CN209861627U - Fruit picking and classifying system - Google Patents
Fruit picking and classifying system Download PDFInfo
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- CN209861627U CN209861627U CN201821615150.3U CN201821615150U CN209861627U CN 209861627 U CN209861627 U CN 209861627U CN 201821615150 U CN201821615150 U CN 201821615150U CN 209861627 U CN209861627 U CN 209861627U
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Abstract
The utility model relates to a fruit picking and classifying system, which comprises a working bee colony designed by bee colony bionics, a remote monitoring computer, a background server, an intelligent mobile monitoring terminal, a wireless communication device and a fruit classifying device; the remote monitoring computer is connected with the wireless communication device and is respectively in wireless connection with the working bee colony, the intelligent mobile monitoring terminal and the fruit classification device through the wireless communication device; the background server is connected with the remote monitoring computer and is used for storing the data sent by the remote monitoring computer and processing the data. The utility model has the advantages of can reduce the fruit and gather the degree of difficulty, avoid influencing taste, mechanized degree height, the time of collection efficiency height, cost is shorter because of too early or too late harvesting.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle's technical field especially involves a fruit is picked and classification system.
Background
The fruit ripening time is concentrated, so a large amount of manpower is needed to be temporarily arranged for robbing harvesting, the fruit ripening time has slight difference, but concentrated picking for cost saving is easy to occur, and the taste is influenced by too early or too late picking. Picking fruit from tall trees is more difficult and heavy, often requiring cumbersome tools to assist in the performance of the work. Long-time overhead operation also brings great safety threat to picking personnel. Traditional fruit picking machines generally only achieve mechanized picking for specific objects, and are often unable to do so when the objects are changed. Moreover, the collected fruits need to be manually classified, which takes a long time.
Disclosure of Invention
An object of the utility model is to overcome prior art not enough, provide a reduce the fruit and gather the degree of difficulty, avoid influencing the taste because of too early or too late is picked, mechanized degree is high, the collection is efficient, the short fruit of time of cost is picked and the classification system.
In order to achieve the above object, the present invention provides a technical solution:
a fruit picking and classifying system comprises a working bee colony designed by bee colony bionics, a remote monitoring computer, a background server, an intelligent mobile monitoring terminal, a wireless communication device and a fruit classifying device; the remote monitoring computer is connected with the wireless communication device and is respectively in wireless connection with the working bee colony, the intelligent mobile monitoring terminal and the fruit classification device through the wireless communication device; the background server is connected with the remote monitoring computer and is used for storing the data sent by the remote monitoring computer and processing the data;
the working bee colony comprises scout bees, collection bees and transportation bees;
the detection bee comprises a third power device, a third flight control box, a binocular vision camera and a third communication assembly; the binocular vision camera and the third communication assembly are mounted at the top of the third flight control box; the binocular vision camera and the third flight control box are in remote communication with the remote monitoring computer under the cooperation of the third communication component and the wireless communication device;
the collecting bee comprises a first power device, a first flight control box, a collecting manipulator, a telescopic arm, a vision sensor and a first communication assembly; the picking manipulator is arranged at one end of the telescopic arm extending outwards; the visual sensor and the first communication assembly are both arranged on the telescopic arm; the vision sensor and the first flight control box are both connected with the first communication component, and the vision sensor and the first flight control box are in remote communication with the remote monitoring computer under the cooperation of the first communication component and the wireless communication device;
the transportation bee comprises a second power device, a second flight control box, a collection box, an unloading guide bridge and a second communication assembly; the second power device is arranged below the second flight control box, the collection box is fixedly arranged above the flight control box, and the unloading guide bridge is arranged on one side of the collection box and fixed with the flight control box; the second communication assembly is arranged on one side of the second flight control box; the second flight control box is in remote communication with the remote monitoring computer under the cooperation of the second communication assembly and the wireless communication device;
the fruit classifying device comprises a feeding weighing module, a discharging weighing module, a sorting module and a conveying module; the sorting module is arranged between the feeding weighing module and the discharging weighing module;
the feeding weighing module is responsible for weighing the fruits which are just collected and sending the obtained weight data to the background server;
the sorting module is used for dividing the fruits weighed by the feeding weighing module into different types according to the sizes;
the discharging and weighing module is used for classifying and weighing the fruits sorted by the sorting module and sending the obtained weight data to the background server;
the conveying module conveys the fruits to the feeding weighing module, the sorting module and the discharging weighing module in sequence, and conveys the fruits which are classified and weighed by the discharging weighing module outwards.
