CN115388993B - Fruit tree yield measuring device and measuring method - Google Patents
Fruit tree yield measuring device and measuring method Download PDFInfo
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- CN115388993B CN115388993B CN202211219378.1A CN202211219378A CN115388993B CN 115388993 B CN115388993 B CN 115388993B CN 202211219378 A CN202211219378 A CN 202211219378A CN 115388993 B CN115388993 B CN 115388993B
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- 230000035939 shock Effects 0.000 claims description 14
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
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- 238000005259 measurement Methods 0.000 abstract description 21
- 238000004519 manufacturing process Methods 0.000 abstract description 3
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- 244000141359 Malus pumila Species 0.000 description 2
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- 239000011435 rock Substances 0.000 description 2
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- 238000012549 training Methods 0.000 description 2
- 241000220225 Malus Species 0.000 description 1
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- 230000003019 stabilising effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
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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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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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
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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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
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a fruit tree yield measuring device and a measuring method, belonging to the field of fruit tree yield measuring devices, and the fruit tree yield measuring device comprises: the bottom of the measuring vehicle is symmetrically provided with two groups of wheels; the electric control box is arranged in the measuring vehicle, and an analysis system is arranged in the electric control box; the supporting seat is arranged on the measuring vehicle; the lifting assembly is arranged in the measuring vehicle and used for driving the supporting seat to lift; the rotating wheel is rotatably arranged on the supporting seat; the mounting assembly is detachably connected to the rotating wheel; the invention effectively reduces the measurement error caused by the separation of the picture during the measurement, improves the accuracy of the fruit tree yield measurement, better protects the shooting device, has low equipment manufacturing cost and effectively reduces the cost of the fruit tree yield measurement.
Description
Technical Field
The invention relates to the technical field of fruit tree yield measuring devices, in particular to a fruit tree yield measuring device and a fruit tree yield measuring method.
Background
The determination of the yield of the fruit tree as one of economic forest trees is a difficult problem, the estimation of the yield of the fruit tree by using the existing technology and means is a problem worthy of research, and aiming at the problem of the yield of the fruit tree, the traditional method only determines the yield of the fruit tree by picking and weighing the fruit after the fruit of the fruit tree is mature, and the estimation method has overlarge workload, higher cost and small significance for determining the yield of the fruit tree after the fruit is mature.
With the development and progress of scientific technology, the current fruit tree yield estimation method adopts a photography method to measure and estimate the yield of a fruit tree, the photography method can shoot the fruit tree to estimate the diameter and the volume of a single fruit and calculate the weight of the fruit when the fruit grows, and in the prior art, the application number is as follows: CN201821313130.0, application date is: 2018-08-13, which provides a fruit tree yield measuring device, comprising a compound eye camera, a camera joint, an electric telescopic supporting rod, a motor unit and a mobile platform; a camera joint is arranged behind the compound eye camera; the camera joint is connected to the electric telescopic supporting rod; the electric telescopic support rod and the main body part of the motor unit are arranged on the mobile platform; and the electric telescopic supporting rod and the main body part of the motor unit are mutually connected. The compound eye camera and the camera joint are arranged, so that the problems that the measuring result of the existing device for measuring the fruit tree yield is not visual, the platform is not automatic enough, and the measuring mode is not flexible enough are solved.
In the above-mentioned patent, adopt the photography method to measure, when fruit tree woodland unevenness, cause the measuring device slope to rock easily, and camera device has the fixed visual angle of limitation, causes easily when measuring the car and rocks about to shoot unstable influence measuring degree of accuracy, present balanced stabilising arrangement is expensive, and the coverage is lower.
Disclosure of Invention
The technical problem to be solved by the present invention is to overcome the defects of the prior art, and to provide a fruit tree yield measuring device which can overcome the above problems or at least partially solve the above problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fruit tree yield measuring device comprises: the bottom of the measuring vehicle is symmetrically provided with two groups of wheels; the electric control box is arranged in the measuring vehicle, and an analysis system is arranged in the electric control box; the supporting seat is arranged on the measuring vehicle; the lifting assembly is arranged in the measuring vehicle and used for driving the supporting seat to lift; the rotating wheel is rotatably arranged on the supporting seat; the mounting assembly is detachably connected to the rotating wheel; the shock absorption assembly is fixedly arranged on the mounting assembly; the industrial camera is arranged on the shock absorption assembly and used for shooting the fruit trees in real time and transmitting data to the electric cabinet; the stabilizing assembly is fixedly arranged on the supporting seat and used for driving the rotating wheel to rotate, and when the measuring vehicle inclines left and right, the stabilizing assembly drives the rotating wheel to rotate in the direction opposite to the direction in which the measuring vehicle inclines so that the industrial camera can shoot stably relatively; first drive assembly, first drive assembly sets up in measuring the car, first drive assembly is used for driving the drive stabilizing assembly and rotates the wheel rotation, works as when the inclination drives stabilizing assembly according to the inclination of measuring the car and drives to rotate the wheel rotation and make industry camera keep balance when measuring the car horizontal tilt.
