CN203120538U - Hydraulic driven fruit tree flower thinning machine based on machine vision - Google Patents
Hydraulic driven fruit tree flower thinning machine based on machine vision Download PDFInfo
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- CN203120538U CN203120538U CN 201320067849 CN201320067849U CN203120538U CN 203120538 U CN203120538 U CN 203120538U CN 201320067849 CN201320067849 CN 201320067849 CN 201320067849 U CN201320067849 U CN 201320067849U CN 203120538 U CN203120538 U CN 203120538U
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Abstract
A hydraulic driven fruit tree flower thinning machine based on machine vision comprises a central control unit, a hydraulic device, an image collecting device and a flower thinning device, wherein the central control unit is connected with the hydraulic device and the image collecting device respectively, and the flower thinning device is driven by the central control unit through the hydraulic device; the flower thinning device comprises a rotary shaft and flower thinning rubber strips arranged on the rotary shaft, the upper end of the rotary shaft is fixedly connected with a supporting upper beam, the lower end of the rotary shaft is fixedly connected with a supporting lower beam, a supporting vertical pillar is further arranged between the supporting upper beam and the supporting lower beam, and the flower thinning device is connected with a transverse moving guide rod through a fixed shaft. The hydraulic driven fruit tree flower thinning machine based on the machine vision is adopted to be combined with a specific method of flower thinning, a large number of repeated filed tests for determining operation parameters of the flower thinning device are avoided, unnecessary test processes are reduced, accordingly economic benefits of orchard worker are improved, and enthusiasm for planting fruit trees of the orchard worker is protected.
Description
Technical field
The utility model belongs to agricultural mechanical field, is specifically related to a planting fruit-trees flower thinning machine, relates in particular to a kind of hydraulic driven fruit tree flower thinning machine based on machine vision, and described flower thinning machine is applicable to the flower thinning operation of fruit trees such as apple tree, peach, pear tree.
Background technology
The purpose of fruit growing is the results fruits, and the shape of fruit, size and quality then are to weigh the important indicator of fruit quality.Carry out the flower thinning operation at fruit tree and can regulate the relative equilibrium of setting the branch of recuperating, be conducive to improve output and the quality of fruit.According to statistics, can save at least 40% the quick-fried loss of putting the fruit tree nutrient of generation of unnecessary bud by flower thinning, make the fruit tree nutrient can concentrate the not scattered flower of supply and young fruit.By fruit tree is carried out the flower thinning operation, reduced the orchard fertilizing amount on the one hand, reduced production cost; Guarantee that on the other hand not scattered flowers and fruits no longer come off, and impel the fruit size of preserving even, improved the yield and quality of fruit, thereby improved economic well-being of workers and staff.Yet the fruit tree flower thinning is the important step that seasonality is strong in the agricultural production, labour intensity is big and job requirements is high.In traditional agricultural production, people generally adopt by hand fruit tree are carried out the flower thinning operation, and not only speed is slow, efficient is low for this flower thinning mode, the flower thinning phase buffer short, and bigger to amount of labour demanded, the labor cost height.The application of chemistry flower and fruit thinning technique in China orchard is also comparatively general, but this method causes fruit residue of pesticide and ecological environmental pollution easily.Along with people to the attention of food security and the growth requirement of the ecological agriculture, in recent years, the mechanical matching technology of flower and fruit thinning operation has obtained certain development.At present, flower and fruit thinning machine great majority commonly used are the structure that adopts blade type list flower thinning head, and are simple in structure, improved operating efficiency, but the operation angle can not be regulated and job area is little.
