Intelligent strawberry flower and fruit thinning operation device based on machine vision

Abstract

The invention discloses a strawberry flower and fruit thinning intelligent operation device based on machine vision in the technical field of strawberry flower and fruit thinning intelligence, which comprises a machine body, a fixed plate, a driving wheel assembly, a first drip irrigation assembly, a second drip irrigation assembly, a drip irrigation unit and a pump machine for discharging liquid, the dropping pipette is used for discharging liquid; the leaf stirring assembly comprises two stirring plates for stirring strawberry leaves to get close to facilitate drip irrigation of the drip irrigation assembly, a rotating shaft for rotating the two stirring plates, first racks for pulling the two stirring plates to get close to each other or get away from each other, and a first gear engaged between the two first racks, and further comprises a laser assembly; an independent CCD camera, an angle adjuster and a PLC are arranged on the inner side of the laser assembly, flowers and fruits are collected through the CCD camera, the PLC is driven to control and adjust the angle adjuster so as to drive the laser transmitter to click the flowers and fruits, the flower and fruit thinning efficiency of the equipment is further improved, and manual use is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of strawberry flower and fruit thinning, and in particular to an intelligent operation device for strawberry flower and fruit thinning based on machine vision. Background Art

[0002] Strawberry flower and fruit thinning refers to removing some flowers and fruits on strawberry plants to ensure the quality and yield of the remaining flowers and fruits. Currently, most strawberry planting methods are to build ridges on the land and then plant strawberries in the ridges. Since the height of the ridges on the ground is low and the leaves of strawberries are relatively sturdy, most flower and fruit thinning methods are to manually identify deformed fruits and then cut them. Although flowers and fruits can be thinned manually, the efficiency of manual operation is low, and due to long-term bending work, the efficiency will become slower and slower, which not only leads to high manual operation costs but also low efficiency.

[0003] Based on this, the present invention designs an intelligent operation device for thinning strawberry flowers and fruits based on machine vision to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide an intelligent operation device for thinning strawberry flowers and fruits based on machine vision to solve the problems of slow efficiency and high labor cost in thinning flowers, vegetables and fruits proposed in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A strawberry flower and fruit thinning intelligent operation device based on machine vision comprises a machine body, a visual detector arranged on the machine body, a fixing plate fixedly installed at the bottom of the machine body, and a driving wheel assembly for moving the machine body, characterized in that it also comprises:

[0007] A moving assembly, located at the bottom of the machine body, is used to drive the visual detector to move horizontally and vertically;

[0008] A first drip irrigation assembly and a second drip irrigation assembly for driving liquid drip irrigation, wherein the first drip irrigation assembly and the second drip irrigation assembly have the same drip irrigation unit, and the drip irrigation unit comprises two drip irrigation pipes installed on both sides of the visual detector;

[0009] The leaf-pushing assembly is arranged on a fixed plate and comprises two paddles for conveniently pushing strawberry leaves closer. When the two paddles are close to each other, the moving assembly is used to drive the visual detector and the drip tube to descend, so as to make way for the paddles.

[0010] As a further solution of the present invention, the drip irrigation unit includes a liquid storage tank for storing inhibitors or growth agents, a pump for discharging liquid, a dripping pipe for discharging liquid, and a delivery pipe for keeping the pump and the dripping pipe connected. The liquid storage tank is installed above the machine body, the pump is connected with a delivery pipe, the bottom of the delivery pipe is conical, and the liquid storage tank is installed with an injection pipe for injecting liquid.

[0011] As a further solution of the present invention, the paddle assembly includes a first rack that pulls the two paddle plates towards or away from each other, a first gear that engages between the two first racks, and a rotating shaft that rotates the two paddle plates. The two rotating shafts are rotatably connected on both sides of the fixed plate. When the two paddle plates approach each other, they form an acute angle, and when they move away from each other, they form an obtuse angle. A rubber sponge layer is provided on the surface of the paddle plate, a first driving source is installed on the first gear, and a slot is provided on the paddle plate for swinging and engaging with the connecting frame.

[0012] As a further solution of the present invention, a connection component is arranged between the machine body and the fixed plate and passes through the fixed plate, and is used to make way for the drip irrigation unit when the connection plate approaches or moves away. The connection component includes a rotating sleeve that rotates on the rotating body to make the drip irrigation unit approach or move away from the strawberry flower bud, a second gear that keeps the rotating sleeve rotating clockwise or counterclockwise, and a gear box that adjusts the speed of the second gear. A first driving source is installed at the input end of the gear box, and a third gear is installed at the output end of the gear box. The third gear is meshed with the second gear, the screw rod is threadedly connected in the rotating sleeve, the screw rod is slidably connected in the fixed plate, and a limit frame is provided between the screw rod and the fixed plate to ensure the guided movement of the screw rod.

[0013] As a further solution of the present invention, the moving component includes a longitudinal adjustment component for driving the visual detector to move longitudinally and a lateral movement component for lateral movement, wherein the longitudinal adjustment component is arranged at the bottom of the screw rod to control the longitudinal movement of the drip irrigation unit, and the longitudinal adjustment component includes a telescopic connecting frame rotating on the screw rod, and a fourth gear for adjusting the angle of the connecting frame. The fourth gear is meshed with two hydraulic rods connected to a second driving source to control the telescopic connection frame. The two hydraulic rods are located on both sides of the connecting frame, and a damping ring is provided between the connecting frame and the screw rod to keep the angle of the connecting frame fixed.

