CN203608576U - Machine-vision-based handheld mobile picking equipment - Google Patents

Machine-vision-based handheld mobile picking equipment Download PDF

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Publication number
CN203608576U
CN203608576U CN201320685781.3U CN201320685781U CN203608576U CN 203608576 U CN203608576 U CN 203608576U CN 201320685781 U CN201320685781 U CN 201320685781U CN 203608576 U CN203608576 U CN 203608576U
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CN
China
Prior art keywords
accumulation
picking
transmission
portable mobile
machine vision
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CN201320685781.3U
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Chinese (zh)
Inventor
詹博锦
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詹博锦
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Abstract

The utility model discloses machine-vision-based handheld mobile picking equipment, which comprises a telescopic rod, a picking device arranged at the top end of the telescopic rod and a control device arranged on the middle part of the telescopic rod, wherein the picking device comprises a power source, a camera, a transmission mechanism, a picking head and a fruit picking mesh bag; the power source is a power supply which is connected with the transmission mechanism through a wire; the transmission mechanism is connected with the picking head; the control device comprises an intelligent image processing chip, and a display screen and a control switch, which are connected with the intelligent image processing chip respectively; the intelligent image processing chip is connected with the power source, the camera and the transmission mechanism through a wire respectively. The equipment is simple in structure, light in weight, strong in shear strength, high in efficiency and applicable to the picking of fruits in various complex terrains; the camera is matched with the control device, so that tree branch and leaf or fruit damage caused by picking is avoided.