For the convenience of carrying out output measurement to different kinds of fruit trees, preferably, lifting unit includes the first electric telescopic handle of symmetry setting in measuring the car, first electric telescopic handle's output and supporting seat fixed connection, be provided with first square groove on the supporting seat, first square groove internal rotation is provided with the third pivot, the third pivot with rotate a round fixed connection, just rotate round and the coaxial setting of third pivot, installation component includes the mounting panel, the mounting panel passes through construction bolt and rotates round fixed connection.
For the convenience of shock attenuation to industrial camera, preferably, damping component includes that two sets of symmetries set up the fixed sleeve on the mounting panel, just one side of rotating the wheel is kept away from at the mounting panel to the fixed sleeve setting, the sliding of fixed sleeve inner seal has the second slide bar, be provided with the second spring between second slide bar and the fixed sleeve, one side that the wheel was kept away from to the mounting panel is provided with the shock attenuation board, the one end fixed connection of fixed sleeve is kept away from to shock attenuation board and second slide bar, all be provided with on shock attenuation board and the second slide bar with the inside communicating blow vent of fixed sleeve, be provided with adjusting part on the shock attenuation board, adjusting part is used for adjusting the inclination size of industrial camera.
In order to facilitate the angle of adjusting plate, preferably, the adjusting part is including setting up the second square groove on shock attenuation board, second square groove internal rotation is provided with second electric telescopic handle, the one end symmetry that the second square groove was kept away from to shock attenuation board is provided with the bracing piece, two rotate between the bracing piece and be provided with the regulating plate, the one side symmetry that the bracing piece was kept away from to the regulating plate is provided with fixed stop, two rotate between the fixed stop and be provided with the connecting axle, the one end that shock attenuation board was kept away from to second electric telescopic handle rotates with the connecting axle to be connected, be provided with the louvre that a plurality of equidistance were arranged on the regulating plate, the fixed setting of industrial camera is on the regulating plate.
Preferably, the stabilizing component comprises a driving sleeve fixedly arranged on the supporting seat, a driving slide rod slides in the driving sleeve in a sealing manner, one end of the third rotating shaft, which is close to the driving slide rod, is fixedly connected with a second gear, one end of the driving slide rod, which is far away from the driving sleeve, is fixedly connected with a toothed plate meshed with the second gear, and a limiting clamping sleeve matched with the toothed plate is fixedly connected on the supporting seat.
In order to facilitate the rotation of the driving rotating wheel, preferably, the first driving assembly comprises a first rotating shaft which is rotatably arranged in the measuring vehicle, the first rotating shaft is arranged at the center of the measuring vehicle and parallel to the advancing direction of the measuring vehicle, a first plumb rod is fixedly connected to the first rotating shaft, one end, away from the first rotating shaft, of the first plumb rod is fixedly connected with a gravity rod, second fixing plates are symmetrically arranged in the measuring vehicle, an arc-shaped sleeve is fixedly arranged between the two second fixing plates, the arc-shaped sleeve is internally and slidably sealed and provided with the arc-shaped slide rod, one end, away from the arc-shaped slide rod, of the arc-shaped sleeve is provided with a connecting pipe communicated with the inside of the arc-shaped sleeve, one end, away from the arc-shaped sleeve, of the connecting pipe is communicated with the bottom of the driving sleeve, second driving assemblies are symmetrically arranged on the gravity rod and used for driving the first plumb rod to swing left and right, the second driving assemblies are rotatably connected with one ends, away from the arc-shaped sleeve, of the first plumb rod and the second driving assemblies are symmetrically arranged on the first plumb rod and used for controlling the on and off of the second driving assemblies.
