CN109964650A - A kind of intelligent apple-picking system based on machine vision - Google Patents
A kind of intelligent apple-picking system based on machine vision Download PDFInfo
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- CN109964650A CN109964650A CN201910150385.2A CN201910150385A CN109964650A CN 109964650 A CN109964650 A CN 109964650A CN 201910150385 A CN201910150385 A CN 201910150385A CN 109964650 A CN109964650 A CN 109964650A
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- Prior art keywords
- apple
- shell
- machine vision
- picking system
- telescoping mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 239000000872 buffer Substances 0.000 claims abstract description 24
- 230000003139 buffering effect Effects 0.000 claims 1
- 241000220225 Malus Species 0.000 description 40
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 229940088594 vitamin Drugs 0.000 description 1
- 229930003231 vitamin Natural products 0.000 description 1
- 235000013343 vitamin Nutrition 0.000 description 1
- 239000011782 vitamin Substances 0.000 description 1
- 150000003722 vitamin derivatives Chemical class 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Studio Devices (AREA)
Abstract
The present invention relates to machinery fields, specifically disclose a kind of intelligent apple-picking system based on machine vision, including shell, shell lower end is uniformly provided with multiple rotating wheels, the driving mechanism for driving rotating wheel is equipped in shell, shell upper end is successively arranged upright bar, collecting chamber and telescoping mechanism, upright bar upper end is hinged with turntable, disk edge portion is uniformly provided with several cameras, buffer subsystem is equipped at collecting chamber upper end opening, opening is equipped in the middle part of buffer subsystem, the output end of telescoping mechanism is connect by telescopic rod with hydraulic shear, and controller is additionally provided in shell.The present invention controls the work of camera by controller, cooperate telescoping mechanism with hydraulic shear to pick to apple simultaneously, without manually being picked, it solves the problems, such as to cause working efficiency low and lost labor's cost due to using artificial picking apple, also apple is buffered by buffer subsystem, effectively reduces the damage to apple.
Description
Technical field
The present invention relates to machinery field, specifically a kind of intelligent apple-picking system based on machine vision.
Background technique
Apple is rosaceae Maloideae Malus, and tree is deciduous tree, the fruit of apple carbon rich in
Hydrate, vitamin and microelement receive the widespread love of people.
With the raising and expanding economy of agriculture and forestry plantation level, apple cultivation is also gradually to large-scale development.But
It is picked when ripe apples, traditional picking method is to arrange to set on many picking personnel to pick.
But there is also following deficiencies in actual use for above-mentioned technical solution: due to leading using artificial picking apple
It causes working efficiency not high, wastes a large amount of costs of labor.Therefore, a kind of intelligent apple-picking system based on machine vision is designed
The problem of uniting, becoming current urgent need to resolve.
Summary of the invention
The intelligent apple-picking system based on machine vision that the purpose of the present invention is to provide a kind of, to solve above-mentioned back
Itd is proposed in scape technology the problem of causing working efficiency low and lost labor's cost due to using artificial picking apple.
To achieve the above object, the invention provides the following technical scheme:
A kind of intelligent apple-picking system based on machine vision, including shell, shell lower end are uniformly provided with multiple rotating wheels,
The driving mechanism for driving rotating wheel is equipped in shell, shell upper end is successively arranged upright bar, collecting chamber and telescoping mechanism, stands
Bar upper end is hinged with turntable, and disk edge portion is uniformly provided with several cameras, is equipped with buffer subsystem at collecting chamber upper end opening, delays
Punching net middle part is equipped with opening, and cushion is equipped in collecting chamber, and the material of cushion is foamed plastics, and the output end of telescoping mechanism is logical
It crosses telescopic rod to connect with hydraulic shear, hydraulic shear is obliquely installed, and is additionally provided with controller in shell, and driving mechanism, camera, flexible
Mechanism and hydraulic shear are electrically connected with controller；The work of camera is controlled by controller, while cooperating telescoping mechanism
Apple is picked with hydraulic shear, drives hydraulic shear to move up and down by telescoping mechanism to meet different height need
It asks, without manually being picked, effectively reduces working strength, saved a large amount of costs of labor, and then improve work
Efficiency.
As a further solution of the present invention: buffer subsystem two sides lower end is equipped with a bracket；It can be mentioned by bracket
The fixed effect of high buffer subsystem.
As further scheme of the invention: the collecting chamber has been hinged at hermatic door；By opening hermatic door, into
And the apple in collecting chamber can be collected to being operated in collecting chamber.
As further scheme of the invention: being equipped with rotation axis at the rotating wheel axle center.
