CN115067073A - Apple flower thinning end effector with camera - Google Patents
Apple flower thinning end effector with camera Download PDFInfo
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- CN115067073A CN115067073A CN202110278083.0A CN202110278083A CN115067073A CN 115067073 A CN115067073 A CN 115067073A CN 202110278083 A CN202110278083 A CN 202110278083A CN 115067073 A CN115067073 A CN 115067073A
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- camera
- flower
- end effector
- central cover
- connecting rod
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- 239000012636 effector Substances 0.000 title claims abstract description 20
- 210000000078 claw Anatomy 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 5
- 241000220225 Malus Species 0.000 description 22
- 235000013399 edible fruits Nutrition 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 239000003814 drug Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000000126 substance Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002040 relaxant effect Effects 0.000 description 2
- 206010058314 Dysplasia Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003640 drug residue Substances 0.000 description 1
- 230000010152 pollination Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention provides an apple flower thinning end effector with a camera, which can solve the technical problems that the existing apple flower thinning end effector has no image positioning device, is inaccurate in positioning, has high labor intensity and the like on the premise of meeting the requirement of apple flower thinning. The end effector is provided with a camera of a 3D depth camera and a center cover, the center cover is fixedly arranged on a clamping device through a bolt, and a fixing ring, a laser emitter and a laser emitter are arranged outside the center cover and are arranged on the fixing ring.
Description
Technical Field
The invention relates to the field of flower thinning by agricultural robots, in particular to an apple flower thinning end effector with a camera.
Background
Flower and fruit thinning is carried out in the apple fruit tree production management process, and the aims of adjusting the fruit yield, improving the fruit quality, regulating and controlling the fruit tree to grow and strengthen the tree vigor are fulfilled, so that high yield, stable yield, high quality and high benefit are obtained. The current flower thinning mode mainly comprises two modes of artificial flower thinning and chemical flower thinning. The artificial flower thinning is to adjust the flower amount from the re-shearing before the flower, so that flowers with excessive density, weakness and dysplasia can be thinned out when flower buds sprout, more flowers formed by the secondary tips of the fruit stands are reserved, and more flowers on the medium-length fruit branches are reserved, so as to be beneficial to forming drooping high-stump fruits. The chemical flower thinning is to spray flower thinning medicaments such as intelligent flower relaxing for the 1 st time in the early stage of full flower blooming (namely 75% -85% of the central flowers are bloomed), spray flower thinning medicaments such as intelligent flower relaxing for the 2 nd time in the full flower blooming period (namely 75% of the flowers in the whole tree are bloomed), and spray flowers with more axillary buds for one time in the last stage of full flower blooming (namely more than 95% of the flowers in the whole tree are bloomed). The labor intensity of manual flower thinning is high, and the working efficiency is low; chemical thinning has drug residues and has requirements on weather, temperature and pollination conditions.
At present, the apple flower thinning operation mainly depends on manual flower thinning and chemical flower thinning, a large amount of labor force is needed, and on the other hand, medicine residue is also caused. The industrial development causes the loss of a large amount of rural labor, and simultaneously, with the aging of social population, the problems of low efficiency, high cost, large labor amount and the like exist. The end effector is a part which is arranged at the front end of the mechanical arm of the flower thinning robot for direct operation, and because the central flowers and the side flowers of the apples are distributed more densely and the flowering time is different, the work of the end effector is directly related to whether the whole flower brushing operation of the flower thinning robot can be accurately and efficiently completed.
Disclosure of Invention
The invention aims to solve the technical problem that in the prior art, an apple flower thinning end effector with a camera is provided, aiming at the defects that the apple flower thinning end effector is lack of a positioning device, high in labor intensity, large in medicine residue and the like. The adoption is furnished with the three-dimensional position and the size information of 3D degree of depth camera to apple center flower and limit flower and acquires, through motor drive, and laser is dredged flower, has realized the deactivation to the apple limit flower when guaranteeing that the center flower is not influenced, and in addition, a plurality of laser emitter can be equipped with a laser generator, has simplified the structure, the cost is reduced.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
The utility model provides an apple of taking camera from end effector of thinning flower, the camera is fixed at arm (15) front end, assembles it through camera tray (14) and last draw-in groove (11) and lower draw-in groove (12) of fixing at arm (15) front end, ensures that the camera can not take place to shift under each operating mode of level, slope when end effector work.
Further, the camera (13) is provided with a 3D depth camera (13), so that in addition to acquiring a plane image, depth information of a shooting object can be acquired, namely, a richer position relation between targets is acquired through distance information.
The tail end executing mechanism comprises a central cover (1), a fixing ring (2) and a laser emitter (3), wherein six clamping grooves (4) are distributed on the fixing ring (2), an included angle between the two grooves is 60 degrees, fillets are formed in notches, and bolt holes are distributed between the clamping grooves (4); fillets are formed in the inner side and the outer side of the bottom of the central cover (1); the tail part of the central cover (1) is provided with two bolt holes and a positioning hole, and the bolt holes are distributed on two sides of the positioning hole; positioning grooves are arranged on two side edges of the tail of the central cover (1), a round angle is formed in the top of the central cover, the central cover (1) can cover the central flower during working, the central flower is protected, and meanwhile the position of the laser emitter (3) is positioned.
