CN205336889U - Device is picked to matrimony vine that possesses distributed machine vision system - Google Patents
Device is picked to matrimony vine that possesses distributed machine vision system Download PDFInfo
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- CN205336889U CN205336889U CN201520977327.4U CN201520977327U CN205336889U CN 205336889 U CN205336889 U CN 205336889U CN 201520977327 U CN201520977327 U CN 201520977327U CN 205336889 U CN205336889 U CN 205336889U
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Abstract
Problem to the prior art existence, the utility model provides a device is picked to matrimony vine that possesses distributed machine vision system. The matrimony vine is picked the device and includes the frame and set up control system, actuating system, electrical power generating system, high -order visual system, low level visual system, vision operating system, matrimony vine picking manipulator and the branch location manipulator in the frame. High -order visual system passes through vision operating system and links to each other with the frame. Vision operating system's motion can drive the motion of high -order visual system to gather the image of eminence. The matrimony vine is picked the device and still includes the slip table operating system who sets up in the frame, and low level visual system, vision operating system, matrimony vine picking manipulator and branch location manipulator all set up on slip table operating system through electric turntable, and then links to each other with the frame. The utility model discloses greatly enlarged the field range of visual system, alleviateed machine vision and the manipulator of qi picking machine in narrow field greatly and picked the limited problem of working range.
Description
Technical field
This utility model belongs to agricultural mechanical field, is specifically related to the auxiliary match mechanism belonging to a kind of Fructus Lycii picker, especially relates to a kind of picker possessing distributed machines visual system for Fructus Lycii.
Background technology
Fructus Lycii is tradition rare Chinese medicine, is again a kind of tonic food.According to official statistics, the only Gansu province of 2012, yield of medlar is up to 3.5 ten thousand tons.The features such as during due to Chinese wolfberry fruit maturation moisture is significantly high and peel is tender and lovely, are easy to damage during collection；If there is damage, not only can affect its appearance luster, also can reduce medical value.Accordingly, it would be desirable to adopt the mode of flexible collection, by FRUCTUS LYCII together with fruit taking.The features such as the complexity grown due to Fructus Lycii and the destructuring of farm environment, the simple hand-held medlar picker adopted in producing at present, picking head and vibration-type picking machine.
Application for a patent for invention 201010272425 discloses one " hand-held medlar-picking machine ", and this equipment need nonetheless remain for the participation of harvesting personnel, and the automatization for improving Fructus Lycii harvesting is very limited.Meanwhile, this equipment is that a string Fructus Lycii branch is plucked, and is very easily easily plucked together by immature Fructus Lycii, very unfavorable for the quality and yield improving Fructus Lycii.Patent of invention 201320182557.2 discloses one " lift fruit picking ", lowering or hoisting gear in this picking machine includes the base plate being arranged on vehicle frame, it is arranged at described base plate at least two that is central and that be nested and is set in the telescopic oil cylinder in oil cylinder set, for handling the lifting bench board of described telescopic oil cylinder, it is arranged at the lifting support of described base plate both sides.This picking machine there is the problem that (1) this lowering or hoisting gear flexibility is poor, can only lift, it is necessary to relies on the direction adjusting whole facility to change direction；(2) adopting hydraulic pressure to lift, Integral lifting device is excessively huge, uses dumb, and cost is high.
Application for a patent for invention 201310614202.0 discloses one " the online separation system of Fructus Lycii based on machine vision ", and this system includes ARM controller, image acquisition and processing module, power module, system reset module, data transmission module, input through keyboard module, display module, host computer, driving module, sorting performance element, transport performance element, CCD industrial camera, background process module, sample to be selected, LED light irradiation module.This system Problems existing: (1) is appropriate only for the Fructus Lycii image procossing of monolayer, have no occluder, it is impossible to pluck for the Fructus Lycii of complicated state in nature；(2) being appropriate only for static Fructus Lycii image procossing, namely static Chinese wolfberry fruit is sorted by the industrial camera of fixed position.
Patent of invention 201310193713.X discloses one " movable and rotatable lifting platform used for picking agricultural products ", and this moves rotary lifting platform and includes walking mechanism, rotating mechanism, hoistable platform, control system, rotary frame, main shaft, bearing group, bearing plate group, gear train and rotary drive motor.This hoistable platform Problems existing: (1) will rotate as base, lifts as working area, upper strata, causes rotating basal plane relatively big with the spacing of weight, can produce centrifugal force in rotary course, causes that platform is unstable；(2) rotating employing gear drive, lower index precision is low；(3) elevating mechanism adopts line slideway, and loading weight is relatively low.
