A robot harvesting yield estimation device and method

Abstract

The present disclosure relates to the technical field of crop yield estimation, and in particular to a robot harvesting and yield estimation device, including a fuselage, a conveyor belt, a rotating mechanism, an identification device and a controller. The fuselage is arranged vertically, and the fuselage is used to support the conveyor belt. The rotating mechanism is installed on the conveyor belt, and the cultivation bag is placed on the rotating mechanism. The rotating mechanism is used to adjust the angle of the cultivation bag, and the cultivation bag rotates with the conveyor belt. The identification device is used to take an image of the cultivation bag. The controller is electrically connected to the identification device and the rotating mechanism respectively. The controller determines the area and thickness of the crop based on the image identified by the identification device, and then determines the maturity of the crop to estimate the yield. Through the setting of the identification device and the controller, the information of the crop in the cultivation bag is collected, and the controller determines the opening and closing state and volume of the crop, and further determines the maturity of the crop, so as to avoid counting immature crops and crops that grow to over-maturity, and accurately estimate the yield.

Description

Technical Field

[0001] The present disclosure relates to the technical field of crop yield estimation, and in particular to a robot harvesting yield estimation device and method. Background Art

[0002] In the prior art, for cultivated varieties such as shiitake mushrooms, the yield is usually estimated manually. The staff first selects the crops to be estimated and then weighs them. However, this method has the following disadvantages: first, the staff has high labor intensity and is relatively tired. Second, this method mainly relies on the staff's naked eye judgment, and the yield estimation is not accurate. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a robotic harvesting and yield estimation device and method.

[0004] The present disclosure provides a robotic harvesting and yield estimation device, comprising a body, a conveyor belt, a rotating mechanism, an identification device and a controller;

[0005] The fuselage is arranged vertically, and the fuselage is used to support the conveyor belt. The rotating mechanism is installed on the conveyor belt, and the cultivation bag is placed on the rotating mechanism. The rotating mechanism is used to adjust the angle of the cultivation bag, and the cultivation bag rotates with the conveyor belt;

[0006] The recognition device is arranged on one side of the conveyor belt to take an image of the cultivation bag;

[0007] The controller is electrically connected to the identification device and the rotating mechanism respectively;

[0008] The controller determines the area and thickness of the crop based on the image recognized by the recognition device, and further determines the maturity of the crop and estimates the yield.

[0009] Optionally, the rotating mechanism includes a stepper motor and a tray. There are multiple stepper motors, which are evenly distributed along the length direction of the conveyor belt. The output shaft of the stepper motor is connected to the tray, and the cultivation bag is placed on the tray.

[0010] Optionally, a clamping device is provided on the tray, and the clamping device is used to clamp the cultivation bag.

[0011] Optionally, there are multiple identification devices.

[0012] Optionally, part of the identification device is arranged at the top of the fuselage.

[0013] Optionally, the recognition device is a CCD camera.

[0014] Optionally, the identification device corresponds one-to-one to the tray.

[0015] The present disclosure also provides a yield estimation method, which uses the above-mentioned robotic harvesting yield estimation device, and includes the following steps:

[0016] S10: The cultivation bag is placed on the tray, the robotic harvesting device is started, and the cultivation bag starts to move;

[0017] S20: the recognition device starts to capture images of the crop and the tray, and transmits the images to the controller;

[0018] S30: When the controller determines that the identification device corresponds to the tray one by one, the controller determines the maturity of the crop according to the umbrella cover area and the umbrella cover opening and closing degree of the crop, and calculates the crop yield through a formula.

[0019] Optionally, after step S30, the method further includes S40:

[0020] If the controller cannot determine the maturity of the crop through the received image, the controller sends a signal to the rotating mechanism, the rotating mechanism rotates the angle, and steps S20 and S30 are performed again until the controller can determine the maturity of the crop.

