.000 title claims abstract description 28
- 240000006365 Vitis vinifera Species 0.000 title 1
- 241000219095 Vitis Species 0.000 claims abstract description 27
- 230000000670 limiting effect Effects 0.000 claims description 16
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 10
- 244000309464 bull Species 0.000 description 5
- 230000002829 reductive effect Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an automatic grape spike removing and shaping device based on image recognition, and relates to the technical field of grape spikes.
Description
Technical Field
The invention relates to the field of grape spica, in particular to an automatic grape spica removing and shaping device based on image recognition.
Background
The grape spica belongs to the category of small targets, the grape spica is dense in length and serious in shielding, so that a renovating worker spends a large amount of time to search when shaping the grape spica, and the workload of shaping the grape spica by using the method is large in judgment, but the current automatic spica removing and shaping device for the grape spica cannot accurately judge the grape spica due to the fact that the shielding between the spica and the spica is serious, and therefore the automatic spica removing and shaping device for the grape spica based on image recognition is provided.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic grape flower spike removing and shaping device based on image recognition, which comprises a flat plate, a moving mechanism, a shaping component and a laser radar, wherein the moving mechanism is arranged at the bottom of the flat plate, the shaping component is arranged at the top of the flat plate, and the laser radar is fixedly arranged on the left side of the top of the flat plate;
the flat plate comprises a supporting rod, a rotating disc, a circular block, a first connecting block, a first fixing rod, a support plate and a photographic mechanism, wherein the supporting rod is fixedly connected to the top of the flat plate, the rotating disc is rotatably connected to the top of the supporting rod, the circular block is fixedly connected to the top of the rotating disc, the circular block is rotatably connected with the supporting rod through the rotating disc, the first connecting block is fixedly installed at the top of the circular block, a first circular opening is formed in the first connecting block, the first fixing rod is fixedly connected to the inside of the first circular opening, the support plate is rotatably connected to the outer surface of the first fixing rod, and the photographic mechanism is arranged at the top of the support plate.
Further, photographic mechanism includes protection shield, fixed block one, annular piece, camera, connecting plate one, branch and sunshading board, a fixed block fixed mounting is at the protection shield internal surface, and the shape of fixed block one is the arc, fixed block one and protection shield and the mutual adaptation of annular piece, the camera passes through annular piece and a fixed block fixed connection, connecting plate one sets up in the camera bottom, a connecting plate bottom and mounting panel top fixed connection, a connecting plate rotates through one mounting panel and dead lever to be connected, a connecting plate passes through annular piece and camera fixed connection, branch fixed connection is at protection shield left end surface, the sunshading board passes through branch and protection shield fixed connection, and is three one side fixedly connected with little sunshade that the sunshading board is close to each other.
Further, the shaping assembly comprises a second fixed block, a rotating block, a cylindrical rod, a hydraulic press, an ejector rod, a long rod, a baffle plate, a second connecting block and a laser emitter, the second fixed block is fixedly mounted at the top of the flat plate, the rotating block is rotatably connected to the top of the second fixed block, the second fixed block is connected with the camera through a data transmission line, the cylindrical rod is fixedly connected to the center shaft of the top of the rotating block and is rotatably connected with the second fixed block through the rotating block, the hydraulic press is fixedly connected to the bottom of the inner wall of the cylindrical rod, the ejector rod is arranged at the top of the hydraulic press, the long rod is arranged inside the cylindrical rod, the baffle plate is fixedly mounted at the top of the long rod, the diameter distance of the baffle plate is larger than that of the cylindrical rod, a square opening is formed in the center shaft of the upper end of the long rod, the bottom end of the long rod is fixedly connected with the top end of the ejector rod, the top of the second connecting block is fixedly connected with a clamping rod, the top of the inner wall of the clamping rod is fixedly connected with the square opening, the second connecting block is fixedly mounted inside the square opening, the rotating rod, and the laser emitter is arranged on one side, which is far away from the long rod, and is rotatably connected with the second connecting block through the connecting block.
Further, moving mechanism includes connecting block three, locating lever, restriction lever and fixed block three, three inside circular mouthful two that are provided with of connecting block, locating lever fixed mounting is inside circular mouthful two, the restriction lever passes through locating lever and three fixed connection of connecting block, two one side that the restriction lever is close to each other is provided with fixed block three.