In sum, in prior art, utilize machine vision and picking mechanical arm that Chinese wolfberry fruit is plucked, it is necessary to by the whole series machine movement to Fructus Lycii branch dead ahead；Owing to the visual range of Vision Builder for Automated Inspection is very limited, it is limited that the transverse direction so making picking machine can pluck region, after the Fructus Lycii of dead ahead is plucked by picking mechanical arm, it is necessary to system is moved to other regions by staff, very unfavorable for improving picking efficiency；And, even if the Fructus Lycii on the differing heights of the same area is plucked, it is also desirable to mobile apparatus frequently, so not only bad for improving picking efficiency；And, the trees that average Fructus Lycii height of tree degree difference is big, due to the limited viewing angle of Vision Builder for Automated Inspection, very easily occur lowest point and highest point image acquisition less than and leak situation about adopting.
Utility model content
For prior art Problems existing, this utility model provides a kind of Fructus Lycii picker possessing distributed machines visual system.
The technical solution of the utility model is: possess the Fructus Lycii picker of distributed machines visual system, including frame and be arranged on the control system in frame, drive system, power-supply system, high-order visual system, low level visual system, vision jacking system, medlar-picking machine tool hands and branch positioning mechanical arm；Described high-order visual system is connected with frame by vision jacking system.The motion of described vision jacking system can drive the motion of high-order visual system, thus gathering the image at middle and high place.Described Fructus Lycii picker also includes the slide unit jacking system being arranged in frame, described low level visual system, vision jacking system, medlar-picking machine tool hands and branch positioning mechanical arm are arranged on slide unit jacking system each through electric turntable, and then are connected with frame.
The motion of slide unit jacking system can drive the motion of whole electric turntable, high-order visual system, low level visual system, vision jacking system, medlar-picking machine tool hands and branch positioning mechanical arm.Described control system is respectively connected with by drive system and slide unit jacking system, vision jacking system, electric turntable, medlar-picking machine mechanical hand, branch positioning mechanical arm.Described slide unit jacking system includes slide unit I and lifting platform, and described lifting platform is connected with frame by slide unit I；Described slide unit I includes slide unit main body, slide block I, motor, driving gear and driven tooth bar；Described slide unit main body is fixed in frame, and the both sides, inside of described slide unit main body are embedded with driven tooth bar, and described slide unit main body is provided with slide block I, and is connected with lifting platform by slide block I.Being fixedly installed motor and driving gear on described slide block I, described driving gear is fixed on the axle of motor, and described driving gear is staggered with driven tooth bar and engages；Add the cross force strain of slide unit, both ensure that slide unit jacking system will not rock because of the bigger generation of load-carrying, and provided again stable lifting drive.Wherein, the both sides, inside of described slide unit main body are embedded with two driven tooth bars；The quantity of described driving gear is 3；Described lifting platform is square mesa.
Wherein, described electric turntable includes rotation platform, disk body, bearing, shaft coupling and servomotor；Described disk body and servomotor are arranged in square mesa, and described rotation platform is connected by bearing and disk body, and described servomotor is connected with disk body by shaft coupling.
Wherein, described vision jacking system includes riser guide, slide unit II, slide block II, L-type corner brace, leading screw, shaft coupling and motor；Described slide unit II is connected with threads of lead screw by its internal nut and is moved along riser guide, and described L-type corner brace is connected by slide block II and slide unit II is fixing；Described motor is connected with leading screw by shaft coupling.Described high-order visual system includes camera I and pulley twin shaft feed rod slide unit I；Described pulley twin shaft feed rod slide unit I includes slide unit body I, twin shaft feed rod I, pulley bearings I and slide unit slide block I；The base of described camera I is connected by slide unit slide block I and pulley twin shaft feed rod slide unit I, and described slide unit body I is connected with the slide block II of vision jacking system by L-type corner brace I.The internal both sides of described slide unit body I are provided with twin shaft feed rod I, pulley bearings I and are fixed on slide unit slide block I by internal bearings, and slide unit slide block I is arranged on slide unit body I.This utility model is by carrying out INTELLIGENT IDENTIFICATION by the pictures subsequent that high-order visual system and low level visual system collect, it is possible to avoid picking hands that jejune Chinese wolfberry fruit is plucked, thus improve the quality that Fructus Lycii is plucked, it is ensured that the yield of Fructus Lycii.
