A daylily picking device

Abstract

The present invention belongs to the field of agricultural machinery and equipment, and specifically relates to a daylily picking device. The daylily picking device is used for picking daylilies and includes a traveling component, a picking component, a collection component, a vision component, and a control component. The picking component is arranged on the cross beam of the traveling component. The picking component includes a robotic arm, the upper end of the robotic arm is connected to the cross beam, and a picking clamp is arranged below the robotic arm. The collection component includes a negative pressure suction nozzle and a collection box. The negative pressure suction nozzle is directly opposite the picking clamp, and the collection box is connected to the negative pressure suction nozzle through a pipeline. The vision component is directly opposite the movement area of the picking component, and the vision component is used to collect images of the movement area. The control component obtains the position information of the target daylilies according to the images of the movement area, enables the picking clamp to reach the target position for picking, and starts the negative pressure suction nozzle to collect the target daylilies. The present invention can automatically obtain the positions of mature daylilies and automatically pick the mature daylilies, thereby greatly reducing the labor cost.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery and equipment, and specifically relates to a daylily picking device. Background Art

[0002] Daylilies are generally planted in fields. During the picking period, the flower buds grow rapidly. If too many flower buds open, the quality of daylilies will be reduced. Therefore, the picking window period of daylilies is short, and usually the varieties are harvested in the early morning. Since the current harvesting of daylilies completely relies on manual labor, the operation intensity is high and the efficiency is low. In fact, many daylilies are not harvested in time and have missed the harvesting opportunity. The on-site harvesters simply cannot keep up with the harvesting, and actually the waste is very serious. Currently, it is basically manual harvesting. During harvesting, the labor intensity is high, mostly at night. There are situations where violent harvesting causes serious damage to daylilies and they cannot bloom in the coming year. There are problems such as automated picking being unable to well identify pickable daylilies and low picking efficiency. Summary of the Invention

[0003] In view of the above problems, the present invention provides a daylily picking device. The daylily picking device can obtain the position information of the target daylily according to the image collected by the vision component, and realize the picking of the target daylily through the picking component, thereby realizing the intelligent picking of daylilies.

[0004] The main technical solution of the present invention is as follows:

[0005] A daylily picking device for picking daylilies, the daylily picking device comprising:

[0006] A traveling component, the traveling component includes a cross beam, on both sides of the cross beam are provided a first leg and a second leg, at the lower end of the first leg is provided a first traveling wheel, and at the lower end of the second leg is provided a second traveling wheel;

[0007] A picking component, the picking component is arranged on the cross beam, the picking component includes a picking pliers and a robotic arm, the robotic arm is a six-degree-of-freedom or seven-degree-of-freedom robotic arm, the picking pliers are arranged at the front end of the robotic arm, and the rear end of the robotic arm is connected to the cross beam;

[0008] A collecting component, the collecting component includes a negative pressure suction nozzle and a collecting box, the negative pressure suction nozzle is opposite to the picking pliers, and the collecting box is connected to the negative pressure suction nozzle through a pipeline;

[0009] A vision component, the vision component is opposite to the movement area of the picking component, and the vision component is used for collecting images of the movement area;

[0010] A control component, which obtains the position information of the target daylily according to the image of the movement area. The control component provides a movement signal to the picking component according to the position information, so that the picking pliers reach the target position. The control component provides a picking signal to the picking pliers, and the picking pliers cut off the flower stalk of the target daylily and activate the negative pressure suction nozzle to collect the target daylily.

[0011] The above-mentioned daylily picking device further includes a power component, which is an internal power device or an external power device. The internal power device is arranged on the walking component, and the external power device is connected to the walking component through a connecting piece. The external power device provides a thrust or a pull force to the walking component through its own movement.

[0012] In the above-mentioned daylily picking device, the internal power device is an electric motor;

[0013] In the above-mentioned daylily picking device, the external power device is a tractor or an electric walking vehicle.