As further scheme of the invention: being uniformly provided with several tread plates on the rotating wheel；Pass through tread plate
Antiskid effect can be improved, and then be conducive to improve the stability of picking process.
As further scheme of the invention: the hydraulic shear includes the first notch and the second notch；Described first cuts
The scissors mouth size of mouth is greater than the second notch scissors mouth size, by the cooperation of the first notch and the second notch, and then can be right
Different size of apple is picked, no replacement is required hydraulic shear, improves convenience.
As further scheme of the invention: the camera is CCD industrial camera or CMOS industrial camera.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is provided with camera, telescoping mechanism and hydraulic shear, the work of camera is controlled by controller, while cooperation is stretched
Apple is picked with hydraulic shear by contracting mechanism, without manually being picked, solves because using artificial picking apple
And the problem of causing working efficiency low and lost labor's cost, also apple is buffered by buffer subsystem, is effectively reduced pair
The damage of apple can carry out the observation of omnibearing stereo formula to external environment, effectively due to being provided with turntable and multiple cameras
Improve observation scope.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment.
Fig. 1 is the structural schematic diagram of the intelligent apple-picking system based on machine vision.
Fig. 2 is the structural schematic diagram of buffer subsystem in the intelligent apple-picking system based on machine vision.
Fig. 3 is the structural schematic diagram of hydraulic shear in the intelligent apple-picking system based on machine vision.
Fig. 4 is the structural schematic diagram of rotating wheel in the intelligent apple-picking system based on machine vision.
In figure: 1- rotating wheel, 2- driving mechanism, 3- upright bar, 4- turntable, 5- camera, 6- buffer subsystem, 7- collecting chamber, 8-
Hermatic door, 9- hydraulic shear, 10- telescopic rod, 11- telescoping mechanism, 12- bracket, 13- rotation axis, 14- controller, 15- shell, 16-
Opening, the first notch of 17-, the second notch of 18-, 19- tread plate.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Embodiment 1
Referring to FIG. 1-2, in the embodiment of the present invention, a kind of intelligent apple-picking system based on machine vision, including shell
15,15 lower end of shell is uniformly provided with multiple rotating wheels 1, and the driving machine for driving rotating wheel 1 is equipped in the shell 15
Structure 2, the rotation of rotating wheel 1 is driven by driving mechanism 2, and then mobile flexibility can be improved, and is conducive to different location
Apple is picked；
In order to solve the problems, such as to cause working efficiency low and lost labor's cost due to using artificial picking apple, the shell 15
Upper end is successively arranged upright bar 3, collecting chamber 7 and telescoping mechanism 11, and 3 upper end of upright bar is hinged with turntable 4, passes through driving mechanism
2 control the rotation of rotating wheel 1 Yu turntable 4 simultaneously, and 4 edge part of turntable is uniformly provided with several cameras 5, passes through camera
5 can carry out camera shooting to external environment forms original image, can be to external rings due to being provided with turntable 4 and multiple cameras 5
Border carries out the observation of omnibearing stereo formula, effectively increases observation scope, and the output end of the telescoping mechanism 11 passes through telescopic rod 10
It is connect with hydraulic shear 9, the hydraulic shear 9 is obliquely installed, and is conducive to pick apple cutting carpopodium, in the shell 15 also
Equipped with controller 14, the controller 14 can play the conventionally known equipment of control for computer etc., be controlled by controller 14
The work of camera 5, while cooperating telescoping mechanism 11 with hydraulic shear 9 to pick to apple, it is driven by telescoping mechanism 11
Hydraulic shear 9 moves up and down to meet different height requirements, and without manually being picked, it is strong to effectively reduce work
Degree, has saved a large amount of costs of labor, and then improve work efficiency；
Further, it is equipped with buffer subsystem 6 at 7 upper end opening of collecting chamber, is equipped with opening 16 in the middle part of the buffer subsystem 6, passes through
Buffer subsystem 6 buffers apple, while apple passes through opening 16 under the effect of gravity and is collected to collecting chamber 7, effectively
Reduce the damage to apple, cushion is equipped in the collecting chamber 7, the material of the cushion is foamed plastics, described to take the photograph
Picture head 5 is CCD industrial camera, and the driving mechanism 2 is RM3510 brushless servo motor, and driving mechanism 2 uses lithium battery
Power supply, is easily changed battery, extends the cruise time, and part is not directed in the system and is the same as those in the prior art or can be used now
There is technology to be realized.