Wherein, described Fructus Lycii picker also includes " yi word pattern " and positions bar, and described location bar includes preposition location bar and rearmounted location bar；Described preposition location bar and rearmounted location bar are symmetricly set on the both sides of rotation platform.Described vision jacking system is fixed on the end of rearmounted location bar, and the head end of described rearmounted location bar is fixed on rotation edge of table；Described low level visual system is fixed on the end of preposition location bar, and the head end of described preposition location bar is fixed on rotation edge of table.Described low level visual system and vision jacking system are arranged on the same axis of rotation platform.Described low level visual system comprises camera II and pulley twin shaft feed rod slide unit II；Described pulley twin shaft feed rod slide unit II includes slide unit body II, twin shaft feed rod II, pulley bearings II, slide unit slide block II and L-type corner brace II composition；The base of described camera II directly connects with slide unit body II, and described slide unit body II is connected on the bar of preposition location by L-type corner brace II；The internal both sides of described slide unit body II are provided with twin shaft feed rod II, pulley bearings II and are fixed on slide unit slide block II by internal bearings, and slide unit slide block II is arranged on slide unit body II.
Preferably, the side of described slide unit slide block I is provided with holding screw I, and the side of described slide unit slide block II is provided with holding screw II；Described holding screw I is for fixing and limit the movement of slide unit slide block I；Described holding screw II is for fixing and limit the movement of slide unit slide block II.
Preferably, described medlar-picking machine tool hands and branch positioning mechanical arm respectively comprise a set of six degree of freedom mechanical hand.Described rotation platform is provided with " yi word pattern " fixing plate, and it is vertical that described " yi word pattern " fixing plate positions bar with " yi word pattern ".Described medlar-picking machine mechanical hand and branch positioning mechanical arm arrange the two ends of " yi word pattern " fixing plate.
Described control system includes TMS320F28335 controller, relay system, signal input modulate circuit and signal output modulate circuit；Described drive system comprises slide unit jacking system driver, vision jacking system driver, electric turntable driver, medlar-picking machine robotic drive, branch positioning mechanical arm driver；Described power-supply system comprises ferric phosphate lithium cell and mu balanced circuit.Described control system, drive system and power-supply system are installed in switch board；Described switch board is fixed in frame.Described TMS320F28335 controller and relay system, signal input modulate circuit, signal output modulate circuit connect respectively；Relay system and collecting fruit mechanism connect, and signal input modulate circuit and outside laser sensing matrix connect；The circuit of signal output modulate circuit and drive system connects.
The beneficial effects of the utility model are:
(1) motion of the slide unit jacking system described in can drive whole electric turntable, high-order visual system, low level visual system, vision jacking system, medlar-picking machine tool hands, branch positioning mechanical hands movement, improves the working range of visual system visual range on fore-and-aft distance and mechanical hand；
(2) motion of the vision jacking system described in can drive the motion of high-order visual system, thus the image of eminence in gathering；Meanwhile, the rotation of described electric turntable can drive the rotation of medlar-picking machine tool hands, branch positioning mechanical arm, high-low position visual system, vision jacking system, improves the working range of visual system visual range in lateral separation and mechanical hand；
(3) due to the central point of medlar-picking machine tool hands and branch positioning mechanical arm, high-order visual system and low level visual system on the same axis, and high position visual system and low level visual system, medlar-picking machine tool hands and branch positioning mechanical arm synchronize all the time, four coordinate positions in image procossing are relatively-stationary, so that the Coordinate Transformation in image procossing becomes simple, then the precision that Fructus Lycii is plucked is unrelated with the precision of electric turntable motor, it is ensured that the accuracy of harvesting；
(4) high-order visual system is set and low level visual system gathers eminence respectively, neutralizes the image of lower, and then carry out subsequent analysis process；Greatly expand the field range of visual system, significantly reduce Qi picking machine machine vision in narrow field and the problem that working range is limited plucked by mechanical hand.