Patent application 201210132716.8 discloses " the portable electric equipment that is used for the fruit tree flower thinning ", comprises power supply, gauge tap, handle, motor, expansion link and flower thinning rod; Described handle is fixedly connected on the afterbody of described expansion link, and described motor is contained in the body of rod between described handle and the described expansion link; Described flower thinning rod rotatably is connected the head of described expansion link, and is connected to the output shaft of described motor by gangbar, is interspersed with many nylon wires on the surface of flower thinning rod.Patent application 201110103322.5 discloses " a kind of ultrasonic is to the electronic flower and fruit thinning machine of target ", comprises falsework, rotating shaft, flower and fruit thinning adhesive tape group, group of ultrasonic sensors, flower and fruit thinning electromotor, angle adjusting mechanism, expansion link and controlling organization; Described falsework is the shaped as frame structure of a side opening, the open side of falsework arranges rotating shaft, flower and fruit thinning adhesive tape group is set in the rotating shaft, rotating shaft one end arranges the flower and fruit thinning electromotor, falsework is provided with group of ultrasonic sensors, and angle adjusting mechanism and expansion link are located at respectively on the end face of falsework open side below, and expansion link one end is connected with falsework, the other end is handheld terminal, and handheld terminal arranges controlling organization.Yet, existing flower thinning equipment often possesses following defective: the optimal value that (1) needs in a large number, field trial is repeatedly determined each job parameter in the mechanical device, reduce orchard worker's economic benefit, thereby had a strong impact on the enthusiasm that the orchard worker raises fruit trees; (2) flower thinning device and target flower accurately can not be mated, thereby reduce the accuracy of flower thinning operation to a certain extent.
The utility model content
At the needs of the deficiencies in the prior art and practical application, the utility model provides a kind of hydraulic driven fruit tree flower thinning machine based on machine vision.
The technical solution of the utility model is: based on the hydraulic driven fruit tree flower thinning machine of machine vision, comprise central controller, hydraulic means, image collecting device and flower thinning device, described central controller links to each other respectively with hydraulic means, image collecting device, and drives the flower thinning device by hydraulic means; Described flower thinning device comprises rotating shaft and is arranged on flower thinning adhesive tape in the rotating shaft, fixedly connected with the support entablature in the upper end of described rotating shaft, the lower end of described rotating shaft is fixedly linked with supporting sill, also is provided with support post between described support entablature and the support sill; Described flower thinning device links to each other with horizontal moving leader by dead axle; Described hydraulic system comprises hydraulic cylinder a, hydraulic cylinder b and hydraulic motor, described rotating shaft links to each other with central controller by hydraulic motor, described support post is fixedly linked to realize rotatablely moving of flower thinning device by hydraulic cylinder b with horizontal moving leader, and described horizontal moving leader slides with horizontal moving guide rail by hydraulic cylinder a and links to each other to realize the horizontal movement of flower thinning device.
Preferably, described flower thinning adhesive tape is interspersed in the both sides of rotating shaft, and it is 7.84～8.80 * 10 that described flower thinning adhesive tape adopts elastic modelling quantity
3The elastomeric material of MPa, the diameter of described flower thinning adhesive tape are 2～8mm, and length is 150～450mm, and the spacing of described adjacent flower thinning adhesive tape is 10～80mm.
Preferably, the material of described flower thinning adhesive tape is one or more in rubber, nylon, plastics or the polyethylene.
Preferably, described image collecting device is arranged on the slide bar, and described slide bar and support post are fixedly linked; Be provided with image pick-up card in the described central controller, and link to each other with image collecting device by image pick-up card.
Preferably, be provided with sliding sleeve between described image collecting device and the slide bar, to realize image collecting device moving up and down and rotating along slide bar; Central controller is arranged on the hold-down support, and links to each other with calculator by data wire.
The operation principle of hydraulic system: electromotor provides power, makes hydraulic pump with hydraulic oil sucking-off in the fuel tank.Be sent to 3-position 4-way solenoid directional control valve a, 3-position 4-way solenoid directional control valve b and servo valve respectively by filter and pressure-reducing valve.By central controller controls 3-position 4-way solenoid directional control valve a, control the mode that hydraulic oil enters hydraulic cylinder a, thereby realize the horizontal movement of flower thinning device by the feeding work of control hydraulic cylinder a.By central controller controls 3-position 4-way solenoid directional control valve b, control the mode that hydraulic oil enters hydraulic cylinder b, thereby realize flower thinning device rotatablely moving around dead axle by the feeding work of control hydraulic cylinder b.By the central controller controls servo valve, control the flow that hydraulic oil enters hydraulic motor, thereby realize being arranged on the motion of the adhesive tape in the rotating shaft by the rotating speed of control hydraulic motor.