Furthermore, the feeding weighing module and the discharging weighing module are respectively composed of an electronic scale unit, a single chip microcomputer, a wireless communication unit and a power supply unit; the electronic scale unit, the single chip microcomputer and the wireless communication unit are sequentially connected, and are all connected with the power supply unit, and the power supply unit provides power.
Furthermore, the intelligent mobile monitoring terminal is an intelligent mobile phone or a tablet computer.
Furthermore, the first power device, the second power device and the third power device are all composed of a brushless motor and a propeller, and the propeller is driven to rotate by the brushless motor, so that flying power is provided.
Compared with the prior art, the principle and the advantages of the scheme are as follows:
1. the remote control scout bees probe the maturity and fruit bearing condition of the fruits, so that the grower can know the maturity and fruit bearing condition of the fruits in detail.
2. The remote control collection bees collect ripe fruits, so that the fruit collection difficulty is greatly reduced, and the safety of farmers is guaranteed.
3. The remotely controlled transportation bees transport the collected fruits, and labor force is greatly reduced.
4. Three kinds of work bionic bees are mutually matched, the mechanization degree is high, and the acquisition efficiency is greatly improved.
5. The mode of bee colony is adopted for working, and the number and the type of the bee colony can be flexibly increased and decreased according to the actual application scene to adapt to the working requirements of different picking tasks.
6. Fruit through fruit sorter to gathering is categorised, and is efficient than traditional manual sorting, shortens the time of spending greatly.
Drawings
FIG. 1 is a schematic view of a fruit picking and sorting system of the present invention;
FIG. 2 is a schematic view of the structure of a detecting bee in the fruit picking and classifying system of the present invention;
FIG. 3 is a schematic view of the structure of a bee collecting system of the fruit picking and classifying system of the present invention;
FIG. 4 is a schematic view of the structure of a transportation bee in the fruit picking and classifying system of the present invention;
FIG. 5 is a block diagram of a fruit sorter of the fruit picking and sorting system of the present invention;
fig. 6 is the utility model relates to a structural block diagram of feeding weighing module and ejection of compact weighing module among fruit picking and classification system.
Detailed Description
The invention will be further described with reference to the following specific embodiments:
referring to fig. 1, the fruit picking and classifying system according to the embodiment includes a working swarm 1 designed by a swarm bionics, a remote monitoring computer 2, a background server 3, an intelligent mobile monitoring terminal 4, a wireless communication device 5 and a fruit classifying device 6; the remote monitoring computer 2 is connected with a wireless communication device 5, and is respectively in wireless connection with the working bee colony 1, the intelligent mobile monitoring terminal 4 and the fruit classification device 6 through the wireless communication device 5; the background server 3 is connected with the remote monitoring computer 2 and is used for storing the data sent by the remote monitoring computer 2 and processing the data.
