CN110999636A - Strawberry clamping scissors - Google Patents
Strawberry clamping scissors Download PDFInfo
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- CN110999636A CN110999636A CN201911102158.9A CN201911102158A CN110999636A CN 110999636 A CN110999636 A CN 110999636A CN 201911102158 A CN201911102158 A CN 201911102158A CN 110999636 A CN110999636 A CN 110999636A
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- Life Sciences & Earth Sciences (AREA)
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a strawberry clipping shear, which comprises a shell, a clipping shear motor, a left clipping arm and a right clipping arm, wherein the clipping shear motor is arranged in the shell, one end of the left clipping arm and one end of the right clipping arm are connected with gears, the top of the other end of the left clipping arm and the top of the right clipping arm are detachably provided with scissors, the two gears are meshed with each other, one gear is rotatably connected with the shell through a rotating shaft, and the other gear is in transmission connection with the output end of the clipping shear. The strawberry picking machine is simple in structure and convenient to use, can effectively solve the problem of labor force deficiency, reduces the production cost of strawberries, and effectively improves the picking efficiency of the strawberries.
Description
Technical Field
The invention belongs to the technical field of strawberry picking, and particularly relates to a pair of strawberry clipping scissors.
Background
Strawberry is perennial evergreen herb, belongs to Rosaceae, and has rich fruit nutritive value. The workload of strawberry picking accounts for 60% of the strawberry planting production, the strawberries need to be picked as soon as possible after being mature, the mature strawberries are young and tender and easy to damage, and the strawberries cannot be directly contacted with hands in the whole picking process.
At present, the strawberry is picked and is still directly picked with the hand with traditional manual work and is given first place to, and few people use supplementary picking equipment to pick, and when manual work was directly picked with the hand, need often bow and squat, long-time work can seriously damage the health, and work efficiency is low, has wasted a large amount of manpower and materials.
Therefore, how to provide a strawberry clipping machine with high working efficiency is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the invention provides the strawberry clamping scissors which are simple in structure and convenient to operate, effectively solve the problem of insufficient labor force, reduce the production cost of strawberries and effectively improve the picking efficiency of strawberries.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a strawberry clamp is cut, includes the shell, presss from both sides and cuts motor, left arm lock and right arm lock, it installs to press from both sides the motor and be in inside the shell, left side arm lock with right arm lock one end is connected with the gear, and other end top demountable installation has the scissors, and two gears mesh mutually, a gear pass through the axis of rotation with the shell rotates to be connected, another gear with the output transmission that the motor was cut to the clamp is connected.
Preferably, left side arm lock with right side arm lock is kept away from the clamp splice is all installed to the one end bottom of gear, can realize that the strawberry is cut and clip the branch of being connected with the strawberry, prevents dropping of strawberry.
Preferably, a power supply and a controller are arranged in the shell, and the power supply and the clamping and shearing motor are electrically connected with the controller. The start and stop of the shearing and clamping motor can be controlled by the controller, so that the automatic operation of the strawberry clamping and shearing is realized.
Preferably, the image acquisition device is installed on the front face of the shell and electrically connected with the controller, the image acquisition device acquires image information of the acquisition area and transmits the image information to the controller for processing, and the three-dimensional space position of the mature strawberry is obtained after the image information is processed by the controller.
Preferably, the method for acquiring the three-dimensional space position of the mature strawberry by processing the image information of the acquisition area by the controller comprises the following steps:
s1: converting the acquired image into an HSV image, and segmenting the strawberry shape based on a color image threshold segmentation algorithm to acquire a strawberry contour;
s2: inputting the strawberry contour into a neural network, judging the goodness of fit of the strawberries, eliminating the interference of other objects in the image of the acquisition area, and realizing the identification of the mature strawberries;
s3: and (3) fitting the minimum circumscribed circle by using a minEnclosingcircle, solving a central coordinate, and combining diffuse reflection infrared distance measurement to realize acquisition of the three-dimensional space position of the mature strawberry.
The acquired image is converted into an HSV image, and the strawberry shape is segmented through a color image threshold segmentation algorithm, so that the strawberry contour is acquired; inputting the outline shape into a neural network, eliminating the interference of other objects in the image of the acquisition area, and realizing the high-efficiency identification of the mature strawberry; the method is simple and easy to implement, and therefore strawberry picking equipment can pick strawberries quickly and accurately, and work efficiency is improved.
Preferably, the shell openly still installs range sensor, range sensor with controller electric connection for detect the strawberry and press from both sides the distance of cutting with the strawberry.
