Trichosanthes kirilowii Maxim fruit maturity detecting and picking device based on machine vision

Abstract

The invention discloses a trichosanthes kirilowii Maxim fruit maturity detecting and picking device based on machine vision, and relates to the technical field of agricultural picking, the trichosanthes kirilowii Maxim fruit maturity detecting and picking device comprises a support, a rotating seat is fixedly arranged at the bottom of the support, a multi-axis mechanical arm is fixedly arranged at the top end of the rotating seat, and a vine cutting box is fixedly arranged at one end of the multi-axis mechanical arm; the device comprises a vine shearing box, scissors are arranged in the vine shearing box, a picking basket is arranged below the scissors, two rotating rods are symmetrically and rotationally arranged on the two sides of the picking basket, an arc-shaped plate is fixedly arranged between the two corresponding rotating rods, gears are fixedly arranged on the surfaces of the rotating rods, and an adjusting assembly for adjusting the rotating rods is arranged between the two gears. The snakegourd fruit picking device has the beneficial effects that snakegourd fruits can be rapidly and accurately placed in the collecting frame, efficient and smooth transfer from picking to collecting of the snakegourd fruits is achieved, the overall picking progress is remarkably accelerated, the time cost is greatly saved, and the picking efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a picking device, in particular to a Trichosanthes kirilowii fruit maturity detection and picking device based on machine vision, belonging to the technical field of agricultural picking. Background Technique

[0002] The fruit picking machine is an auxiliary tool to assist manual fruit picking and improve work efficiency. Trichosanthes kirilowii is a perennial climbing plant of the Cucurbitaceae family. During the picking process of Trichosanthes kirilowii, a machine based on visual recognition is used to pick Trichosanthes kirilowii.

[0003] Specifically: during the use of the picking device, after the picking device is started, the mobile platform cruises along a preset path, and the vision module scans the plants in real time. When a mature fruit is detected (confidence level > 0.95), the robotic arm plans an obstacle avoidance trajectory, and uses the scissors at the robotic arm to synchronously cut the fruit stalk to complete the picking.

[0004] However, during the picking process, a picking basket below the scissors is usually used to collect Trichosanthes kirilowii. However, this method has a significant drawback: it is difficult to efficiently and smoothly transfer the picked Trichosanthes kirilowii into the collection box for unified processing, which not only slows down the overall picking progress, but also consumes a lot of time, becoming a key bottleneck restricting efficiency improvement. Summary of the Invention

[0005] The purpose of the present invention is to provide a Trichosanthes kirilowii fruit maturity detection and picking device based on machine vision to solve the problem that it is difficult to efficiently transfer Trichosanthes kirilowii to the collection box, slow down the picking progress, take a long time, and become a key bottleneck restricting efficiency proposed in the above background technique.

[0006] To achieve the above purpose, the present invention provides the following technical solution: a Trichosanthes kirilowii fruit maturity detection and picking device based on machine vision, including a support, a rotating seat is fixedly arranged at the bottom of the support, a multi-axis robotic arm is fixedly arranged at the top of the rotating seat, a vine cutting box is fixedly arranged at one end of the multi-axis robotic arm, a pair of scissors is arranged inside the vine cutting box, a picking basket is arranged below the scissors, two rotating rods are symmetrically and rotatably arranged on both sides of the picking basket, an arc-shaped plate is fixedly arranged between the corresponding two rotating rods, a gear is fixedly arranged on the surface of the rotating rod, and an adjusting component for adjusting the rotating rod is arranged between the two gears, and a wide-angle camera is fixedly arranged in the middle of the top of the support.

[0007] As a preferred technical solution of the present invention, a collection box is fixedly arranged at the bottom of the support, and a protective pad is fixedly arranged on the inner wall of the collection box, and the material of the protective pad is rubber.

[0008] As a preferred technical solution of the present invention, a caster frame is fixedly provided at the bottom end of the support, an armrest is fixedly provided on one side of the support, and an anti-slip pad is fixedly provided on the surface of the armrest.

