CN209676890U - A kind of accurate recovering device of strength assist type berry - Google Patents
A kind of accurate recovering device of strength assist type berry Download PDFInfo
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- CN209676890U CN209676890U CN201920288300.2U CN201920288300U CN209676890U CN 209676890 U CN209676890 U CN 209676890U CN 201920288300 U CN201920288300 U CN 201920288300U CN 209676890 U CN209676890 U CN 209676890U
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Abstract
The utility model relates to a kind of accurate recovering device of strength assist type berry, main unit includes vehicle frame, driver's cabin, picker, connects fruit device, power and transmission device, NI Vision Builder for Automated Inspection.Picker is constituted by uprightly currying formula with strength auxiliary picker.NI Vision Builder for Automated Inspection is made of area array CCD and host computer processor, completes berry fruit position and distribution density identifies.This system is judged the fruit density of berry fruit relative position and corresponding position by area array CCD first, then it two is curried in system curries roller relative position according to position and density information are mobile, and adjust the current rate of corresponding position regional gas stream spray head, based on currying, supplemented by strength, the harvesting of berry is completed.The utility model is adaptable to the different automation recovery operations of the berries density degree such as blueberry, has wide range of applications.
Description
Technical field
The utility model relates to berries to harvest field, and in particular to a kind of accurate recovering device of strength assist type berry.
Background technique
The berries such as blueberry are the important component of fruit tree industry, industry size and economic value in China woods fruit
Height is occupied the forefront in industry.For domestic berry picking process substantially by artificial work, picking mechanical is still within research and development in China
Starting stage.In the tool used when picking berries, the artificial collector of comb teeth-shaped is most commonly seen, in fruit harvest process
In, it needs manually to remove the sundries such as branches and leaves and stone, the berry of harvest is finally packed into container.
External berry picking mechanical research starting is more early, and technical level and the degree of automation are relatively high.It is right
It is the U.S. that berry harvester, which studies earliest country, and Softening mainly vibrates and swing picking, and wherein picker is main
It is divided into rotary and two kinds of roller.However, oscillatory type and rotary Softening are unfavorable for the collection of fruit, and can be to fruit
It causes to damage in fact.
Summary of the invention
The purpose of this utility model be existing berry recovering device there are aiming at the problem that, a kind of strength assist type is provided
The accurate recovering device of berry.Work efficiency is high for the device, reliably, convenient for implementing operation between berry bushes clump.
To achieve the above object, technical solution provided by the utility model is:
A kind of accurate recovering device of strength assist type berry, including vehicle frame, driver's cabin, picker, connect fruit device, power
With transmission device, NI Vision Builder for Automated Inspection；
The NI Vision Builder for Automated Inspection is made of area array CCD and host computer processor, and the area array CCD includes first order face battle array
CCD, second level area array CCD, third level area array CCD, three-level area array CCD before, during and after composition；
Equipped with the first order curries, the second level is curried and first order air-flow spray head, second level air-flow in the picker
Spray head, third level air-flow spray head；Wherein curries and set that there are two what is be mounted side by side to curry roller, two shaft couplings, on one for every grade
Portion's linear guide, two lower part linear guides, two upper ends for currying roller are mounted on the two of upper straight guide rail by sliding block
End, lower end are separately mounted in a lower part linear guide；The first order air-flow spray head, second level air-flow spray head, the third level
Air-flow spray head is the air-flow spray head that three-level is mounted on frame inside, and each spray head is connected by airflow pipeline, unified by air compressor machine
Gas supply；
The first order air-flow spray head, second level air-flow spray head, third level air-flow spray head, the first order curries, the second level is combed
Brush, first order area array CCD, second level area array CCD, third level area array CCD are installed in the vehicle frame；The driver's cabin is equipped with
Seat, steering wheel and console main body.
Wherein there are three area array CCDs for the first order area array CCD and every grade of third level area array CCD each tool, are separately mounted to
The left, upper of top frame inside, right half, the second level area array CCD have an area array CCD, are mounted on frame inside
Portion.