The invention also discloses a kind of fruit tree flower thinning method based on random model virtual experimental and machine vision, comprise following three steps:
(1) sets up random model, carry out virtual experimental, obtain making the flower thinning machine to obtain the relevant parameter of best flower thinning effect;
1. set up the three dimensional virtual models that the fruit tree flower distributes: set up the distribution of fruit tree flower according to formula (1) and formula (2)
Markov Chain random model, visualization processing obtain the three dimensional virtual models that the fruit tree flower distributes;
d
j(u)=P(S
t+u+l≠j,S
t+u-v=j,v=0,…,u-2|S
t+1=j,S
t≠j),u=1,2,… （1）
Wherein: d is that state occupies the distribution random function, determines to rest on the time u of state j; I and j are state; U, v and t are the time; S is the state procedure function; X is the random event function; B is the probability function that S and X determine;
2. set up the three dimensional virtual models of fruit tree flower thinning equipment;
3. the interaction between two models of computational analysis obtains making the flower thinning machine to obtain the relevant parameter of best flower thinning effect:
(a) 1. step is imported in the many-body dynamics analytical system with two models that 2. step is set up;
(b) relevant parameter is set: material behavior, geometric parameter characteristic, distribution character, the length of adhesive tape and the material behavior of flower according to adhesive tape are set relevant parameter respectively; Define constrained type between each parts according to the actual conditions of fruit tree flower thinning device; The driving force that applies according to hydraulic motor is set the rotating speed of rotating shaft;
(c) calculate, and obtain result of calculation: the speed of flower thinning end-effector end points, flower thinning end-effector active force, moment and the action site on flower, the position of flower thinning and quantity, the flower thinning number on every Shu Huazhi and seat flower rate;
(d) according to formula (3) step (c) is obtained result of calculation evaluation, when combined influence index ISZ is 12～42, obtain making the flower thinning machine to obtain the relevant parameter of best flower thinning effect, i.e. the spacing of the length of the diameter of adhesive tape, adhesive tape, adjacent adhesive tape and apart from the rotating speed of rotating shaft:
Wherein, ISZ is that this flower thinning device is to the combined influence index of flower thinning effect; NF is the flower thinning number on every Shu Huazhi;
m
jBe the quality of every adhesive tape, g; s
zBe the rotating speed of rotating shaft, rpm; ZG is seat flower rate, %; V is machine forwarding speed, km/h; r
LjBe the length of adhesive tape, cm;
(2) relevant parameter that obtains according to virtual experimental arranges fruit tree flower thinning equipment;
(3) the data input central controller that data acquisition unit is collected obtains after the processing carrying out the target flower that flower thinning is handled; Central controller is according to the position of target flower, by hydraulic means the flower thinning device is adjusted to the optimum position after, start the flower thinning device and also finish the flower thinning process.
Preferably, described step () is carried out the UG secondary exploitation technology that is based on that visualization processing obtains adopting in the three dimensional virtual models with the Markov Chain random model in 1. and is used the UG/OPEN secondary development tool.
What preferably, described step () set up that the three dimensional virtual models of fruit tree flower thinning device adopts in 2. is UG software.
Preferably, analytical calculation analyzes that interaction between two models adopts to described step () in 3. is ADAMS software.
The beneficial effects of the utility model are:
(1) the hydraulic driven fruit tree flower thinning machine based on machine vision described in the utility model, adopted visual image collecting device, described image collecting device is arranged on the slide bar of flower thinning device top, and can slide up and down and rotate along slide bar, thereby has guaranteed the scope of data acquisition; Described data acquisition unit links to each other with central controller by data collecting card simultaneously, through obtaining the flower thinning target after the central controller computational analysis, has guaranteed the accuracy of flower thinning operation;
(2) the hydraulic driven fruit tree flower thinning machine based on machine vision described in the utility model, the flower thinning adhesive tape that adopts is rubber, nylon elastomeric material, and the diameter of flower thinning adhesive tape, length and adhesive tape spacing all are the optimal parameters that obtains through simulated experiment, thereby effectively reduce the accidental injury rate in the flower thinning operation, guaranteed orchard worker's economic well-being of workers and staff.