Description

A kind of portable mobile seed harvester based on machine vision
Technical field
The utility model relates to agricultural equipment technical field, relates in particular to a kind of portable mobile seed harvester based on machine vision.
Background technology
Traditional melon and fruit is gathered and is conventionally adopted artificial mode of plucking, and labourer's labour intensity is large, and operating efficiency is low, need to expend a large amount of time and muscle power.Development melon and fruit picking robot can free a large amount of labours from these numerous and diverse, dull work.Melon and fruit picking robot belongs to the one of agricultural robot, and along with popularizing of the intelligentized development of agricultural equipment and related science technology, picking robot will have more wide prospect.
Plucking forest fruit, is a difficult problem that perplexs for many years orchard worker, and it objectively becomes a key factor that restricts economic forest development.In order to solve an above-mentioned difficult problem, the picking mechanical successively occurring is both at home and abroad broadly divided into two large class---main equipment and handheld devices.Main equipment is as hydraulic lifting seed harvester etc., and the large stretch of orchard that is adapted at level land is used, and this equipment investment is large, and cost is high, is difficult to adapt to the landform of various complexity, helpless in massif area.Handheld device is as unpowered fruit picker, manual twisted off type fruit picker etc., it is, inefficiency large by manual operation, labour intensity entirely, is difficult to meet orchard worker's demand, in addition, because the residing position of forest fruit is higher, when harvesting, operator is usually difficult to see clearly the position of carpopodium, and this will affect undoubtedly operating efficiency and increase labour intensity, also have, the shearing dynamics of picking head but, causes shearing to occur the problem that is difficult to cut off, and has reduced picking rate.
Therefore, a kind of applicable to any landform, and near the concrete condition of of knowing fruit to be sheared that can be clear, clear, can reduce the risk that injures forest branches and leaves or fruit, meanwhile, the fast picker of picking rate has good market prospects.
Utility model content
For the deficiencies in the prior art, the utility model provides a kind of portable mobile seed harvester based on machine vision addressing the above problem.
The utility model for achieving the above object and adopt technical scheme be:
Based on a portable mobile seed harvester for machine vision, it comprises that an expansion link, is arranged at the picker on expansion link top, and one is arranged at the control device at expansion link middle part; Described picker, it comprises a power source, a camera, a transmission mechanism, a picking head and a fruit picking mesh bag, and described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera, transmission mechanism respectively by wire.
The transmission mechanism of described picker, it comprises a bracket base, described bracket base is provided with the connecting ring, of an expansion link flexible connection for discharging the first directed slag-drip opening of the residue after shearing and the electric wire line outlet that a supply lines passes, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of multiple adjusting picking head; Described ripple case upper casing is connected with ripple case lower casing, forms a ripple case shell, and described ripple case shell is placed in described bracket base.
Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor, a gear train and a worm gear, and described motor is connected with gear train, and described gear train is connected with worm gear; Described gear train comprises an interconnective driving wheel and a reduction gearing, described worm gear, it comprises an interconnective worm screw, a worm gear and a worm gear cam, described driving wheel is connected with motor, described reduction gearing is connected with worm screw, described worm screw, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
The picking head of described picker, it comprises a support upper cover, an and support lower cover, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, be folded with a cutting prerotation vane, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt of a motor function, the front portion of the fan-shaped hilt of described motor function is provided with an active blade, and one be fixedly connected with the initiatively moving knife compressing tablet of blade and the fan-shaped hilt of motor function, on the fan-shaped hilt of described motor function, be also provided with a cam drive groove, one release slider drives draw-in groove, an and fulcrum, described cam drive groove is connected with worm gear cam.
The accumulation of energy release slider, a percussion spring card, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt, and a spring being set on accumulation of energy release shock bolt; Described accumulation of energy release slider, its front end is provided with a projection, and the projection of described accumulation of energy release slider drives draw-in groove to be connected with release slider; In described accumulation of energy release slider, be also provided with multiple screens; Described screens is connected with percussion Spring Card; Described accumulation of energy discharges shock bolt and is provided with a bolt head.
Slide block slot, an accommodating accumulation of energy that is also provided with accommodating accumulation of energy release slider in described " V " font shell discharges clashes into the bar-shaped trough of bolt and for discharging the second directed slag-drip opening of the residue after shearing, the first described directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