The working bee colony 1 comprises detection bees 11, acquisition bees 12 and transportation bees 13;
as shown in fig. 4, scout bee 11 includes a third power plant 111, a third flight control box 112, a binocular vision camera 113, and a third communication assembly 114; wherein, the third power device 111 is installed below the third flight control box 112, and the binocular vision camera 113 and the third communication assembly 114 are both installed on the top of the third flight control box 112; the binocular vision camera 113 and the third flight control box 112 are in remote communication with the remote monitoring computer 2 under the cooperation of the third communication component 114 and the wireless communication device 5;
as shown in fig. 2, the collecting bee 12 includes a first power device 121, a first flight control box 122, a collecting manipulator 123, a telescopic arm 124, a vision sensor 125, and a first communication component 126; the first power device 121 is installed below the first flight control box 122, the telescopic arm 124 is carried above the first flight control box 122, and the picking manipulator 123 is installed at one end of the telescopic arm 124 extending outwards; a vision sensor 125 and a first communication assembly 126 are both disposed on the telescoping arm 124; the vision sensor 125 and the first flight control box 122 are both connected with a first communication component 126, and both communicate with the remote monitoring computer 2 remotely under the cooperation of the first communication component 126 and the wireless communication device 5;
as shown in fig. 3, the transportation bee 13 includes a second power device 131, a second flight control box 132, a collection box 133, an unloading guide bridge 134, and a second communication assembly 135; wherein, the second power device 131 is installed below the second flight control box 132, the collection box 133 is fixedly installed above the flight control box 132, and the unloading guide bridge 134 is installed at one side of the collection box 133 and fixed with the flight control box 132; a second communication assembly 135 is mounted to one side of the second flight control box 132; the second flight control box 132 communicates with the remote monitoring computer 2 remotely in cooperation with the second communication module 135 and the wireless communication device 5.
The first power device 121 in the collection bee 12, the second power device 131 in the transportation bee 13 and the third power device 111 in the detection bee 11 are all composed of brushless motors and propellers, and the propellers are driven to rotate by the brushless motors so as to provide power for flying.
As shown in fig. 5, fruit sorting device 6 comprises an infeed weighing module 61, an outfeed weighing module 62, a sorting module 63 and a conveying module 64; wherein, the sorting module 63 is arranged between the feeding weighing module 61 and the discharging weighing module 62; the conveying module 64 is used for conveying the fruits to the feeding weighing module 61, the sorting module 63 and the discharging weighing module 62 in sequence, and conveying the fruits which are classified and weighed by the discharging weighing module 62 outwards.
Specifically, as shown in fig. 6, the feeding weighing module 61 and the discharging weighing module 62 are both composed of an electronic scale unit 65, a single chip microcomputer 66, a wireless communication unit 67 and a power supply unit 68; the electronic scale unit 65, the single chip microcomputer 66 and the wireless communication unit 67 are sequentially connected, and are all connected with the power supply unit 68, and the power supply unit 68 supplies power.
The intelligent mobile monitoring terminal 4 is a smart phone.
The specific working principle is as follows:
s1: acquisition parameters are set in the remote monitoring computer 2, if the type of fruit (mature shape, color of fruit), fruit grade classification parameters (shape, weight, maturity, etc.), picking area or fruit tree, etc.
S2: the remote monitoring computer 2 assigns the scouting bee 11 to carry out spiral scanning on the growth condition of the fruit tree through the wireless communication device 5 and the third communication component 114 of the scouting bee 11, and uses a three-dimensional reconstruction technology to reconstruct a virtual three-dimensional model of the fruit tree through the spiral scanning to roughly estimate the fruit bearing condition.
S3: picking calculation: identifying fruits according to the scanning picture of the scout bee 11, reconstructing a three-dimensional fruit tree by using a computer binocular vision technology, and training a fruit deep learning classifier to identify fruits meeting picking conditions and record fruit distribution position information; judging the number of fruits, the fruit ripening condition and the like, counting the fruit bearing condition of the fruit trees, and analyzing the fruit distribution condition; comprehensively conjecturing the collection workload according to the recognized fruit shape, size, color and the like by combining with the fruit distribution, generating an optimal picking scheme by adopting a shortest path first algorithm, wherein the optimal picking scheme comprises the bee colony scale, picking paths and the like, and the planned optimal picking scheme for the collected bees (comprising the type and the number of the working bee colonies 1 which are planned and arranged, picking team marshalling, cooperative working schemes of various working bee colonies, division of working areas of various working bee colonies, planning of non-interference working paths and the like).
