CN110896733A - Apple picking robot based on image recognition - Google Patents

Apple picking robot based on image recognition Download PDF

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Publication number
CN110896733A
CN110896733A CN201911201386.1A CN201911201386A CN110896733A CN 110896733 A CN110896733 A CN 110896733A CN 201911201386 A CN201911201386 A CN 201911201386A CN 110896733 A CN110896733 A CN 110896733A
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China
Prior art keywords
backup pad
microprocessor
picking
establish
acquisition device
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CN201911201386.1A
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Chinese (zh)
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CN110896733B (en
Inventor
于洋
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Xuchang University
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Xuchang University
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30Robotic devices for individually picking crops
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an apple picking robot based on image recognition, and mainly relates to the field of garden picking. Including the bed plate, establish the mounting panel on the bed plate, establish the type of falling T holding tank on the mounting panel, establish the lifter in the holding tank, microprocessor is connected to the lifter, the backup pad is established to the lifter tip, image acquisition device is established to the backup pad tip, microprocessor is connected to image acquisition device, establish the bracing piece on the backup pad lateral wall, establish the spacing ring between bracing piece one end and the backup pad, the shift ring is established to the cover on the spacing ring, establish the mounting groove on the lateral wall of backup pad, the telescopic link is established at the mounting groove top, establish the stay cord on the telescopic link, the shift ring is connected to the one end of keeping away from the telescopic link of stay cord, the position department of being close to the bracing piece of backup pad is established and is picked the scissors, a handle. The invention has the beneficial effects that: the apple tree picking machine is not easy to fatigue, high in working efficiency, high in comparison performance-price ratio and high in possibility of missed picking of apples at high positions.