Under described support, cover and be provided with a mounting base for camera head, in described shooting mount pad, be provided with a camera, the angular range that arranges between described shooting mount pad and support lower cover is 20 °~80 °.
In described support lower cover, be also provided with a control circuit board, a motion positions gauge tap, described motion positions gauge tap is connected with control circuit board; Described motion positions gauge tap is connected with control device, and described control circuit board is connected with motor; The front end of described support upper cover is provided with a moving knife protection guide collar and and connects fruit mesh bag " U " shape circle, described in connect fruit mesh bag " U " shape circle and be connected with fruit picking mesh bag.
Described expansion link, is arranged with two fixing pipe boxes that are used for guaranteeing the normal work of the height of picker in current adjusting on it, its top be provided with one with the suitable connecting jacket structure of the connecting ring of picker.
The upper and lower side of worm screw of the present utility model is respectively equipped with a bearing, makes portable mobile seed harvester of the present utility model have better stability, fastness, thereby increased its service life.
Its below of connecting ring of the present utility model is provided with angle draw-in groove, can regulate by angle draw-in groove the angle of picking head, portable mobile seed harvester of the present utility model is used more flexible, convenient.
The portable mobile seed harvester that the utility model is researched and developed, it is applicable to any landform, and meanwhile, its structure is simplified, lightweight, it adopts the plastics of lightweight for its shell, so, it is little that it has equipment investment, and cost is low, the characteristic of the landform of general various complexity.
It adopts camera the utility model, and control device, and both are combined with, can reach clear, the clear fruit to be plucked of understanding, with and near environment, avoid, because pluck the forest branches and leaves that cause or fruit injury, affecting the harvest in the coming year and the outward appearance of fruit.
Further, the utility model adopts spring to make the multiplication of shearing dynamics, and the elastic force discharging by the short time set of spring, for the shearing to fruit, makes the shear rate multiplication of fruit, makes shear efficiency higher.
" U " of the present utility model shape edge of a knife left arm is provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, is folded with a cutting prerotation vane, by the anti-skidding quiet cutter of profile of tooth and cutting being combined with of prerotation vane, make to cut faster, cutting effect is better.
The moving knife guard circle of " U " of the present utility model shape edge of a knife and cutting prerotation vane, its both combinations, form one " tubaeform " mouthful, make guide effect better.
Below in conjunction with accompanying drawing and embodiment, the utility model is further illustrated.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the overall structure schematic diagram of picker of the present utility model;
Fig. 3 is the package assembly schematic diagram of the picking head of picker of the present utility model;
Fig. 4 is the blast structural representation of the picking head of picker of the present utility model;
Fig. 5 is the blast structural representation of transmission mechanism of the present utility model;
Wherein:
1, expansion link 2, control device 3, picker
4, fruit picking mesh bag 5, bracket base 6, ripple case upper casing
7, ripple case lower casing 8, motor 9, driving wheel
10, reduction gearing 11, worm screw 12, worm gear
13, worm gear cam 14, connecting ring 15, support upper cover
16, support lower cover 17, the anti-skidding quiet cutter 18 of profile of tooth, cutting prerotation vane
19, the fan-shaped hilt 20 of motor function, active blade 21, moving knife compressing tablet
22, cam drive groove 23, release slider drive draw-in groove
24, accumulation of energy release slider 25, percussion spring card 26, accumulation of energy discharge clashes into bolt 27, spring 28, mounting base for camera head 29, camera
30, moving knife is protected guide collar 31, is connect fruit mesh bag " U " shape circle
32, control circuit board 33, motion positions gauge tap 34, fixing pipe box
35, the first directed slag-drip opening 36, electric wire line outlet 37, angle draw-in groove
38, fulcrum 40, screens 41, bolt head
42, slide block slot 43, bar-shaped trough 44, the second directed slag-drip opening.
Embodiment
Referring to Fig. 1~Fig. 5, the utility model provides a kind of portable mobile seed harvester based on machine vision, and it comprises that an expansion link 1, a picker 3, that is arranged at expansion link 1 top are arranged at the control device 2 at expansion link 1 middle part; Described picker 3, it comprises a power source, a camera 29, a transmission mechanism, a picking head and a fruit picking mesh bag 4, described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device 2, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera 29, transmission mechanism respectively by wire.
The transmission mechanism of described picker 3, it comprises a bracket base 5, described bracket base 5 is provided with connecting ring that an expansion link 1 is flexibly connected 14, for discharging the first directed slag-drip opening 35 of the residue after shearing and electric wire line outlet 36, one ripple case upper casings 6, a ripple case lower casing 7 that a supply lines passes; Described connecting ring 14 is provided with the angle draw-in groove 37 of multiple adjusting picking head; Described ripple case upper casing 6 is connected with ripple case lower casing 7, forms a ripple case shell, and described ripple case shell is placed in described bracket base 5.