Further, fixed block three includes concave template, atress pole and arc, fixed block three is connected through the bull stick and the rotation of restriction pole, three shapes of fixed block are the pentagon, concave type board fixed mounting is at three surfaces of fixed block, concave template passes through fixed block three and is connected with the bull stick rotation, atress pole fixed connection is at concave template top, the bull stick is connected with power component, both sides and restriction pole side mutual contact about the arc, arc fixed mounting is on atress pole top.
Further, the round block comprises a hydraulic push rod, a round sleeve block, a round rod and a connecting plate II, the hydraulic push rod is fixedly installed on the left side of the round block, the hydraulic push rod and the round rod are connected through rotation of the round sleeve block, the round sleeve block is fixedly connected to the top end of the hydraulic push rod, the round sleeve block is rotatably connected to the outer surface of the round rod, the round rod is arranged inside the round sleeve block, the connecting plate II is fixedly connected to the front end and the rear end of the round rod, and the top end of the connecting plate II is fixedly connected with the bottom of the connecting plate I.
The invention has the following beneficial effects:
according to the grape tassel shaping device, the camera can transmit the shot picture to the second fixed block through the data transmission pipe through the shooting mechanism, so that whether the grape tassels need to be shaped and cut is judged, the camera can rotate in multiple angles, more positions can be shot, the grape tassels can be shaped and cut in a phase-changing mode, the problem that the shot pictures are incomplete due to the fact that the camera is interfered by sunlight when shooting is conducted can be avoided through the sun shield, the protection effect on the sunlight can be further improved through the small shield, the camera can be limited to the fixed position through the cooperation of the annular block and the first connecting plate, and the problem that the camera can fall off accidentally is avoided.
According to the invention, the round block can push the second connecting plate out by means of the hydraulic push rod positioned on the left side of the round block, so that the camera is pushed, the round sleeve block can adjust the round block to a certain degree according to the angle of the first connecting plate, and the round rod can be fixedly connected with the first connecting plate while being fixed by the second connecting plate, so that the first connecting plate can be pushed by the hydraulic push rod.
According to the invention, the third fixed block drives the concave plate to rotate under the influence of the power element through the moving mechanism, the arc plate rotates under the influence of the stress rod, the influence of soil moisture on moving can be greatly reduced due to the arc angle of the arc plate, the third fixed block can be limited in the middle of the third fixed block through the limiting rod, so that the stability in rotating is increased, the power element can be protected, the gravity of the third fixed block can be reduced due to the open type in the middle of the concave plate, the power required by the power element for driving the third fixed block to move can be further reduced, and the consumption of resources can be reduced to a certain extent.
According to the grape flower spike shaping device, the laser transmitters can be driven to rotate in all directions through the shaping assembly, so that grape flower spikes at any position can be shaped, the shaping efficiency is increased to the maximum extent, the laser transmitters can be retracted into the cylindrical rod for protection, the phenomenon that the laser transmitters are damaged or are damaged due to splashing of water is avoided, the effect of stretching the laser transmitters can be achieved by pushing the ejector rods through the hydraulic press, and the two laser transmitters can be positioned and the fixing effect of the two laser transmitters can be increased through the second connecting block.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the flat panel of the present invention;
FIG. 3 is an enlarged partial view of A of FIG. 2 according to the present invention;
FIG. 4 is a schematic view of the overall structure of the photographing mechanism according to the present invention;
FIG. 5 is a schematic view of the overall construction of the fairing assembly of the present invention;
FIG. 6 is a schematic view of the overall structure of the moving mechanism of the present invention;
fig. 7 is a schematic view of the overall structure of a third fixing block according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a flat plate; 11. a support bar; 12. rotating the disc; 13. a circular block; 131. a hydraulic push rod; 132. a circular sleeve block; 133. a round bar; 134. a second connecting plate; 14. a first connecting block; 15. fixing a rod I; 16. a mounting plate; 17. a photographing mechanism; 171. a protection plate; 172. a first fixed block; 173. a ring block; 174. a camera; 175. a first connecting plate; 176. a strut; 177. a sun visor; 2. a moving mechanism; 21. connecting blocks III; 22. positioning a rod; 23. a restraining bar; 24. a third fixed block; 241. a concave plate; 242. a stress beam; 243. an arc-shaped plate; 3. a shaping component; 31. a second fixing block; 32. rotating the block; 33. a cylindrical rod; 34. a hydraulic press; 35. a top rod; 36. a long rod; 37. a baffle plate; 38. a second connecting block; 39. a laser transmitter; 4. a laser radar.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Example 1