[0014] The above-mentioned daylily picking device further includes a clamping component, which includes a first clamping piece and a second clamping piece. The first clamping piece includes a first connecting arm and a first clamping arm that are rotatably connected. The first clamping arm is pushed by a linear cylinder, and the first connecting arm is connected to the first leg. The second clamping piece includes a second connecting arm and a second clamping arm that are rotatably connected. The second clamping arm is pushed by a linear cylinder, and the second connecting arm is connected to the second leg.

[0015] In the above-mentioned daylily picking device, the picking pliers are soft pneumatic grippers;

[0016] In the above-mentioned daylily picking device, the first clamping arm and the second clamping arm are made of a soft material with a low coefficient of friction.

[0017] In the above-mentioned daylily picking device, the vision component includes a first image acquisition piece and a second image acquisition piece.

[0018] In the above-mentioned daylily picking device, the first image acquisition piece is used to acquire a two-dimensional color image of the movement area of the picking component, and the control component takes the mature daylilies in the two-dimensional color image as the target daylilies;

[0019] In the above-mentioned daylily picking device, the second image acquisition piece is used to acquire a three-dimensional image of the movement area of the picking component to obtain the position information of the target daylily. The control component provides position coordinates to the robotic arm according to the position information, so that the picking pliers reach the target position.

[0020] In the above-mentioned daylily picking device, the state of the mature daylilies is the bud state, and the colors of the mature daylilies include yellow and green.

[0021] In the above-mentioned daylily picking device, light-shielding plates are provided on both sides of the vision component, so that the vision component can obtain clear images.

[0022] The above-mentioned daylily picking device further includes a navigation component, which consists of a GPS navigation unit and a laser navigation unit and is used for precise positioning and path planning.

[0023] The above-mentioned daylily picking device further includes a full-load warning device. When the number of daylilies in the collection box reaches the set quantity, the full-load warning device can report to the control center through the 5G module, and the control center will dispatch manual or automatic guided transport vehicles to replace the collection box.

[0024] By means of the above technical solutions, the present invention has at least the following advantages:

[0025] Through the daylily picking device provided by this embodiment, it is possible to achieve fully automatic collection of daylilies. The daylily picking device can automatically identify the maturity of daylilies, automatically obtain the positions of mature daylilies, and automatically pick the mature daylilies, thus greatly reducing labor costs.

[0026] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly and implement it according to the content of the description, the following takes the preferred embodiment of the present invention and combines the accompanying drawings to describe in detail as follows. Description of the Drawings

[0027] Figure 1 is a schematic structural diagram of the daylily picking device of the present invention;

[0028] Figure 2 is a schematic structural diagram before picking of the present invention;

[0029] Figure 3 is a schematic structural diagram of the robotic arm of the present invention;

[0030] Figure 4 is another schematic structural diagram of the daylily picking device of the present invention;

[0031] Figure 5 is Figure 4 the rear view of the daylily picking device of;

[0032] Figure 6 is Figure 4 the top view of the daylily picking device of;

[0033] Figure 7 It is a schematic structural diagram of the first clamping member of the present invention. Detailed implementation manners

[0034] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features, and their effects of the application according to the present invention as follows.

[0035] As Figures 1 to 7 shown, this embodiment discloses a daylily picking device for picking daylilies. The daylily picking device includes a traveling assembly 1, a picking assembly 2, a collection assembly 3, a vision assembly 4, and a control assembly. The traveling assembly 1 includes a cross beam 13. On both sides of the cross beam 13, there are a first leg 11 and a second leg 12. At the lower end of the first leg 11, there is a first traveling wheel 14, and at the lower end of the second leg 12, there is a second traveling wheel 15. The picking assembly 2 is arranged on the cross beam 13. The picking assembly 2 includes a picking pliers 21 and a robotic arm 22. The robotic arm 22 is a six-degree-of-freedom or seven-degree-of-freedom robotic arm 22. The picking pliers 21 are arranged at the front end of the robotic arm 22, and the rear end of the robotic arm 22 is connected to the cross beam 13. The collection assembly 3 includes a negative pressure suction nozzle 31 and a collection box 32. The negative pressure suction nozzle 31 faces the picking pliers 21 (specifically see Figure 2 ), and the collection box 32 is connected to the negative pressure suction nozzle 31 through a pipeline. The vision assembly 4 faces the movement area of the picking assembly 2, and the vision assembly 4 is used to collect images of the movement area. The control assembly obtains the position information of the target daylily according to the images of the movement area, provides a movement signal to the picking assembly 2 according to the position information, so that the picking pliers 21 reach the target position, and the control assembly provides a picking signal to the picking pliers 21. The picking pliers 21 act to cut off the daylily flower stem, and the negative pressure suction nozzle 31 is started to collect the target daylily.

