CN212936853U - Double-roller intelligent flower thinning machine based on vision - Google Patents
Double-roller intelligent flower thinning machine based on vision Download PDFInfo
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- CN212936853U CN212936853U CN202021581715.8U CN202021581715U CN212936853U CN 212936853 U CN212936853 U CN 212936853U CN 202021581715 U CN202021581715 U CN 202021581715U CN 212936853 U CN212936853 U CN 212936853U
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Abstract
The utility model discloses a double-roller intelligence machine of thinning out flowers based on vision, including unable adjustment base, with unable adjustment base swing joint's brace table, the activity of brace table both ends is provided with thins the flower device, thins the flower device and includes the roller bearing and thins the flower strip, thins the flower strip with roller bearing swing joint. When the flower thinning operation is carried out, the fixed base is fixed on the agricultural machine. Because the supporting table is respectively and fixedly connected with the fixed base and the flower thinning device, the angle of the flower thinning device can be adjusted according to the positions of the fruit trees and the flowers, and the requirements of different fruit trees are met. To different fruit trees and different densities of remaining flowers, can set up flower thinning strip quantity and interval on the roller bearing to can satisfy different flower thinning demands, improve flower thinning efficiency.
Description
Technical Field
The utility model relates to an agricultural machinery technical field, concretely relates to double-roller intelligence flower thinning machine based on vision.
Background
The flower thinning operation is one of the farming operations in the orchard production management, is an important measure for improving the fruit setting rate and the fruit quality of the orchard, and has the characteristics of strong seasonality, high labor intensity and the like. For the Y-shaped peach trees, after the flowering period, if scientific and standardized management is not carried out, the fruit trees bloom in a large amount, and the fruit trees bloom and bear excessive fruits, a large amount of storage nutrition is consumed, competition among young fruits is aggravated, and a large amount of flower and fruit dropping is caused.
The prior flower thinning methods comprise artificial flower thinning and chemical flower thinning. The manual flower thinning is time-consuming and labor-consuming, the efficiency is low, the labor amount is large, the cost is high, and the chemical flower thinning is efficient but easily causes environmental pollution. Prior patent document 201320067849.1 provides a hydraulic transmission flower thinning machine based on machine vision, which comprises a central controller, a hydraulic device, an image acquisition device and a flower thinning device, wherein the flower thinning device comprises a roller and a flower thinning adhesive tape on the roller.
However, the hydraulic transmission flower thinning machine based on machine vision has the following problems: (1) the flower thinning machine is a single-roller flower thinning machine, and the angle of the flower thinning device can not be adjusted. (2) The space between the flower thinning adhesive tapes on the flower thinning device is fixed and can not be adjusted, and the flower thinning device can not adapt to different flower thinning requirements, so that different flower thinning devices can be replaced when flower thinning operation is carried out, and the flower thinning efficiency is low.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve above-mentioned technical problem, proposed following technical scheme:
in a first aspect, the embodiment of the utility model provides a machine of spending is dredged to two roller intelligence based on vision, a serial communication port, including unable adjustment base, with unable adjustment base swing joint's brace table, the activity of brace table both ends is provided with the device of spending flowers, the device of spending flowers includes the roller bearing and dredges the flower strip, dredge the flower strip with roller bearing swing joint.
By adopting the implementation mode, the fixed base is fixed on the agricultural machine when the flower thinning operation is carried out. Because the supporting table is respectively and fixedly connected with the fixed base and the flower thinning device, the angle of the flower thinning device can be adjusted according to the positions of the fruit trees and the flowers, and the requirements of different fruit trees are met. To different fruit trees and different densities of remaining flowers, can set up flower thinning strip quantity and interval on the roller bearing to can satisfy different flower thinning demands, improve flower thinning efficiency.