Referring to fig. 1-6, the invention relates to an automatic grape tassel removing and shaping device based on image recognition, which comprises a flat plate 1, a moving mechanism 2, a shaping component 3 and a laser radar 4, wherein the moving mechanism 2 is arranged at the bottom of the flat plate 1, the shaping component 3 is arranged at the top of the flat plate 1, and the laser radar 4 is fixedly arranged at the left side of the top of the flat plate 1;
the flat plate 1 comprises a supporting rod 11, a rotating disc 12, a circular block 13, a first connecting block 14, a first fixing rod 15, a support plate 16 and a photographing mechanism 17, wherein the supporting rod 11 is fixedly connected to the top of the flat plate 1, the rotating disc 12 is rotatably connected to the top of the supporting rod 11, the circular block 13 is fixedly connected to the top of the rotating disc 12, the first connecting block 14 is fixedly installed at the top of the circular block 13, a first circular opening is formed in the first connecting block 14, the first fixing rod 15 is fixedly connected to the inner portion of the first circular opening, the support plate 16 is rotatably connected to the outer surface of the first fixing rod 15, and the photographing mechanism 17 is arranged at the top of the support plate 16;
the circular block 13 is rotatably connected with the support rod 11 through a rotating disc 12.
The photographing mechanism 17 comprises a protection plate 171, a first fixed block 172, a ring block 173, a camera 174, a first connecting plate 175, a support rod 176 and a sun shield 177, wherein the first fixed block 172 is fixedly arranged on the inner surface of the protection plate 171, the camera 174 is fixedly connected with the first fixed block 172 through the ring block 173, the first connecting plate 175 is arranged at the bottom of the camera 174, the support rod 176 is fixedly connected with the outer surface of the left end of the protection plate 171, the sun shield 177 is fixedly connected with the protection plate 171 through the support rod 176, and the camera 174 can transmit the shot pictures to a second fixed block 31 through a data transmission pipe through the photographing mechanism 17 so as to judge whether the grape tassels need to be reshaped and cut off or not;
the three mutually close sides of the sun shield 177 are fixedly connected with small shield plates, the first connecting plate 175 is fixedly connected with the camera 174 through the annular block 173, the problem that the camera 174 is interfered by sunlight when shooting, so that the shooting picture is incomplete can be avoided through the sun shield 177, and the small shield plates can further increase the protection effect on the sunlight.
The shape of fixed block 172 is the arc, fixed block 172 and protection shield 171 and annular piece 173 mutual adaptation, connecting plate 175 bottom and mounting plate 16 top fixed connection, connecting plate 175 is connected with dead lever 15 through mounting plate 16 rotation, through annular piece 173, can cooperate with connecting plate 175 and restrict camera 174 in fixed position, has avoided its problem that can appear unexpected dropping to appear.
The shaping component 3 comprises a second fixed block 31, a rotating block 32, a cylindrical rod 33, a hydraulic press 34, an ejector rod 35, a long rod 36, a baffle plate 37, a second connecting block 38 and a laser emitter 39, wherein the rotating block 32 is rotatably connected to the top of the second fixed block 31, the cylindrical rod 33 is fixedly connected to the center shaft of the top of the rotating block 32, the hydraulic press 34 is fixedly connected to the bottom of the inner wall of the cylindrical rod 33, the ejector rod 35 is arranged at the top of the hydraulic press 34, the long rod 36 is arranged inside the cylindrical rod 33, the baffle plate 37 is fixedly arranged at the top of the long rod 36, a square opening is formed in the center shaft of the upper end of the long rod 36, the second connecting block 38 is fixedly arranged inside the square opening, the laser emitter 39 is arranged on one side of the second connecting block 38 far away from the long rod 36, the shaping component 3 can drive the laser emitter 39 to rotate in an omnibearing manner, and can further shape grape spigots at any position, shaping efficiency is greatly increased, and the laser emitter 39 can be retracted into the cylindrical rod 33 to protect the laser emitter 39 from being damaged or splashed with water;
36 bottom and the ejector pin 35 top fixed connection of stock, two 38 tops fixedly connected with kellies in the connecting block, kellies top and square mouth inner wall top fixed connection through two 38 of connecting block, can fix a position and increase the fixed effect to it two laser emitter 39 simultaneously.