Accompanying drawing explanation
Fig. 1 is one of structural representation of the present utility model；
Fig. 2 is the two of structural representation of the present utility model；
Fig. 3 is the three of structural representation of the present utility model；
Fig. 4 is the four of structural representation of the present utility model；
Fig. 5 is the structural representation of high-order visual system in this utility model；
Fig. 6 is the structural representation of vision jacking system in this utility model；
Fig. 7 is the structural representation of slide unit jacking system in this utility model；
Fig. 8 is the structural representation of the slide unit jacking system being mounted with electric turntable and location bar in this utility model；
Fig. 9 is the structural representation of electric turntable in this utility model；
Figure 10 is the structural representation of switch board in this utility model；
Wherein: 1: medlar-picking machine tool hands；2: branch positioning mechanical arm；3: switch board；
4: control system；4-1:TMS320F28335 controller；4-2: relay system；4-3: signal input modulate circuit；4-4 signal output modulate circuit:
5: drive system；5-1: slide unit jacking system driver；5-2: vision jacking system driver；5-3: electric turntable driver；5-4: medlar-picking machine robotic drive；5-5: branch positioning mechanical arm driver；
6: power-supply system；6-1: ferric phosphate lithium cell；6-2: mu balanced circuit；
7: high-order visual system；7-1: camera I；7-2: pulley twin shaft feed rod slide unit I；7-2a: slide unit body I；7-2b: twin shaft feed rod I；7-2c: pulley bearings I；7-2d: slide unit slide block I；7-2e: holding screw I；
8: low level visual system；8-2a: slide unit body II；8-2f:L type corner brace II；
9: slide unit jacking system；9-1: slide unit I；9-2: square mesa；9-1a: slide unit main body；9-1b: slide block I；9-1c: motor；9-1d: driving gear；9-1e: driven tooth bar；
10: vision jacking system；10-1: riser guide；10-2: slide unit II；10-3: slide block II；10-4:L type corner brace I；10-5: leading screw；10-6: shaft coupling；10-7: motor；
11: electric turntable；11-1: rotation platform；11-2: disk body；11-3: bearing；11-4: shaft coupling；11-5: servomotor；11-6: fixing plate；
12: frame；
13: location bar；13-1: preposition location bar；13-2: rearmounted location bar.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described further.
Embodiment 1:
Possesses the Fructus Lycii picker of distributed machines visual system, including frame 12 and be arranged on the control system 4 in frame 12, drive system 5, power-supply system 6, high-order visual system 7, low level visual system 8, vision jacking system 10, medlar-picking machine tool hands 1, branch positioning mechanical arm 2.Described high-order visual system 7 is connected with frame 12 by vision jacking system 10.Described control system 4, drive system 5 and power-supply system 6 are installed in switch board 3, and described switch board 3 is fixed in frame 12.Described control system 4 includes TMS320F28335 controller 4-1, relay system 4-2, signal input modulate circuit 4-3 and signal output modulate circuit 4-4.Described TMS320F28335 controller 4-1 and relay system 4-2, signal input modulate circuit 4-3, signal output modulate circuit 4-4 connect respectively；Relay system 4-1 and collecting fruit mechanism connect, and signal input modulate circuit 4-3 and outside laser sensing matrix connect；The circuit of signal output modulate circuit 4-4 and drive system 5 connects.Described drive system 5 comprises slide unit jacking system driver 5-1, vision jacking system driver 5-2, electric turntable driver 5-3, medlar-picking machine robotic drive 5-4, branch positioning mechanical arm driver 5-5；Described power-supply system 6 comprises ferric phosphate lithium cell 6-1 and mu balanced circuit 6-2.
Described vision jacking system 10 includes riser guide 10-1, slide unit II10-2, slide block II10-3, L-type corner brace 10-4, leading screw 10-5, shaft coupling 10-6 and motor 10-7.Described slide unit II10-2 and leading screw 10-5 is movably connected and moves along riser guide 10-1, and described L-type corner brace 10-4 is connected by slide block II10-3 and slide unit II10-2 is fixing；Described motor 10-7 is connected with leading screw 10-5 by shaft coupling 10-6.