With reference to the first aspect, in a first possible implementation manner of the first aspect, a controller is disposed at the bottom of the support table, a bottom end of a housing of the controller is disposed adjacent to the base, a first hinge is disposed between a bottom of a side surface of the housing of the controller and the base, and two movable blades of the first hinge are respectively and fixedly connected to the housing of the controller and the base; a first hydraulic rod is arranged between the base and the supporting platform, two ends of the first hydraulic rod are respectively fixedly connected with the base and the supporting platform, and the controller is electrically connected with a control device of the first hydraulic rod. The controller controls the control device of the first hydraulic rod to control the first hydraulic rod to stretch and retract, so that the angle of the support table can be adjusted.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the flower thinning apparatus further includes a fixed-axis frame, the roller is disposed in the fixed-axis frame, the roller is rotatably connected to the fixed-axis frame, and the fixed-axis frame is movably connected to the supporting table. The fixed shaft frame is used as a support frame for rotating the rolling shaft, the fixed shaft frame is movably connected with the support table, and the angle of the rolling shaft is adjusted by adjusting the angle of the fixed shaft frame.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, a first end of the fixed shaft frame is disposed adjacent to an end of the supporting table, a second hinge is disposed at an adjacent position, and two movable blades of the second hinge are respectively and fixedly connected to the fixed shaft frame and the supporting table; and a second hydraulic rod is arranged between the fixed shaft frame and the supporting platform, two ends of the second hydraulic rod are respectively fixedly connected with the fixed shaft frame and the supporting platform, and the controller is electrically connected with a control device of the second hydraulic rod. The controller controls the control device of the second hydraulic rod to control the second hydraulic rod to stretch and retract, so that the angle of the fixed shaft frame can be adjusted. Set up the second between dead axle frame and the brace table and fold paper, improved dead axle frame's stability. The controller can realize roller bearing multi-angle regulation through controlling the first hydraulic stem and the second hydraulic stem to stretch out and draw back, satisfies the flower thinning requirement of different fruit tree branches.
With reference to the second or third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, a servo motor is arranged at a first end of the dead axle frame, and a rotation output shaft of the servo motor is fixedly connected with a first end of the rolling shaft; the second end of dead axle frame is provided with image acquisition equipment, image acquisition equipment with servo motor all with the controller electricity is connected. The servo motor provides power for the rotation of the rolling shaft, the rolling shaft is driven to rotate during working, the flower thinning strips are arranged on the rolling shaft, and the rotating flower thinning strips can be used for flower thinning operation. The image acquisition device comprises a high-definition camera and is used for acquiring information such as the height, the tree shape, the position, the flower density and the like of the fruit tree.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the image capturing device is fixedly connected to the second end of the roller and is concentric with the roller.
With reference to the first aspect or any one of the first to third possible implementation manners of the first aspect, in a sixth possible implementation manner of the first aspect, a plurality of the thinning bars are provided, and the plurality of thinning bars are provided on two sides of the roller. The flower thinning strips are arranged on two sides of the rolling shaft, and when the rolling shaft rotates for one circle, two times of flower thinning operation can be realized, so that the flower thinning efficiency is improved.
With reference to the fifth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the rolling shaft is symmetrically provided with clamping grooves, a connecting end of the flower thinning bar and the rolling shaft is provided with a spring buckle matched with the clamping grooves, and the flower thinning bar is movably connected with the clamping grooves through the spring buckle. The spring buckle can stretch out and draw back, and when inserting the bayonet socket into the link of dredging the flower strip, the spring buckle catches with the draw-in groove card. If need remove when dredging the flower strip, only need inwards press and dredge the flower strip, the spring buckle is compressed, pops out from the draw-in groove.
With reference to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, a nylon strip is arranged at the working end of the thinning strip, and the nylon strip has a diameter of 2-8mm and a length of 25-35 mm. The nylon strips and the flower thinning strips are matched for use, so that the flower thinning strips can be prevented from being wound on the rolling shaft.
In a second aspect, an embodiment of the present invention provides a method for using a dual-roller intelligent flower thinning machine based on vision, which employs the first aspect or any possible implementation manner of the first aspect, the method includes: determining the information and the flower density of the flowers of the fruit tree, setting the number and the spacing of the flower thinning strips, and setting nylon strips at the operation ends of the flower thinning strips; collecting the height, tree form, position and flower density information of the fruit tree through image collecting equipment, and transmitting the information to a controller; the controller determines the inclination angle and the rotating speed of the roller, controls the first hydraulic rod and the second hydraulic rod to adjust the angles of the supporting platform and the fixed shaft frame, and simultaneously changes the working frequency of the servo motor to control the rotating speed of the servo motor.