S4: the remote monitoring computer 2 assigns the collecting bee 12 to carry out fruit collection through the wireless communication device 5 and the first communication component 126 of the collecting bee 12 according to the various schemes obtained in the step S3; when fruits are collected, the telescopic arm 124 of the collecting bee 12 extends towards the direction of the fruits, and the collecting manipulator 123 collects the fruits;
s5: after the fruits are collected, the remote monitoring computer 2 remotely controls the collection bees 12 to be in butt joint with the transportation bees 13, the collection bees 12 continue to collect the next fruit after the fruits collected by the collection bees 12 are placed in the collection box 133 of the transportation bees 13, and the transportation bees 13 which take the fruits transport the fruits to the fruit classification device 6 for classification;
s6: when fruits are classified, the fruits firstly reach the electronic scale unit 65 in the feeding weighing module 61 for weighing, and weight data processed by the single chip microcomputer 66 in the feeding weighing module 61 is sent to the background server 3 through the wireless communication unit 67 and the wireless communication device 5 in the feeding weighing module 61 and the remote monitoring computer 2; after the fruits are weighed by the feeding weighing module 61, the conveying module 64 conveys the fruits to the sorting module 63 for sorting according to the sizes of the fruits, the fruits which are divided into different types are conveyed to the discharging weighing module 62 by the conveying module 63 for weighing again, the weight of each type of the fruits is counted, and data are sent to the background server 3;
s7: in the fruit collection and classification transportation process, the remote monitoring computer 2 continuously transmits the collection and classification data of the fruits to the background server 3, the background server 3 collects, counts and stores the data, and sends the counted data to the smart phone, so that the grower can know the fruit collection and classification condition in detail.
According to the embodiment, the maturity and fruit bearing condition of the fruits are explored through the remote control detection bees, so that a grower can know the maturity and fruit bearing condition of the fruits in detail; then, the collecting bees are remotely controlled to collect the mature fruits, so that the fruit collecting difficulty is greatly reduced, and the safety of growers is guaranteed; moreover, the collected fruits are remotely controlled to be transported by the transport bees, so that the labor force is greatly reduced; the three kinds of work bionic bees are mutually matched, the mechanization degree is high, and the acquisition efficiency is greatly improved. The mode of bee colony is adopted for working, and the number and the type of the bee colony can be flexibly increased and decreased according to the actual application scene to adapt to the working requirements of different picking tasks. In addition, the fruit that gathers is classified through fruit sorter, and is more efficient than traditional manual sorting, shortens the time of spending greatly.
The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that all the changes made according to the shape and principle of the present invention should be covered within the protection scope of the present invention.
Claims (4)
1. A fruit picking and classifying system is characterized by comprising a working bee colony (1) designed in a bionic manner through a bee colony, a remote monitoring computer (2), a background server (3), an intelligent mobile monitoring terminal (4), a wireless communication device (5) and a fruit classifying device (6); the remote monitoring computer (2) is connected with a wireless communication device (5) and is respectively in wireless connection with the working bee colony (1), the intelligent mobile monitoring terminal (4) and the fruit classification device (6) through the wireless communication device (5); the background server (3) is connected with the remote monitoring computer (2) and is used for storing the data sent by the remote monitoring computer (2) and processing the data;
the working bee colony (1) comprises detection bees (11), acquisition bees (12) and transportation bees (13);
the reconnaissance bee (11) comprises a third power device (111), a third flight control box (112), a binocular vision camera (113) and a third communication assembly (114); the third power device (111) is arranged below the third flight control box (112), and the binocular vision camera (113) and the third communication assembly (114) are arranged at the top of the third flight control box (112); the binocular vision camera (113) and the third flight control box (112) are in remote communication with the remote monitoring computer (2) under the cooperation of the third communication component (114) and the wireless communication device (5);