[0036] The daylily picking device provided in this embodiment provides an assembly platform for the picking assembly 2, the collection assembly 3, the vision assembly 4, and the control assembly through the traveling assembly 1, and drives the picking assembly 2, the collection assembly 3, the vision assembly 4, and the control assembly to move together through the movement of the traveling assembly 1.

[0037] This embodiment uses a six-degree-of-freedom or seven-degree-of-freedom robotic arm 22 to install the picking pliers 21, so that the picking pliers 21 can have high flexibility and precision.

[0038] When the picking pliers 21 cut off the daylily, the negative pressure of the negative pressure suction nozzle 31 is immediately turned on, so that the daylily can be immediately sucked into the collection box 32 under the action of negative pressure after being cut off.

[0039] In specific implementation, since the picking pliers 21 are installed at the front end of a 6-degree-of-freedom or 7-degree-of-freedom robotic arm 22, when the robotic arm 22 moves, the picking pliers 21 can be driven by the robotic arm 22 to move. The robotic arm 22 is driven by a servo motor. According to the actual situation, the picking pliers 21 include the following two methods: ① The clamping and loosening method of the picking pliers 21 can be a pivot-opening and closing type air gripper, and the picking pliers 21 are clamped and loosened by driving an air cylinder with air; ② An electric gripper can also be used, and through electric energy, after driving a mechanical structure such as a motor reducer, the clamping and loosening of the picking pliers 21 are driven. In order to avoid the picking pliers 21 from causing damage to the plants, in this embodiment, the picking pliers 21 are soft pneumatic grippers.

[0040] In specific implementation, since daylilies are mostly planted in rows (as shown in Figure 4 which shows three rows of daylilies), the walking process of the walking device is mostly straight. During the specific picking process, first place the first leg 11 and the second leg 12 of the walking assembly 1 on both sides of the daylilies to be picked in one row. After the daylilies in this row are picked, then place the first leg 11 and the second leg 12 of the shaping assembly on both sides of the daylilies to be picked in another row for picking.

[0041] In specific implementation, the distance that the walking device moves each time is the distance between two daylilies, so that the images collected by the vision assembly 4 can cover all the daylilies. When the walking device is in a stopped state, the vision assembly 4 collects images of the movement area of the picking assembly 2, and the daylilies are arranged in the movement area, which not only facilitates the collection of the daylily images but also facilitates the picking of the daylilies by the picking assembly 2.

[0042] When the walking device stops in the first area, the control assembly identifies that there are ripe daylilies (the ripe daylilies are the target daylilies) in the first area, obtains the position information of the target daylilies according to the image, the control assembly provides position coordinates to the picking assembly 2, the picking pliers 21 reach the position of the target daylilies according to the position coordinates, and the picking pliers 21 are started to perform a picking action. Immediately afterwards, the control assembly starts the negative pressure suction nozzle 31 of the collection assembly 3 to collect the target daylilies picked by the picking pliers 21, and the collected target daylilies are temporarily stored in the collection box 32. In this way, the collection process of one target daylily is completed, and then, the next target daylily in the first area can be collected. After the target daylilies in the first area are collected, the walking device moves to the second area to start the collection of new target daylilies.