(3) based on the fruit tree flower thinning method of random model virtual experimental and machine vision, at first by setting up random model, carry out virtual experimental, obtain making the flower thinning machine to obtain the relevant parameter of best flower thinning effect; The relevant parameter that obtains according to virtual experimental arranges fruit tree flower thinning equipment then; Gather the data of fruit tree flower distribution and the target flower that obtains to carry out the flower thinning processing by visual data acquisition unit at last, start the flower thinning equipment that sets and carry out the flower thinning operation; Described flower thinning method avoided definite flower thinning equipment availability parameter in a large number, field trial repeatedly, reduced unnecessary process of the test, thereby improved orchard worker's economic benefit, the enthusiasm of having protected the orchard worker to raise fruit trees;
(4) dummy model of fruit tree flower distribution is a very complicated nonlinear systems that changes along with the time, single model is difficult to meet the demands, in the virtual experimental of fruit tree flower thinning method described in the utility model, the many-body dynamics analysis principle being applied in the complication system model that is constituted by fruit tree flower distributed model and flower thinning mounted cast of novelty, by simulating and analyzing two correlation and interactions between the model, obtain making the flower thinning machine to obtain the relevant parameter of best flower thinning effect.
Description of drawings
Fig. 1 is based on the structural representation of the hydraulic driven fruit tree flower thinning machine of machine vision in the utility model;
Fig. 2 is based on the operation principle of the hydraulic system of the hydraulic driven fruit tree flower thinning machine of machine vision in the utility model;
Wherein: 1. horizontal moving leader; 2. horizontal moving guide rail; 3. hydraulic cylinder a; 4. hydraulic cylinder b; 5. support post; 6. support entablature; 7. rotating shaft; 8. bidirectional variable hydraulic motor; 9. rubber strip; 10. dead axle; 11. support sill; 12. Vision Builder for Automated Inspection; 13. image pick-up card; 14. central controller; 15. hold-down support; 16. slide bar; 17. 3-position 4-way solenoid directional control valve a; 18. 3-position 4-way solenoid directional control valve b; 19. servo valve; 20. pressure-reducing valve; 21. hydraulic pump; 22. electromotor; 23. filter; 24. overflow valve.
Embodiment
Below in conjunction with accompanying drawing the utility model is described further.
Embodiment 1:
Hydraulic driven fruit tree flower thinning machine based on machine vision, comprise central controller 14, hydraulic means, image collecting device 12 and flower thinning device, described central controller 14 links to each other respectively with hydraulic means, image collecting device 12, and drives the flower thinning device by hydraulic means.Described flower thinning device comprises rotating shaft 7 and the flower thinning adhesive tape 9 that is arranged in the rotating shaft 7, described flower thinning adhesive tape 9 is interspersed in the both sides of rotating shaft 7, it is the rubber strip of 7.84MPa that described flower thinning adhesive tape 9 adopts elastic modelling quantity, the diameter of described flower thinning adhesive tape 9 is 2-4mm, length is 150-350mm, and the spacing of described adjacent flower thinning adhesive tape 9 is 10-30mm.Fixedly connected with support entablature 6 in the upper end of described rotating shaft 7, the lower end of described rotating shaft 7 is fixedly linked with supporting sill 11, also is provided with support post 5 between described support entablature 6 and the support sill 11; Described flower thinning device links to each other with horizontal moving leader 1 by dead axle 10.Described hydraulic system comprises hydraulic cylinder a3, hydraulic cylinder b4 and hydraulic motor 8, described rotating shaft 7 links to each other with central controller 14 by hydraulic motor 8, described support post 5 is fixedly linked to realize rotatablely moving of flower thinning device by hydraulic cylinder b4 with horizontal moving leader 1, and described horizontal moving leader 1 slides with horizontal moving guide rail 2 by hydraulic cylinder a3 and links to each other to realize the horizontal movement of flower thinning device.Described image collecting device 12 is arranged on the slide bar 16, and described slide bar 16 is fixedly linked with support post 5; Be provided with image pick-up card 13 in the described central controller 14, and link to each other with image collecting device 12 by image pick-up card 13.Be provided with sliding sleeve between described image collecting device 12 and the slide bar 16, to realize image collecting device moving up and down and rotating along slide bar 16; Central controller 14 is arranged on the hold-down support 15, and links to each other with calculator by data wire.