Drawings
Fig. 1 is a front view of a double-roller intelligent flower thinning machine based on vision provided by an embodiment of the present invention;
fig. 2 is a side view of a double-roller intelligent flower thinning machine based on vision provided by the embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of a roller according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a flower thinning bar of a roller according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for using the double-roller intelligent flower thinning machine based on vision according to an embodiment of the present invention;
in fig. 1 to 5, the symbols are represented as: the method comprises the following steps of 1-a fixed base, 2-a supporting table, 3-a rolling shaft, 4-a flower thinning strip, 5-a controller, 6-a first fold, 7-a first hydraulic rod, 8-a fixed shaft frame, 9-a second hydraulic rod, 10-a servo motor, 11-an image acquisition device, 12-a clamping groove and 13-a spring buckle.
Detailed Description
The present invention will be described with reference to the accompanying drawings and embodiments.
Referring to fig. 1-2, the embodiment of the utility model provides a double-roller intelligence flower thinning machine based on vision, including unable adjustment base 1, with unable adjustment base 1 swing joint's brace table 2, the activity of 2 both ends of brace table is provided with the flower thinning device, the flower thinning device includes roller bearing 3 and flower thinning strip 4, flower thinning strip 4 with roller bearing 3 swing joint.
The bottom of the support table 2 is provided with a controller 5, the bottom end of the shell of the controller 5 is adjacent to the base, the bottom of the side face of the shell of the controller 5 is provided with a first folding sheet 6 between the base, and two movable blades of the first folding sheet 6 are fixedly connected with the shell of the controller 5 and the base respectively. A first hydraulic rod 7 is arranged between the base and the supporting platform 2, two ends of the first hydraulic rod 7 are respectively and fixedly connected with the base and the supporting platform 2, and the controller 5 is electrically connected with a control device of the first hydraulic rod 7. The controller 5 controls the control device of the first hydraulic rod 7 to control the first hydraulic rod 7 to stretch and retract, so that the angle of the support table 2 is adjusted.
The flower thinning device further comprises a fixed shaft frame 8, the roller 3 is arranged in the fixed shaft frame 8, the roller 3 is rotatably connected with the fixed shaft frame 8, and the fixed shaft frame 8 is movably connected with the supporting table 2. The dead axle frame 8 is used as a support frame for the rotation of the roller 3, the dead axle frame 8 is movably connected with the support table 2, and the angle of the roller 3 is adjusted by adjusting the angle of the dead axle frame 8.
The first end of the fixed shaft frame 8 is adjacent to the end of the supporting platform 2, a second hinge (not shown in the figure) is arranged at the adjacent position, and two movable blades of the second hinge are respectively and fixedly connected with the fixed shaft frame 8 and the supporting platform 2. A second hydraulic rod 9 is arranged between the fixed shaft frame 8 and the supporting platform 2, two ends of the second hydraulic rod 9 are respectively fixedly connected with the fixed shaft frame 8 and the supporting platform 2, and the controller 5 is electrically connected with a control device of the second hydraulic rod 9. The controller 5 controls a control device of the second hydraulic rod 9 to control the second hydraulic rod 9 to stretch and retract, so that the angle of the fixed shaft frame 8 is adjusted. Set up the second between dead axle frame 8 and the brace table 2 and fold paper, improved dead axle frame 8's stability. The controller 5 can realize the multi-angle adjustment of the roller 3 by controlling the first hydraulic rod 7 and the second hydraulic rod 9 to stretch, and the flower thinning requirements of different fruit tree branches are met.
A servo motor 10 is arranged at the first end of the dead axle frame 8, and a rotating output shaft of the servo motor 10 is fixedly connected with the first end of the rolling shaft 3. The second end of the dead axle frame 8 is provided with an image acquisition device 11, and the image acquisition device 11 and the servo motor 10 are both electrically connected with the controller 5. The servo motor 10 provides power for the rotation of the roller 3, the roller 3 is driven to rotate during working, the flower thinning strips 4 are arranged on the roller 3, and the rotating flower thinning strips 4 can be used for flower thinning operation. The image acquisition device comprises a high-definition camera and is used for acquiring information such as the height, the tree shape, the position, the flower density and the like of the fruit tree. The image acquisition device 11 is fixedly connected with the second end of the roller 3 and is concentric with the roller 3.