Embodiment 2
Please refer to Fig. 1-4, in the embodiment of the present invention, a kind of intelligent apple-picking system based on machine vision, including shell
15,15 lower end of shell is uniformly provided with multiple rotating wheels 1, and the driving machine for driving rotating wheel 1 is equipped in the shell 15
Structure 2, the rotation of rotating wheel 1 is driven by driving mechanism 2, and then mobile flexibility can be improved, and is conducive to different location
Apple is picked；
In order to solve the problems, such as to cause working efficiency low and lost labor's cost due to using artificial picking apple, the shell 15
Upper end is successively arranged upright bar 3, collecting chamber 7 and telescoping mechanism 11, and 3 upper end of upright bar is hinged with turntable 4, the turntable 4
It can be driven by the driving mechanism 2 being arranged in shell 15, and then turn of rotating wheel 1 and turntable 4 can be controlled simultaneously
Dynamic, 4 edge part of turntable is uniformly provided with several cameras 5, can carry out camera shooting formation to external environment by camera 5
Original image can carry out the observation of omnibearing stereo formula to external environment, effectively due to being provided with turntable 4 and multiple cameras 5
Observation scope is improved, the output end of the telescoping mechanism 11 is connect by telescopic rod 10 with hydraulic shear 9, and the hydraulic shear 9 inclines
Tiltedly setting is conducive to pick apple cutting carpopodium, drives hydraulic shear 9 to move up and down by telescoping mechanism 11, into
And can satisfy different height requirements, the apple of different height can be picked, without manually being picked, be had
Effect reduces working strength, has saved a large amount of costs of labor, and then improve work efficiency；
Further, controller 14 is additionally provided in the shell 15, the controller 14 can play the normal of control for computer etc.
Known device is advised, the driving mechanism 2, camera 5, telescoping mechanism 11 and hydraulic shear 9 are electrically connected with controller 14, are led to
It crosses controller 14 and controls the work of driving mechanism 2, and then can flexibly move, meanwhile, it can be to external environment by camera 5
It carries out camera shooting to form original image and be transmitted to controller 14, controller 14 is divided original image by Kmeans classifier
Then class will carry out RGB channel separation by every a kind of picture of Kmeans classifier classification, by the triple channel after separation
Numeric ratio pair obtains the channel for meeting threshold value, while screening to the picture of every one kind, when meeting preset condition (color bar
Part and area condition) when, then assert that there is transparent apple in the inside, and draw apple range in original image, outputs signal to flexible
Mechanism 11 and hydraulic shear 9 pick apple by the cooperation of telescoping mechanism 11 and hydraulic shear 9；
Further, it is equipped with buffer subsystem 6 at 7 upper end opening of collecting chamber, is equipped with opening 16 in the middle part of the buffer subsystem 6, passes through
Buffer subsystem 6 buffers apple, while apple passes through opening 16 under the effect of gravity and is collected to collecting chamber 7, effectively
Reduce the damage to apple, cushion is equipped in the collecting chamber 7, the material of the cushion is foamed plastics；
Further, the 6 two sides lower end of buffer subsystem is equipped with a bracket 12, and the bracket 12 can be telescopic bracket,
And then the height of adjustable buffer subsystem 6, meanwhile, the fixed effect of buffer subsystem 6 can be improved by bracket 12；
Further, the collecting chamber 7 has been hinged at hermatic door 8, by opening hermatic door 8, and then can be in collecting chamber 7
It is operated, the apple in collecting chamber 7 can be collected；
Further, it is equipped with rotation axis 13 at 1 axle center of rotating wheel, by the work of driving mechanism 2, and then drives rotation axis
13 with the rotation of rotating wheel 1, be uniformly provided with several tread plates 19 on the rotating wheel 1, can be improved by tread plate 19 anti-
Sliding effect, and then be conducive to improve the stability of picking process；
Further, the hydraulic shear 9 includes the first notch 17 and the second notch 18, the scissors mouth size of first notch 17
Greater than 18 scissors mouth size of the second notch, by the cooperation of the first notch 17 and the second notch 18, and then can be to different size
Apple picked, no replacement is required hydraulic shear 9 improves convenience；
Further, the camera 5 is CMOS industrial camera, and the driving mechanism 2 is RM3510 brushless servo motor, and
Driving mechanism 2 uses lithium battery power supply, is easily changed battery, extends the cruise time, is not directed in the system partially and existing
There is technology identical or can be realized by using the prior art.
The working principle of the invention is: the intelligent apple-picking system based on machine vision passes through controller 14
The work of camera 5 is controlled, while cooperating telescoping mechanism 11 with hydraulic shear 9 to pick to apple, passes through telescoping mechanism 11
Driving hydraulic shear 9 moves up and down to meet different height requirements, without manually being picked, effectively reduces work
Make intensity, saved a large amount of costs of labor, and then improve work efficiency, also apple is buffered by buffer subsystem 6, effectively
Reduce the damage to apple, due to being provided with turntable 4 and multiple cameras 5, omnibearing stereo can be carried out to external environment
Formula observation, effectively increases observation scope.