Description

Apple picking robot based on image recognition
Technical Field
The invention relates to the field of garden picking, in particular to an apple picking robot based on image recognition.
Background
In the annual apple harvest season, fruit growers need to hire a lot of people to help picking apples. However, the problem of employing people is that people climb up and down to pick apples, are easy to fatigue, the working efficiency is not high, the construction period is prolonged, and an employer needs to pay more wages; in addition, apples at a very high height are not easy to see due to the height and the like, and people are not willing to climb up to pick at risk due to the overhigh height, so that certain waste is caused.
Disclosure of Invention
The invention aims to provide an apple picking robot based on image recognition, which can help an employer to pick apples, is not easy to exhaust, has high working efficiency, prevents apples at high positions from being missed, and has higher comparative cost performance.
The invention further realizes the purpose by adopting the following technical scheme:
an apple picking robot based on image recognition comprises a base plate, wherein a mounting plate is arranged on the base plate, an inverted T-shaped accommodating groove is arranged on the mounting plate, a lifting rod is arranged in the accommodating groove and connected with a microprocessor, a supporting plate is arranged at the end part of the lifting rod, an acquisition device is arranged at the end part of the supporting plate and comprises an image acquisition device, the image acquisition device is connected with the microprocessor, a supporting rod is obliquely arranged on the side wall of the supporting plate, an arc-shaped limiting ring is arranged between one end of the supporting rod, away from the supporting plate, and the supporting plate, an arc-shaped limiting ring is sleeved on the limiting ring and can move along the limiting ring, a mounting groove is arranged on the side wall of the supporting plate, an opening is formed in one side, close to the supporting rod, the top of the mounting groove is provided with a telescopic, the utility model discloses a simple structure, the bracing piece is equipped with in the backup pad, the position department that is close to the bracing piece of backup pad is equipped with the picking scissors, a handle and the backup pad of picking scissors are connected, the bottom and the shifting ring of another handle of picking scissors are connected.
The top of lifter is equipped with and holds the piece, it sets up on holding the piece to pick the device, it is equipped with loudspeaker form collecting vessel to hold on the piece, the collecting vessel is located and picks the below of cutting, it is equipped with the through-hole with the collecting vessel intercommunication to hold the piece, the through-hole bottom is equipped with the telescopic connecting cylinder, be equipped with the collecting box on the mounting panel, the collecting box is located connecting cylinder bottom opening below.
The base plate is internally provided with a rotating groove, the rotating groove is internally provided with a rotating disc, the mounting plate is arranged on the rotating disc, and the rotating disc is connected with a microprocessor.
The base plate bottom is equipped with removes the wheel, remove and take turns to and be equipped with locking device.
Compared with the prior art, the invention has the beneficial effects that:
through the lifter, will pick the device and transport the eminence, connect the network in advance through microprocessor, carry microprocessor with a large amount of apples and apple picture information on the tree, be delivered to the eminence when picking the device, the last camera etc. that sets up image acquisition usefulness of image acquisition device, the information transfer to microprocessor that will shoot, and compare, when judging when having the apple on the branch, microprocessor control lifter removes to near position, will pick and cut the scissors and be close to the apple, microprocessor control telescopic link removes, the handle that drives and pick the scissors removes, cut the apple. Manpower loss is reduced in the middle process, apples at high positions are easy to pick, and the picking benefit is high compared with manual picking.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is an enlarged schematic view of part a.
The reference numbers in the drawings: 1. a base plate; 2. mounting a plate; 3. accommodating grooves; 4. a lifting rod; 5. a support plate; 6. an image acquisition device; 7. a support bar; 8. a limiting ring; 9. a moving ring; 10. mounting grooves; 11. a telescopic rod; 12. pulling a rope; 13. picking and shearing; 14. a bearing block; 15. a collection canister; 16. a through hole; 17. a connecting cylinder; 18. a collection box; 19. a rotating groove; 20. rotating the disc; 21. the wheel is moved.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it is understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope defined in the present application.
The invention relates to an apple picking robot based on image recognition, which comprises a base plate 1, wherein a mounting plate 2 is arranged on the base plate 1, an inverted T-shaped accommodating groove 3 is arranged on the mounting plate 2, a lifting rod 4 is arranged in the accommodating groove 3, preferably, the lifting rod is connected with a microprocessor, the lifting rod can be better and automatically controlled to lift by controlling the movement of the lifting rod through the microprocessor, the apple picking robot is suitable for different heights of apples, a supporting plate 5 is arranged at the end part of the lifting rod 4, an acquisition device is arranged at the end part of the supporting plate 5, the picking device comprises an image acquisition device 6, the image acquisition device can be a camera and the like, the image acquisition device 6 is connected with the microprocessor, a large number of apples and picture information of the apples on trees are transmitted to the microprocessor through a network connected in advance by the microprocessor, when the picking, set up the camera etc. that image acquisition used on the image acquisition device, in the information transfer microprocessor that will shoot, and carry out the comparison, judge that the position department of shooting is the leaf or the apple, and carry out control on next step, backup pad 5 inclines on the lateral wall and is equipped with bracing piece 7, bracing piece 7 is kept away from and is equipped with arc spacing ring 8 between backup pad 5's one end and the backup pad 5, shift ring 9 is established to the cover on the spacing ring 8, shift ring 9 can move along spacing ring 8, be equipped with mounting groove 10 on the lateral wall of backup pad 5, mounting groove 10 is equipped with the opening in the one side that is close to bracing piece 7, mounting groove 10 top is equipped with telescopic link 11, and is the same, and microprocessor is also connected to the telescopic link, be equipped with stay cord 12 on the telescopic link 11, the stay cord stretches out from the mounting groove opening, the stay cord can stimulate the shift ring to remove along the spacing ring, the position department that is close to bracing piece 7 of backup pad 5 is equipped with the picking and cuts 13, a handle and the backup pad 5 of picking and cutting 13 are connected, the bottom and the shift ring 9 of another handle of picking and cutting 13 are connected, and when judging that there is the apple to pick position department, microprocessor control telescopic link removed, and the pulling shift ring drives the picking and cuts the removal, cuts the apple down. If set up image acquisition device in the lifter tip, set up the movable plate in addition at the lifter tip, microprocessor is connected to the movable plate, sets up the backup pad on the movable plate, and the tip of plucking scissors sets up the location chip, and microprocessor is connected to the location chip, sets up infrared distance measuring device in image acquisition device below, location apple that can be better, reaches and picks the purpose.