Left slider, right sliding block and lead screw are installed, the lead screw both ends have threaded line contrary on upper straight guide rail
Two sections of screw threads, left-handed rotaring cylinder is installed on the left slider, dextrorotation rotaring cylinder, the cylinder are installed on the right sliding block
Shaft coupling is connected, roller is curried in shaft coupling connection；The roller lower end of currying is by under in bearing block and lower part linear guide
Portion's sliding block is connected, and each curries the corresponding lower part linear guide of roller.
The air-flow spray head is divided into three-level, and every grade at least 14, totally 42 spray heads；Every grade of spray head is evenly arranged on frame inside
A left side, upper left, upper, right, upper right side, wherein left and right side has 4 symmetrical air-flow spray heads respectively, and top is evenly equipped with 4
1 spray head is respectively symmetrically distributed in spray head, upper left and upper right.
The host computer processor is integrated in driver's cabin, is mounted in the console main body in driver's cabin；Described first
Grade area array CCD, second level area array CCD, third level area array CCD are separately mounted to the left, upper of frame inside, right side, described upper
The image analysis according to captured by every level-one area array CCD of machine processor goes out density degree and its position of Blueberry.
The first order, which is curried, to be curried with the second level as one high and one low structure, is curried the first order and is curried with what the second level was curried
Correspondence is interspersed from top to bottom.
Device lower part is equipped with and connects the gillis for falling fruit, and the gillis is connected on the conveyer belt of two sides, is being transmitted
It takes and evenly spaced partition is distributed with, transmission tail is equipped with fruit receiving basket.
The utility model machine vision technique is added in the picking process of the berries such as blueberry, can to the berries such as blueberry into
Row accurately identifies, and can judge density degree and its corresponding position of fruit, and then controls and curry work, completes to blueberry etc.
The picking of berry, in combination with strength assist pick, enable to the fruit tree of the berries such as blueberry to swing, with curry
Mating reaction can make fruit sufficiently fall, and can be precisely controlled air-flow when the berries such as blueberry are picked, to by combing
The fruit that brush effect is still left in the tree is further blown off, so that fruit harvest rate is further improved.
Compared with prior art, the utility model has the beneficial effects that
1. the utility model can density degree according to blueberry and corresponding position, adjust single-stage curry in two curry
Relative distance, be improved the harvest efficiency curried.
2. density degree and phase that the utility model identifies Blueberry by area array CCD and host computer processor
The position answered.
3. first and second grades of adjustable current rates of corresponding position air current spray nozzle make blueberry is as much as possible to fall；
Third level air-flow spray head can be in conjunction with third level area array CCD recognition result, to currying by preceding two-stage, after the effect of two-stage strength
Remaining blueberry is further blown off in blueberry fruit tree, improves fruit picking rate and net fruit rate.
Detailed description of the invention
Fig. 1 is the utility model single unit system schematic diagram.
Fig. 2 is the utility model single unit system stereoscopic schematic diagram.
Fig. 3 is the utility model single unit system side schematic view.
Fig. 4 is the utility model first order rippling device schematic diagram.
Fig. 5 is the utility model air-flow spray head schematic diagram.
Fig. 6 is the utility model lower part linear guide figure.
Fig. 7 is that the utility model connects fruit schematic device.
Fig. 8 is that the utility model curries displacement schematic diagram.
Fig. 9 is the utility model conveyer belt schematic diagram.
Figure 10 is the utility model spray effect schematic diagram.
Figure 11 is that overall schematic is curried in the utility model first order, the second level.