The hydraulic work system principle: electromotor 22 provides power, makes hydraulic pump 21 with hydraulic oil sucking-off in the fuel tank.Be sent to 3-position 4-way solenoid directional control valve a17,3-position 4-way solenoid directional control valve b18 and servo valve 19 respectively by filter 23 and pressure-reducing valve 20.By central controller 14 control 3-position 4-way solenoid directional control valve a17, control the mode that hydraulic oil enters hydraulic cylinder a3, thereby realize the horizontal movement of flower thinning device by the feeding work of control hydraulic cylinder a3.By central controller 14 control 3-position 4-way solenoid directional control valve b18, control the mode that hydraulic oil enters hydraulic cylinder b4, thereby realize flower thinning device rotatablely moving around dead axle 10 by the feeding work of control hydraulic cylinder b4.By central controller 14 control servo valves 19, control the flow that hydraulic oil enters hydraulic motor 8, thereby realize being arranged on the motion of the adhesive tape in the rotating shaft 7 by the rotating speed of control hydraulic motor 8.
Based on the fruit tree flower thinning method of random model virtual experimental and machine vision, comprise following three steps:
(1) sets up random model, carry out virtual experimental, obtain making the flower thinning machine to obtain the relevant parameter of best flower thinning effect: because flower thinning is an irreversible process on fruit tree, in order to reduce the number of times of field trial, method with random model is simulated fruit tree apparatus derivatorius and flower distribution, obtains the dummy model that the fruit tree flower distributes;
1. set up the three dimensional virtual models that the fruit tree flower distributes: set up the Markov Chain random model that the fruit tree flower distributes according to formula (1) and formula (2), adopt the UG secondary exploitation technology to use the UG/OPEN secondary development tool Markov Chain random model is carried out visualization processing, obtain the three dimensional virtual models that the fruit tree flower distributes;
d
j(u)=P(S
t+u+l≠j,S
t+u-v=j,v=0,…,u-2|S
t+1=j,S
t≠j),u=1,2,… （1）
Wherein: d is that state occupies the distribution random function, determines to rest on the time u of state j; I and j are state; U, v and t are the time; S is the state procedure function; X is the random event function; B is the probability function that S and X determine;
2. adopt UG software to set up the three dimensional virtual models of fruit tree flower thinning device;
3. adopt the interaction between two models of ADAMS software computational analysis, obtain making the flower thinning machine to obtain the relevant parameter of best flower thinning effect:
(a) 1. step is imported in the many-body dynamics analytical system with two models that 2. step is set up;
(b) relevant parameter is set: material behavior, geometric parameter characteristic, distribution character, the length of adhesive tape and the material behavior of flower according to rubber strip are set relevant parameter respectively; Define constrained type between each parts according to the actual conditions of fruit tree flower thinning device; The driving force that applies according to hydraulic motor is set the rotating speed of rotating shaft;
(c) calculate, and obtain result of calculation: the speed of flower thinning end-effector end points, flower thinning end-effector active force, moment and the action site on flower, the position of flower thinning and quantity, the flower thinning number on every Shu Huazhi and seat flower rate;
(d) according to formula (3) step (c) is obtained result of calculation evaluation, when combined influence index ISZ is 12～42, obtain making the flower thinning machine to obtain the relevant parameter of best flower thinning effect, i.e. the spacing of the length of the diameter of adhesive tape, adhesive tape, adjacent adhesive tape and apart from the rotating speed of rotating shaft:
Wherein, ISZ is that this flower thinning device is to the combined influence index of flower thinning effect; NF is the flower thinning number on every Shu Huazhi; m
jBe the quality of every adhesive tape, g; s
zBe the rotating speed of rotating shaft, rpm; ZG is seat flower rate, %; V is machine forwarding speed, km/h; r
LjBe the length of adhesive tape, cm;
By the numerical analysis of many-body dynamics system, obtained the optimum speed of rotating shaft 7, best geometrical property parameter (diameter 3-4mm, length 200-350mm) and the adhesive tape spacing parameter (12-17mm) of adhesive tape 9, and the adhesive tape 9 of rotating shaft 7 both sides is in staggered distribution.