The second fixed block 31 is connected with the camera 174 through a data transmission line, the diameter distance of the baffle 37 is greater than that of the cylindrical rod 33, and the cylindrical rod 33 is rotatably connected with the second fixed block 31 through a rotating block 32;
the laser emitter 39 is rotatably connected with the second connecting block 38 through a rotating rod, and the second fixing block 31 is fixedly mounted at the top of the flat plate 1.
Moving mechanism 2 includes three 21 of connecting block, locating lever 22, limiting rod 23 and three 24 of fixed block, the inside circular mouth two that is provided with of three 21 of connecting block, locating lever 22 fixed mounting is inside two circular mouths, limiting rod 23 passes through locating lever 22 and three 21 fixed connection of connecting block, two one side that limiting rod 23 is close to each other is provided with three 24 of fixed block, crosses moving mechanism 2, and three 24 of fixed block drive concave plate 241 under power component's influence and rotate, and arc 243 rotates under the influence of atress pole 242, because the curved angle setting of arc 243, can reduce to a great extent and receive the influence of soil humidity when removing.
The fixed block III 24 comprises a concave plate 241, a stress rod 242 and an arc plate 243, the fixed block III 24 is rotatably connected with the limiting rod 23 through a rotating rod, the fixed block III 24 is pentagonal, the concave plate 241 is fixedly arranged on the outer surface of the fixed block III 24, the stress rod 242 is fixedly connected to the top of the concave plate 241, the arc plate 243 is fixedly arranged at the top end of the stress rod 242, the fixed block III 24 can be limited in the middle through the limiting rod 23, so that the stability during rotation is improved, and power elements can be protected;
Example 2
Referring to fig. 1-7, the invention relates to an automatic grape tassel removing and shaping device based on image recognition, which comprises a flat plate 1, a moving mechanism 2, a shaping component 3 and a laser radar 4, wherein the moving mechanism 2 is arranged at the bottom of the flat plate 1, the shaping component 3 is arranged at the top of the flat plate 1, and the laser radar 4 is fixedly arranged at the left side of the top of the flat plate 1;
the flat plate 1 comprises a supporting rod 11, a rotating disc 12, a circular block 13, a first connecting block 14, a first fixing rod 15, a support plate 16 and a photographing mechanism 17, wherein the supporting rod 11 is fixedly connected to the top of the flat plate 1, the rotating disc 12 is rotatably connected to the top of the supporting rod 11, the circular block 13 is fixedly connected to the top of the rotating disc 12, the first connecting block 14 is fixedly installed at the top of the circular block 13, a first circular opening is formed in the first connecting block 14, the first fixing rod 15 is fixedly connected to the inner portion of the first circular opening, the support plate 16 is rotatably connected to the outer surface of the first fixing rod 15, and the photographing mechanism 17 is arranged at the top of the support plate 16;
the circular block 13 is rotatably connected with the support rod 11 through a rotating disc 12.
The photographic mechanism 17 comprises a protective plate 171, a first fixing block 172, an annular block 173, a camera 174, a first connecting plate 175, a support rod 176 and a sun shield 177, wherein the first fixing block 172 is fixedly arranged on the inner surface of the protective plate 171, the camera 174 is fixedly connected with the first fixing block 172 through the annular block 173, the first connecting plate 175 is arranged at the bottom of the camera 174, the support rod 176 is fixedly connected to the outer surface of the left end of the protective plate 171, and the sun shield 177 is fixedly connected with the protective plate 171 through the support rod 176;
the three sun-shading plates 177 are fixedly connected with small shading plates at the sides close to each other, and the first connecting plate 175 is fixedly connected with the camera 174 through an annular block 173.