In figure: 1- seat, 2- driver's cabin, 3- console main body, 4- airflow pipeline, 5- air-flow spray head, 6- area array CCD, 7-
Curry roller, 8- bearing block A, 9- lower slide rails B, 10- gillis, 11- conveyer belt, 12- air compressor machine, 13- fruit receiving basket, 14- in a left side
Vehicle frame, 15- steering wheel, the 16- first order curry, and 17- is curried the second level, 18- lower slide rails A, 19- lead screw, 20- first order air-flow
Spray head, the second level 21- air-flow spray head, 22- third level air-flow spray head, 23- first order area array CCD, the second level 24- area array CCD,
25- third level area array CCD, the upper straight guide rail that the 26- first order curries, 27- left slider, the left-handed rotaring cylinder of 28-, 29- shaft coupling
Device, 30- are curried, the right sliding block of 31-, 32- dextrorotation rotaring cylinder, and 33- curries on the right side roller, 36- lower slider A, 37- bearing block A, 38-
Lower slider B, 42- curries upper straight guide rail in the second level.
Specific embodiment
The utility model is described in further detail combined with specific embodiments below.
A kind of accurate recovering device of strength assist type berry, including vehicle frame 14, driver's cabin 2, picker, connect fruit device,
Power and transmission device, NI Vision Builder for Automated Inspection；
The NI Vision Builder for Automated Inspection is made of area array CCD and host computer processor, and the area array CCD includes first order face battle array
CCD23, second level area array CCD 24, third level area array CCD 25, three-level area array CCD before, during and after composition；
The 16, second level, which is curried, equipped with the first order in the picker curries 17 and first order air-flow spray head 20, second
Grade air-flow spray head 21, third level air-flow spray head 22；Wherein every grade curry set curry roller there are two the left side that is mounted side by side, the right side is curried
Roller, two shaft couplings, a upper straight guide rail, two lower part linear guides, the left cunning being mounted on upper straight guide rail
The lower slider and bearing block installed on block 27 and right sliding block 31, lower part linear guide；The first order air-flow spray head 20, second
Grade air-flow spray head 21, third level air-flow spray head 22 are the air-flow spray head 5 that three-level is mounted on frame inside, and each spray head is by gas flow tube
Road 4 is connected, and is supplied by air compressor machine 12 is unified；
The first order air-flow spray head 20, second level air-flow spray head 21, third level air-flow spray head 22, the first order curry 16,
It curries 17, first order area array CCD 23, second level area array CCD 24, third level area array CCD 25 and is installed on the vehicle frame 14 in the second level
It is interior；The driver's cabin is equipped with seat 1, steering wheel 15 and console main body 3.
Wherein there are three area array CCDs 6 for the first order area array CCD 23 and every grade of third level area array CCD 25 each tool, pacify respectively
Mounted in the left, upper of top frame inside, right half, the second level area array CCD 24 has an area array CCD 6, is mounted on vehicle frame
Inside upper part.
Left slider 27, right sliding block 31 and lead screw 19 are installed on upper straight guide rail, there is screw thread at 19 both ends of lead screw
Two sections of contrary screw threads of line are equipped with left-handed rotaring cylinder 28 on the left slider 27, are equipped with the right side on the right sliding block 31
Rotary cylinder 32, the cylinder connect shaft coupling 29.Each lower part linear guide installs a sliding block respectively, on each sliding block
One bearing block is installed, bearing block curries rod connection with corresponding respectively.
The air-flow spray head 5 divides for three-level, and every grade at least 14, totally 42 spray heads；Every grade of spray head is evenly arranged on frame inside
A left side, upper left, upper, right, upper right side, wherein left and right side has 4 symmetrical air-flow spray heads respectively, and top is evenly equipped with 4
1 spray head is respectively symmetrically distributed in a spray head, upper left and upper right.
The host computer processor is integrated in driver's cabin, is mounted in the console main body 3 in driver's cabin；Described first
Grade area array CCD 23, second level area array CCD 24, third level area array CCD 25 are separately mounted to the left, upper of frame inside, right side, institute
State density degree and its position that the image analysis according to captured by every level-one area array CCD of host computer processor goes out Blueberry
It sets.