When the picking device is conveyed to the high place, the microprocessor is connected with a network in advance, a large number of apples and picture information of the apples on the tree are transmitted to the microprocessor, when the picking device is conveyed to the high place, the image acquisition device is provided with a camera and the like for image acquisition, the shot information is transmitted to the microprocessor and is compared, when the apple is judged to be on the branch, the microprocessor controls the lifting rod to move to a nearby position, the picking shears are close to the apples, and the microprocessor controls the telescopic rod to move to drive the handles of the picking shears to move so as to cut the apples. Manpower loss is reduced in the middle process, apples at high positions are easy to pick, and the picking benefit is high compared with manual picking.
Further, the top of lifter 4 is equipped with and holds the piece 14, pick the device setting on holding the piece 14, it is equipped with loudspeaker form collecting vessel 15 on the piece 14 to hold, collecting vessel 15 is located picks and cuts 13 below, it is equipped with the through-hole 16 with the 15 intercommunication of collecting vessel in the piece 14 to hold, through-hole 16 bottom is equipped with telescopic connecting cylinder 17, be equipped with collecting box 18 on the mounting panel 2, collecting box 18 is located connecting cylinder 17 bottom opening below, is convenient for collect the apple of picking, is convenient for sieve on next step and examines, transports.
Further, be equipped with in the bed plate 1 and rotate groove 19, it is equipped with rolling disc 20 to rotate the inslot 19, mounting panel 2 sets up on rolling disc 20, rolling disc 20 connects microprocessor, and microprocessor control rolling disc rotates, drives and picks the device and turn to different directions, further improvement convenience, reduces manual operation, raises the efficiency.
Further, the bottom of the base plate 1 is provided with a moving wheel 21, the moving wheel 21 is provided with a locking device, the device can be conveniently moved to different positions for picking, and the moving is convenient.
Example (b):
an apple picking robot based on image recognition comprises a base plate 1, wherein a moving wheel 21 is arranged at the bottom of the base plate 1, a locking device is arranged on the moving wheel 21, a mounting plate 2 is arranged on the base plate 1, an inverted T-shaped holding tank 3 is arranged on the mounting plate 2, a lifting rod 4 is arranged in the holding tank 3, preferably, the lifting rod is connected with a microprocessor, the lifting rod can be better and automatically controlled to lift through the movement of the lifting rod controlled by the microprocessor, the apple picking robot is suitable for different heights of apples, a supporting plate 5 is arranged at the end part of the lifting rod 4, an acquisition device is arranged at the end part of the supporting plate 5, the picking device comprises an image acquisition device 6, the image acquisition device can be a camera and the like, the image acquisition device 6 is connected with the microprocessor, a large number of apples and picture information of the apples on trees are conveyed to the, when the picking device is delivered to a high place, a camera for image acquisition and the like are arranged on the image acquisition device, the shot information is transmitted to a microprocessor and is compared to judge whether the shot position is a leaf or an apple, the next step of control is carried out, a support rod 7 is obliquely arranged on the side wall of the support plate 5, an arc-shaped limit ring 8 is arranged between one end of the support rod 7 far away from the support plate 5 and the support plate 5, a moving ring 9 is sleeved on the limit ring 8, the moving ring 9 can move along the limit ring 8, a mounting groove 10 is arranged on the side wall of the support plate 5, an opening is arranged on one side of the mounting groove 10 close to the support rod 7, a telescopic rod 11 is arranged at the top of the mounting groove 10, similarly, the telescopic rod is also connected with the microprocessor, a pull rope 12 is arranged on the telescopic rod 11, one end of, the stay cord can stimulate the shift ring to remove along the spacing ring, the position department that is close to bracing piece 7 of backup pad 5 is equipped with the picking and cuts 13, a handle and the backup pad 5 of picking and cutting 13 are connected, the bottom and the shift ring 9 of another handle of picking and cutting 13 are connected, and when judging that there is the apple to pick position department, microprocessor control telescopic link removed, and the pulling shift ring drives the picking and cuts the removal, cuts the apple down. If the image acquisition device is arranged at the end part of the lifting rod, a movable plate is additionally arranged at the end part of the lifting rod, the movable plate is connected with a microprocessor, a support plate is arranged on the movable plate, the end part of the picking scissors is provided with a positioning chip which is connected with the microprocessor, an infrared distance measuring device is arranged below the image acquisition device, the position of an apple can be better positioned, the top part of the lifting rod 4 is provided with a bearing block 14, the picking device is arranged on the bearing block 14, the bearing block 14 is provided with a horn-shaped collecting barrel 15, the collecting barrel 15 is arranged below the picking scissors 13, a through hole 16 communicated with the collecting barrel 15 is arranged in the bearing block 14, the bottom of the through hole 16 is provided with a telescopic connecting barrel 17, a collecting box 18 is arranged on the mounting plate 2, the collecting box 18 is arranged below an opening at the bottom of the connecting barrel 17, and a rotating groove 19 is, a rotating disc 20 is arranged in the rotating groove 19, the mounting plate 2 is arranged on the rotating disc 20, and the rotating disc 20 is connected with a microprocessor.