Referring to fig. 3 and 4, the surface of the roller 3 is symmetrically provided with clamping grooves 12, the connecting end of the flower thinning strip 4 and the roller 3 is provided with a spring buckle 13 matched with the clamping grooves 12, and the flower thinning strip 4 is movably connected with the clamping grooves 12 through the spring buckle 13. The spring buckle 13 can stretch out and draw back, and when the connecting end of the flower thinning strip 4 is inserted into the bayonet, the spring buckle 13 is clamped with the clamping groove 12. If the flower thinning strips 4 need to be detached, the flower thinning strips 4 only need to be pressed inwards, and the spring buckles 13 are compressed and popped out of the clamping grooves 12.
The flower thinning strips 4 are provided with a plurality of flower thinning strips 4 which are arranged on two sides of the rolling shaft 3. The flower thinning strips 4 are arranged on two sides of the roller 3, and twice flower thinning operation can be realized when the roller 3 rotates for one circle, so that the flower thinning efficiency is improved. The working end of the flower thinning strip 4 is provided with a nylon strip (not shown in the figure), the diameter of the nylon strip is 2-8mm, and the length of the nylon strip is 25-35 mm. The nylon strips and the flower thinning strips 4 are matched for use, so that the flower thinning strips 4 can be prevented from being wound on the rolling shaft 3.
According to the above embodiment, this embodiment provides one the utility model provides a when the double-roller 3 intelligence flower thinning machine based on vision dredges the flower operation, fixes unable adjustment base 1 on agricultural machine. Because supporting bench 2 respectively through first hydraulic stem 7, second hydraulic stem 9 respectively with unable adjustment base 1, flower thinning device swing joint, consequently can satisfy the demand of different fruit trees according to the position of fruit tree and flower to the regulation of flower thinning device angle. To different fruit trees and different densities of remaining flowers, can set up 4 quantity and intervals of flower thinning strip on the roller bearing 3 to can satisfy the different flower thinning demands, improve flower thinning efficiency.
Especially for Y-shaped peach tree fruit plants, the Y-shaped peach tree fruit plants are small in distance and large in row distance, and a tractor can easily work between rows. For Y-shaped peach trees, the double-roller 3 intelligent flower thinning machine can comb two rows of peach flowers at a time, and work efficiency is greatly improved.
Corresponding with the 3 intelligent flower thinning machines of two roller that above-mentioned embodiment provided based on vision, the utility model also provides an embodiment of 3 intelligent flower thinning machines use methods of two roller based on vision, refer to fig. 5, the method includes:
s101, determining information and flower density of flowers of a fruit tree, setting the number and the spacing of the flower thinning strips 4, and setting nylon strips at the operation ends of the flower thinning strips 4.
Because the flower density of staying of different fruit trees is different, through knowing the flower density requirement of dredging (staying flower density) before carrying out the flower thinning operation, the setting of the quantity and the interval of 4 flower strips of dredging to will dredge 4 front ends of flower strips and connect the nylon strip.
S102, collecting the height, tree shape, position and flower density information of the fruit tree through the image collecting device 11, and transmitting the information to the controller 5.
The height, the tree shape, the position, the flower density and other information of the fruit tree are obtained through the image acquisition equipment 11 and are transmitted to the image processor, the image processor transmits flower identification information to the controller 5 through coupling calculation, and the optimal inclination angle and the optimal rotating speed of the roller 3 are obtained through analysis calculation of the computer.
S103, determining the inclination angle and the rotation speed of the roller 3 in the controller 5, controlling the first hydraulic rod 7 and the second hydraulic rod 9 to adjust the angles of the supporting platform 2 and the fixed shaft frame 8, and simultaneously changing the working frequency of the servo motor 10 to control the rotation speed of the servo motor 10.
The controller 5 sends a command to the hydraulic rod control device to control the first hydraulic rod 7 and the second hydraulic rod 9 to adjust the extension and contraction, so as to adjust the inclination angles of the support platform 2 and the dead axle frame 8. The instruction is sent to a servo motor 10 control device, the rotating speed of the servo motor 10 is controlled by changing the frequency, so that the rotating speed of the rolling shaft 3 is controlled, the flower thinning requirement is met, the flower thinning efficiency is improved, and the problems of poor flower thinning precision, low efficiency and the like of the Y-shaped peach tree are solved.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and technical features of the present invention that are not described in the present application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only used for illustrating the technical solutions of the present invention and are not intended to limit the present invention, and if it is replaced, the present invention is only combined with and described in detail with reference to the preferred embodiments, and those skilled in the art should understand that changes, modifications, additions or substitutions made by those skilled in the art within the spirit of the present invention should also belong to the protection scope of the claims of the present invention.