Two of level-one curry roller and are separately mounted to left-handed rotaring cylinder 28, on dextrorotation rotaring cylinder 32, two rotary cylinders
Be separately mounted to left slider 27, on right sliding block 31, realized and be driven by lead screw, two sliding blocks moved toward one another along lead screw both ends screw thread or
Backwards to movement.
The first order curry 16 and the second level curry currying on 17 and be interspersed.
Device lower part is equipped with and connects the gillis 10 for falling fruit, and the gillis 10 is connected on the conveyer belt 11 of two sides,
Evenly spaced partition is distributed on conveyer belt 11, transmission tail is equipped with fruit receiving basket 13.
It is illustrated with blueberry, blueberry tree enters from 10 front end of gillis, into strength assisted variable away from currying blueberry harvester
Working portion, blueberry tree enter harvester after, (first order air-flow spray head is evenly distributed on machine to first order air-flow spray head 20
It is left, upper, right on the inside of body) start to work, while be distributed in inboard first order area array CCD 23 (first order area array CCD by
Three are distributed in left, upper, the right area array CCD composition of inboard) it starts to work, and image is carried out by host computer processor
Reason, to identify density degree and the position of blueberry distribution, spray head carries out the adjusting of current rate according to density degree, in blueberry
The current rate of corresponding position air-flow spray head is improved in the closeer place of fruit, and the airflow function of spray head blowout rises on blueberry tree
To the effect for reducing fruit binding force between blueberry and limb, while the first order curries 16 start-up operations, the first order curry two
Rotary cylinder on a two sliding blocks for currying roller 7 respectively by being fixed on upper straight guide rail drives rotation, and rotation is curried
Roller and blueberry fruit tree act on, and combine the effect of air-flow spray head air-flow, play the purpose that Blueberry is detached to limb.First
Grade curries 16 and can be curried between roller according to the density degree for the Blueberry distribution that camera identifies, corresponding adjusting two
Distance, specific regulative mode is as follows, and two are curried roller and are mounted on two rotary cylinders, and two rotary cylinders are pacified respectively
It is mounted on the sliding block of upper straight guide rail mounted in two, is realized and be driven by lead screw 19, lead screw both ends vehicle has threaded line direction phase
Anti- both ends screw thread realizes moving toward one another or moving backwards for two sliding blocks, and every level-one has left and right two and curries roller, left
It curries roller lower end and passes through bearing block A respectively and be connected with lower slider A, the right side curries roller lower end and passes through bearing block B respectively under
Portion's slide block B be connected, when left slider, right sliding block under the transmission of lead screw upper straight guide rail slide when, drive a left side curry roller,
The right side curry roller and be attached thereto bearing block A, bearing block B and lower slider A, lower slider B is respectively along lower slide rails
A, lower slide rails B is slided, to adjust, roller is curried on a left side, the distance between roller is curried on the right side.
When blueberry curries 17 by the second level, (second level area array CCD is distributed in fuselage by one to second level area array CCD 24
The area array CCD of inside upper part forms) it starts to work, (second level air-flow spray head is evenly distributed on fuselage to second level air-flow spray head 21
Inside it is left, upper, right), according in the area array CCD acquired image of the second level blueberry density degree adjust corresponding position spray head
Current rate, while the second level is adjusted according to density degree and curries the distances of two rollers, to realize falling for Blueberry.
What the first order and the second level were curried, which curry, is interspersed, so that currying roller and two-stage air-flow spray head by two-stage
Blueberry in the blueberry fruit tree of processing is as much as possible to be fallen.
It is curried by the first order and the second level and acts on the blueberry fallen with air-flow spray head, falling in has certain angle with horizontal plane journey
On the gillis 10 of degree, evenly spaced partition is distributed in blueberry from the conveyer belt 11 that gillis slides into two sides, on conveyer belt,
Blueberry can be easily transported in the fruit receiving basket 13 for being placed in transmission tail.