[0009] As a preferred technical solution of the present invention, two brackets are symmetrically and fixedly provided on one side of the bottom end of the vine pruning box. The bottom end of the bracket is fixedly connected to one side of the top end of the picking basket. A reinforcing rod is fixedly provided in the middle of one side of the bracket. The top end of the reinforcing rod is fixedly connected to one side of the bottom end of the vine pruning box.

[0010] As a preferred technical solution of the present invention, a first support pad is fixedly provided on the inner wall of the picking basket, a second support pad is fixedly provided on the inner wall of the arc-shaped plate, and the materials of the first support pad and the second support pad are both rubber.

[0011] As a preferred technical solution of the present invention, the adjusting assembly includes a rack plate, the rack plate is arranged between two corresponding gears, and the rack plate is meshed with the two gears.

[0012] As a preferred technical solution of the present invention, an electric telescopic column is provided above the rack plate. The telescopic rod of the electric telescopic column is fixedly connected to the top end of the rack plate, and the two electric telescopic columns are controlled by a synchronizer.

[0013] As a preferred technical solution of the present invention, an installation block is fixedly provided at the top end of the electric telescopic column, and one side of the installation block is fixedly connected to the top of one side of the picking basket.

[0014] Compared with the related art, a trichosanthes fruit maturity detection and picking device based on machine vision provided by the present invention has the following beneficial effects:

[0015] Through the configured adjusting assembly, the two gears are driven to rotate, and then the corresponding rotating rods are driven to rotate, prompting the two arc-shaped plates to rotate and open smoothly. This process greatly facilitates the rapid transfer of trichosanthes in the picking basket. At the same time, combined with an efficient multi-axis robotic arm, the trichosanthes can be quickly and accurately placed into the collection box, realizing the efficient and smooth transfer of trichosanthes from picking to collection. It not only significantly improves the overall picking progress, greatly saves the time cost, but also improves the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is one of the structural schematic diagrams of the present invention;

[0017] Figure 2 is the second structural schematic diagram of the present invention;

[0018] Figure 3 is the structural schematic diagram of the arc-shaped plate of the present invention;

[0019] Figure 4 Explosion structure schematic diagram of the picking basket of the present invention;

[0020] Figure 5 Sectional structure schematic diagram of the picking basket of the present invention;

[0021] Figure 6 For the present invention Figure 5 Enlarged structure schematic diagram at position A.

[0022] In the figure: 1, support; 2, rotating seat; 3, multi-axis robotic arm; 4, vine cutting box; 5, scissors; 6, picking basket; 7, rotating rod; 8, arc plate; 9, adjusting component; 901, rack plate; 902, electric telescopic column; 903, mounting block; 10, gear; 11, bracket; 12, reinforcing rod; 13, collection box; 14, wheel frame; 15, wide-angle camera; 16, handrail. Specific embodiments

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Please refer to Figures 1-6, the present invention provides a Trichosanthes fruit maturity detection and picking device based on machine vision, including a support 1. A rotating base 2 is fixedly provided at the bottom of the support 1. A multi-axis robotic arm 3 is fixedly provided at the top of the rotating base 2. The multi-axis robotic arm 3 is an existing device and can approach the Trichosanthes according to the height requirement of the Trichosanthes itself. At one end of the multi-axis robotic arm 3, a vine-cutting box 4 is fixedly provided. A pair of scissors 5 is provided inside the vine-cutting box 4, and a driving component for driving the scissors 5 is provided inside the vine-cutting box 4, which can cut off the fruit stalk of the Trichosanthes at intervals to pick the Trichosanthes. A picking basket 6 is provided below the scissors 5. Two rotating rods 7 are symmetrically and rotatably provided on both sides of the picking basket 6. An arc-shaped plate 8 is fixedly provided between the corresponding two rotating rods 7. A gear 10 is fixedly provided on the surface of the rotating rod 7. An adjusting component 9 for adjusting the rotating rods 7 is provided between the two gears 10. By setting the adjusting component 9, the two arc-shaped plates 8 can be driven to rotate and open, so as to facilitate the rapid transfer of the Trichosanthes at the picking basket 6. Cooperating with the multi-axis robotic arm 3, the Trichosanthes can be quickly placed inside the collection box 13, enabling the Trichosanthes to be efficiently and smoothly transferred into the collection box 13 for unified processing, which not only improves the overall picking progress, saves a lot of time, but also improves the picking efficiency. In the middle of the top of the support 1, a wide-angle camera 15 is fixedly provided. The wide-angle camera 15 is an existing device, and its internal vision module scans the plants in real time. When a mature fruit is detected, the robotic arm plans an obstacle avoidance trajectory, and the scissors 5 at the robotic arm act to synchronously cut off the fruit stalk to complete the picking.