[0021] Optionally, the formula is:

[0022] Q = S × H × (1.65 × λ × ρ),

[0023] In the above formula: Q is the yield, S is the canopy area, H is the canopy thickness, λ is the correction coefficient, which is 0.8-0.86, and ρ is the crop density.

[0024] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0025] The present disclosure provides a robot harvesting and yield estimation device, including a fuselage, a conveyor belt, a rotating mechanism, an identification device and a controller. The fuselage is arranged vertically, and the fuselage is used to support the conveyor belt. The rotating mechanism is installed on the conveyor belt. The cultivation bag is placed on the rotating mechanism. The rotating mechanism is used to adjust the angle of the cultivation bag, and the cultivation bag rotates with the conveyor belt. It also includes an identification device, which is arranged on one side of the conveyor belt to capture the image of the cultivation bag. The controller is electrically connected to the identification device and the rotating mechanism respectively. After the identification device collects the image of the cultivation bag, it transmits the image information to the controller. The controller determines the area and thickness of the crop according to the image recognized by the identification device, and then determines the maturity of the crop, and then estimates the yield of the crop with appropriate maturity.

[0026] By setting up the identification device and the controller, the information of the crops in the cultivation bag is collected. The controller determines the opening and closing status and volume of the crops, and further determines the maturity of the crops. This can avoid counting immature crops and crops that grow too mature and affect their commercial value. Accurate statistics can be achieved, and the intensity of manual labor can be reduced, thereby increasing economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] Figure 1 It is an overall structural diagram of the robotic harvesting and yield estimation device according to an embodiment of the present disclosure.

[0030] Among them, 1. body; 2. conveyor belt; 3. rotating mechanism; 4. identification device; 5. controller; 6. cultivation bag. DETAILED DESCRIPTION

[0031] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0033] The present disclosure provides a robotic harvesting and yield estimation device, such as Figure 1As shown, it includes a fuselage 1, a conveyor belt 2, a rotating mechanism 3, an identification device 4 and a controller 5. The fuselage 1 is arranged vertically, and the fuselage 1 is used to support the conveyor belt 2. The conveyor belt 2 in this embodiment rotates counterclockwise from right to left. The rotating mechanism 3 is installed on the conveyor belt 2, and the cultivation bag 6 is placed on the rotating mechanism 3. The rotating mechanism 3 is used to adjust the angle of the cultivation bag 6, and the cultivation bag 6 rotates with the conveyor belt 2. It also includes an identification device 4, which is arranged on one side of the conveyor belt 2 to capture the image of the cultivation bag 6. The controller 5 is electrically connected to the identification device 4 and the rotating mechanism 3 respectively. After the identification device 4 collects the image of the cultivation bag 6, it transmits the image information to the controller 5. The controller 5 determines the opening and closing state and volume of the crop according to the image recognized by the identification device 4, and then determines the maturity of the crop, and then estimates the yield. The crop in this embodiment is an umbrella-shaped crop such as shiitake mushrooms. The maturity of shiitake mushrooms can be judged according to their volume and the opening and closing of the umbrella. When the mushrooms are open or even excessive, it is not the most suitable state. Only when the umbrella is closed and the volume reaches the set threshold, it is a suitable state, and the mushrooms at this time should be counted. The yield in this embodiment only counts the mushrooms that are in a suitable mature state.

[0034] Therefore, in the above embodiment, by setting up the identification device 4 and the controller 5, the information of the crops in the cultivation bag 6 is collected, and the controller 5 judges the opening and closing state and volume of the crops, and further judges the maturity of the crops, thereby avoiding counting immature crops and avoiding counting crops that grow to excessive maturity and affect their commercial value, thereby achieving accurate statistics, reducing manual labor intensity, and increasing economic benefits.