[0043] Taking the planting interval between two daylily plants in the same row as 1 meter as an example, the walking mode of the walking device in this embodiment will be further described. That is to say, the distance between the first area and the second area is 1 meter. To avoid the situation where some daylily plants are covered by a single picture, in this embodiment, the daylily plants in the first area are the first daylily plant, and the daylily plants in the second area are the second daylily plant. The walking route set for the walking device in this embodiment is optimized in the following three steps: First step, at a distance of 10 cm from the daylily plant in the first area, collect the first image of the daylily plant in the first area and analyze the position of the mature daylily to start picking; Second step, at 0 cm from the daylily plant in the first area, collect the second image of the daylily plant in the first area and analyze the position of the mature daylily and continue picking; Third step, at a distance of 10 cm away from the daylily plant in the first area, collect the third image of the daylily plant in the first area and analyze the position of the mature daylily and continue picking. Through these three steps, all the mature daylily plants in the first area can be identified and picked.

[0044] Then, the walking device walks to the second area to start the identification and picking work. The specific steps refer to the above three-step optimization method: First step, when the walking device walks to a distance of 10 cm from the second area, it starts to collect the first image of the daylily plant in the second area, identify and pick; Second step, when the walking device walks to a distance of 0 cm from the second area, it starts to collect the second image of the daylily plant in the second area, identify and pick; Third step, when the walking device walks to a distance of 10 cm away from the second area, it starts to collect the third image of the daylily plant in the second area, identify and pick.

[0045] Of course, the planting interval between two daylily plants can also be any distance between 0.5 and 2 meters. The planting interval between the two daylily plants will not affect the specific implementation of the present invention.

[0046] As a variable implementation, at any distance between 5 and 10 cm from the daylily plant in the first area, the first image of the daylily plant in the first area can be obtained.

[0047] As a variable implementation, at any distance between 5 and 10 cm away from the daylily plant in the first area, the third image of the daylily plant in the first area can be obtained.

[0048] As a variable implementation, at any distance between 10 and 15 cm from the daylily plant in the first area, the first image of the daylily plant in the first area can also be obtained.

[0049] As a variable embodiment, at any distance of 10-15 cm from the daylily plants in the first region, the third image of the daylily plants in the first region can also be obtained.

[0050] As a variable embodiment, at any distance of 5-10 cm from the daylily plants in the second region, the first image of the daylily plants in the second region can be obtained.

[0051] As a variable embodiment, at any distance of 5-10 cm from the daylily plants in the second region, the third image of the daylily plants in the second region can be obtained.

[0052] As a variable embodiment, at any distance of 10-15 cm from the daylily plants in the second region, the first image of the daylily plants in the second region can also be obtained.

[0053] As a variable embodiment, at any distance of 10-15 cm from the daylily plants in the second region, the third image of the daylily plants in the second region can also be obtained.

[0054] Through the daylily picking device provided in this embodiment, automatic collection of daylilies can be achieved. The daylily picking device can automatically identify the maturity level of daylilies, automatically obtain the positions of mature daylilies, and automatically pick the mature daylilies, thus greatly reducing labor costs.

[0055] In this embodiment, the negative pressure suction nozzle 31 is triggered only when the picking pliers 21 pick or cut off the daylilies, and after sucking the daylilies, the negative pressure suction nozzle 31 is closed, so as to avoid the air flow of the negative pressure suction nozzle 31 disturbing the daylily plants. The picked daylilies are sucked into the collection box 32 by the negative pressure suction nozzle 31.

[0056] The power assembly is an internal power device, and the internal power device is arranged on the traveling assembly. Specifically, the internal power device is a motor, and the motor provides traveling power to the traveling device.

[0057] Furthermore, in order to further provide power to the daylily picking device, the daylily picking device further includes an external power device 7. The external power device 7 is connected to the traveling assembly 1 through a connecting member, and the external power device 7 provides a thrust or a pull force to the traveling assembly 1 through its own movement.