The invention has the beneficial effects that:
the device has a simple structure, is convenient to operate, realizes the acquisition of the three-dimensional space position of the mature strawberry by processing the image through the controller, and is simple and easy to implement, so that the strawberry clipping is convenient to quickly and accurately pick the strawberry; under the driving of the clamping and shearing motor, the left clamping arm and the right clamping arm drive the shears to realize automatic picking of the strawberries, so that the problem of labor force deficiency is effectively solved, the production cost of the strawberries is reduced, and the picking efficiency of the strawberries is effectively improved; due to the arrangement of the clamping blocks, branches connected with strawberries can be clamped while the strawberries are cut off, and the problem that the strawberries fall off in the picking process is effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic diagram of the internal structure of the housing of the present invention.
Wherein, in the figure,
1-a housing; 2-a pinch shear motor; 3-a left clamping arm; 4-right clamping arm; 5-a gear; 6-scissors; 7-a clamping block; 8-a power supply; 9-a controller; 10-an image acquisition device; 11-a distance measuring sensor; 12-wireless communication module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the attached drawings 1-2, the invention provides a strawberry clipping shear, which comprises a shell 1, a clipping shear motor 2, a left clipping arm 3 and a right clipping arm 4, wherein the clipping shear motor 2 is installed inside the shell 1, one end of the left clipping arm 3 and one end of the right clipping arm 4 are connected with a gear 5, the top of the other end of the left clipping arm 3 and the other end of the right clipping arm 4 are detachably provided with a shear 6, the two gears 5 are meshed with each other, one gear 5 is rotatably connected with the shell 1 through a rotating shaft, and the other gear 5 is in transmission connection with an. Under the effect of the clamping and shearing motor 2, the left clamping arm 3 and the right clamping arm 4 are opened and closed simultaneously, so that the picking action of strawberries is conveniently completed. In addition, can adjust the length of left arm lock 3 and right arm lock 4 and inlay scissors 6 of different shape sizes according to the user's demand to improve the convenience that the strawberry was picked.
In another embodiment, clamping blocks 7 are respectively installed at the bottoms of the ends, far away from the gear 5, of the left clamping arm 3 and the right clamping arm 4, so that the strawberries can be cut off and simultaneously the branches connected with the strawberries can be clamped, and the strawberries are prevented from falling off.
Be provided with power supply 8 and controller 9 in the shell 1, power supply 8 and double-layered motor 2 of cutting all with controller 9 electric connection. The power supply 8 provides required electric energy for the controller 9 and the shearing and clamping motor 2, and the starting and stopping of the shearing and clamping motor 2 can be controlled through the controller 9, so that the automatic work of the strawberry shearing and clamping is realized.
In another embodiment, a wireless communication module 12 is further disposed in the housing, and the controller 9 is connected to the mobile terminal through the wireless communication module 12. By using the wireless communication module 12, the operation state of the strawberry clipper can be monitored remotely in real time, so that a user can conveniently confirm the operation state of the strawberry clipper, remote data updating can also be carried out, and the updating and upgrading of a built-in program of the controller 9 are facilitated.
In another embodiment, the image acquisition device 10 is installed on the front surface of the housing 1, the image acquisition device 10 is electrically connected with the controller 9, the image acquisition device 10 adopts a high-definition camera, acquires image information of an acquisition area, transmits the image information to the controller 9 for processing, and obtains the three-dimensional space position of the mature strawberry after the processing by the controller 9.
The method for acquiring the three-dimensional space position of the mature strawberry by processing the image information of the acquisition area through the controller comprises the following steps:
s1: and converting the acquired image into an HSV image, segmenting the strawberry shape based on a color image threshold segmentation algorithm, wherein the processed red mature strawberry is white, and other objects are black, so that the strawberry outline is acquired.
S2: inputting the strawberry contour into a neural network, outputting the matching accuracy of the strawberry shape, and when the matching accuracy is more than 80%, indicating that the strawberries in the visual field are hardly shielded by branches and leaves or other strawberries, determining the strawberries as mature strawberries which can be picked, eliminating the interference of other objects in the images of the acquisition area, and realizing the identification of the mature strawberries.
S3: and (3) fitting the minimum circumscribed circle by using a minEnclosingcircle, solving a central coordinate, and combining diffuse reflection infrared distance measurement to realize acquisition of the three-dimensional space position of the mature strawberry.
The image acquired in step S1 is an RGB image, and the method of converting the acquired image into an HSV image includes:
calculation of hue:
and (3) calculating the saturation:
and (3) brightness calculation:
V＝max (3)
in the above three formulas, H is hue, S is saturation, V is brightness, r, g, and b are coordinates of red, green, and blue, respectively, max is the maximum value of r, g, and b, and min is the minimum value of r, g, and b.
