Intelligent recognition medlar picking device

A kind of wolfberry and intelligent technology, which is applied in the direction of picking machines, agricultural machinery and implements, etc., can solve the problems of huge lifting device, only lifting, limited automation of wolfberry picking, etc.

Inactive Publication Date: 2016-02-10
QINGDAO AGRI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Invention patent application 201010272425 discloses a "hand-held goji berry picking machine", which still requires the participation of pickers, and is very limited in improving the automation of goji berry picking
The problems of this picking machine are: (1) the lifting device is not very flexible, it can only be lifted up and down, and the direction needs to be adjusted by adjusting the direction of the whole implement; (2) hydraulic pressure is used for lifting, and the overall lifting device is too large and inflexible to use ,high cost
[0004] In summary, in the prior art, there is no mature picking device based on machine vision; even if the machine vision picking device is currently in the experimental stage and has not applied for a patent, according to the existing research findings, the use of machine vision and picking When the manipulator picks wolfberry fruit, it needs to move the whole set of machine to the front of the wolfberry branches; since the visual range of the machine vision system is very limited, the horizontal pickable area of ​​the picking machine is very limited, and the picking manipulator will finish picking the wolfberry in front of it After that, the staff needs to move the system to other areas, which is very unfavorable for improving the picking efficiency
Moreover, picking wolfberries at different heights in the same area requires frequent movement of the machine, which is not conducive to improving the picking efficiency; moreover, trees with a large difference in height from the average wolfberry tree are very easy to pick due to the limited viewing angle of the machine vision system. Occurs that the lowest and highest images cannot be collected and missed
In addition, if you refer to the existing picking methods of other crops or fruits, you can use air suction to collect crops or fruits, but due to the large working air flow, the collection device is very likely to be blocked by leaves

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0095] The intelligent identification wolfberry picking device includes a frame and a power supply system 5 , a control system 4 , a drive system 6 , a machine vision system, a wolfberry picking robot 1 , a branch positioning robot 2 , a wolfberry picking head and a fruit collection device arranged on the frame. The control system 4 is respectively connected with the machine vision system, wolfberry picking manipulator 1, branch positioning manipulator 2, wolfberry picking head and fruit collecting device through the drive system 6. The power supply system 5 , control system 4 and drive system 6 are all arranged in the control cabinet 3 . The power system 5 includes a lithium iron phosphate battery 5-1, an inverter 5-2 and a voltage stabilizing module 5-3; the control system 4 is an industrial computer; the control cabinet 3 also includes a touch screen 3-1 and Information Fusion Module 3-2. Among them, the lithium iron phosphate battery 5-1 is connected to the inverter 5-2 a...

Embodiment 2

[0100] Different from Embodiment 1, the electric turntable 11 includes a turntable 11-1, a disk body 11-2, a bearing 11-3, a shaft coupling 11-4 and a servo motor 11-5. The disc body 11-2 and the servo motor 11-5 are arranged on the square table top 9-2, the rotary table 11-1 is connected with the disc body 11-2 through the bearing 11-3, and the servo motor 11-5 is connected through the The shaft coupling 11-4 is connected with the disc body 11-2.

[0101] The wolfberry picking device also includes a positioning rod 13, and the positioning rod 13 includes a front positioning rod 13-1 and a rear positioning rod 13-2. The visual lifting system 7 is fixed on the end of the rear positioning rod 13-2, and the head end of the rear positioning rod 13-2 is fixed on the edge of the turntable 11-1. The low position vision system 8 is fixed on the end of the front positioning rod 13-1, and the head end of the front positioning rod 13-1 is fixed on the edge of the turn table 11-1. The l...

Embodiment 3

[0103] The difference from Embodiment 2 is that the high-position vision system 7 includes a camera I7-1 and a pulley two-axis smooth bar slide I7-2. The pulley biaxial light bar slide table I7-2 includes a slide table body I7-2a, a biaxial light bar I7-2b, a pulley bearing I7-2c and a slide table slider I7-2d. The base of the camera I7-1 is connected to the sliding table slider I7-2d and the pulley biaxial light bar sliding table I7-2, and the sliding table body I7-2a is connected to the visual lifting system 10 through the L-shaped corner code I10-4 The slider II10-3 is connected; the two sides of the slider body I7-2a are provided with a double-axis light bar I7-2b, and the pulley bearing I7-2c is fixed on the slider I7-2d of the slider through an internal bearing, and the slider The slider I7-2d is installed on the slide body I7-2a.

[0104] The low-level vision system 8 includes a camera II8-1 and a pulley biaxial light bar slide II8-2; the pulley biaxial light bar slide...

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Abstract

The invention provides an intelligent recognition medlar picking device provided with a distributed machine vision system for solving the problems existing in the prior art. The medlar picking device comprises a rack, a power source system, a control system, a driving system, the machine vision system, a medlar picking mechanical hand, a branch positioning mechanical hand, a medlar picking head and a fruit collecting device, wherein the power source system, the control system, the driving system, the machine vision system, the medlar picking mechanical hand, the branch positioning mechanical hand, the medlar picking head and the fruit collecting device are arranged on the rack. The control system is connected with the machine vision system, the medlar picking mechanical hand, the branch positioning mechanical hand, the medlar picking head and the fruit collecting device through the driving system. The invention further provides a medlar picking method based on the intelligent recognition medlar picking device. The medlar picking device automatically and efficiently collects medlar fruits, solves the problems that the medlar fruits are prone to breakage in the harvesting process, and the picking device is prone to be blocked by leaves, greatly reduces production cost and has good practical application prospects.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to a picking device for granular fruits or crops, in particular to an intelligent picking device for wolfberry and an intelligent picking method using the picking device. Background technique [0002] Lycium barbarum is not only a traditional precious Chinese herbal medicine, but also a nutritional tonic. According to official statistics, in Gansu alone in 2012, the output of wolfberry reached 35,000 tons. Due to the characteristics of high water content and delicate peel of wolfberry fruit when ripe, it is easy to damage when collecting; if damage occurs, it will not only affect its appearance and color, but also reduce its medicinal value. Therefore, it is necessary to adopt a flexible collection method to pick off the wolfberry fruit together with the fruit handle. Due to the complexity of wolfberry growth and the unstructured farmland environment, simple hand-...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30
Inventor 李娟岳丹松范继臣陈晶郭亭亭闫法兵田志超
Owner QINGDAO AGRI UNIV
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