Third level area array CCD 25 is distributed in an inboard left side by three, and upper right area array CCD group is combed by preceding two-stage in pairs
The blueberry fruit tree of brush roll and air-flow spray head carries out Image Acquisition and identifies the blueberry in image after handling image,
22 third level air-flow spray head of third level air-flow spray head is evenly distributed on left, upper, the right work of inboard, and remaining blueberry is use up
Blowing off more than possible.
The strength auxiliary, i.e. first, second grade of air-flow spray head can be identified according to first, second grade of area array CCD respectively
The density degree of blueberry and its corresponding position in blueberry fruit tree out, to precisely adjust the air-flow of the corresponding position zone of action
The current rate of spray head is correspondingly improved current rate in the higher position of fruit density, in the lower position phase of fruit density
The reduction current rate answered is passing through the effect curried with fruit tree, to reach through air-flow booster action in blueberry fruit tree
Make the effect that Blueberry is sufficiently fallen；Third level air-flow spray head 22 can be left according to what third level area array CCD 25 identified
Fruit on fruit tree further blows off fruit fruit tree.Strength assist so that the recovery ratio of Blueberry obtain it is very high
It improves.
The accurate harvesting, i.e., first, second grade is curried rod and can be identified respectively according to first, second grade of area array CCD
The density degree of Blueberry out and its corresponding position accurately adjust two every grade and curry the distance between roller, improving
While currying utilization rate, the region that fruit density is different in blueberry fruit tree can be accurately acted on, to improve blueberry harvesting
Efficiency and recovery ratio；What third level air-flow spray head 22 can be identified according to third level face battle array CC25D is retained on fruit tree
Fruit makes the air-flow spray head of the corresponding position zone of action start to work, harvests fruit accurately.
The above is only the preferred embodiment of the utility model, not makees limit in any form to the utility model
System, any person skilled in the art are not departing within the scope of technical solutions of the utility model, according to the utility model
Technical spirit, any simple modifications, equivalent substitutions and improvements to the above embodiments etc., still falls within the utility model
Within the protection scope of technical solution.
Claims (7)
1. a kind of accurate recovering device of strength assist type berry, it is characterised in that: including vehicle frame (14), driver's cabin (2), picking dress
It sets, connect fruit device, power and transmission device, NI Vision Builder for Automated Inspection；
The NI Vision Builder for Automated Inspection is made of area array CCD and host computer processor, and the area array CCD includes first order area array CCD
(23), second level area array CCD (24), third level area array CCD (25), three-level area array CCD before, during and after composition；
Be equipped in the picker first order curries (16), (17) and first order air-flow spray head (20) are curried in the second level, the
Secondary air flow spray head (21), third level air-flow spray head (22)；Wherein every grade curry set there are two be mounted side by side curry roller, two
A shaft coupling, a upper straight guide rail, two lower part linear guides, two upper ends for currying roller are mounted on by sliding block
Both ends, the lower end of portion's linear guide are separately mounted in a lower part linear guide；The first order air-flow spray head (20), second
Grade air-flow spray head (21), third level air-flow spray head (22) are that three-level is mounted on the air-flow spray head (5) of frame inside, each spray head by
Airflow pipeline (4) is connected, and is supplied by air compressor machine (12) are unified；
The first order air-flow spray head (20), second level air-flow spray head (21), third level air-flow spray head (22), the first order curry
(16), (17), first order area array CCD (23), second level area array CCD (24), third level area array CCD (25) installation are curried in the second level
In the vehicle frame (14)；The driver's cabin is equipped with seat (1), steering wheel (15) and console main body (3).
2. the accurate recovering device of strength assist type berry according to claim 1, it is characterised in that: the wherein first order
There are three area array CCD (6) for area array CCD (23) and every grade of third level area array CCD (25) each tool, are separately mounted to top frame inside
Left, upper, right half, the second level area array CCD (24) have an area array CCD (6), be mounted on frame inside top.