Claims (4)

1. An apple picking robot based on image recognition is characterized in that: comprises a base plate (1), wherein a mounting plate (2) is arranged on the base plate (1), an inverted T-shaped accommodating groove (3) is arranged on the mounting plate (2), a lifting rod (4) is arranged in the accommodating groove (3), the lifting rod (4) is connected with a microprocessor, a supporting plate (5) is arranged at the end part of the lifting rod (4), an acquisition device is arranged at the end part of the supporting plate (5), the acquisition device comprises an image acquisition device (6), the image acquisition device (6) is connected with the microprocessor, a supporting rod (7) is obliquely arranged on the side wall of the supporting plate (5), an arc-shaped limiting ring (8) is arranged between one end of the supporting rod (7) far away from the supporting plate (5) and the supporting plate (5), a moving ring (9) is sleeved on the limiting ring (8), the moving ring (9) can move along the limiting ring (8), a mounting groove (10), mounting groove (10) are equipped with the opening in the one side that is close to bracing piece (7), mounting groove (10) top is equipped with telescopic link (11), be equipped with stay cord (12) on telescopic link (11), shift ring (9) is connected to the one end of keeping away from telescopic link (11) of stay cord (12), the position department that is close to bracing piece (7) of backup pad (5) is equipped with plucks and cuts (13), a handle of plucking and cutting (13) is connected with backup pad (5), the bottom and the shift ring (9) of another handle of plucking and cutting (13) are connected.
2. The apple picking robot based on image recognition as claimed in claim 1, wherein: the top of lifter (4) is equipped with and holds joint block (14), pick the device setting on holding joint block (14), it describes collecting vessel (15) to be equipped with loudspeaker on holding joint block (14), collecting vessel (15) are located to pick and cut (13) below, be equipped with through-hole (16) with collecting vessel (15) intercommunication in holding joint block (14), through-hole (16) bottom is equipped with telescopic connecting cylinder (17), be equipped with collecting box (18) on mounting panel (2), collecting box (18) are located connecting cylinder (17) bottom opening below.
3. The apple picking robot based on image recognition as claimed in claim 1, wherein: be equipped with in bed plate (1) and rotate groove (19), be equipped with rolling disc (20) in rotating groove (19), mounting panel (2) set up on rolling disc (20), microprocessor is connected in rolling disc (20).
4. An apple picking robot based on image recognition as claimed in claim 1 or 3, wherein: the base plate (1) bottom is equipped with removes wheel (21), be equipped with locking device on removing wheel (21).
CN201911201386.1A 2019-11-29 2019-11-29 Apple picking robot based on image recognition Active CN110896733B (en)

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Application Number Priority Date Filing Date Title
CN201911201386.1A CN110896733B (en) 2019-11-29 2019-11-29 Apple picking robot based on image recognition

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Application Number Priority Date Filing Date Title
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CN110896733A true CN110896733A (en) 2020-03-24
CN110896733B CN110896733B (en) 2022-12-13

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114342659A (en) * 2020-10-13 2022-04-15 北京中农绿源工程技术有限公司 Fruit and vegetable picking device based on image recognition
CN116616045A (en) * 2023-06-07 2023-08-22 山东农业工程学院 Picking method and picking system based on plant growth

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114342659A (en) * 2020-10-13 2022-04-15 北京中农绿源工程技术有限公司 Fruit and vegetable picking device based on image recognition
CN116616045A (en) * 2023-06-07 2023-08-22 山东农业工程学院 Picking method and picking system based on plant growth
CN116616045B (en) * 2023-06-07 2023-11-24 山东农业工程学院 Picking method and picking system based on plant growth

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