In order to make first plumb rod rapid draing, preferably, second drive assembly includes that the symmetry sets up the first motor on the gravity pole, the both ends symmetry of gravity pole is provided with the mounting groove, the fixed setting of first motor is in the mounting groove, the output fixedly connected with roller bearing of first motor, the first gear of fixedly connected with on the roller bearing, the solid fixed ring of arc telescopic one end fixedly connected with is kept away from to the arc slide bar, the one end rotation that first motor was kept away from to the roller bearing sets up in the solid fixed ring, the symmetry is provided with the tooth track with first gear engagement in the measuring car, tooth track both ends symmetry is provided with and measures car fixed connection's first fixed plate.
In order to facilitate the control of the opening and closing of the first motor, preferably, the control assembly comprises a second rotating shaft which is rotatably arranged on a first vertical rod, a second vertical rod is fixedly connected to the second rotating shaft, one side, far away from the second rotating shaft, of the second vertical rod is fixedly connected with an electric contact head, contact slide ways are symmetrically arranged on the first vertical rod, and connecting pieces matched with the electric contact head are arranged on the contact slide ways.
For the convenience of measuring that the car steadily traveles, preferably, measurement car bottom is provided with the first spout that a plurality of equidistance were arranged, it is provided with first slide bar to slide in the first spout, be provided with first spring between first slide bar and the first spout, the one end rotation that first spout was kept away from to first slide bar is provided with the auxiliary wheel.
Compared with the prior art, the invention provides a fruit tree yield measuring device, which has the following beneficial effects:
the invention effectively reduces the measurement error caused by the separation of the picture during the measurement, improves the accuracy of the fruit tree yield measurement, better protects the shooting device, has low equipment manufacturing cost and effectively reduces the cost of the fruit tree yield measurement.
Drawings
Fig. 1 is a schematic structural diagram of a fruit tree yield measuring device provided by the present invention;
FIG. 2 is a schematic view of a partial structure of a fruit tree yield measuring device according to the present invention;
FIG. 3 is a schematic view of a partial structure of a fruit tree yield measuring device according to the present invention;
FIG. 4 is a schematic structural diagram of a damping assembly of the fruit tree yield measuring apparatus according to the present invention;
FIG. 5 is a first cross-sectional view of the fruit tree yield measuring device according to the present invention;
FIG. 6 is a schematic sectional view of a fruit tree yield measuring device according to the present invention;
fig. 7 is a schematic view of a partial structure of a fruit tree yield measuring device provided by the present invention;
fig. 8 is an enlarged schematic view of a point a in fig. 3 of the fruit tree yield measuring device according to the present invention;
fig. 9 is an enlarged schematic view of a fruit tree yield measuring device shown in fig. 7 at B;
fig. 10 is an enlarged schematic view of the fruit tree yield measuring device of fig. 7 at C;
fig. 11 is a system block diagram of a fruit tree yield measurement system according to the present invention.
In the figure: 1. a measuring vehicle; 101. a wheel; 102. a first chute; 103. a first spring; 104. a first slide bar; 105. an auxiliary wheel; 106. an electric cabinet; 2. a first rotating shaft; 201. a first vertical rod; 202. a gravity bar; 203. mounting grooves; 204. a first motor; 205. a roller; 206. a first gear; 207. a tooth track; 208. a first fixing plate; 3. a second rotating shaft; 301. a second vertical bar; 302. a contact ramp; 303. connecting sheets; 304. a contact tip; 4. an arc-shaped sleeve; 401. an arc-shaped sliding rod; 402. a fixing ring; 403. a second fixing plate; 404. a connecting pipe; 5. a first electric telescopic rod; 501. a supporting seat; 502. a drive sleeve; 503. driving the slide bar; 504. a toothed plate; 505. a limiting clamping sleeve; 506. a first square groove; 507. a third rotating shaft; 508. a second gear; 6. a rotating wheel; 601. mounting a plate; 602. installing a bolt; 603. fixing the sleeve; 604. a second spring; 605. a second slide bar; 606. a damper plate; 607. a vent; 7. a second square groove; 701. a second electric telescopic rod; 702. fixing a baffle plate; 703. a connecting shaft; 704. a support bar; 705. an adjusting plate; 706. heat dissipation holes; 707. an industrial camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1: referring to fig. 1, 2, 4, 7 and 9, a fruit tree yield measuring apparatus includes: the measuring vehicle comprises a measuring vehicle 1, wherein two groups of wheels 101 are symmetrically arranged at the bottom of the measuring vehicle 1; the electric control box 106 is arranged in the measuring vehicle 1, and an analysis system is arranged in the electric control box 106; the supporting seat 501 is arranged on the measuring vehicle 1; the lifting assembly is arranged in the measuring vehicle 1 and is used for driving the supporting seat 501 to lift; the rotating wheel 6, the rotating wheel 6 is set up on the supporting seat 501 rotatably; the mounting assembly is detachably connected to the rotating wheel 6; the damping component is fixedly arranged on the mounting component; the industrial camera 707 is arranged on the shock absorption component, and the industrial camera 707 is used for shooting fruit trees in real time and transmitting data into the electric cabinet 106; the stabilizing component is fixedly arranged on the supporting seat 501 and is used for driving the rotating wheel 6 to rotate, and when the measuring vehicle 1 inclines left and right, the stabilizing component drives the rotating wheel 6 to rotate towards the opposite direction of the inclination of the measuring vehicle 1, so that the industrial camera 707 can shoot relatively stably; the first driving component is arranged in the measuring vehicle 1 and used for driving the stabilizing component to drive the rotating wheel 6 to rotate, and when the measuring vehicle 1 inclines left and right, the first driving component drives the stabilizing component to drive the rotating wheel 6 to rotate according to the inclination angle of the measuring vehicle 1 so as to keep the industrial camera 707 balanced.