[0035] In this embodiment, in order to prevent the crop itself from blocking the recognition function of the recognition device 4, a rotating mechanism 3 is also provided. The rotating mechanism 3 includes a stepper motor and a tray. The number of stepper motors is multiple, and the multiple stepper motors are evenly distributed along the length direction of the conveyor belt 2. The output shaft of the stepper motor is connected to the tray, and the cultivation bag 6 is placed on the tray. When the crop in the cultivation bag 6 is in a blocked position and the controller 5 cannot determine the maturity of the crop, the controller 5 will send a signal to the rotating mechanism 3, and the rotating mechanism 3 will produce a rotation action. Since the stepper motor in this application will move slowly at the minimum angle, the stepper motor rotates an angle, and the recognition device 4 collects an image of a crop. If the maturity of the crop can be determined through an image at a certain angle, the rotating mechanism 3 stops rotating.

[0036] Furthermore, a clamping device is provided on the tray, and the clamping device is used to clamp the cultivation bag 6. The tray is provided to stably place the cultivation bag 6, and the clamping device is provided to fix the cultivation bag 6. The clamping device in this embodiment includes a first clamping jaw, a second clamping jaw, and an elastic member. The second clamping jaw rotates around the rotation axis and can repeatedly form a closed state and an open position with the first clamping jaw. The elastic member is connected between the first clamping jaw and the second clamping jaw, and is used to provide an elastic force to rotate the second clamping jaw around the first rotation axis toward the closed position. Of course, the clamping device in this embodiment can also be formed by hingedly connecting the first clamping jaw and the second clamping jaw, which will not be described in detail again.

[0037] like Figure 1 As shown, there are multiple identification devices 4. The multiple identification devices 4 are evenly distributed along the length direction of the conveyor belt 2, and the positions of the cultivation bags 6 and the positions of the identification devices 4 correspond one to one, so that each identification device 4 corresponds to a cultivation bag 6 and collects images of the crops in the cultivation bag 6.

[0038] Furthermore, the identification device 4 in this embodiment corresponds to the tray on the rotating mechanism 3 one by one, and only when the tray corresponding to each identification device 4 moves near it, the identification device 4 will start to identify the cultivation bag 6 on the tray. This setting can avoid the cultivation bag 6 staying near each identification device 4 and performing maturity identification, so as not to affect work efficiency. Specifically, a unique number can be set on the tray.

[0039] In addition, a part of the identification device 4 is arranged at the top of the fuselage 1. The function of this part of the identification device 4 is to check the maturity of the crop. When the cultivation bag 6 is transported to the top of the fuselage 1 on the conveyor belt 2, the identification device 4 thereon will check each cultivation bag 6 to avoid errors made by the previous identification device 4.

[0040] Specifically, the recognition device 4 is a CCD camera. The CCD camera has a powerful self-scanning function, good image clarity, can capture images at any time, supports multiple merged pixel modes, and innovative readout technology can fully reduce noise, achieve a higher sensitivity and conversion effect, and make the image have an extremely high signal-to-noise ratio. Compared with traditional cameras, CCD cameras have the advantages of small size, high reliability, high sensitivity, resistance to strong light, vibration, magnetic field, small distortion, long life, clear image, and easy operation.

[0041] The present disclosure also provides a yield estimation method, which uses the above-mentioned robotic harvesting yield estimation device, and includes the following steps:

[0042] S10: The cultivation bag 6 is placed on the tray, the robotic harvesting device is started, and the cultivation bag 6 starts to move;

[0043] S20: the recognition device 4 starts to capture images of the crops and the tray, and transmits the images to the controller 5;

[0044] S30: When the controller 5 determines that the identification device 4 corresponds to the tray one by one, the controller 5 determines the maturity of the crop according to the umbrella cover area and umbrella cover opening degree of the crop, and calculates the crop yield through a formula.

[0045] The formula is:

[0046] Q = S × H × (1.65 × λ × ρ),

[0047] In the above formula: Q is the yield, S is the canopy area, H is the canopy thickness, λ is the correction coefficient, which is 0.8-0.86, and ρ is the crop density. After the recognition device 4 collects the canopy area and canopy thickness of each crop, the controller 5 will automatically determine the maturity, and finally summarize the quality of crops with appropriate maturity to obtain yield data.