The beneficial effects of the present invention are: the present invention is provided with camera, telescoping mechanism and hydraulic shear, controlled by controller
The work of camera, while cooperating telescoping mechanism with hydraulic shear to pick to apple, without manually being picked, solve
It has determined the problem of causing working efficiency low and lost labor's cost due to using artificial picking apple, also by buffer subsystem to apple
It is buffered, effectively reduces the damage to apple, due to being provided with turntable and multiple cameras, external environment can be carried out
The observation of omnibearing stereo formula, effectively increases observation scope, has a vast market foreground.
The electric appliance occurred in this article can be electrically connected with extraneous main controller and 220V alternating current, and main controller can be calculating
Machine etc. plays the conventionally known equipment of control.
In the description of the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The connection in portion.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body meaning.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of intelligent apple-picking system based on machine vision, including shell (15), shell (15) lower end are uniformly provided with
Multiple rotating wheels (1), the interior driving mechanism (2) being equipped with for driving rotating wheel (1) of shell (15), which is characterized in that the shell
Body (15) upper end is successively arranged upright bar (3), collecting chamber (7) and telescoping mechanism (11)；
Upright bar (3) upper end is hinged with turntable (4), and turntable (4) edge part is uniformly provided with several cameras (5), collecting chamber
(7) buffer subsystem (6) are equipped at upper end opening, opening (16) is equipped in the middle part of buffer subsystem (6)；
The output end of the telescoping mechanism (11) is connect by telescopic rod (10) with hydraulic shear (9), is additionally provided with control in shell (15)
Device (14) processed, and driving mechanism (2), camera (5), telescoping mechanism (11) and hydraulic shear (9) are electrical with controller (14)
Connection.
2. the intelligent apple-picking system according to claim 1 based on machine vision, which is characterized in that the buffering
Net (6) two sides lower end is equipped with a bracket (12).
3. the intelligent apple-picking system according to claim 2 based on machine vision, which is characterized in that the collection
Chamber (7) has been hinged at hermatic door (8).
4. the intelligent apple-picking system according to claim 3 based on machine vision, which is characterized in that the rotation
It takes turns and is equipped with rotation axis (13) at (1) axle center.
5. the intelligent apple-picking system according to claim 4 based on machine vision, which is characterized in that the rotation
Several tread plates (19) are uniformly provided on wheel (1).
6. the intelligent apple-picking system according to claim 5 based on machine vision, which is characterized in that described hydraulic
Cutting (9) includes the first notch (17) and the second notch (18).
7. -6 any intelligent apple-picking system based on machine vision according to claim 1, which is characterized in that institute
Stating camera (5) is CCD industrial camera or CMOS industrial camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910150385.2A CN109964650A (en) | 2019-02-28 | 2019-02-28 | A kind of intelligent apple-picking system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910150385.2A CN109964650A (en) | 2019-02-28 | 2019-02-28 | A kind of intelligent apple-picking system based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109964650A true CN109964650A (en) | 2019-07-05 |
Family
ID=67077569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910150385.2A Withdrawn CN109964650A (en) | 2019-02-28 | 2019-02-28 | A kind of intelligent apple-picking system based on machine vision |
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| Country | Link |
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| CN (1) | CN109964650A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110679294A (en) * | 2019-10-22 | 2020-01-14 | 长沙市天珍科技有限公司 | Forest fruit harvesting device |
| CN112970429A (en) * | 2021-04-02 | 2021-06-18 | 一度智能科技(深圳)有限公司 | Robot agricultural picking device based on machine vision detection |
| CN113812265A (en) * | 2021-11-24 | 2021-12-21 | 杭州富阳锋拓机械有限公司 | Apple picking system based on Internet of things |
-
2019
- 2019-02-28 CN CN201910150385.2A patent/CN109964650A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110679294A (en) * | 2019-10-22 | 2020-01-14 | 长沙市天珍科技有限公司 | Forest fruit harvesting device |
| CN112970429A (en) * | 2021-04-02 | 2021-06-18 | 一度智能科技(深圳)有限公司 | Robot agricultural picking device based on machine vision detection |
| CN113812265A (en) * | 2021-11-24 | 2021-12-21 | 杭州富阳锋拓机械有限公司 | Apple picking system based on Internet of things |
| CN113812265B (en) * | 2021-11-24 | 2022-02-08 | 杭州富阳锋拓机械有限公司 | Apple picking system based on Internet of things |
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Application publication date: 20190705 |