Lifting unit sets up first electric telescopic handle 5 in measuring car 1 including the symmetry, the output and the supporting seat 501 fixed connection of first electric telescopic handle 5, be provided with first square groove 506 on the supporting seat 501, first square groove 506 internal rotation is provided with third pivot 507, third pivot 507 with rotate wheel 6 fixed connection, and rotate wheel 6 and the coaxial setting of third pivot 507, installation component includes mounting panel 601, mounting panel 601 passes through mounting bolt 602 and rotates wheel 6 fixed connection.
The damping component comprises two groups of fixing sleeves 603 symmetrically arranged on the mounting plate 601, the fixing sleeves 603 are arranged on one side, away from the rotating wheel 6, of the mounting plate 601, a second sliding rod 605 is arranged in the fixing sleeves 603 in a sealing and sliding mode, a second spring 604 is arranged between the second sliding rod 605 and the fixing sleeves 603, a damping plate 606 is arranged on one side, away from the rotating wheel 6, of the mounting plate 601, the damping plate 606 and one end, away from the fixing sleeves 603, of the second sliding rod 605 are fixedly connected, the damping plate 606 and the second sliding rod 605 are respectively provided with a vent hole 607 communicated with the inside of the fixing sleeves 603, an adjusting component is arranged on the damping plate 606, and the adjusting component is used for adjusting the inclination angle of the industrial camera 707.
The adjusting assembly comprises a second square groove 7 arranged on a damping plate 606, a second electric telescopic rod 701 is arranged in the second square groove 7 in a rotating mode, supporting rods 704 are symmetrically arranged at one end, far away from the second square groove 7, of the damping plate 606, an adjusting plate 705 is arranged between the two supporting rods 704 in a rotating mode, a fixing baffle 702 is symmetrically arranged on one side, far away from the supporting rods 704, of the adjusting plate 705, a connecting shaft 703 is arranged between the two fixing baffle 702 in a rotating mode, one end, far away from the damping plate 606, of the second electric telescopic rod 701 is rotatably connected with the connecting shaft 703, a plurality of radiating holes 706 which are arranged at equal intervals are formed in the adjusting plate 705, and the industrial camera 707 is fixedly arranged on the adjusting plate 705.
When the measuring vehicle 1 is used, the measuring vehicle is transported to a fruit tree area to be measured, a worker unscrews the mounting bolts 602, firstly adjusts the angle of the mounting plate 601 through the variety of the fruit trees and the distance between two rows of fruit trees, and then adjusts the elevation angle of the adjusting plate 705 through different heights of the fruit trees;
for example, when measuring the apple yield of an apple tree, because the apple tree is relatively high in height, the second electric telescopic rod 701 is started to push the connecting shaft 703 to move upwards, the connecting shaft 703 drives one end of the adjusting plate 705 to move upwards through the fixed baffle 702, so that the camera shooting end of the industrial camera 707 moves upwards, and an external display is observed in real time.
When the measuring vehicle 1 shakes left and right, the first driving assembly detects the inclined angle of the measuring vehicle 1, the first driving assembly drives the stabilizing assembly to push the rotating wheels 6 to rotate the same angle in opposite directions, the shaking of the industrial camera 707 is reduced, and the accuracy of fruit tree yield measurement is further improved.