[0025] The adjusting component 9 includes a rack plate 901. The rack plate 901 is arranged between the corresponding two gears 10, and the rack plate 901 is meshed with the two gears 10. An electric telescopic column 902 is provided above the rack plate 901. The telescopic rod of the electric telescopic column 902 is fixedly connected to the top of the rack plate 901, and the two electric telescopic columns 902 are controlled by a synchronizer. The top of the electric telescopic column 902 is fixedly provided with a mounting block 903. One side of the mounting block 903 is fixedly connected to the top of one side of the picking basket 6. By setting the adjusting component 9, the two electric telescopic columns 902 controlled by the synchronizer can drive the rack plate 901 to move in the vertical direction through the elongation of the telescopic rod of the electric telescopic column 902, and then drive the two gears 10 to rotate. At this time, the corresponding rotating rods 7 rotate, and then the two arc-shaped plates 8 rotate and open, so as to facilitate the rapid transfer of the Trichosanthes at the picking basket 6.

[0026] A collection box 13 is fixedly provided at the bottom of the support 1, and a protective pad is fixedly provided on the inner wall of the collection box 13, and the material of the protective pad is rubber. The provided collection box 13 facilitates the collection of the picked Trichosanthes, and the provided protective pad can play a role in protecting the collected Trichosanthes.

[0027] A support pad one is fixedly provided on the inner wall of the picking basket 6, and a support pad two is fixedly provided on the inner wall of the arc-shaped plate 8. The materials of the support pad one and the support pad two are both rubber. The support pad one and the support pad two are provided to protect the picked trichosanthes kirilowii maxim.

[0028] Two brackets 11 are symmetrically and fixedly provided on one side of the bottom end of the vine-cutting box 4. The bottom end of the bracket 11 is fixedly connected to one side of the top end of the picking basket 6. A reinforcing rod 12 is fixedly provided in the middle of one side of the bracket 11. The top end of the reinforcing rod 12 is fixedly connected to one side of the bottom end of the vine-cutting box 4. The brackets 11 and the reinforcing rod 12 are provided to fix the picking basket 6 below the vine-cutting box 4 and improve its stability.

[0029] A caster frame 14 is fixedly provided at the bottom end of the support 1. An armrest 16 is fixedly provided on one side of the support 1. An anti-slip pad is fixedly provided on the surface of the armrest 16. The caster frame 14 is provided to move the picking device, ensuring that the mobile platform cruises along a preset path and walks to the plant. The armrest 16 is provided to facilitate the staff to move to a suitable working location after the picking device finishes picking.