Furthermore, the clamping device consists of a clamping claw (9), a side rod group, a fixed connecting rod (10) and a rotating base (6). The front end of the clamping claw (9) is provided with a bolt hole and a positioning hole, the side edge is provided with a positioning groove, the front end of the fixed connecting rod (10) is connected with the clamping claw, and the rear end of the fixed connecting rod is connected with the rotating base (6) to form a four-bar mechanism for fixing. The side pole group comprises rocker (7) and connecting rod (8), and connecting rod (8) front end and gripper jaw (9) are connected, and rear end and rocker (7) link to each other, and rocker (7) tail end and rotating base (6) are connected, and the during operation can be joined in marriage fixed connecting rod (10) of different length, satisfy actual demand, can share the moment when rotating base (6) are rotatory simultaneously. The rotary base (6) can drive the side rod group and the fixed connecting rod (10) to rotate, so that the clamping claws (9) are driven, and the central cover (1) and the laser emitter (3) can rotate to work.
Furthermore, the mechanical arm (15) has a three-section structure, the front end of the mechanical arm (15) is connected with the rotating base (6), and the rotating base (6) can be driven to rotate during working; the mechanical arm (15) can rotate between each stage, and is convenient to match with an end executing mechanism to position the center flower.
Further, the mechanical arm (15) is fixed on the base 13.
Further, the laser generator (12) is fixed on the base (13).
Compared with the prior art, the invention has the advantages and positive effects that:
the utility model provides a flower end effector is dredged to apple from taking camera, utilize mechanical structure and camera to the flower of apple to be dredged and fix a position, the device structure has been simplified, intensity of labour has been reduced, on the other hand can utilize the camera of 3D camera (13), can obtain the depth information of shooting the object, depth information can accomplish the segmentation to the target image, discernment and tracking and modeling, acquire a large amount of data and information, utilize laser to handle the flower, avoided the use to the medicine, structural design is ingenious, flexible control, low in production cost.
Drawings
FIG. 1 is a schematic view of an end effector mechanism of the present invention.
FIG. 2 is a schematic view of a clamping device of the present invention.
Fig. 3 is a schematic view of a camera fixing device according to the present invention.
Fig. 4 is a side view of the present invention.
Shown in the figure: 1-a central cover; 2-fixing the ring; 3-a laser emitter; 4-clamping the groove; 5-bolt holes; 6-rotating the base; 7-a rocker; 8-connecting rod; 9-a gripper jaw; 10-a fixed link; 11-upper card slot; 12-lower card slot; 13-a camera; 14-a tray; 15-a mechanical arm; 16-a laser generator; 17-apple blossom; 18-base.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings:
FIG. 1, when in use, the central cover (1) can align with the central flower of the apple, and the central cover (1) can separate the side flower from the central flower to a certain extent when the central flower and the side flower of the apple are positioned at a thinning position; when the distance between the central flower and the side flower of the apple is far, the flower stem of the side flower is within the range of the laser emitter (3). Simultaneously, in the working process, fixed ring (2) are fixed in the rotatory drive of center cover (1), it is rotatory to drive laser emitter (3) through centre gripping recess (4), the in-process of thinning out flowers, center cover (1) is rotatory 65, six laser emitter (3) are rotatory 65 simultaneously, when center flower and side flower distance are nearer, the laser beam that laser emitter (3) sent can destroy the side flower, when center flower and side flower distance are far away, the laser beam that laser emitter (3) sent can burn off side flower stem, in order to reach the purpose of thinning out flowers. After the flower thinning is finished, the central cover (1) drives the fixing ring (2) and the laser emitter (3) to rotate reversely and reset so as to facilitate the next flower thinning operation.
In the schematic diagram of the clamping device of the apple flower thinning end effector in fig. 2, the positioning holes and the positioning grooves (4) can ensure that the clamping claws (9) and the center cover (1) are accurately positioned, and the clamping claws (9) and the bolts can transmit torque to the center cover (1) to ensure that the center cover (1) normally works. In the working process, the side rod group and the fixed connecting rod (10) drive the clamping claws (9) to rotate under the action of the rotating base (6), the side rod group can ensure that the clamping claws (9) are stressed stably, and small disturbance is reduced in the working process.
Fig. 3 is a schematic view of a camera (13) fixing device of an apple flower thinning end effector, the camera (13) is clamped and fixed through an upper clamping groove (11) and a lower clamping groove (12) and fixed on a mechanical arm (15) through a tray (14), and when the apple flower thinning device works, a two-dimensional plane image and three-dimensional position information of an apple flower to be thinned can be sent into an image processing module through a control module to be processed, so that the position coordinate of the apple flower is determined, and the accuracy of flower thinning is guaranteed. Meanwhile, the upper clamping groove (11) and the lower clamping groove (12) are fixed through bolts, the lower clamping groove (12) is fixed on the tray (14) through screws, the tray (14) is fixed at the front end of the mechanical arm (15) through a positioning pin and the bolts, and the camera (13) can normally work under all working conditions.