Described Fructus Lycii picker also includes the slide unit jacking system 9 being arranged in frame 12, described low level visual system 8, vision jacking system 10, medlar-picking machine tool hands 1 and branch positioning mechanical arm 2 are arranged on slide unit jacking system 9 each through electric turntable 11, and then are connected with frame 12.Described control system 4 is respectively connected with by drive system 5 and slide unit jacking system 9, vision jacking system 10, electric turntable 11, medlar-picking machine mechanical hand 1, branch positioning mechanical arm 2.Described slide unit jacking system 9 is included slide unit I9-1 and square mesa 9-2, described square mesa 9-2 and is connected with frame 12 by slide unit I9-1.Described slide unit I9-1 includes slide unit main body 9-1a, slide block I9-1b, motor 9-1c, driving gear 9-1d and driven tooth bar 9-1e.Described slide unit main body 9-1a is fixed in frame 12, and the both sides, inside of described slide unit main body 9-1a are embedded with two driven tooth bar 9-1e, described slide unit main body 9-1a and are provided with slide block I9-1b, and are connected with square mesa 9-2 by slide block I9-1b.Being fixedly installed motor 9-1c and 3 driving gear 9-1d on described slide block I9-1b, described 3 driving gear 9-1d are fixed on the axle of motor 9-1c, and described 3 driving gear 9-1d are staggered with driven tooth bar 9-1e and engage.
Embodiment 2:
As different from Example 1, described electric turntable 11 includes rotation platform 11-1, disk body 11-2, bearing 11-3, shaft coupling 11-4 and servomotor 11-5.Described disk body 11-2 and servomotor 11-5 is arranged on square mesa 9-2, and described rotation platform 11-1 is connected by bearing 11-3 and disk body 11-2, and described servomotor 11-5 is connected with disk body 11-2 by shaft coupling 11-4.
Described Fructus Lycii picker also includes location bar 13, and described location bar 13 includes preposition location bar 13-1 and rearmounted location bar 13-2.Described vision jacking system 7 is fixed on the end of rearmounted location bar 13-2, and the head end of described rearmounted location bar 13-2 is fixed on the edge of rotation platform 11-1.Described low level visual system 8 is fixed on the end of preposition location bar 13-1, and the head end of described preposition location bar 13-1 is fixed on rotation platform 11-1 edge.Described low level visual system 8 is arranged on the same axis of rotation platform 11-1 with vision jacking system 10.
Embodiment 3:
As different from Example 2, described high-order visual system 7 includes camera I7-1 and pulley twin shaft feed rod slide unit I7-2.Described pulley twin shaft feed rod slide unit I7-2 includes slide unit body I7-2a, twin shaft feed rod I7-2b, pulley bearings I7-2c and slide unit slide block I7-2d.The base of described camera I7-1 is connected by slide unit slide block I7-2d and pulley twin shaft feed rod slide unit I7-2, and described slide unit body I7-2a is connected with the slide block II10-3 of vision jacking system 10 by L-type corner brace I10-4；The internal both sides of described slide unit body I7-2a are provided with twin shaft feed rod I7-2b, pulley bearings I7-2c and are fixed on slide unit slide block I7-2d by internal bearings, and slide unit slide block I7-2d is arranged on slide unit body I7-2a.
Described low level visual system 8 comprises camera II and pulley twin shaft feed rod slide unit II；Described pulley twin shaft feed rod slide unit II includes slide unit body II8-2a, twin shaft feed rod II, pulley bearings II, slide unit slide block II and L-type corner brace II8-2f composition.The base of described camera II directly connects with slide unit body II8-2a, and described slide unit body II8-2a is connected on preposition location bar 13-1 by L-type corner brace II8-2f；The internal both sides of described slide unit body II8-2a are provided with twin shaft feed rod II, pulley bearings II and are fixed on slide unit slide block II by internal bearings, and slide unit slide block II is arranged on slide unit body II8-2a.
Embodiment 4:
As different from Example 3, the side of described slide unit slide block I7-2d is provided with holding screw I7-2e, and the side of described slide unit slide block II is provided with holding screw II.Described holding screw I7-2e is for fixing and limit the movement of slide unit slide block I7-2d；Described holding screw II is for fixing and limit the movement of slide unit slide block II.
Embodiment 5:
As different from Example 3, described medlar-picking machine tool hands 1 and branch positioning mechanical arm 2 respectively comprise a set of six degree of freedom mechanical hand.Described rotation platform is provided with " yi word pattern " fixing plate 11-6, and it is vertical that described " yi word pattern " fixing plate 11-6 positions bar 13 with " yi word pattern ".Described medlar-picking machine mechanical hand 1 and branch positioning mechanical arm 2 arrange the two ends of " yi word pattern " fixing plate 11-6.
