Pineapple picking machine and picking method based on machine vision
A technology of machine vision and picking machine, which is applied to agricultural machinery and tools, parts of color TV, parts of TV system, etc. It can solve the problems of low work efficiency, high labor intensity, and inconvenience of picking process, and reduce maintenance cost, life-enhancing effects
Active Publication Date: 2022-02-15
SOUTH CHINA AGRI UNIV
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Problems solved by technology
The method of manually picking pineapples is low in efficiency and labor-intensive, and there are many inconveniences in the picking process
Method used
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Embodiment
[0052] Such as figure 1 As shown, the present embodiment provides a pineapple picking machine based on machine vision, which includes a frame 1, a chassis 2, a machine vision mechanism 3, a motion mechanism 4, a pneumatic mechanism, a picking mechanism 5, a transport mechanism 6 and The control box 7; the frame 1 and the control box 7 are arranged above the chassis 2, the machine vision mechanism 3, the motion mechanism 4 and the transport mechanism 6 are arranged on the frame 1, and the chassis 2, the machine vision mechanism 3, the motion mechanism 4, the pneumatic Mechanism and transportation mechanism 6 are connected with control box 6 respectively, and picking mechanism 5 is arranged on the motion mechanism 4, and is connected with pneumatic mechanism.
[0053] Further, the frame 1 is a rectangular parallelepiped frame, which is made of profiles, the left front side and the left rear side of the middle part of the frame 1 are respectively provided with first horizontal su...
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The invention discloses a machine vision-based pineapple picking machine and a picking method. The pineapple picking machine includes a frame, a chassis, a machine vision mechanism, a motion mechanism, a pneumatic mechanism, a picking mechanism, a transport mechanism and a control box; the machine The frame and the control box are arranged above the chassis, the machine vision mechanism, the motion mechanism and the transportation mechanism are arranged on the frame, and the chassis, the machine vision mechanism, the movement mechanism, the pneumatic mechanism and the transportation mechanism are respectively connected with the control box, and the picking The mechanism is arranged on the movement mechanism and connected with the pneumatic mechanism; the movement mechanism is used to control the movement of the picking mechanism, the pneumatic mechanism is used to control the picking mechanism to clamp or release the pineapple, and the transportation mechanism is used to transport the picking mechanism to pick Arrived pineapple. The invention aims at the planting mode of the pineapple and its own economic value except the fruit, and effectively protects the integrity of the plant while efficiently picking the pineapple through precise positioning and a picking robot arm.
Description
technical field [0001] The invention relates to a pineapple picking machine, in particular to a machine vision-based pineapple picking machine and a picking method, belonging to the field of pineapple picking. Background technique [0002] With the development of agricultural automation technology and the popularization of farming equipment, all kinds of crops have the participation of farming equipment in the whole process from sowing to cultivation to harvesting. At the same time, due to the continuous expansion of planting area and rising labor costs, automated farming equipment can greatly improve production efficiency and reduce labor costs. [0003] In the research and development of agricultural equipment, because pineapple is a tropical fruit, the planting range is basically concentrated in tropical areas and the scale is small, so there are very few studies on pineapple picking. The method of manually picking pineapples is inefficient and labor-intensive, and there...
Claims
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IPC IPC(8): A01D45/00A01D57/20H04N5/232H04N7/18
CPCA01D45/002A01D57/20H04N7/18H04N23/695
Inventor 王红军卢少杰郑景富邱伟彬甄健亮张嘉谋
Owner SOUTH CHINA AGRI UNIV