It should be noted that the measuring vehicle 1 is a remote control vehicle, the measuring vehicle 1 adopts the prior art, and is not described herein in too much detail, the image shot by the industrial camera 707 is analyzed and calculated by an analysis system in the electric cabinet 106 during measurement, the diameter and the volume of the fruit are estimated according to the shot angle and distance, then the weight of the fruit is automatically calculated according to the fruit type recorded by the system, and then the yield of the fruit tree is analyzed and summarized by a computer.
Example 2: referring to fig. 2, 3, 5, 6 and 7, a fruit tree yield measuring device is substantially the same as that of embodiment 1, and further includes a stabilizing assembly including a driving sleeve 502 fixedly disposed on a supporting seat 501, a driving slide rod 503 is hermetically and slidably disposed in the driving sleeve 502, one end of a third rotating shaft 507 close to the driving slide rod 503 is fixedly connected with a second gear 508, one end of the driving slide rod 503 far from the driving sleeve 502 is fixedly connected with a toothed plate 504 engaged with the second gear 508, and a limit cutting sleeve 505 matched with the toothed plate 504 is fixedly connected to the supporting seat 501.
The first driving assembly comprises a first rotating shaft 2 which is rotatably arranged in the measuring vehicle 1, the first rotating shaft 2 is arranged at the center of the measuring vehicle 1, the first rotating shaft 2 is parallel to the advancing direction of the measuring vehicle 1, a first plumb rod 201 is fixedly connected to the first rotating shaft 2, a gravity rod 202 is fixedly connected to one end, away from the first rotating shaft 2, of the first plumb rod 201, second fixing plates 403 are symmetrically arranged in the measuring vehicle 1, an arc-shaped sleeve 4 is fixedly arranged between the two second fixing plates 403, an arc-shaped sliding rod 401 is hermetically and slidably arranged in the arc-shaped sleeve 4, a connecting pipe 404 communicated with the inside of the arc-shaped sleeve 4 is arranged at one end, away from the arc-shaped sliding rod 401, of the arc-shaped sleeve 4, one end, away from the arc-shaped sleeve 4, of the connecting pipe 404 is communicated with the bottom of the driving sleeve 502, second driving assemblies are symmetrically arranged on the gravity rod 202 and used for driving the first plumb rod 201 to swing left and right, the second driving assemblies are rotatably connected with one end, away from the arc-shaped sleeve 4, and control assemblies for controlling the on and off of the second driving assemblies are symmetrically arranged on the first plumb rod 201.
When the measuring vehicle 1 inclines to the left, under the action of gravity, the first vertical rod 201 rotates along the first rotating shaft 2 in the direction perpendicular to the ground, the first vertical rod 201 drives the gravity rod 202 to move in the direction perpendicular to the ground, the control assembly and the second driving assembly push the arc-shaped sliding rod 401 to slide in the arc-shaped sleeve 4, the arc-shaped sliding rod 401 slides in the arc-shaped sleeve 4, water in the arc-shaped sleeve 4 is squeezed out, water squeezed out of the arc-shaped sleeve 4 enters the driving sleeve 502 through the connecting pipe 404, and then the driving sliding rod 503 is pushed to slide in the direction away from the driving sleeve 502, the driving sliding rod 503 pushes the toothed plate 504 to slide in the direction away from the driving sliding rod 503, the toothed plate 504 drives the second gear 508 to rotate, the second gear 508 drives the rotating wheel 6 to rotate in the opposite direction of the inclination of the measuring vehicle 1 through the third rotating shaft 507, so that the industrial camera 707 keeps shooting at a set angle, thereby effectively reducing the measurement error caused by the shaking of the industrial camera 707, and further effectively improving the precision of fruit tree yield measurement.
It should be noted that, the arc-shaped sleeve 4 and the arc-shaped slide rod 401 are both configured to be semi-circular arcs, the radius of the arc-shaped sleeve 4 and the arc-shaped slide rod 401 is the same as the distance from the axis of the first rotating shaft 2 to the axis of the gravity rod 202, and the axes of the arc-shaped sleeve 4 and the arc-shaped slide rod 401 are on the axis of the first rotating shaft 2.
Example 3: referring to fig. 3, 6, 7, 8 and 10, a fruit tree yield measuring device is substantially the same as in embodiment 1, and further, the second driving assembly includes a first motor 204 symmetrically disposed on the gravity rod 202, two ends of the gravity rod 202 are symmetrically provided with mounting grooves 203, the first motor 204 is fixedly disposed in the mounting grooves 203, an output end of the first motor 204 is fixedly connected with a roller 205, the roller 205 is fixedly connected with a first gear 206, one end of the arc slide rod 401 away from the arc sleeve 4 is fixedly connected with a fixing ring 402, one end of the roller 205 away from the first motor 204 is rotatably disposed in the fixing ring 402, a tooth track 207 engaged with the first gear 206 is symmetrically disposed in the measuring cart 1, and two ends of the tooth track 207 are symmetrically provided with first fixing plates 208 fixedly connected with the measuring cart 1.