3. the accurate recovering device of strength assist type berry according to claim 1, it is characterised in that: in upper straight guide rail
On left slider (27), right sliding block (31) and lead screw (19) are installed, there are contrary two of threaded line at lead screw (19) both ends
Section screw thread, is equipped with left-handed rotaring cylinder (28) on the left slider (27), is equipped with dextrorotation rotaring cylinder on the right sliding block (31)
(32), roller is curried in cylinder connection shaft coupling (29), shaft coupling (29) connection；The roller lower end of currying passes through bearing block
It is connected with the lower slider in the linear guide of lower part, each curries the corresponding lower part linear guide of roller.
4. the accurate recovering device of strength assist type berry according to claim 1, it is characterised in that: the air-flow spray head
(5) it is divided into three-level, every grade at least 14, totally 42 spray heads；Every grade of spray head is evenly arranged on the left side of frame inside, upper left, upper, right, right
Top, wherein left and right side has 4 symmetrical air-flow spray heads respectively, and top is evenly equipped with 4 spray heads, upper left and upper right point
It is not symmetrically distributed with 1 spray head.
5. the accurate recovering device of strength assist type berry according to claim 1, it is characterised in that: the host computer processing
Device is integrated in driver's cabin, is mounted in the console main body (3) in driver's cabin；The first order area array CCD (23), the second level
Area array CCD (24), third level area array CCD (25) are separately mounted to the left, upper of frame inside, right side.
6. the accurate recovering device of strength assist type berry according to claim 1, it is characterised in that: the first order curries (16)
Currying (17) with the second level is one high and one low structure, make the first order curry (16) and the second level curry (17) curry from up to
Lower correspondence is interspersed.
7. the accurate recovering device of strength assist type berry according to claim 1, it is characterised in that: device lower part is equipped with and connects
The gillis (10) of fruit is fallen, the gillis (10) is connected on the conveyer belt (11) of two sides, divides on conveyer belt (11)
It is furnished with evenly spaced partition, transmission tail is equipped with fruit receiving basket (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920288300.2U CN209676890U (en) | 2019-03-07 | 2019-03-07 | A kind of accurate recovering device of strength assist type berry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920288300.2U CN209676890U (en) | 2019-03-07 | 2019-03-07 | A kind of accurate recovering device of strength assist type berry |
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| Publication Number | Publication Date |
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| CN209676890U true CN209676890U (en) | 2019-11-26 |
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| CN201920288300.2U Active CN209676890U (en) | 2019-03-07 | 2019-03-07 | A kind of accurate recovering device of strength assist type berry |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109743961A (en) * | 2019-03-07 | 2019-05-14 | 南京林业大学 | A kind of accurate recovering device of strength assist type berry and method |
| NL2026869A (en) * | 2020-05-11 | 2020-12-02 | Wolfberry Engineering Res Institute Ningxia Academy Of Agriculture And Forestry Sciences | Wolfberry picking machine |
-
2019
- 2019-03-07 CN CN201920288300.2U patent/CN209676890U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109743961A (en) * | 2019-03-07 | 2019-05-14 | 南京林业大学 | A kind of accurate recovering device of strength assist type berry and method |
| NL2026869A (en) * | 2020-05-11 | 2020-12-02 | Wolfberry Engineering Res Institute Ningxia Academy Of Agriculture And Forestry Sciences | Wolfberry picking machine |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Linwei Ecological Agricultural Technology Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2020320000106 Denomination of utility model: A kind of pneumatic assisted precise berry harvesting device Granted publication date: 20191126 License type: Common License Record date: 20201102 Assignee: Nanjing Yousilande Control Technology Co. Assignor: NANJING FORESTRY University Contract record no.: X2020320000105 Denomination of utility model: A kind of pneumatic assisted precise berry harvesting device Granted publication date: 20191126 License type: Common License Record date: 20201102 |
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| EE01 | Entry into force of recordation of patent licensing contract |