[0058] In this embodiment, the power assembly includes a tractor module with navigation and power generation functions, and a controller. When the power assembly moves, it drives the walking assembly 1 to move forward together through the connecting rod, and supplies electrical energy to the picking assembly 2, the collection assembly 3, the vision assembly 4, and the control assembly. A power cable and a communication cable are provided on the connecting rod. The height of the connecting rod is adjustable to adapt to the plant height of the daylily, and it can be quickly disassembled and connected to the walking assembly 1. The connecting piece is a floating connecting piece (specifically, it can be a universal joint), thereby enhancing the connection reliability on uneven ground.

[0059] As a variant implementation, the external power device 7 can also be an electric walking vehicle. In the existing automated daylily picking technology, the main power source is usually a battery. However, the charging time of the rechargeable battery is short, resulting in the harvesting robot being unable to work for a long time and failing to achieve maximum efficiency. In the present invention, the external power device 7 is used as the power source, which can provide stable electrical energy for the equipment to use for a long time.

[0060] To avoid the shaking of the plants caused by external factors (such as wind), the daylily picking device further includes a clamping assembly 5 for fixing the plants. The clamping assembly 5 includes a first clamping member 51 and a second clamping member 52. The first clamping member 51 includes a first connecting arm 511 and a first clamping arm 512 that are rotatably connected. The first clamping arm 512 is pushed by a linear cylinder 50 (see specifically Figure 7 ), the first connecting arm 511 is connected to the first leg 11, the second clamping member 52 includes a second connecting arm 521 and a second clamping arm 522 that are rotatably connected, the second clamping arm 522 is pushed by a linear cylinder, and the second connecting arm 521 is connected to the second leg 12.

[0061] In this embodiment, the first connecting arm 511 is fixed to the first leg 11, and the second connecting arm 521 is fixed to the second leg 12. Specifically, the first connecting arm 511 is perpendicular to the first leg 11, the second connecting arm 521 is perpendicular to the second leg 12. The first clamping arm 512 and the second clamping arm 522 can rotate synchronously under the action of the linear pneumatic force. During the rotation of the first clamping arm 512 and the second clamping arm 522, there are two states: 1) Relaxed state: The first clamping arm 512 and the second clamping arm 522 are far apart, and the row of daylilies can move between the first clamping arm 512 and the second clamping arm 522 without colliding with the first clamping arm 512 and the second clamping arm 522; 2) Clamping state: The first clamping arm 512 and the second clamping arm 522 are close together, and the daylily is clamped by the first clamping arm 512 and the second clamping arm 522.

[0062] Specifically, during the walking process of the daylily picking device, the first clamping arm 512 and the second clamping arm 522 are in a relaxed state. When starting to pick after the daylily picking device stops, the first clamping arm 512 and the second clamping arm 522 are in a tightened state. During picking, the first clamping arm 512 and the second clamping arm 522 of the clamping assembly 5 clamp the daylily plant to prevent the plant from shaking during picking; after harvesting is completed, the clamping assembly 5 loosens and the plant returns to its normal state.

[0063] Furthermore, in order to avoid damage to the plant by the clamping assembly 5, the first clamping arm 512 and the second clamping arm 522 are made of a soft material with a low coefficient of friction. The end of the plant clamping module is made of a soft material with a low coefficient of friction, which can effectively protect the plant from damage when clamping the plant.

[0064] In order to enable the vision component to identify the maturity level of the daylily and the position information of the mature daylily, the vision component 4 includes a first image acquisition member 41 and a second image acquisition member 42. The first image acquisition member 41 is used to acquire a two-dimensional color image of the movement area of the picking assembly 2. The control component targets the mature daylily in the two-dimensional color image. The control component is used to detect the maturity of the daylily according to the two-dimensional color image and determine whether it meets the picking standard; the color of the mature daylily is yellowish-green, and the state of the mature daylily is the bud state. The specific judgment criteria are as follows: ① It must be in the bud state (do not pick those that have already opened). ② The color of the bud must be yellowish-green, that is, the bud color must have both yellow and green parts. Those in a completely yellow or completely green state are not picked. Only the daylilies that meet the above two conditions are mature and in a state to be picked.