Claims (10)
1. possesses the Fructus Lycii picker of distributed machines visual system, including frame (12) and be arranged on the control system (4) in frame (12), drive system (5), power-supply system (6), high-order visual system (7), low level visual system (8), vision jacking system (10), medlar-picking machine tool hands (1), branch positioning mechanical arm (2)；Described high-order visual system (7) is connected with frame (12) by vision jacking system (10)；It is characterized in that: described Fructus Lycii picker also includes the slide unit jacking system (9) being arranged in frame (12), described low level visual system (8), vision jacking system (10), medlar-picking machine tool hands (1) and branch positioning mechanical arm (2) are arranged on slide unit jacking system (9) each through electric turntable (11), and then are connected with frame (12)；Described control system (4) is respectively connected with by drive system (5) and slide unit jacking system (9), vision jacking system (10), electric turntable (11), medlar-picking machine mechanical hand (1), branch positioning mechanical arm (2)；Described slide unit jacking system (9) includes slide unit I (9-1) and square mesa (9-2), and described square mesa (9-2) is connected with frame (12) by slide unit I (9-1)；Described slide unit I (9-1) includes slide unit main body (9-1a), slide block I (9-1b), motor (9-1c), driving gear (9-1d) and driven tooth bar (9-1e)；Described slide unit main body (9-1a) is fixed in frame (12), the both sides, inside of described slide unit main body (9-1a) are embedded with two driven tooth bars (9-1e), described slide unit main body (9-1a) is provided with slide block I (9-1b), and is connected with square mesa (9-2) by slide block I (9-1b)；Described slide block I (9-1b) is fixedly installed motor (9-1c) and 3 driving gears (9-1d), described 3 driving gears (9-1d) are fixed on the axle of motor (9-1c), and described 3 driving gears (9-1d) are staggered with driven tooth bar (9-1e) and engage.
2. the Fructus Lycii picker possessing distributed machines visual system according to claim 1, it is characterised in that: described electric turntable (11) includes rotation platform (11-1), disk body (11-2), bearing (11-3), shaft coupling (11-4) and servomotor (11-5)；Described disk body (11-2) and servomotor (11-5) are arranged in square mesa (9-2), described rotation platform (11-1) is connected by bearing (11-3) and disk body (11-2), and described servomotor (11-5) is connected with disk body (11-2) by shaft coupling (11-4).
3. the Fructus Lycii picker possessing distributed machines visual system according to claim 2, it is characterised in that: described vision jacking system (10) includes riser guide (10-1), slide unit II (10-2), slide block II (10-3), L-type corner brace (10-4), leading screw (10-5), shaft coupling (10-6) and motor (10-7)；Described slide unit II (10-2) and leading screw (10-5) are movably connected and move along riser guide (10-1), and described L-type corner brace (10-4) is connected by slide block II (10-3) and slide unit II (10-2) is fixing；Described motor (10-7) is connected with leading screw (10-5) by shaft coupling (10-6).
4. the Fructus Lycii picker possessing distributed machines visual system according to claim 3, it is characterised in that: described high-order visual system (7) includes camera I (7-1) and pulley twin shaft feed rod slide unit I (7-2)；Described pulley twin shaft feed rod slide unit I (7-2) includes slide unit body I (7-2a), twin shaft feed rod I (7-2b), pulley bearings I (7-2c) and slide unit slide block I (7-2d)；The base of described camera I (7-1) is connected by slide unit slide block I (7-2d) and pulley twin shaft feed rod slide unit I (7-2), and described slide unit body I (7-2a) is connected with the slide block II (10-3) of vision jacking system (10) by L-type corner brace I (10-4)；The internal both sides of described slide unit body I (7-2a) are provided with twin shaft feed rod I (7-2b), pulley bearings I (7-2c) is fixed on slide unit slide block I (7-2d) by internal bearings, and slide unit slide block I (7-2d) is arranged on slide unit body I (7-2a).
5. the Fructus Lycii picker possessing distributed machines visual system according to claim 1, it is characterized in that: described Fructus Lycii picker also includes location bar (13), and described location bar (13) includes preposition location bar (13-1) and rearmounted location bar (13-2)；Described vision jacking system (7) is fixed on the end of rearmounted location bar (13-2), and the head end of described rearmounted location bar (13-2) is fixed on the edge of rotation platform (11-1)；Described low level visual system (8) is fixed on the end of preposition location bar (13-1), and the head end of described preposition location bar (13-1) is fixed on rotation platform (11-1) edge；Described low level visual system (8) and vision jacking system (10) are arranged on the same axis of rotation platform (11-1).
