CN207317739U - A kind of strip melon and fruit detection picking integrated device based on ccd image sensor - Google Patents

A kind of strip melon and fruit detection picking integrated device based on ccd image sensor Download PDF

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Publication number
CN207317739U
CN207317739U CN201721479045.7U CN201721479045U CN207317739U CN 207317739 U CN207317739 U CN 207317739U CN 201721479045 U CN201721479045 U CN 201721479045U CN 207317739 U CN207317739 U CN 207317739U
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CN
China
Prior art keywords
fruit
image sensor
melon
ccd image
strip
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Expired - Fee Related
Application number
CN201721479045.7U
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Chinese (zh)
Inventor
孙浩然
郑蓓蓉
陈玉梅
申允德
钟蓉
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Wenzhou University
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Wenzhou University
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Priority to CN201721479045.7U priority Critical patent/CN207317739U/en
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Publication of CN207317739U publication Critical patent/CN207317739U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of strip melon and fruit detection picking integrated device based on ccd image sensor.Scheme includes mechanical arm and the executing agency installed in mechanical arm tail end, it is characterised in that:The executing agency is mainly by detection device, shear, clamping device and controller, the detection device is ccd image sensor, after the executing agency of the mechanical arm tail end reaches cucumber sustained height, the ccd image sensor obtains cucumber vision signal, and binary conversion treatment is carried out to vision signal, obtain rectangular wave, the controller handles gained rectangular wave and measurement obtains strip melon and fruit length value in image, and compared with default strip melon and fruit length value, as >=preset strip melon and fruit length value, then the controller sends cut command and drives scissor blade shearing carpopodium to shear, the strip melon and fruit of shearing is by gripper mechanism grips.

Description

A kind of strip melon and fruit detection picking integrated device based on ccd image sensor
Technical field
It the utility model is related to a kind of strip melon and fruit detection picking integrated device.
Background technology
Strip melon and fruit generally requires to carry out in due course picking of classifying according to length, to supply the client of different demands, is planting Ground is planted, field survey is difficult to for the extent of growth of strip melon and fruit, often rule of thumb range estimation picking, but often occur Error.For the regular length requirement of a certain strip melon and fruit on order, if strip melon and fruit picking length is too short, Influence reputation and the satisfaction of client;If strip melon and fruit picking length is long, production cost is added indirectly.In addition, such as Fruit carries tape measure and measures, then is inconvenient, picking process is easy to lose.To solve the above-mentioned problems, some fruit picking devices are adopted With bagging technique with a scale come field survey strip melon and fruit length, but this method is only applicable to manually pick, and can not be machine Toolization picking provides facility, still can not mitigate hand labor intensity, it is difficult to adapt to the trend of agricultural modernization.
At present, cucumber in greenhouse is progressively moving towards Mechaniaed harvest, and it is automation to carry out maturity identification before picking to melon and fruit Fruit and vegetable picking machinery people realizes the key of picking function.
The content of the invention
The purpose of the utility model is to overcome the defects of the prior art, there is provided a kind of length based on ccd image sensor Bar shaped melon and fruit detection picking integrated device.
To achieve the above object, the embodiment of the utility model includes mechanical arm and the execution installed in mechanical arm tail end Mechanism, it is characterised in that:The executing agency is mainly by detection device, shear, clamping device and controller, the detection Device is ccd image sensor, and after executing agency's arrival cucumber sustained height of the mechanical arm tail end, the ccd image passes Sensor obtains cucumber vision signal and carries out binary conversion treatment to vision signal, obtains rectangular wave, the controller is to gained square Shape ripple is handled and measurement obtains strip melon and fruit length value in image, and is compared with default strip melon and fruit length value Compared with, such as >=and preset strip melon and fruit length value, then the controller sends cut command and is cut to shear drive scissor blade Carpopodium is cut, the strip melon and fruit of shearing is by gripper mechanism grips.
Strip melon and fruit based on the ccd image sensor detection picking integrated device, it is characterised in that:The machine Tool arm is made of sequentially connected waist joint, shoulder joint, large arm, elbow joint, forearm and wrist joint.
Strip melon and fruit based on the ccd image sensor detection picking integrated device, it is characterised in that:The control Device processed uses AT89C51 microcontrollers.
Strip melon and fruit based on the ccd image sensor detection picking integrated device, it is characterised in that:The waist Joint base is equipped with pedestal.
Strip melon and fruit detection picking integrated device advantage of the utility model people based on ccd image sensor:Cut plucking The melon and fruit progress to strip melon and fruit measurement of length, realized to meeting customer requirement length can be realized before strip melon and fruit fruit Selection and automatic picking.For the melon and fruit length of customer requirement, strip melon and fruit of the invention is generally required according to length In due course picking of classifying is carried out, to supply the client of different demands., can be by ccd image sensor, for strip in planting site The length of melon and fruit carries out field survey, is not required to rule of thumb estimate picking, is not in large error, measurement error is small.For For the regular length requirement of a certain strip melon and fruit on order, with a collection of melon and fruit measurement of length data picked Standard deviation often very little, improves the reputation of melon and fruit planting base and the satisfaction of client;It will not pick long, save into This.Measured furthermore, it is not necessary that carrying tape measure, measurement is very convenient.Compared with background technology, this method is adopted suitable for mechanization Pluck, alleviate hand labor intensity, there is the degree of automation is high, cost of labor is low etc..
Brief description of the drawings
Fig. 1 is the utility model melon and fruit detection picking integrated device structure diagram;
Fig. 2 is the utility model melon and fruit detection picking integrated device control flow chart;
Fig. 3 is cucumber schematic diagram to be measured.
Embodiment
The utility model is described in detail below in conjunction with the accompanying drawings.
As shown in Figs. 1-2, the detection picking one dress of the strip melon and fruit based on ccd image sensor of the utility model Put, including mechanical arm, detection device 12, shear 13, clamping device 14, controller.Pacify successively the front end of the mechanical arm It is ccd image sensor to fill detection device 12, shear 13 and clamping device 14, the detection device 12(Electric charge coupling apparatus Part imaging sensor), the executing agency of the mechanical arm tail end(By detection device, shear, clamping device and controller group Into)After reaching 3 sustained height of cucumber, the ccd image sensor 12 obtains cucumber vision signal, and carries out two to vision signal Value is handled, and obtains rectangular wave, the controller handles gained rectangular wave and measurement obtains strip melon and fruit in image Length value, and with default strip melon and fruit length value(That is the strip melon and fruit length of customer order requirement)It is compared, such as >= Strip melon and fruit length value is preset, then the controller sends cut command and drives the shearing fruit of scissor blade 15 to shear 13 Stalk, the strip melon and fruit of shearing are clamped by clamping device 14.Specifically, the ccd image sensor measurement strip melon and fruit length The method of degree:Time sequential pulse drives ccd image sensor, and ccd image sensor exports the vision signal of melon and fruit, to vision signal Carry out binary conversion treatment and obtain rectangle wave width, rectangular wave is handled and measured to obtain the ruler of strip melon and fruit in image It is very little, according to the length dimension of strip melon and fruit in image, maturity judgement is carried out to melon and fruit in described image.
The cucumber that will be picked on earth ridge 1 is first placed in same level altitude, mechanical arm end via draught line 2 before operation After holding actuator to reach 3 sustained height of cucumber, after ccd image sensor obtains cucumber vision signal, ccd image sensor is by light Learn information and be converted into the quantity of electric charge directly proportional to light intensity, by signal processing binaryzation, singlechip controller is to gained rectangular wave Handled and measured to obtain the size of strip melon and fruit in image, compared with the strip melon and fruit length of customer order requirement, If the melon and fruit length is adapted to pick, controller sends cut command and drives scissor blade 15 to shear to shear 13 automatically Carpopodium, the fruit of shearing are clamped by clamping device 14, and whole fruit detection and picking process are completed in once-through operation.
Further, the mechanical arm is four-degree-of-freedom articulated manipulator, by sequentially connected waist joint 6, shoulder joint 7th, large arm 8, elbow joint 9, forearm 10 and wrist joint 11 form.Pedestal 5 is equipped with 6 bottom of waist joint.The pedestal 5 is set In ground.
Further, the controller uses AT89C51 microcontrollers.
It is upper described, limitation in any form is not done to the utility model, although the present invention is with preferable case study on implementation Disclose as above, but be not limited to the present invention, any person skilled in the art, is not departing from the technology of the present invention side In the range of case, when structure and technology contents using the disclosure above make a little change or are modified to the equivalent of equivalent variations Case study on implementation, but every content without departing from technical solution of the present invention, the technical spirit according to the present invention is to above implementation case Any simple modification, equivalent change and modification that example is made, still belongs to technical solution of the present invention scope.