The control assembly comprises a second rotating shaft 3 which is rotatably arranged on the first vertical rod 201, a second vertical rod 301 is fixedly connected to the second rotating shaft 3, a contact electric head 304 is fixedly connected to one side, far away from the second rotating shaft 3, of the second vertical rod 301, a contact slideway 302 is symmetrically arranged on the first vertical rod 201, and a connecting sheet 303 matched with the contact electric head 304 is arranged on the contact slideway 302.
The bottom of the measuring vehicle 1 is provided with a plurality of first sliding grooves 102 which are arranged at equal intervals, first sliding rods 104 are arranged in the first sliding grooves 102 in a sliding mode, a first spring 103 is arranged between the first sliding rods 104 and the first sliding grooves 102, and one end, far away from the first sliding grooves 102, of each first sliding rod 104 is rotatably provided with an auxiliary wheel 105.
When the first plumb bob 201 moves leftwards, under the action of resistance of the arc-shaped slide bar 401 and the arc-shaped sleeve 4 to the roller 205, the second plumb bob 301 slides leftwards relative to the first plumb bob 201, the contact head 304 on the second plumb bob 301 close to one side of the arc-shaped sleeve 4 contacts with the connecting sheet 303 on the contact slideway 302, the contact head 304 contacts with the connecting sheet 303, the first motor 204 close to one side of the arc-shaped sleeve 4 is turned on, the first motor 204 drives the first gear 206 to rotate, under the action of the first gear 206 and the tooth track 207, the first plumb bob 201 is driven to rotate along the first rotating shaft 2 in the direction in which the measuring cart 1 is inclined fast, water in the arc-shaped sleeve 4 is squeezed into the driving sleeve 502 fast, the toothed plate 504 drives the second gear 508 to rotate fast, the angle of the industrial camera 707 is restored fast, and the industrial camera 707 is restored to the initial angle fast, thereby effectively reducing measurement errors caused by picture separation during measurement, improving accuracy of fruit tree yield measurement, and simultaneously reducing manufacturing cost and fruit tree yield effectively.
It should be noted that the inclination angle of the measuring trolley 1 is the same as the rotation angle of the rotating wheel 6, the center of the tooth track 207 is arranged at the axis of the first rotating shaft 2, the rotation directions of the two sets of first motors 204 are opposite, the arrangement directions of the connecting pieces 303 on the two contact slideways 302 are opposite, and the connecting pieces 303 are arranged from one end of the contact slideways 302 to one side of the adjacent contact heads 304.
Example 4: a method for measuring fruit tree yield mainly comprises the following steps:
firstly, moving a measuring vehicle 1 to a fruit tree growing place to be measured, fixing an installation component on a rotating wheel 6, and adjusting the direction of the installation component according to the type of the fruit tree;
step two, the damping assembly adjusts the elevation angle of the industrial camera 707 to shoot the fruit trees, and a worker remotely controls the measuring vehicle 1 to start measuring;
step three, when the measuring vehicle 1 shakes left and right, the first driving assembly detects the inclined angle of the measuring vehicle 1, and the first driving assembly drives the stabilizing assembly to push the rotating wheel 6 to rotate in the opposite direction by the same angle so as to prevent the industrial camera 707 from shaking;
and step four, analyzing the yield of the fruit trees through an analysis system in the electric cabinet 106, and estimating the yield of the fruit trees.
Example 5: referring to fig. 11, a fruit tree yield measurement system mainly includes the following steps:
s1, introducing a large number of fruit photos and actual size data of fruits into an analysis system, and then performing matching training on pixel points of the fruit photos and actual measured fruit size values through a deep learning algorithm training module in the analysis system to realize measurement on sizes of different fruits;
s2, shooting an original image of a fruit tree through an industrial camera 707, automatically cutting the image into a plurality of pictures through a computer, and performing full-aspect analysis on the shot video through a visual sensor in an analysis system and the computer to obtain an RGB image of the fruit and segment the image;
s3, leading the collected fruit pixel points into a computer through a visual processing platform in the analysis system, and comparing and analyzing the collected fruit pixel points with the recorded fruit pixel points and sizes to obtain the actually shot fruit sizes;
and S4, accumulating and overlapping the measured fruit sizes to a database through a computer, and finally calculating the yield of the fruit trees in the measuring area through the computer.