6. the Fructus Lycii picker possessing distributed machines visual system according to claim 5, it is characterised in that: described low level visual system (8) comprises camera II and pulley twin shaft feed rod slide unit II；Described pulley twin shaft feed rod slide unit II includes slide unit body II (8-2a), twin shaft feed rod II, pulley bearings II, slide unit slide block II and L-type corner brace II (8-2f) composition；The base of described camera II directly connects with slide unit body II (8-2a), and described slide unit body II (8-2a) is connected on preposition location bar (13-1) by L-type corner brace II (8-2f)；The internal both sides of described slide unit body II (8-2a) are provided with twin shaft feed rod II, pulley bearings II and are fixed on slide unit slide block II by internal bearings, and slide unit slide block II is arranged on slide unit body II (8-2a).
7. the Fructus Lycii picker possessing distributed machines visual system according to claim 4 or 6, it is characterized in that: the side of described slide unit slide block I (7-2d) is provided with holding screw I (7-2e), and the side of described slide unit slide block II is provided with holding screw II；Described holding screw I (7-2e) is used for fixing and limiting the movement of slide unit slide block I (7-2d)；Described holding screw II is for fixing and limit the movement of slide unit slide block II.
8. the Fructus Lycii picker possessing distributed machines visual system according to claim 2, it is characterised in that: described medlar-picking machine tool hands (1) and branch positioning mechanical arm (2) respectively comprise a set of six degree of freedom mechanical hand；Described medlar-picking machine mechanical hand (1) and branch positioning mechanical arm (2) are placed side by side on the central axis of rotation platform (11-1).
9. the Fructus Lycii picker possessing distributed machines visual system according to claim 1, it is characterised in that: described control system (4) includes TMS320F28335 controller (4-1), relay system (4-2), signal input modulate circuit (4-3) and signal output modulate circuit (4-4)；Described drive system (5) comprises slide unit jacking system driver (5-1), vision jacking system driver (5-2), electric turntable driver (5-3), medlar-picking machine robotic drive (5-4), branch positioning mechanical arm driver (5-5)；Described power-supply system 6 comprises ferric phosphate lithium cell (6-1) and mu balanced circuit (6-2)；
10. the Fructus Lycii picker possessing distributed machines visual system according to claim 9, it is characterised in that: described control system (4), drive system (5) and power-supply system (6) are installed in switch board (3)；Described switch board (3) is fixed in frame (12)；Described TMS320F28335 controller (4-1) and relay system (4-2), signal input modulate circuit (4-3), signal output modulate circuit (4-4) connect respectively；Relay system (4-1) and collecting fruit mechanism connect, and signal input modulate circuit (4-3) and outside laser sensing matrix connect；The circuit of signal output modulate circuit (4-4) and drive system (5) connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520977327.4U CN205336889U (en) | 2015-11-30 | 2015-11-30 | Device is picked to matrimony vine that possesses distributed machine vision system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520977327.4U CN205336889U (en) | 2015-11-30 | 2015-11-30 | Device is picked to matrimony vine that possesses distributed machine vision system |
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| CN205336889U true CN205336889U (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520977327.4U Withdrawn - After Issue CN205336889U (en) | 2015-11-30 | 2015-11-30 | Device is picked to matrimony vine that possesses distributed machine vision system |
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| CN (1) | CN205336889U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105340486A (en) * | 2015-11-30 | 2016-02-24 | 青岛农业大学 | Medlar picking device with distributed machine vision system |
| CN106538151A (en) * | 2016-11-16 | 2017-03-29 | 中国农业大学 | A kind of pulling formula fruit picker |
-
2015
- 2015-11-30 CN CN201520977327.4U patent/CN205336889U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105340486A (en) * | 2015-11-30 | 2016-02-24 | 青岛农业大学 | Medlar picking device with distributed machine vision system |
| CN105340486B (en) * | 2015-11-30 | 2017-09-05 | 青岛农业大学 | Possesses the matrimony vine picker of distributed machines vision system |
| CN106538151A (en) * | 2016-11-16 | 2017-03-29 | 中国农业大学 | A kind of pulling formula fruit picker |
| CN106538151B (en) * | 2016-11-16 | 2019-05-03 | 中国农业大学 | A kind of pulling formula fruit picker |
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Granted publication date: 20160629 Effective date of abandoning: 20170905 |