Claims (4)

1. a kind of strip melon and fruit detection picking integrated device based on ccd image sensor, including mechanical arm and be installed on The executing agency of mechanical arm tail end, it is characterised in that:The executing agency is mainly by detection device(12), shear(13)、 Clamping device(14)And controller, the detection device(12)For ccd image sensor, the executing agency of the mechanical arm tail end Reach cucumber(3)After sustained height, the ccd image sensor(12)Obtain cucumber vision signal and vision signal is carried out Binary conversion treatment, obtains rectangular wave, the controller handles gained rectangular wave and measurement obtains strip melon in image Fruit length value, and compared with default strip melon and fruit length value, such as >=preset strip melon and fruit length value, the then control Device sends cut command to shear(13)Drive scissor blade(15)Carpopodium is sheared, the strip melon and fruit of shearing is by clamping machine Structure(14)Clamping.
2. the strip melon and fruit detection picking integrated device according to claim 1 based on ccd image sensor, its feature It is:The mechanical arm is by sequentially connected waist joint(6), shoulder joint(7), large arm(8), elbow joint(9), forearm(10)And wrist Joint(11)Composition.
3. the strip melon and fruit detection picking integrated device according to claim 1 based on ccd image sensor, its feature It is:The controller uses AT89C51 microcontrollers.
4. the strip melon and fruit detection picking integrated device according to claim 2 based on ccd image sensor, its feature It is:The waist joint(6)Bottom is equipped with pedestal(5).
CN201721479045.7U 2017-11-08 2017-11-08 A kind of strip melon and fruit detection picking integrated device based on ccd image sensor Expired - Fee Related CN207317739U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721479045.7U CN207317739U (en) 2017-11-08 2017-11-08 A kind of strip melon and fruit detection picking integrated device based on ccd image sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721479045.7U CN207317739U (en) 2017-11-08 2017-11-08 A kind of strip melon and fruit detection picking integrated device based on ccd image sensor

Publications (1)

Publication Number Publication Date
CN207317739U true CN207317739U (en) 2018-05-04

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CN201721479045.7U Expired - Fee Related CN207317739U (en) 2017-11-08 2017-11-08 A kind of strip melon and fruit detection picking integrated device based on ccd image sensor

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110692355A (en) * 2019-11-21 2020-01-17 江西理工大学 Automatic collection device that cuts of sisal hemp blade

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110692355A (en) * 2019-11-21 2020-01-17 江西理工大学 Automatic collection device that cuts of sisal hemp blade

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20180504

Termination date: 20181108