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Binocular-recognition-based intelligent hawthorn picking robot

A picking robot and binocular recognition technology, which is applied in the field of intelligent hawthorn picking system and mechanical equipment, can solve the problems of fragile fruits, large human resources, and consumption

Active Publication Date: 2019-05-10
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing hawthorn picking technology consumes a lot of human resources and is easy to damage the fruit, and proposes a kind of intelligent picking based on automatic binocular recognition controlled by industrial control computer and safe picking of hawthorn device

Method used

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  • Binocular-recognition-based intelligent hawthorn picking robot

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Embodiment 1

[0050] In this embodiment, an intelligent hawthorn picking robot based on binocular recognition technology (abbreviated as a hawthorn picking device, such as figure 1 ), characterized in that the system includes a hawthorn picking device, a traveling device, and an image acquisition and processing device;

[0051] The hawthorn picking device includes a mechanical arm 2, a small-capacity collection device 1 and a large-capacity collection device 6;

[0052] The mechanical arm 2 is as figure 2 As shown, it includes a base 207, a turntable 206, a boom 205, a connecting body 204, a telescoping rod 203, a small arm 202 and a rotation shaft 201; The rotating disk at the upper end of the turntable 206 is connected by a nut, the upper end of the big arm 205 is connected with the connecting body 204 through a rotating shaft; The tail end is connected, and the front end of the rotating shaft 201 is welded with the small-capacity collection device 1; the base 207 is welded directly in...

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Abstract

The invention provides a binocular-recognition-based intelligent hawthorn picking robot. The robot comprises a hawthorn picking device, an advancing device and an image acquiring and processing device; the hawthorn picking device comprises a mechanical arm, a small-capacity collecting device and a large-capacity collecting device; the large-capacity collecting device is a cuboid box body and is fixedly arranged on the advancing device; the advancing device is a crawler-type advancing device; and the image acquiring and processing device comprises three telescopic racks and three CCD cameras and an industrial control computer and is located on the advancing device. Hawthorn fruits are sufficiently protected due to the design that whether a scissor net is shrunk or not is judged after an image of a position relationship between hawthorns and the scissor net is sent back to the industrial control computer, hawthorn stalks are sheared, and then, picking is finished.

Description

technical field [0001] The invention relates to a mechanical device for picking hawthorns, in particular to an intelligent hawthorn picking system based on binocular recognition, which belongs to the field of agricultural machinery. Background technique [0002] Hawthorn belongs to a kind of drupe fruit. The fruit can be eaten raw or made into preserved fruit cake, and can be used as medicine after drying. It is a unique tree species with both medicinal and fruit uses in China. Hawthorn is a deciduous tree with rough bark and generally thorns on the branches. It is born on the edge of a hillside forest or in a bush. The fruit it bears is nearly spherical, 1-1.5 cm in diameter, dark red, with light-colored spots, generally a Fruit in clusters, and the fruits hang down in small piles. [0003] Considering the above-mentioned characteristics of hawthorn, the current method of picking hawthorn is generally to knock it down manually, and then pick it up manually. This is a waste...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/20A01D46/30G06T1/00H04N5/225
CPCY02P60/12
Inventor 周亚同王文赵存飞刘玉璋张潇月
Owner HEBEI UNIV OF TECH
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