The first fixing block 172 is arc-shaped, the first fixing block 172 is matched with the protection plate 171 and the annular block 173, the bottom of the first connecting plate 175 is fixedly connected with the top of the support plate 16, and the first connecting plate 175 is rotatably connected with the first fixing rod 15 through the support plate 16.
The shaping assembly 3 comprises a second fixed block 31, a rotating block 32, a cylindrical rod 33, a hydraulic press 34, an ejector rod 35, a long rod 36, a baffle plate 37, a second connecting block 38 and a laser emitter 39, wherein the rotating block 32 is rotatably connected to the top of the second fixed block 31, the cylindrical rod 33 is fixedly connected to a central shaft at the top of the rotating block 32, the hydraulic press 34 is fixedly connected to the bottom of the inner wall of the cylindrical rod 33, the ejector rod 35 is arranged at the top of the hydraulic press 34, the long rod 36 is arranged inside the cylindrical rod 33, the baffle plate 37 is fixedly arranged at the top of the long rod 36, a square opening is formed in the central shaft at the upper end of the long rod 36, the second connecting block 38 is fixedly arranged inside the square opening, the laser emitter 39 is arranged on one side of the second connecting block 38 far away from the long rod 36, and the hydraulic press 34 can achieve the effect of extending and retracting the laser emitter 39 by pushing the ejector rod 35;
the bottom end of the long rod 36 is fixedly connected with the top end of the ejector rod 35, the top of the second connecting block 38 is fixedly connected with a clamping rod, and the top of the clamping rod is fixedly connected with the top of the inner wall of the square opening.
The second fixed block 31 is connected with the camera 174 through a data transmission line, the diameter distance of the baffle 37 is greater than that of the cylindrical rod 33, and the cylindrical rod 33 is rotatably connected with the second fixed block 31 through a rotating block 32;
the laser emitter 39 is rotatably connected with the second connecting block 38 through a rotating rod, and the second fixing block 31 is fixedly installed at the top of the flat plate 1.
The moving mechanism 2 comprises a third connecting block 21, a third positioning rod 22, a third limiting rod 23 and a third fixing block 24, a second circular opening is formed in the third connecting block 21, the positioning rod 22 is fixedly installed in the second circular opening, the third limiting rod 23 is fixedly connected with the third connecting block 21 through the positioning rod 22, and the third fixing block 24 is arranged on one side, close to each other, of the two third limiting rods 23.
The third fixed block 24 comprises a concave plate 241, a stress rod 242 and an arc plate 243, the third fixed block 24 is rotatably connected with the limiting rod 23 through a rotating rod, the third fixed block 24 is pentagonal, the concave plate 241 is fixedly arranged on the outer surface of the third fixed block 24, the stress rod 242 is fixedly connected to the top of the concave plate 241, and the arc plate 243 is fixedly arranged at the top end of the stress rod 242;
the concave plate 241 is rotatably connected with a rotating rod through a third fixing block 24, the rotating rod is connected with a power element, and the left side and the right side of the arc-shaped plate 243 are in mutual contact with the side surfaces of the limiting rods 23.
The top end of the second connecting plate 134 is fixedly connected with the bottom of the first connecting plate 175, the circular sleeve block 132 is rotatably connected to the outer surface of the circular rod 133, the hydraulic push rod 131 is rotatably connected with the circular rod 133 through the circular sleeve block 132, and the circular rod 133 can be fixedly connected with the first connecting plate 175 while being fixed through the second connecting plate 134, so that the first connecting plate 175 can be pushed by the hydraulic push rod 131.