Claims (9)
1. The utility model provides a double-roller intelligence flower thinning machine based on vision, its characterized in that, including unable adjustment base, with unable adjustment base swing joint's brace table, the activity of brace table both ends is provided with the flower thinning device, the flower thinning device includes the roller bearing and thins the flower strip, thin the flower strip with roller bearing swing joint.
2. The vision-based double-roller intelligent flower thinning machine according to claim 1, wherein a controller is arranged at the bottom of the support table, the bottom end of a housing of the controller is arranged adjacent to the base, a first hinge is arranged between the bottom of the side surface of the housing of the controller and the base, and two movable blades of the first hinge are fixedly connected with the housing of the controller and the base respectively; a first hydraulic rod is arranged between the base and the supporting platform, two ends of the first hydraulic rod are respectively fixedly connected with the base and the supporting platform, and the controller is electrically connected with a control device of the first hydraulic rod.
3. The vision-based intelligent double-roller flower thinning machine according to claim 2, wherein the flower thinning device further comprises a fixed-shaft frame, the roller is arranged in the fixed-shaft frame, the roller is rotatably connected with the fixed-shaft frame, and the fixed-shaft frame is movably connected with the supporting table.
4. The vision-based double-roller intelligent flower thinning machine according to claim 3, wherein a first end of the fixed shaft frame is arranged adjacent to an end of the supporting table, a second hinge is arranged adjacent to the first end of the fixed shaft frame, and two movable blades of the second hinge are fixedly connected with the fixed shaft frame and the supporting table respectively; and a second hydraulic rod is arranged between the fixed shaft frame and the supporting platform, two ends of the second hydraulic rod are respectively fixedly connected with the fixed shaft frame and the supporting platform, and the controller is electrically connected with a control device of the second hydraulic rod.
5. The vision-based double-roller intelligent flower thinning machine according to claim 3 or 4, wherein a servo motor is arranged at the first end of the fixed shaft frame, and a rotating output shaft of the servo motor is fixedly connected with the first end of the roller; the second end of dead axle frame is provided with image acquisition equipment, image acquisition equipment with servo motor all with the controller electricity is connected.
6. The vision-based dual-roller intelligent fluffer of claim 5, wherein the image capture device is fixedly attached to the second end of the roller and is concentric with the roller.
7. The vision-based intelligent double-roller flower thinning machine according to any one of claims 1 to 4, wherein a plurality of flower thinning strips are arranged, and the flower thinning strips are arranged on two sides of the rollers.
8. The vision-based double-roller intelligent flower thinning machine according to claim 6, wherein clamping grooves are symmetrically arranged on the rollers, spring buckles matched with the clamping grooves are arranged at the connecting ends of the flower thinning strips and the rollers, and the flower thinning strips are movably connected with the clamping grooves through the spring buckles.
9. The vision-based double-roller intelligent flower thinning machine according to claim 8, wherein a nylon strip is arranged at the working end of the flower thinning strip, the nylon strip has a diameter of 2-8mm and a length of 25-35 mm.
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| CN202021581715.8U CN212936853U (en) | 2020-08-03 | 2020-08-03 | Double-roller intelligent flower thinning machine based on vision |
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| CN202021581715.8U CN212936853U (en) | 2020-08-03 | 2020-08-03 | Double-roller intelligent flower thinning machine based on vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111903370A (en) * | 2020-08-03 | 2020-11-10 | 山东农业大学 | Double-roller intelligent flower thinning machine based on vision and using method thereof |
| CN113243220A (en) * | 2021-05-21 | 2021-08-13 | 江苏省农业科学院 | Y-shaped shed frame pear garden fixed-distance profiling flower thinning machine and using method thereof |
-
2020
- 2020-08-03 CN CN202021581715.8U patent/CN212936853U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111903370A (en) * | 2020-08-03 | 2020-11-10 | 山东农业大学 | Double-roller intelligent flower thinning machine based on vision and using method thereof |
| CN113243220A (en) * | 2021-05-21 | 2021-08-13 | 江苏省农业科学院 | Y-shaped shed frame pear garden fixed-distance profiling flower thinning machine and using method thereof |
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