[0048] Furthermore, the above production estimation method further comprises, after step S30, step S40:

[0049] If the controller 5 cannot determine the maturity of the crop through the received image, the controller 5 sends a signal to the rotating mechanism 3, the rotating mechanism 3 rotates the angle, and steps S20 and S30 are performed again until the controller 5 can determine the maturity of the crop.

[0050] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0051] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic harvesting and yield estimation device, It is characterized in that Used for counting the yield of umbrella-shaped crops at a suitable maturity state, comprising a machine body (1), a conveyor belt (2), a rotating mechanism (3), an identification device (4) and a controller (5); The body (1) is arranged vertically, the body (1) is used to support the conveyor belt (2), the rotating mechanism (3) is installed on the conveyor belt (2), the cultivation bag (6) is placed on the rotating mechanism (3), the rotating mechanism (3) is used to adjust the angle of the cultivation bag (6), and the cultivation bag (6) rotates with the conveyor belt (2); The identification device (4) is arranged on one side of the conveyor belt (2) to take an image of the cultivation bag (6); The controller (5) is electrically connected to the identification device (4) and the rotating mechanism (3) respectively; The controller (5) determines the canopy area and thickness of the crop based on the image recognized by the recognition device (4), determines the maturity of the crop based on the degree of canopy opening and closing, and calculates the crop yield using a formula, which is: Q = S × H × (1.65 × λ × ρ), In the above formula: Q is the yield, S is the canopy area, H is the canopy thickness, λ is the correction coefficient, which is 0.8-0.86, and ρ is the crop density; The rotating mechanism (3) comprises a stepper motor and a tray, the number of the stepper motors is multiple, and the multiple stepper motors are evenly distributed along the length direction of the conveyor belt (2), the output shaft of the stepper motor is connected to the tray, and the cultivation bag (6) is placed on the tray; A clamping device is provided on the tray, and the clamping device is used to clamp the cultivation bag (6); The controller (5) sends a signal to the rotating mechanism (3) to control the stepper motor to rotate at a minimum angle. Each time the stepper motor rotates, the recognition device (4) recognizes once until the recognition device (4) can determine the maturity of the crop through an image recognized at a certain angle.

2. The robotic harvesting and yield estimation device according to claim 1, It is characterized in that The number of the identification devices (4) is plural.

3. The robotic harvesting and yield estimation device according to claim 1, It is characterized in that Part of the identification device (4) is arranged on the top of the fuselage (1).

4. The robotic harvesting and yield estimation device according to claim 1, It is characterized in that The identification device (4) is a CCD camera.

5. The robotic harvesting and yield estimation device according to claim 1, It is characterized in that The identification device (4) corresponds one to one with the tray.

6. A method for estimating yield, using the robotic harvesting and yield estimation device according to any one of claims 1 to 5, It is characterized in that The following steps are involved: S10: The cultivation bag (6) is placed on the tray, the robotic harvesting device is started, and the cultivation bag (6) starts to move; S20: the recognition device (4) starts to capture images of the crops and the tray, and transmits the images to the controller (5); S30: When the controller (5) determines that the identification device (4) corresponds to the tray one by one, the controller (5) determines the maturity of the crop according to the canopy area and canopy opening degree of the crop, and calculates the crop yield through a formula.

7. The yield estimation method according to claim 6, It is characterized in that After step S30, the method further includes step S40: If the controller (5) is unable to determine the maturity of the crop through the received image, the controller (5) sends a signal to the rotating mechanism (3), the rotating mechanism (3) rotates the angle, and steps S20 and S30 are performed again until the controller (5) is able to determine the maturity of the crop.

8. The yield estimation method according to claim 6, It is characterized in that The formula is: Q = S × H × (1.65 × λ × ρ), In the above formula: Q is the yield, S is the canopy area, H is the canopy thickness, λ is the correction coefficient, which is 0.8-0.86, and ρ is the crop density.

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