Fig. 4 is a side view of the apple thinning end effector, and a small-sized motor is arranged in the front end of the mechanical arm (15) to meet the requirement of rotary resetting of the rotary base (6) during work. Before thinning out flowers, can control arm (15) and drive central cover (1) location apple central flower, can 360 rotations between every grade of arm (15), the requirement to central cover (1) angle when satisfying the apple and thinning out flowers. Meanwhile, the laser generator (16) can provide gas, power supply and the like in the working process, is connected with the laser emitter (3) through a cable and a pipeline and is fixed on the mechanical arm (15), and the reserved length meets the rotation requirement of the mechanical arm (15). And when the laser emitter (3) is reset, the laser generator (16) stops working.
From the above description, the worker can make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the content of the specification, and any modifications and equivalents made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. The utility model provides an apple of taking camera dredges flower end effector which characterized in that: the laser positioning device comprises a central cover (1), a fixing ring (2), a laser emitter (3), a clamping groove (4), a rotary base (6), a rocker (7), a connecting rod (8), a clamping claw (9), a fixing connecting rod (10), an upper clamping groove (11), a lower clamping groove (12), a camera (13), a tray (14), a mechanical arm (15), a laser generator (16) and a base (18); the camera is fixed at the front end of the mechanical arm (15) and assembled through the camera tray (14), the upper clamping groove (11) and the lower clamping groove (12) which are fixed at the front end of the mechanical arm (15), so that the camera cannot shift under each working condition of horizontal and inclined when the end effector works.
2. The apple thinning end effector with a camera according to claim 1, wherein: six clamping grooves (4) are distributed on the fixing ring (2), the included angle between the two grooves is 60 degrees, fillets are formed in notches, and bolt holes are distributed between the clamping grooves (4); fillets are formed in the inner side and the outer side of the bottom of the central cover (1); the tail part of the central cover (1) is provided with two bolt holes and a positioning hole, and the bolt holes are distributed on two sides of the positioning hole; positioning grooves are formed in two side edges of the tail of the central cover (1), a fillet is formed in the top of the central cover, the central cover (1) can cover the central flower during working, the central flower is protected, and the position of the laser emitter (3) is positioned; the front end of the clamping claw (9) is provided with a bolt hole and a positioning hole, the side edge is provided with a positioning groove, the front end of the fixed connecting rod (10) is connected with the clamping claw, and the rear end of the fixed connecting rod is connected with the rotating base (6) to form a four-bar mechanism for fixing; the rotary base (6) can drive the side rod group and the fixed connecting rod (10) to rotate, so that the clamping claws (9) are driven, and the central cover (1) and the laser emitter (3) can rotate to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278083.0A CN115067073A (en) | 2021-03-15 | 2021-03-15 | Apple flower thinning end effector with camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278083.0A CN115067073A (en) | 2021-03-15 | 2021-03-15 | Apple flower thinning end effector with camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115067073A true CN115067073A (en) | 2022-09-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110278083.0A Pending CN115067073A (en) | 2021-03-15 | 2021-03-15 | Apple flower thinning end effector with camera |
Country Status (1)
| Country | Link |
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| CN (1) | CN115067073A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160050852A1 (en) * | 2013-03-29 | 2016-02-25 | Chul Hee Lee | Agricultural robot system |
| US20160057940A1 (en) * | 2014-07-21 | 2016-03-03 | The Penn State Research Foundation | Selective automated blossom thinning |
| CN107561980A (en) * | 2017-08-24 | 2018-01-09 | 江苏省农业科学院 | Three joint arms profiling flower thinning vegetables and fruits device electric-control system |
| CN207589584U (en) * | 2017-12-08 | 2018-07-10 | 毋万来 | A kind of electronic flower thinning thinning device of accurate |
| KR20210010617A (en) * | 2019-04-23 | 2021-01-27 | 이의정 | Artificial Intelligence Robot System for Unmanned Crop Cultivation and Harvesting |
-
2021
- 2021-03-15 CN CN202110278083.0A patent/CN115067073A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160050852A1 (en) * | 2013-03-29 | 2016-02-25 | Chul Hee Lee | Agricultural robot system |
| US20160057940A1 (en) * | 2014-07-21 | 2016-03-03 | The Penn State Research Foundation | Selective automated blossom thinning |
| CN107561980A (en) * | 2017-08-24 | 2018-01-09 | 江苏省农业科学院 | Three joint arms profiling flower thinning vegetables and fruits device electric-control system |
| CN207589584U (en) * | 2017-12-08 | 2018-07-10 | 毋万来 | A kind of electronic flower thinning thinning device of accurate |
| KR20210010617A (en) * | 2019-04-23 | 2021-01-27 | 이의정 | Artificial Intelligence Robot System for Unmanned Crop Cultivation and Harvesting |
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