[0065] In specific implementation, the steps for the vision component 4 to identify mature daylilies are as follows: 1) The first image acquisition component 41 acquires the first image information and transmits it to the control component; 2) The control component first identifies the contour patterns of all daylilies based on the first image information. The contour patterns include N daylilies (the first daylily image, the second daylily image, the third daylily image... the Nth daylily image); 3) Compare the first daylily image with the pre-stored bud pictures in the control component. When the similarity between the first daylily image and the bud pictures exceeds 80%, color discrimination is performed; 4) During color discrimination, if the color of the first daylily image includes yellow and green, then the first daylily image is the target daylily. Otherwise, if the color of the first daylily image only includes yellow or only includes green during color discrimination, then the first daylily image is not the target daylily. After identifying the first daylily, the second daylily is then identified... until the Nth daylily image is identified, and picking is completed based on the position information of the target daylily.

[0066] The steps for the second image acquisition component 42 to obtain the position information of the target daylily are as follows: 1) Based on the target daylily image identified by the first image acquisition component 41, the second image acquisition component 42 obtains the first position information of the target daylily image; 2) The position positioning on the walking component is the second position information, and the difference between the second position information and the first position information is the actual position information; 3) The control component provides the position coordinates to the picking component 2 based on the actual position information.

[0067] The picking pliers 21 reach the position of the target daylily according to the position coordinates. Specifically, it is at the flower stalk of the target daylily. When the picking pliers cut off the flower stem, the negative pressure suction nozzle is immediately activated to suck the cut daylily into the collection box.

[0068] The second image acquisition component 42 is used to acquire the three-dimensional image of the movement area of the picking component 2 to obtain the position information of the target daylily, so as to control the robotic arm to make the picking pliers 21 reach the target position.

[0069] The process for the second image acquisition component 42 to obtain the position information of the target daylily can be carried out simultaneously with the process of the first image acquisition component 41 identifying the target daylily. That is, after the first image acquisition component 41 identifies a target daylily, the second image acquisition component 42 immediately identifies the position information of the target daylily. At the same time, the first image acquisition component 41 also starts to identify another target daylily.

[0070] In order to enable the visual component 4 to obtain clear pictures, light-shielding plates 6 are provided on both sides of the visual component 4 to block external light, which can effectively reduce the influence of external stray light on the photographing of the visual module, so that the visual component 4 can obtain clear images.

[0071] The daylily picking device further includes a driven chassis, and an in-built power device (i.e., a rechargeable battery) is provided in the driven chassis. The rechargeable battery is arranged in the driven chassis and used to supply power to each device such as the picking component, the collecting component, the traveling component, the visual component and the control component. The battery can be charged by plugging in or by generating electricity through a diesel engine.

[0072] The daylily picking device further includes a navigation component, which is composed of a GPS navigation unit and a laser navigation unit and is used for precise positioning and path planning. In this embodiment, by using the combination of GPS navigation and laser navigation, the problem of inaccurate positioning of the existing mobile platform is solved. In this embodiment, an intelligent scheduling system is used to coordinate and manage the simultaneous operation of multiple sets of devices and monitor the operating status of each device in real time. The daylily picking device can be connected to the cloud platform through a 5G module, and multiple modules can be scheduled to run simultaneously.

[0073] The daylily picking device further includes a full-load warning device. When the daylilies in the collection box 32 are about to approach full capacity, it can be reported to the control center through the 5G module, and then the control center will dispatch manual labor or a recycling bin AGV (Automated Guided Vehicle) to replace the empty bin so as to continue harvesting daylilies.

