Intelligent fruit picking machine and picking method

A technology for picking machines and fruits, applied in the directions of picking machines, harvesters, agricultural machinery and implements, etc., can solve the problems of lack, inability to achieve high automation, erosion, etc., and achieve stable work, good function realization effect, and reliable performance.

Inactive Publication Date: 2018-08-17
HUANGGANG NORMAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, fruit picking is mainly carried out manually. Even some automated picking equipment requires manual operation. Manually position the fruit, and then drive the equipment to pick. , the general algorithm of image processing and computer vision provided in opencv (a cross-platform computer vision library based on BSD license (open source)) can realize the location of apples. This technology mainly uses the color and shape outline of apples. Apple locates, collects image data through the camera a

Method used

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  • Intelligent fruit picking machine and picking method
  • Intelligent fruit picking machine and picking method
  • Intelligent fruit picking machine and picking method

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Embodiment Construction

[0034] Such as figure 1 and figure 2 As shown, a kind of intelligent fruit picking machine comprises car body 1 for walking, fruit picking mechanism 2 for picking, camera 3, control device and installation and fixing device, and described installation and fixing device includes rotating base 6, lifting support seat and telescopic picking rod, the rotating base 6 is fixedly installed on the car body 1, the lifting support is installed on the freely rotating part of the rotating base 6, and the telescopic picking rod is installed on the top of the free telescopic end of the lifting support through the pitch mechanism 7, so The fruit picking mechanism 2 is installed on the top of the free telescopic end of the telescopic picking rod. The fruit picking mechanism 2 is provided with an ultrasonic distance sensor 8. The camera 3 is installed on the telescopic picking rod. The control device continuously collects image information through the camera 3, and calculates the position in...

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Abstract

The invention discloses an intelligent fruit picking machine and a picking method. The picking machine comprises a vehicle body, a fruit picking mechanism, a camera, a control device and a fixed installation device; the fixed installation device comprises a rotating base, a lifting support and a stretchable picking rod, the lifting support is fixedly installed on the vehicle body through the rotating base, the stretchable picking rod is installed at the top of the free stretchable end of the lifting support through a pitching mechanism, an ultrasonic range sensor is arranged on the fruit picking mechanism, a three-dimensional attitude sensor is arranged on the stretchable picking rod, the control device continues to collect image information through a camera and works out position information of fruits in camera frames, then, the horizontal position, as high as a fruit to be picked, of the picking rod is adjusted through the rotating base and the lifting support, and finally the fruitpicking mechanism is driven through the stretchable picking rod to pick the fruit by means of fruit distance information fed back by the ultrasonic range sensor. The intelligent fruit picking machineis stable in working, reliable in performance, high in automatic degree and high in picking efficiency.

Description

technical field [0001] The invention belongs to the field of fruit picking, and relates to a fruit picking device, in particular to an intelligent fruit picking machine and a picking method. Background technique [0002] At present, fruit picking is mainly carried out manually. Even some automated picking equipment requires manual operation. Manually position the fruit, and then drive the equipment to pick. , the general algorithm of image processing and computer vision provided in opencv (a cross-platform computer vision library based on BSD license (open source)) can realize the location of apples. This technology mainly uses the color and shape outline of apples. Apple locates, collects image data through the camera and converts it from RGB format to HSV format (in this format, the division of each color is more obvious, making the separation of apples easier), and then erodes and expands the image. Highlight the position of the apple and return a relative coordinate of ...

Claims

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Application Information

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IPC IPC(8): A01D46/30A01D46/22
CPCA01D46/22A01D46/30
Inventor 匡鑫夏昺宸姚路夏亮康渡
Owner HUANGGANG NORMAL UNIV
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