(2) relevant parameter that obtains according to virtual experimental arranges the hydraulic driven fruit tree flower thinning machine based on machine vision;
(3) the data input central controller 14 that data acquisition unit 12 is collected obtains after the processing carrying out the target flower that flower thinning is handled; Central controller 14 is according to the position of target flower, drive horizontal moving leader 1 by hydraulic cylinder a3, realize the horizontal movement of flower thinning actuating unit, apply active force by the support post 5 of hydraulic cylinder b4 and drive the flower thinning device around dead axle 10 rotations, realize the adjustment of rotating shaft 7 angle in vertical plane, the angle of inclination of rotating shaft 7 and the branch of distribution bud are complementary, to realize best flower thinning effect; Central controller 14 rotates by the adhesive tape 9 that control hydraulic motor 8 drives in the rotating shaft 7 then, thereby the adhesive tape of rotation 9 is laid flower to reach from branch the purpose of flower thinning.
Adopt method of the present invention to carry out flower thinning, reduced the field trial number of times of flower thinning operation, improved fruit quality and efficiency, reach the purpose of increasing both production and income.
Embodiment 2:
In the fruit tree flower thinning method based on random model virtual experimental and machine vision, pass through the numerical analysis of many-body dynamics system in the virtual experimental, best geometrical property parameter (diameter 3-5mm, length 250-350mm) and the adhesive tape spacing parameter (20-30mm) of the nylon strip that obtains.
Embodiment 3:
In the fruit tree flower thinning method based on random model virtual experimental and machine vision, pass through the numerical analysis of many-body dynamics system in the virtual experimental, best geometrical property parameter (diameter 5-6mm, length 300-350mm) and the adhesive tape spacing parameter (40-50mm) of the plastic strip that obtains.
Embodiment 4:
In the fruit tree flower thinning method based on random model virtual experimental and machine vision, pass through the numerical analysis of many-body dynamics system in the virtual experimental, best geometrical property parameter (diameter 3-4mm, length 200-350mm) and the adhesive tape spacing parameter (40-50mm) of the polyethylene strip that obtains.
Table 1 not flower thinning, manual flower thinning and flower thinning method of the present invention to the statistical data of 100 red Fuji apple tree flower thinnings
According to last table as can be seen, adopt flower thinning device of the present invention and flower thinning method, the fruit size maximum can reach 74mm, and the output of every fruit tree can reach 27kg.
Claims (5)
1. based on the hydraulic driven fruit tree flower thinning machine of machine vision, it is characterized in that: comprise central controller (14), hydraulic means, image collecting device (12) and flower thinning device, described central controller (14) links to each other respectively with hydraulic means, image collecting device (12), and drives the flower thinning device by hydraulic means; Described flower thinning device comprises rotating shaft (7) and is arranged on flower thinning adhesive tape (9) in the rotating shaft (7), fixedly connected with support entablature (6) in the upper end of described rotating shaft (7), the lower end of described rotating shaft (7) is fixedly linked with supporting sill (11), also is provided with support post (5) between described support entablature (6) and the support sill (11); Described flower thinning device links to each other with horizontal moving leader (1) by dead axle (10); Described hydraulic system comprises hydraulic cylinder a(3), hydraulic cylinder b(4) and hydraulic motor (8), described rotating shaft (7) links to each other with central controller (14) by hydraulic motor (8), described support post (5) is by hydraulic cylinder b(4) be fixedly linked to realize rotatablely moving of flower thinning device with horizontal moving leader (1), described horizontal moving leader (1) is by hydraulic cylinder a(3) sliding with horizontal moving guide rail (2) links to each other to realize the horizontal movement of flower thinning device.