One specific application of this embodiment is: the third fixed block 24 drives the concave plate 241 to rotate under the influence of a power element, the arc plate 243 rotates under the influence of the stress rod 242, so that the effect of moving the flat plate 1 is achieved, the camera 174 is started at the moment, when the position of the camera 174 needs to be raised, the hydraulic push rod 131 is started, the circular sleeve block 132 moves outwards under the influence of the hydraulic push rod 131, the bottom of the first connecting plate 175 is pushed by the second connecting plate 134 to drive the camera 174 to move upwards, so that the effect of inclining the camera 174 is achieved, the rotating disc 12 can drive the first connecting plate 175 to rotate through the circular block 13 and the support plate 16, so that the effect of rotating and positioning the camera 174 is achieved, so that more positions can be photographed, the distance between a target and the camera 174 can be measured by the laser radar 4, data can be transmitted into the second fixed block 31 through the data infusion tube, the real target fixed point position can be calculated by combining the central point coordinate, the ejector rod 35 is driven by the hydraulic press 34 to eject the long rod 36 to the outside, the laser emitter is then rotated to the proper position, and the laser emitter 39 is then rotated to control the laser spike.
It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by one of ordinary skill in the art and related arts based on the embodiments of the present invention without any creative effort, shall fall within the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (5)
1. The utility model provides an automatic ear of grain shaping device that removes of grape spica based on image recognition, includes dull and stereotyped (1), moving mechanism (2), plastic subassembly (3) and laser radar (4), its characterized in that: the moving mechanism (2) is arranged at the bottom of the flat plate (1), the shaping assembly (3) is arranged at the top of the flat plate (1), and the laser radar (4) is fixedly arranged on the left side of the top of the flat plate (1);
the flat plate (1) comprises a supporting rod (11), a rotating disc (12), a circular block (13), a first connecting block (14), a first fixing rod (15), a support plate (16) and a photographing mechanism (17), wherein the supporting rod (11) is fixedly connected to the top of the flat plate (1), the rotating disc (12) is rotatably connected to the top of the supporting rod (11), the circular block (13) is fixedly connected to the top of the rotating disc (12), the first connecting block (14) is fixedly installed at the top of the circular block (13), a first circular opening is formed in the first connecting block (14), the first fixing rod (15) is fixedly connected to the inner portion of the first circular opening, the support plate (16) is rotatably connected to the outer surface of the first fixing rod (15), and the photographing mechanism (17) is arranged at the top of the support plate (16);
the round block (13) is rotatably connected with the support rod (11) through a rotating disc (12);
the moving mechanism (2) comprises a third connecting block (21), a second positioning rod (22), a limiting rod (23) and a third fixing block (24), a round opening is formed in the third connecting block (21), the positioning rod (22) is fixedly installed in the second round opening, the limiting rod (23) is fixedly connected with the third connecting block (21) through the positioning rod (22), and the third fixing block (24) is arranged on one side, close to each other, of the two limiting rods (23);
the fixing block III (24) comprises a concave plate (241), a stress rod (242) and an arc-shaped plate (243), the fixing block III (24) is rotatably connected with the limiting rod (23) through a rotating rod, the fixing block III (24) is pentagonal, the concave plate (241) is fixedly installed on the outer surface of the fixing block III (24), the stress rod (242) is fixedly connected to the top of the concave plate (241), and the arc-shaped plate (243) is fixedly installed at the top end of the stress rod (242);
the concave plate (241) is rotatably connected with a rotating rod through a third fixing block (24), the rotating rod is connected with a power element, and the left side and the right side of the arc-shaped plate (243) are mutually contacted with the side surface of the limiting rod (23);
the round block (13) comprises a hydraulic push rod (131), a round sleeve block (132), a round rod (133) and a second connecting plate (134), the hydraulic push rod (131) is fixedly installed on the left side of the round block (13), the round sleeve block (132) is fixedly connected to the top end of the hydraulic push rod (131), the round rod (133) is arranged inside the round sleeve block (132), and the second connecting plate (134) is fixedly connected to the front end and the rear end of the round rod (133);
the top end of the second connecting plate (134) is fixedly connected with the bottom of the first connecting plate (175), the circular sleeve block (132) is rotatably connected to the outer surface of the round rod (133), and the hydraulic push rod (131) is rotatably connected with the round rod (133) through the circular sleeve block (132).