The color image threshold segmentation algorithm in step S1 is:
T＝lowerb(I_H)≤src(I_H)<upperb(I_H)∧lowerb(I_S)≤src(I_S)<upperb(I_S)∧lowerb(I_V)≤src(I_V)<upperb(I_V)； (4)
the algorithm T is whether the image element is within a predetermined threshold HSV threshold, and if T is 1, the image element is within the predetermined threshold, and if T is 0, the image element is not within the predetermined threshold; lowerb is the lower limit of the image, upperb is the upper limit of the image, I is the original image, I _ H, I _ S, I _ V are the H value, S value, V value of the image, respectively, and g (I) is the output image.
In step S2, the identification of the mature strawberry is realized through the BWN-CNN convolutional neural network, and the method includes:
let W ≈ α B, where B ∈ { -1, +1}cxwxh，α∈R+Is a scaling factor;
where W is the tensor, α is the scaling factor, B is the binary filter tensor, R is the binary filter tensor+A domain space of α;
by minimizing the objective function, the optimal solution is obtained:
J(B,α)＝||W-αB||2(6)
α*,B*＝argminJ(B,α) (7)
wherein J (B, α) is the minimization objective function, B*For the optimal solution of the binary filter tensor, α*Is the optimal solution of the scaling factor;
with J (B, α) minimum, α and B have the optimal values:
B*＝sign(W) (8)
wherein c, w and h are the number of input channels, width and height respectively.
The acquired image is converted into an HSV image, and the strawberry shape is segmented through a color image threshold segmentation algorithm, so that the strawberry contour is acquired; inputting the outline shape into a neural network, eliminating the interference of other objects in the image of the acquisition area, and realizing the high-efficiency identification of the mature strawberry; the method is simple and easy to implement, and therefore strawberry picking equipment can pick strawberries quickly and accurately, and work efficiency is improved.
In another embodiment, the front surface of the housing 1 is further provided with a distance measuring sensor 11, the distance measuring sensor 11 is electrically connected with the controller 9, and the distance measuring sensor 11 adopts a diffuse reflection photoelectric sensor and is used for detecting the distance between the strawberry clipping scissors and the strawberries.
The device has a simple structure, is convenient to operate, realizes the acquisition of the three-dimensional space position of the mature strawberry by processing the image through the controller, and is simple and easy to implement, so that the strawberry clipping is convenient to quickly and accurately pick the strawberry; under the driving of the clamping and shearing motor, the left clamping arm and the right clamping arm drive the shears to realize automatic picking of the strawberries, so that the problem of labor force deficiency is effectively solved, the production cost of the strawberries is reduced, and the picking efficiency of the strawberries is effectively improved; due to the arrangement of the clamping blocks, branches connected with strawberries can be clamped while the strawberries are cut off, and the problem that the strawberries fall off in the picking process is effectively solved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The utility model provides a strawberry clamp is cut, its characterized in that, includes the shell, presss from both sides and cuts motor, left arm lock and right arm lock, it installs to press from both sides and cut the motor inside the shell, left side arm lock with right arm lock one end is connected with the gear, and other end top demountable installation has the scissors, and two gear meshes mutually, a gear pass through the axis of rotation with the shell rotates to be connected, another gear with the output transmission that the motor was cut to the clamp is connected.
2. The strawberry clip scissors of claim 1, wherein the bottoms of the ends of the left clip arm and the right clip arm away from the gear are both provided with a clip block.
3. The strawberry clip scissors of claim 1, wherein a power supply and a controller are arranged in the housing, and the power supply and the clip scissors motor are both electrically connected with the controller.
4. The strawberry clip scissors of claim 3, wherein an image acquisition device is installed on the front face of the housing, the image acquisition device is electrically connected with the controller, the image acquisition device acquires image information of an acquisition area and transmits the image information to the controller for processing, and the controller processes the image information to obtain a three-dimensional space position of a mature strawberry.
5. A strawberry clipping shear according to claim 4, wherein the controller processes the image information of the capturing area to obtain the three-dimensional position of the mature strawberry, and the method comprises the following steps:
s1: converting the acquired image into an HSV image, and segmenting the strawberry shape based on a color image threshold segmentation algorithm to acquire a strawberry contour;
s2: inputting the strawberry contour into a neural network, judging the goodness of fit of the strawberries, eliminating the interference of other objects in the image of the acquisition area, and realizing the identification of the mature strawberries;
s3: and (3) fitting the minimum circumscribed circle by using a minEnclosingcircle, solving a central coordinate, and combining diffuse reflection infrared distance measurement to realize acquisition of the three-dimensional space position of the mature strawberry.
6. The strawberry clip shear of claim 3 or 5, wherein a distance measuring sensor is further installed on the front surface of the housing, and the distance measuring sensor is electrically connected with the controller and used for detecting the distance between the strawberry clip shear and the strawberry.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111684924A (en) * | 2020-06-23 | 2020-09-22 | 王孟超 | Strawberry picking robot based on raspberry group |
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