The visual processing platform comprises a visual sensor, an illumination system, an image acquisition card and a computer, wherein the image acquisition card is electrically connected with the computer, the fruit which is shot is shielded by less than half of the leaves during visual processing is calculated according to a fruit, and the fruit which is completely shielded by the leaves and neutralized at the moment is used for increasing the accuracy of measurement.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (2)
1. The utility model provides a fruit tree output measuring device which characterized in that includes:
the measuring vehicle comprises a measuring vehicle (1), wherein two groups of wheels (101) are symmetrically arranged at the bottom of the measuring vehicle (1);
the electric control box (106), the electric control box (106) is arranged in the measuring vehicle (1), and an analysis system is arranged in the electric control box (106);
the supporting seat (501), the supporting seat (501) is arranged on the measuring vehicle (1);
the lifting assembly is arranged in the measuring vehicle (1) and is used for driving the supporting seat (501) to lift;
the rotating wheel (6), the said rotating wheel (6) is set up on the supporting seat (501) rotatably;
the mounting assembly is detachably connected to the rotating wheel (6);
the shock absorption assembly is fixedly arranged on the mounting assembly;
the industrial camera (707) is arranged on the shock absorption assembly, and the industrial camera (707) is used for shooting fruit trees in real time and transmitting data into the electric cabinet (106);
the stabilizing assembly is fixedly arranged on the supporting seat (501), and is used for driving the rotating wheel (6) to rotate, and when the measuring vehicle (1) inclines left and right, the stabilizing assembly drives the rotating wheel (6) to rotate towards the opposite direction of the inclination of the measuring vehicle (1), so that the industrial camera (707) can shoot stably relatively;
the first driving assembly is arranged in the measuring vehicle (1) and is used for driving the stabilizing assembly to drive the rotating wheel (6) to rotate, and when the measuring vehicle (1) inclines left and right, the first driving assembly drives the stabilizing assembly to drive the rotating wheel (6) to rotate according to the inclination angle of the measuring vehicle (1) so that the industrial camera (707) keeps balance;
the lifting assembly comprises first electric telescopic rods (5) symmetrically arranged in the measuring vehicle (1), the output ends of the first electric telescopic rods (5) are fixedly connected with a supporting seat (501), a first square groove (506) is formed in the supporting seat (501), a third rotating shaft (507) is rotationally arranged in the first square groove (506), the third rotating shaft (507) is fixedly connected with a rotating wheel (6), the rotating wheel (6) and the third rotating shaft (507) are coaxially arranged, the mounting assembly comprises a mounting plate (601), and the mounting plate (601) is fixedly connected with the rotating wheel (6) through a mounting bolt (602);
the damping assembly comprises two groups of fixing sleeves (603) symmetrically arranged on a mounting plate (601), the fixing sleeves (603) are arranged on one side, away from the rotating wheel (6), of the mounting plate (601), a second sliding rod (605) is arranged in the fixing sleeves (603) in a sealing sliding mode, a second spring (604) is arranged between the second sliding rod (605) and the fixing sleeves (603), a damping plate (606) is arranged on one side, away from the rotating wheel (6), of the mounting plate (601), the damping plate (606) is fixedly connected with one end, away from the fixing sleeves (603), of the second sliding rod (605), vent holes (607) communicated with the inside of the fixing sleeves (603) are formed in the damping plate (606) and the second sliding rod (605), an adjusting assembly is arranged on the damping plate (606), and the adjusting assembly is used for adjusting the inclination angle of the industrial camera (707);
the adjusting assembly comprises a second square groove (7) arranged on a damping plate (606), a second electric telescopic rod (701) is arranged in the second square groove (7) in a rotating mode, supporting rods (704) are symmetrically arranged at one end, far away from the second square groove (7), of the damping plate (606), an adjusting plate (705) is arranged between the two supporting rods (704) in a rotating mode, fixing baffles (702) are symmetrically arranged at one side, far away from the supporting rods (704), of the adjusting plate (705), a connecting shaft (703) is rotatably arranged between the two fixing baffles (702), one end, far away from the damping plate (606), of the second electric telescopic rod (701) is rotatably connected with the connecting shaft (703), a plurality of radiating holes (706) which are arranged at equal intervals are formed in the adjusting plate (705), and the industrial camera (707) is fixedly arranged on the adjusting plate (705);