[0030] During use, when the picking device is in use, after the picking device is started, the support 1 cooperates with the caster frame 14 at the bottom to cruise along a preset path. Combining with the wide-angle camera 15 provided at the support 1, it cooperates with the visual module inside to scan the plants in real time. When a mature fruit is detected, the multi-axis robotic arm 3 moves along the set planned obstacle avoidance trajectory, and the scissors 5 at the multi-axis robotic arm 3 act to synchronously cut the fruit stalk to complete the picking. The picked trichosanthes kirilowii maxim enters the inside of the picking basket 6, and the bottom of the trichosanthes kirilowii maxim fits with the inside of the arc-shaped plate 8. After picking, by controlling the multi-axis robotic arm 3 and the rotating seat 2, the picking basket 6 is moved into the collection box 13. Then, by controlling the elongation of the telescopic rods of the two electric telescopic columns 902, the rack plate 901 can be driven to move in the vertical direction, and then the two gears 10 can be driven to rotate. At this time, the corresponding rotating rods 7 rotate, and then the two arc-shaped plates 8 rotate and open, facilitating the rapid transfer of the trichosanthes kirilowii maxim in the picking basket 6. The trichosanthes kirilowii maxim can be quickly and accurately placed into the collection box 13, significantly improving the overall picking progress, greatly saving time costs, and further improving the picking efficiency. After picking, repeat the above operation steps to continue picking the trichosanthes kirilowii maxim fruits.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based device for detecting and picking the maturity of Trichosanthes fruit, comprising a support (1), characterized in that: A rotating seat (2) is fixedly provided at the bottom of the support (1), a multi-axis mechanical arm (3) is fixedly provided at the top of the rotating seat (2), a rattan cutting box (4) is fixedly provided at one end of the multi-axis mechanical arm (3), a pair of scissors (5) are provided inside the rattan cutting box (4), a picking basket (6) is provided below the pair of scissors (5), two rotating rods (7) are symmetrically rotated on both sides of the picking basket (6), an arc plate (8) is fixedly provided between the two corresponding rotating rods (7), a gear (10) is fixedly provided on the surface of the rotating rod (7), an adjusting component (9) for adjusting the rotating rod (7) is provided between the two gears (10), and a wide-angle camera (15) is fixedly provided in the middle of the top of the support (1).

2. The machine vision-based Trichosanthes fruit maturity detection and picking device according to claim 1, characterized in that: A collecting frame (13) is fixedly provided at the bottom of the support (1), and a protective pad is fixedly provided on the inner wall of the collecting frame (13), and the material of the protective pad is rubber.

3. The machine vision-based Trichosanthes fruit maturity detection and picking device according to claim 1, characterized in that: A wheel frame (14) is fixedly provided at the bottom end of the support (1), an armrest (16) is fixedly provided on one side of the support (1), and an anti-slip pad is fixedly provided on the surface of the armrest (16).

4. The machine vision-based Trichosanthes fruit maturity detection and picking device according to claim 1, characterized in that: Two brackets (11) are symmetrically fixedly provided on one side of the bottom end of the vine cutting box (4), the bottom ends of the brackets (11) are fixedly connected to one side of the top end of the picking basket (6), a reinforcing rod (12) is fixedly provided in the middle of one side of the bracket (11), and the top end of the reinforcing rod (12) is fixedly connected to one side of the bottom end of the vine cutting box (4).

5. The machine vision-based Trichosanthes fruit maturity detection and picking device according to claim 1, characterized in that: A support pad 1 is fixedly provided on the inner wall of the picking basket (6), and a support pad 2 is fixedly provided on the inner wall of the arc-shaped plate (8), and the material of the support pad 1 and the support pad 2 are both rubber.

6. The machine vision-based Trichosanthes fruit maturity detection and picking device according to claim 1, characterized in that: The adjustment assembly (9) comprises a rack plate (901), wherein the rack plate (901) is arranged between two corresponding gears (10), and the rack plate (901) is meshingly connected with the two gears (10).

7. The machine vision-based Trichosanthes fruit maturity detection and picking device according to claim 6, characterized in that: An electric telescopic column (902) is provided above the rack plate (901), a telescopic rod of the electric telescopic column (902) is fixedly connected to the top end of the rack plate (901), and the two electric telescopic columns (902) are controlled by a synchronizer.

8. The machine vision-based Trichosanthes fruit maturity detection and picking device according to claim 7, characterized in that: A mounting block (903) is fixedly provided on the top of the electric telescopic column (902), and one side of the mounting block (903) is fixedly connected to the top of one side of the picking basket (6).

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