the collecting bee (12) comprises a first power device (121), a first flight control box (122), a collecting manipulator (123), a telescopic arm (124), a vision sensor (125) and a first communication component (126); the picking manipulator is characterized in that the first power device (121) is installed below the first flight control box (122), the telescopic arm (124) is loaded above the first flight control box (122), and the picking manipulator (123) is installed at one end, extending outwards, of the telescopic arm (124); a vision sensor (125) and a first communication assembly (126) are both disposed on the telescoping arm (124); the vision sensor (125) and the first flight control box (122) are both connected with a first communication component (126), and the vision sensor and the first flight control box are in remote communication with the remote monitoring computer (2) under the cooperation of the first communication component (126) and the wireless communication device (5);
the transport bees (13) comprise a second power device (131), a second flight control box (132), a collection box (133), an unloading guide bridge (134) and a second communication assembly (135); the second power device (131) is arranged below the second flight control box (132), the collection box (133) is fixedly arranged above the flight control box (132), and the unloading guide bridge (134) is arranged on one side of the collection box (133) and is fixed with the flight control box (132); the second communication assembly (135) is arranged on one side of the second flight control box (132); the second flight control box (132) is in remote communication with the remote monitoring computer (2) under the cooperation of the second communication component (135) and the wireless communication device (5);
the fruit sorting device (6) comprises a feeding weighing module (61), a discharging weighing module (62), a sorting module (63) and a conveying module (64); the sorting module (63) is arranged between the feeding weighing module (61) and the discharging weighing module (62);
the feeding weighing module (61) is responsible for weighing the fruits which are just collected and sending the obtained weight data to the background server (3);
the sorting module (63) divides the fruits weighed by the feeding weighing module (61) into different types according to the sizes;
the discharging and weighing module (62) is used for classifying and weighing the fruits sorted by the sorting module (63) and sending the obtained weight data to the background server (3);
the conveying module (64) conveys the fruits to the feeding weighing module (61), the sorting module (63) and the discharging weighing module (62) in sequence, and conveys the fruits which are classified and weighed by the discharging weighing module (62) outwards.
2. The fruit picking and classifying system according to claim 1, wherein the feeding weighing module (61) and the discharging weighing module (62) are each composed of an electronic scale unit (65), a single chip microcomputer (66), a wireless communication unit (67) and a power supply unit (68); the electronic scale unit (65), the single chip microcomputer (66) and the wireless communication unit (67) are sequentially connected, and the electronic scale unit, the single chip microcomputer (66) and the wireless communication unit (67) are all connected with the power supply unit (68) and are powered by the power supply unit (68).
3. The fruit picking and classifying system according to claim 1, wherein the smart mobile monitoring terminal (4) is a smart phone or a tablet computer.
4. The fruit picking and classifying system according to claim 1, wherein the first power device (121), the second power device (131) and the third power device (111) are all composed of a brushless motor and a propeller, and the propeller is driven to rotate by the brushless motor so as to provide flying power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821615150.3U CN209861627U (en) | 2018-09-30 | 2018-09-30 | Fruit picking and classifying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821615150.3U CN209861627U (en) | 2018-09-30 | 2018-09-30 | Fruit picking and classifying system |
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| Publication Number | Publication Date |
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| CN209861627U true CN209861627U (en) | 2019-12-31 |
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| CN201821615150.3U Expired - Fee Related CN209861627U (en) | 2018-09-30 | 2018-09-30 | Fruit picking and classifying system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114847005A (en) * | 2022-04-27 | 2022-08-05 | 赵继安 | Fruit picking system and operation method thereof |
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2018
- 2018-09-30 CN CN201821615150.3U patent/CN209861627U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114847005A (en) * | 2022-04-27 | 2022-08-05 | 赵继安 | Fruit picking system and operation method thereof |
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Granted publication date: 20191231 Termination date: 20210930 |
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| CF01 | Termination of patent right due to non-payment of annual fee |