the stabilizing assembly comprises a driving sleeve (502) fixedly arranged on a supporting seat (501), a driving slide rod (503) is arranged in the driving sleeve (502) in a sealing and sliding mode, one end, close to the driving slide rod (503), of the third rotating shaft (507) is fixedly connected with a second gear (508), one end, far away from the driving sleeve (502), of the driving slide rod (503) is fixedly connected with a toothed plate (504) meshed with the second gear (508), and a limiting clamping sleeve (505) matched with the toothed plate (504) is fixedly connected to the supporting seat (501);
the first driving component comprises a first rotating shaft (2) which is rotatably arranged in the measuring vehicle (1), the first rotating shaft (2) is arranged at the center of the measuring vehicle (1), and the first rotating shaft (2) is parallel to the advancing direction of the measuring vehicle (1), a first vertical rod (201) is fixedly connected on the first rotating shaft (2), one end of the first vertical rod (201) far away from the first rotating shaft (2) is fixedly connected with a gravity rod (202), second fixing plates (403) are symmetrically arranged in the measuring vehicle (1), an arc-shaped sleeve (4) is fixedly arranged between the two second fixing plates (403), an arc-shaped sliding rod (401) is hermetically slid in the arc-shaped sleeve (4), one end of the arc-shaped sleeve (4) far away from the arc-shaped sliding rod (401) is provided with a connecting pipe (404) communicated with the inside of the arc-shaped sleeve (4), one end of the connecting pipe (404) far away from the arc-shaped sleeve (4) is communicated with the bottom of the driving sleeve (502), the gravity rod (202) is symmetrically provided with second driving components which are used for driving the first vertical rod (201) to swing left and right, the second driving component is rotationally connected with one end of the arc-shaped sliding rod (401) far away from the arc-shaped sleeve (4), the first vertical rod (201) is symmetrically provided with control components for controlling the switch of the second driving component;
the second driving assembly comprises first motors (204) symmetrically arranged on a gravity rod (202), mounting grooves (203) are symmetrically formed in two ends of the gravity rod (202), the first motors (204) are fixedly arranged in the mounting grooves (203), rolling shafts (205) are fixedly connected to output ends of the first motors (204), first gears (206) are fixedly connected to the rolling shafts (205), a fixing ring (402) is fixedly connected to one end, far away from an arc-shaped sleeve (4), of the arc-shaped slide rod (401), one end, far away from the first motor (204), of each rolling shaft (205) is rotatably arranged in the fixing ring (402), tooth tracks (207) meshed with the first gears (206) are symmetrically arranged in the measuring trolley (1), and first fixing plates (208) fixedly connected with the measuring trolley (1) are symmetrically arranged at two ends of each tooth track (207);
the control assembly comprises a second rotating shaft (3) rotatably arranged on the first vertical rod (201), a second vertical rod (301) is fixedly connected to the second rotating shaft (3), one side, far away from the second rotating shaft (3), of the second vertical rod (301) is fixedly connected with an electric contact head (304), contact slideways (302) are symmetrically arranged on the first vertical rod (201), and connecting sheets (303) matched with the electric contact heads (304) are arranged on the contact slideways (302);
the bottom of the measuring vehicle (1) is provided with a plurality of first sliding grooves (102) which are arranged at equal intervals, a first sliding rod (104) is arranged in the first sliding groove (102) in a sliding mode, a first spring (103) is arranged between the first sliding rod (104) and the first sliding groove (102), and one end, far away from the first sliding groove (102), of the first sliding rod (104) is rotatably provided with an auxiliary wheel (105).
2. A method for measuring fruit tree yield, comprising the fruit tree yield measuring device of claim 1, and is characterized by mainly comprising the following steps:
moving a measuring vehicle (1) to a fruit tree growing area to be measured, fixing a mounting assembly on a rotating wheel (6), and adjusting the direction of the mounting assembly according to the type of the fruit tree;
step two, the shock absorption assembly adjusts the elevation angle of the industrial camera (707) to shoot the fruit trees, and a worker remotely controls the measuring vehicle (1) to start measuring;
step three, when the measuring vehicle (1) shakes left and right, the first driving assembly detects the inclined angle of the measuring vehicle (1), and the first driving assembly drives the stabilizing assembly to push the rotating wheel (6) to rotate in opposite directions by the same angle, so that the shaking of the industrial camera (707) is reduced;
and step four, analyzing the yield of the fruit trees through an analysis system in the electric cabinet (106), and estimating the yield of the fruit trees.
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