CN202818997U - System for picking tomatoes - Google Patents
System for picking tomatoes Download PDFInfo
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- CN202818997U CN202818997U CN 201220479840 CN201220479840U CN202818997U CN 202818997 U CN202818997 U CN 202818997U CN 201220479840 CN201220479840 CN 201220479840 CN 201220479840 U CN201220479840 U CN 201220479840U CN 202818997 U CN202818997 U CN 202818997U
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- tomato
- data acquisition
- manipulator
- acquisition unit
- control module
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Abstract
The utility model discloses a system for picking tomatoes which comprises a data acquisition unit used for collecting data about the tomatoes. Signals collected by the data acquisition unit are transmitted to a control unit. The control unit outputs the signals to control an execution unit to pick the tomatoes. The control unit comprises a personal computer (PC) and an ARM9 processor. By adoption of the operation, the data about the tomatoes is transmitted to the control unit after being collected by the data acquisition unit, and then analyzed by the control unit to control the execution unit to pick the tomatoes.
Description
Technical field
The utility model relates to a kind of system for the tomato harvesting.
Background technology
China begins the establishing in large scale tomato after the 1950's, cultivated area is just in rising trend at present.Plucking operation is a link the most consuming time in the tomato production chain, that require great effort most, plucks results and accounts for whole production operation amount 40%.At present, China to the harvesting operation of tomato still by manually carrying out, not only labour intensity causes greatly but also very easily its damage in various degree, and along with aging population and agricultural workforce's minimizing, the research and development picking robot is for the liberation agricultural workforce, improve the intensive level of production of tomato, have great importance.
Summary of the invention
The purpose of this utility model provides the system that a kind of tomato for picking robot is plucked, and can realize the automatic picking to tomato.
For achieving the above object, the utility model has adopted following technical scheme: a kind of system for the tomato harvesting, it is characterized in that: comprise the data acquisition unit that tomato is carried out data acquisition, the signal of described data acquisition unit collection is delivered to control module, control module output signal control performance element is plucked tomato, and described control module comprises PC and ARM9.
The beneficial effects of the utility model are: after adopting aforesaid operations, data cell flows to control module after tomato is gathered, and passes through like this control module to data analysis, thereby the control performance element is won tomato.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Embodiment
The scheme that the utility model is taked as shown in Figure 1, a kind of system for the tomato harvesting, comprise the data acquisition unit 10 that tomato is carried out data acquisition, the signal that described data acquisition unit 10 gathers is delivered to control module 20,30 pairs of tomatoes of control module 20 output signals control performance element are plucked, and described control module 20 comprises PC and ARM9.ARM9 can select the S3C2440A processor during implementation, the control module 20 that PC and ARM9 consist of, it is so that low in energy consumption when operation of whole control system, but integrated level is high, good portability can realize mechanical tomato picker device people harvesting to tomato under the destructuring environment.The signal that described data acquisition unit 10 gathers comprises color, shape, size and the position signalling of tomato.Because the particularity of tamato fruit, therefore gather by color, shape, size and position signalling to tomato, signal is delivered to control module 20, control module 20 carries out data analysis to signal automatically, judge whether tomato is ripe, whether the size of tomato meets the requirements, after judging that tomato meets the harvesting requirement, control module 20 just can be according to the position signalling and the shape signal that gather, control executing agency wins accurately to tomato, thereby carry out the harvesting of tomato automation, this part operation is mainly finished by PC.Control module also comprises the parts such as D/A change-over circuit, A/D change-over circuit, drive amplification circuit during concrete operations.
Concrete is, described performance element 30 comprises the picking mechanism that arranges on moving body and the moving body, described picking mechanism comprises plucking assembly and driving plucks the driven unit that assembly is plucked tomato, and described harvesting assembly is by the mechanical scissor assembly that base of fruit is blocked that tomato is held in the palm the manipulator held and manipulator top arrange.Described data acquisition unit 10 also comprises the mechanical scissor assembly that consists of performance element 30 and/or position signalling and the manipulator of manipulator is carried out data acquisition to the clamping degree of tomato.During concrete operations, driven unit is made of each servomotor, and the running by control module 20 each servomotor of control realizes the control to mechanical scissor assembly and manipulator, realizes winning tomato.Because plucking, tomato is continuity work, therefore gather winning the initial position signal that needs in the process manipulator and mechanical shearing assembly each time, like this control module 20 just can be when plucking each time performance element 30 original states and will reach terminal state, obtain the movement-state of moving body and manipulator through inverse kinematics, these quantity of states comprise the angle in each joint that consists of manipulator and mechanical shearing assembly, angular speed, angular acceleration, displacement, speed, acceleration etc., right again in physics limit with keep away under the constraint of barrier linear inequality constraint, seek out and can make performance element 30 transfer to terminal state from original state, and the control solution of manipulator motion shortest time, thereby control performance element 30 moves accordingly, guarantee that tomato wins operation accurately, carry out fast, increase work efficiency.
In addition, because the hardness of tomato is limited, manipulator is to the tension of tomato clamping, tomato is damaged, can't store for a long time, so during the utility model concrete operations, can one force sensor be set at manipulator, so just can carry out data acquisition to the clamping degree of tomato to manipulator, feed back to control module 20, the operation of manipulator be carried out adjusting effectively reliably.In a word, the utility model can effectively be controlled mechanical tomato picker tool people tomato is plucked.
Claims (4)
1. one kind is used for the system that tomato is plucked, it is characterized in that: comprise the data acquisition unit (10) that tomato is carried out data acquisition, the signal that described data acquisition unit (10) gathers is delivered to control module (20), control module (20) output signal control performance element (30) is plucked tomato, and described control module (20) comprises PC and ARM9.
2. system of plucking for tomato as claimed in claim 1, it is characterized in that: the signal that described data acquisition unit (10) gathers comprises color, shape, size and the position signalling of tomato.
3. system of plucking for tomato as claimed in claim 1, it is characterized in that: described performance element (30) comprises the picking mechanism that arranges on moving body and the moving body, described picking mechanism comprises plucking assembly and driving plucks the driven unit that assembly is plucked tomato, and described harvesting assembly is by the mechanical shearing module composition that base of fruit is blocked that tomato is held in the palm the manipulator held and manipulator top arrange.
4. system of plucking for tomato as claimed in claim 1 is characterized in that: described data acquisition unit (10) also comprises the mechanical shearing assembly that consists of performance element (30) and/or position signalling and the manipulator of manipulator is carried out data acquisition to the clamping degree of tomato.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220479840 CN202818997U (en) | 2012-09-20 | 2012-09-20 | System for picking tomatoes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220479840 CN202818997U (en) | 2012-09-20 | 2012-09-20 | System for picking tomatoes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202818997U true CN202818997U (en) | 2013-03-27 |
Family
ID=47930841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220479840 Expired - Fee Related CN202818997U (en) | 2012-09-20 | 2012-09-20 | System for picking tomatoes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202818997U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371612A (en) * | 2017-07-11 | 2017-11-24 | 西南大学 | A kind of strawberry plucks electric tool |
-
2012
- 2012-09-20 CN CN 201220479840 patent/CN202818997U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371612A (en) * | 2017-07-11 | 2017-11-24 | 西南大学 | A kind of strawberry plucks electric tool |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20140920 |
|
| EXPY | Termination of patent right or utility model |