2. The automatic grape tassel removing and shaping device based on image recognition is characterized in that the photographing mechanism (17) comprises a protective plate (171), a first fixing block (172), an annular block (173), a camera (174), a first connecting plate (175), a support rod (176) and a sun shield (177), wherein the first fixing block (172) is fixedly arranged on the inner surface of the protective plate (171), the camera (174) is fixedly connected with the first fixing block (172) through the annular block (173), the first connecting plate (175) is arranged at the bottom of the camera (174), the support rod (176) is fixedly connected to the outer surface of the left end of the protective plate (171), and the sun shield (177) is fixedly connected with the protective plate (171) through the support rod (176);
the side, close to each other, of the three sun-shading plates (177) is fixedly connected with a small shading plate, and the first connecting plate (175) is fixedly connected with a camera (174) through an annular block (173).
3. The automatic grape spica removing and shaping device based on image recognition is characterized in that the first fixing block (172) is arc-shaped, the first fixing block (172), the protection plate (171) and the annular block (173) are matched with each other, the bottom of the first connecting plate (175) is fixedly connected with the top of the support plate (16), and the first connecting plate (175) is rotatably connected with the first fixing rod (15) through the support plate (16).
4. The automatic grape spica removing and shaping device based on image recognition is characterized in that the shaping assembly (3) comprises a second fixed block (31), a rotating block (32), a cylindrical rod (33), a hydraulic press (34), a top rod (35), a long rod (36), a baffle plate (37), a second connecting block (38) and a laser emitter (39), the rotating block (32) is rotatably connected to the top of the second fixed block (31), the cylindrical rod (33) is fixedly connected to the central axis of the top of the rotating block (32), the hydraulic press (34) is fixedly connected to the bottom of the inner wall of the cylindrical rod (33), the top rod (35) is arranged at the top of the hydraulic press (34), the long rod (36) is arranged inside the cylindrical rod (33), the baffle plate (37) is fixedly arranged at the top of the long rod (36), a square opening is formed in the central axis of the upper end of the long rod (36), the second connecting block (38) is fixedly arranged inside the square opening, and the laser emitter (39) is arranged on the side, far away from the long rod (36), of the second connecting block (38);
the bottom end of the long rod (36) is fixedly connected with the top end of the ejector rod (35), the top of the second connecting block (38) is fixedly connected with a clamping rod, and the top of the clamping rod is fixedly connected with the top of the inner wall of the square opening.
5. The automatic grape spica removing and shaping device based on image recognition is characterized in that the second fixed block (31) is connected with the camera (174) through a data transmission line, the diameter distance of the baffle (37) is larger than that of the cylindrical rod (33), and the cylindrical rod (33) is rotatably connected with the second fixed block (31) through the rotating block (32);
laser emitter (39) are connected with connecting block two (38) through the dwang and rotate, fixed block two (31) fixed mounting is at dull and stereotyped (1) top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210347444.7A CN114711042B (en) | 2022-04-01 | 2022-04-01 | Automatic grape spica removing and shaping device based on image recognition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210347444.7A CN114711042B (en) | 2022-04-01 | 2022-04-01 | Automatic grape spica removing and shaping device based on image recognition |
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| CN114711042A CN114711042A (en) | 2022-07-08 |
| CN114711042B true CN114711042B (en) | 2023-04-18 |
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| CN109744006B (en) * | 2019-02-28 | 2021-02-12 | 西安理工大学 | Green belt trimming system based on laser cutting and trimming method thereof |
| CN211406915U (en) * | 2019-12-27 | 2020-09-04 | 江苏省徐州技师学院 | Laser trimming equipment for gardens |
| CN112606011A (en) * | 2020-12-11 | 2021-04-06 | 华南农业大学 | Banana bud breaking method based on visual recognition, bionic banana bud breaking mechanism, banana bud breaking robot and application |
| CN112869328A (en) * | 2021-03-04 | 2021-06-01 | 沙洲职业工学院 | Intelligent laser nail clipper |
| CN112963687B (en) * | 2021-03-15 | 2022-08-02 | 田源 | Extreme shooting catapulting photography support |
| CN113920190A (en) * | 2021-06-30 | 2022-01-11 | 南京林业大学 | Ginkgo flower spike orientation method and system |
| CN113597966B (en) * | 2021-07-20 | 2023-04-07 | 山东农业大学 | Intelligent flower and fruit thinning robot and method for grapes based on image recognition |
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