[0074] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A daylily picking device, characterized in that, For picking daylilies, the daylily picking device includes: A traveling assembly, which includes a cross beam. On both sides of the cross beam, there are a first leg and a second leg. At the lower end of the first leg, there is a first traveling wheel, and at the lower end of the second leg, there is a second traveling wheel; A picking assembly, which is arranged on the cross beam. The picking assembly includes a picking pliers and a robotic arm. The robotic arm is a six-degree-of-freedom or seven-degree-of-freedom robotic arm. The picking pliers are arranged at the front end of the robotic arm, and the rear end of the robotic arm is connected to the cross beam; A collection assembly, which includes a negative pressure suction nozzle and a collection box. The negative pressure suction nozzle faces the picking pliers, and the collection box is connected to the negative pressure suction nozzle through a pipeline; A vision assembly, which faces the movement area of the picking assembly. The vision assembly is used to collect images of the movement area; A control assembly, which obtains the position information of the target daylily according to the image of the movement area. The control assembly provides a movement signal to the picking assembly according to the position information so that the picking pliers reach the target position. The control assembly provides a picking signal to the picking pliers. The picking pliers cut off the flower stalk of the target daylily and start the negative pressure suction nozzle to collect the target daylily; The negative pressure suction nozzle is triggered only when the picking pliers pick or cut the daylily; During operation, each daylily plant is regarded as a region. The daylily picking device uses a three-step method to identify, pick, and collect the daylily plants in each region. The specific steps of the three-step method are as follows: The first step: Collect the first image of the daylily plants in the region at a first set distance from the region. Identify the position of the target daylily according to the first image and pick and collect it, where the range of the first set distance is 5 cm to 15 cm; The second step: Collect the second image of the daylily plants in the region at 0 cm from the region. Identify the position of the target daylily according to the second image and pick and collect it; The third step: Collect the third image of the daylily plants in the region at a second set distance away from the region. Identify the position of the target daylily according to the third image and pick and collect it, where the range of the second set distance is 5 cm to 15 cm; Through the three-step method, all the mature daylilies in the region can be identified, picked, and collected.

2. The daylily picking device according to claim 1, wherein It also includes a power assembly, The power assembly is an internal power device or an external power device. The internal power device is arranged on the traveling assembly. The external power device is connected to the traveling assembly through a connecting piece. The external power device provides a thrust or a pull force to the traveling assembly through its own movement.

3. The daylily picking device according to claim 2, wherein The internal power device is an electric motor; The external power device is a tractor or an electric vehicle.

4. The daylily picking device according to claim 1, wherein, It also includes a clamping assembly, The clamping assembly includes a first clamping member and a second clamping member. The first clamping member includes a first connecting arm and a first clamping arm that are rotatably connected. The first clamping arm is pushed by a linear cylinder. The first connecting arm is connected to the first leg. The second clamping member includes a second connecting arm and a second clamping arm that are rotatably connected. The second clamping arm is pushed by a linear cylinder. The second connecting arm is connected to the second leg.

5. The daylily picking device according to claim 4, wherein the picking pliers are soft pneumatic grippers; the first clamping arm and the second clamping arm are made of a soft material with a low coefficient of friction.

6. The daylily picking device according to claim 1, wherein the vision assembly includes a first image acquisition member and a second image acquisition member, the first image acquisition member is used to acquire a two-dimensional color image of the movement area of the picking assembly, and the control assembly obtains the mature daylily image in the two-dimensional color image as the target daylily; the second image acquisition member is used to acquire a three-dimensional image of the movement area of the picking assembly to obtain the position information of the target daylily, and the control assembly provides position coordinates to the robotic arm according to the position information so that the picking pliers reach the target position.

7. The daylily picking device according to claim 6, wherein the state of the mature daylily is the bud state, and the colors of the mature daylily include yellow and green.

8. The daylily picking device according to claim 1, wherein light-shielding plates are provided on both sides of the vision assembly, so that the vision assembly can obtain clear images.

9. The daylily picking device according to claim 1, wherein It further includes a navigation assembly, the navigation assembly, which is composed of a GPS navigation unit and a laser navigation unit, is used for precise positioning and path planning.

10. The daylily picking device according to claim 1, characterized in that, It further includes a full-material warning device, when the number of daylilies in the collection box reaches the set quantity, the full-material warning device can report to the control center through the 5G module, and the control center dispatches manual or automatic guided transport vehicles to replace the collection box.

Images