Described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor 8, a gear train and a worm gear, and described motor 8 is connected with gear train, and described gear train is connected with worm gear; Described gear train comprises an interconnective driving wheel 9 and a reduction gearing 10, described worm gear, it comprises an interconnective worm screw 11, a worm gear 12 and a worm gear cam 13, described driving wheel 9 is connected with motor 8, described reduction gearing 10 is connected with worm screw 11, described worm screw 11, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
The picking head of described picker 3, it comprises a support upper cover 15, an and support lower cover 16, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves 17 of profile of tooth, between the anti-skidding quiet cutter 17 of described profile of tooth, be folded with a cutting prerotation vane 18, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt 19 of a motor function, the front portion of the fan-shaped hilt 19 of described motor function is provided with an active blade 20, and one be fixedly connected with the initiatively moving knife compressing tablet 21 of blade 20 and the fan-shaped hilt 19 of motor function, on the fan-shaped hilt 19 of described motor function, be also provided with a cam drive groove 22, one release slider drives draw-in groove 23, an and fulcrum 38, described cam drive groove 22 is connected with worm gear cam 13.
The accumulation of energy release slider 24, a percussion spring card 25, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt 26, and a spring 27 being set on accumulation of energy release shock bolt 26; Described accumulation of energy release slider 24, its front end is provided with a projection, and the projection of described accumulation of energy release slider 24 drives draw-in groove 23 to be connected with release slider; In described accumulation of energy release slider 24, be also provided with multiple screens 40; Described screens 40 is connected with percussion Spring Card; Described accumulation of energy discharges shock bolt 26 and is provided with a bolt head 41.
Slide block slot 42, an accommodating accumulation of energy that is also provided with accommodating accumulation of energy release slider 24 in described " V " font shell discharges clashes into the bar-shaped trough 43 of bolt 26 and for discharging the second directed slag-drip opening 44 of the residue after shearing, the first described directed slag-drip opening 35 communicates with the second directed slag-drip opening 44, forms a slag-drip opening.
Described support lower cover 16 is provided with a mounting base for camera head 28, is provided with a camera 29 in described shooting mount pad, and the angular range that arranges between described shooting mount pad and support lower cover 16 is 20 °~80 °.
In described support lower cover 16, be also provided with a control circuit board 32, a motion positions gauge tap 33, described motion positions gauge tap 33 is connected with control circuit board 32; Described motion positions gauge tap 33 is connected with control device 2, and described control circuit board 32 is connected with motor 8; The front end of described support upper cover 15 is provided with a moving knife protection guide collar 30 and and connects fruit mesh bag " U " shape circle 31, described in connect fruit mesh bag " U " shape circle 31 and be connected with fruit picking mesh bag 4.
Described expansion link 1, is arranged with two fixing pipe boxes 34 that are used for guaranteeing the normal work of the height of picker 3 in current adjusting on it, its top be provided with one with the suitable connecting jacket structure of the connecting ring 14 of picker 3.
The upper and lower side of worm screw 11 of the present utility model is respectively equipped with a bearing, makes portable mobile seed harvester of the present utility model have better stability, fastness, thereby increased its service life.
Connecting ring of the present utility model 14 its belows are provided with angle draw-in groove 37, can regulate by angle draw-in groove 37 angle of picking head, portable mobile seed harvester of the present utility model are used more flexible, convenient.
The portable mobile seed harvester that the utility model is researched and developed, it is applicable to any landform, and meanwhile, its structure is simplified, lightweight, it adopts the plastics of lightweight for its shell, so, it is little that it has equipment investment, and cost is low, the characteristic of the landform of general various complexity.
It adopts camera 29 the utility model, and control device 2, and both are combined with, can reach clear, the clear fruit to be plucked of understanding, with and near environment, avoid, because pluck the forest branches and leaves that cause or fruit injury, affecting the harvest in the coming year and the outward appearance of fruit.
Further, the utility model adopts spring 27 to make the multiplication of shearing dynamics, and the elastic force discharging by the short time set of spring 27, for the shearing to fruit, makes the shear rate multiplication of fruit, makes shear efficiency higher.
" U " of the present utility model shape edge of a knife left arm is provided with two anti-skidding quiet cuttves 17 of profile of tooth, between the anti-skidding quiet cutter 17 of described profile of tooth, be folded with a cutting prerotation vane 18, by the anti-skidding quiet cutter 17 of profile of tooth and cutting being combined with of prerotation vane 18, make to cut faster, cutting effect is better.
The moving knife guard circle of " U " of the present utility model shape edge of a knife and cutting prerotation vane 18, its both combinations, form one " tubaeform " mouthful, make guide effect better.
The utility model is not limited to above-mentioned embodiment, adopts the structure identical or approximate with the utility model above-described embodiment, all within protection domain of the present utility model.