2. the hydraulic driven fruit tree flower thinning machine based on machine vision according to claim 1, it is characterized in that: described flower thinning adhesive tape (9) is interspersed in the both sides of rotating shaft (7), and it is 7.84～8.80 * 10 that described flower thinning adhesive tape (9) adopts elastic modelling quantity
3The elastomeric material of MPa, the diameter of described flower thinning adhesive tape (9) is 2～8 mm, and length is 150～450 mm, and the spacing of described adjacent flower thinning adhesive tape (9) is 10～80 mm.
3. the hydraulic driven fruit tree flower thinning machine based on machine vision according to claim 2, it is characterized in that: the material of described flower thinning adhesive tape (9) is one or more in rubber, nylon, plastics or the polyethylene.
4. according to any described hydraulic driven fruit tree flower thinning machine based on machine vision of claim 1-3, it is characterized in that: described image collecting device (12) is arranged on the slide bar (16), and described slide bar (16) is fixedly linked with support post (5); Be provided with image pick-up card (13) in the described central controller (14), and link to each other with image collecting device (12) by image pick-up card (13).
5. the hydraulic driven fruit tree flower thinning machine based on machine vision according to claim 4, it is characterized in that: be provided with sliding sleeve between described image collecting device (12) and the slide bar (16), to realize image collecting device moving up and down and rotating along slide bar (16); Central controller (14) is arranged on the hold-down support (15), and links to each other with calculator by data wire.
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| CN 201320067849 CN203120538U (en) | 2013-02-05 | 2013-02-05 | Hydraulic driven fruit tree flower thinning machine based on machine vision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103081730A (en) * | 2013-02-05 | 2013-05-08 | 青岛农业大学 | Hydraulic transmission type fruit tree flower thinning machine based on machine vision and flower thinning method |
| CN103828785A (en) * | 2014-02-28 | 2014-06-04 | 青岛农业大学 | Multifunctional operation machine for orchard |
| CN105052570A (en) * | 2015-07-09 | 2015-11-18 | 青岛大学 | 3D vegetation trimming device |
| CN105210692A (en) * | 2015-10-13 | 2016-01-06 | 林华 | The firm clipping device of high-altitude branch |
| CN107153463A (en) * | 2017-06-14 | 2017-09-12 | 段凯雄 | Beat the VR analogy methods and device of tree flower |
| CN109121813A (en) * | 2018-07-17 | 2019-01-04 | 江苏省农业科学院 | A kind of frame Y type flower thinning of fruit trees device |
-
2013
- 2013-02-05 CN CN 201320067849 patent/CN203120538U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103081730A (en) * | 2013-02-05 | 2013-05-08 | 青岛农业大学 | Hydraulic transmission type fruit tree flower thinning machine based on machine vision and flower thinning method |
| CN103081730B (en) * | 2013-02-05 | 2014-09-10 | 青岛农业大学 | Hydraulic transmission type fruit tree flower thinning machine based on machine vision and flower thinning method |
| CN103828785A (en) * | 2014-02-28 | 2014-06-04 | 青岛农业大学 | Multifunctional operation machine for orchard |
| CN103828785B (en) * | 2014-02-28 | 2015-08-05 | 青岛农业大学 | multifunctional garden operation machine |
| CN105052570A (en) * | 2015-07-09 | 2015-11-18 | 青岛大学 | 3D vegetation trimming device |
| CN105210692A (en) * | 2015-10-13 | 2016-01-06 | 林华 | The firm clipping device of high-altitude branch |
| CN105210692B (en) * | 2015-10-13 | 2017-10-20 | 林华 | High-altitude branch consolidates clipping device |
| CN107153463A (en) * | 2017-06-14 | 2017-09-12 | 段凯雄 | Beat the VR analogy methods and device of tree flower |
| CN107153463B (en) * | 2017-06-14 | 2020-06-02 | 段凯雄 | Tree flower pruning VR simulation method and device |
| CN109121813A (en) * | 2018-07-17 | 2019-01-04 | 江苏省农业科学院 | A kind of frame Y type flower thinning of fruit trees device |
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