Claims (9)

1. the portable mobile seed harvester based on machine vision, is characterized in that: it comprises that an expansion link, is arranged at the picker on expansion link top, and one is arranged at the control device at expansion link middle part; Described picker, it comprises a power source, a camera, a transmission mechanism, a picking head and a fruit picking mesh bag, and described power source is power supply, and described power supply is connected with transmission mechanism by wire, and described transmission mechanism is connected with picking head; Described control device, it comprises an intelligent image process chip and the display screen being connected with intelligent image process chip respectively, and a gauge tap, described intelligent image process chip is connected with power source, camera, transmission mechanism respectively by wire.
2. the portable mobile seed harvester based on machine vision according to claim 1, it is characterized in that: the transmission mechanism of described picker, it comprises a bracket base, described bracket base is provided with the connecting ring, of an expansion link flexible connection for discharging the first directed slag-drip opening of the residue after shearing and the electric wire line outlet that a supply lines passes, a ripple case upper casing, a ripple case lower casing; Described connecting ring is provided with the angle draw-in groove of multiple adjusting picking head; Described ripple case upper casing is connected with ripple case lower casing, forms a ripple case shell, and described ripple case shell is placed in described bracket base.
3. the portable mobile seed harvester based on machine vision according to claim 2, it is characterized in that: described transmission mechanism, it also comprises that one is arranged at ripple case enclosure one motor, a gear train and a worm gear, described motor is connected with gear train, and described gear train is connected with worm gear; Described gear train comprises an interconnective driving wheel and a reduction gearing, described worm gear, it comprises an interconnective worm screw, a worm gear and a worm gear cam, described driving wheel is connected with motor, described reduction gearing is connected with worm screw, described worm screw, its upper and lower two ends are respectively equipped with one and play bearing stable, fixation.
4. the portable mobile seed harvester based on machine vision according to claim 3, it is characterized in that: the picking head of described picker, it comprises a support upper cover, an and support lower cover, both coordinate formation one " V " font shell, described " V " font shell, it is a hollow structure, its front end is provided with one " U " shape edge of a knife, described " U " shape edge of a knife left arm be provided with two anti-skidding quiet cuttves of profile of tooth, between the anti-skidding quiet cutter of described profile of tooth, be folded with a cutting prerotation vane, the right arm of described " U " shape edge of a knife is provided with the fan-shaped hilt of a motor function, the front portion of the fan-shaped hilt of described motor function is provided with an active blade, and one be fixedly connected with the initiatively moving knife compressing tablet of blade and the fan-shaped hilt of motor function, on the fan-shaped hilt of described motor function, be also provided with a cam drive groove, one release slider drives draw-in groove, an and fulcrum, described cam drive groove is connected with worm gear cam.
5. the portable mobile seed harvester based on machine vision according to claim 4, it is characterized in that: the accumulation of energy release slider, a percussion spring card, the accumulation of energy that in described " V " font shell, are also provided with connection successively discharge and clash into bolt, and a spring being set on accumulation of energy release shock bolt; Described accumulation of energy release slider, its front end is provided with a projection, and the projection of described accumulation of energy release slider drives draw-in groove to be connected with release slider; In described accumulation of energy release slider, be also provided with multiple screens; Described screens is connected with percussion Spring Card; Described accumulation of energy discharges shock bolt and is provided with a bolt head.
6. the portable mobile seed harvester based on machine vision according to claim 5, it is characterized in that: slide block slot, an accommodating accumulation of energy that is also provided with accommodating accumulation of energy release slider in described " V " font shell discharges clashes into the bar-shaped trough of bolt and for discharging the second directed slag-drip opening of the residue after shearing, the first described directed slag-drip opening communicates with the second directed slag-drip opening, forms a slag-drip opening.
7. the portable mobile seed harvester based on machine vision according to claim 6, it is characterized in that: under described support, cover and be provided with a mounting base for camera head, in described shooting mount pad, be provided with a camera, the angular range that arranges between described shooting mount pad and support lower cover is 20 °~80 °.
8. the portable mobile seed harvester based on machine vision according to claim 7, is characterized in that: in described support lower cover, be also provided with a control circuit board, a motion positions gauge tap, described motion positions gauge tap is connected with control circuit board; Described motion positions gauge tap is connected with control device, and described control circuit board is connected with motor; The front end of described support upper cover is provided with a moving knife protection guide collar and and connects fruit mesh bag " U " shape circle, described in connect fruit mesh bag " U " shape circle and be connected with fruit picking mesh bag.
9. the portable mobile seed harvester based on machine vision according to claim 8, it is characterized in that: described expansion link, on it, be arranged with two fixing pipe boxes that are used for guaranteeing the normal work of the height of picker in current adjusting, its top be provided with one with the suitable connecting jacket structure of the connecting ring of picker.
CN201320685781.3U 2013-10-31 2013-10-31 Machine-vision-based handheld mobile picking equipment Withdrawn - After Issue CN203608576U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320685781.3U CN203608576U (en) 2013-10-31 2013-10-31 Machine-vision-based handheld mobile picking equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320685781.3U CN203608576U (en) 2013-10-31 2013-10-31 Machine-vision-based handheld mobile picking equipment

Publications (1)

Publication Number Publication Date
CN203608576U true CN203608576U (en) 2014-05-28

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CN201320685781.3U Withdrawn - After Issue CN203608576U (en) 2013-10-31 2013-10-31 Machine-vision-based handheld mobile picking equipment

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103548494B (en) * 2013-10-31 2015-11-25 詹博锦 A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103548494B (en) * 2013-10-31 2015-11-25 詹博锦 A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof

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C25 Abandonment of patent right or utility model to avoid double patenting
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Granted publication date: 20140528

Effective date of abandoning: 20151125