[0014] As a further solution of the present invention, a lateral adjustment component is arranged at the end of the longitudinal adjustment component away from the screw rod. The lateral adjustment component includes a guide frame installed at the end of the connecting frame away from the screw rod, a sliding plate for adjusting the movement of the drip irrigation unit, a threaded rod for controlling the movement of the sliding plate, and a third driving source. The sliding plate is provided with a fine-tuning component for adjusting the alternating adjustment of the two drip irrigation units. The sliding plate is threadedly connected to the threaded rod and is slidably connected in the guide frame. The third driving source is installed at one end of the threaded rod.

[0015] As a further solution of the present invention, a fine-tuning component is arranged on the sliding plate in the lateral adjustment component and controls the two drip irrigation units to move up and down alternately. The fine-tuning component includes a second rack that controls the drip irrigation pipe to descend or move away, a fourth driving source and a fifth gear that keep the two second racks moving up and down alternately, the two drip irrigation pipes are respectively installed on the two second racks, the fourth driving source is installed on the sliding plate, the fifth gear is located at the output end of the fourth driving source, the fifth gear is meshed between the two second racks, and the second rack is slidably connected to the sliding plate.

[0016] As a further solution of the present invention, a laser component is provided on one of the second racks. When the second rack drives the drip irrigation pipe to rise and fall, it can drive the laser component to click and remove the flowers and fruits. An independent CCD camera, angle adjuster and PLC control are provided on the inside of the laser component. The flowers and fruits are collected by the CCD camera, and the PLC control is driven to adjust the angle adjuster to drive the laser emitter to click on the flowers and fruits.

[0017] As a further solution of the present invention, a controller and a display are installed on the upper side of the machine body, and the controller and the display are electrically connected to the visual detector for analyzing the distribution of strawberry flower buds.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention controls the movement of the machine body through the driving wheel assembly, so that the machine body replaces manual thinning of flowers, vegetables and fruits, and makes the efficiency of strawberry flower and vegetable thinning higher. At the same time, the bottom of the two paddles is changed from an obtuse angle to an acute angle. During the rotation of the two paddles, the two paddles form a paddle clamping on the strawberry leaves, so that the leaves on both sides of the ridge are paddled toward the middle of the ridge, and then the flowers and fruits under the leaves are exposed, so as to facilitate the drip irrigation of the drip irrigation pipe, avoid the drip irrigation error when the drip irrigation pipe is drip irrigation with an inhibitor, and then affect the growth of the strawberry plant, and further improve the drip irrigation accuracy and drip irrigation safety of the equipment.

[0020] 2. One of the drip irrigation pipes drips the inhibitor, and the other drip irrigation pipe drips the growth agent. At the same time, the visual detector collects and analyzes the flowers and fruits of the strawberry, determines the deformed fruit, defective flower and reserved fruit, and cooperates with the second rack to move up and down alternately to complete the use of the drip irrigation pipe alternately, thereby forming separate drip irrigation of the inhibitor and the growth agent, thereby effectively inhibiting the growth of deformed fruit and defective flower. At the same time, there is no need for manual bending and cutting to complete the thinning of strawberry flowers and fruits, making it more convenient, fast and intelligent when thinning strawberry flowers and fruits, reducing the use of manual labor, and speeding up the efficiency of thinning flowers and fruits. At the same time, the growth agent enables the equipment to not only thin flowers and fruits during work, but also promote the growth of reserved fruits during the thinning process, thereby effectively improving the growth quality and growth efficiency of strawberries, making the equipment more diverse when used, and further improving its practicality;

[0021] 3. During the drip irrigation process, the forward and reverse rotation of the fifth gear can not only control the two racks to work alternately up and down, but also the fine-tuning movement of the rack up and down can make the distance between the drip tube and the flower bud more closely fitted, so that the drip tube can drip more accurately, avoiding the inhibitor drip irrigation on the reserved fruit, and also avoiding the growth agent drip irrigation on the deformed fruit, further improving the drip irrigation accuracy of the equipment. Due to the different lengths and positions of the flower buds, the extension or shortening of the hydraulic rod is controlled according to the position of the flower buds, so that the drip irrigation tube can be effectively close to the flower buds, and at the same time, the movement of the sliding plate in the guide frame is coordinated to form mobile drip irrigation when the equipment is drip irrigated, thereby further improving the drip irrigation efficiency and drip irrigation accuracy of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 Schematic diagram of the working of the present invention

[0024] Figure 2 This is a schematic diagram of the front side structural view after removing the laser assembly of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure from the bottom side after removing the laser assembly of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the present invention from a local upper side perspective;

[0027] Figure 5 for Figure 3 Enlarged view of point A in the middle;

[0028] Figure 6 This is a schematic diagram of the internal structure of the present invention from the right side viewing angle;

[0029] Figure 7 It is a schematic diagram of the structure of the partial front side perspective of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the present invention from a local bottom side perspective.

[0031] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0032] 1. Machine body; 2. Fixing plate; 3. Driving wheel assembly; 4. Rotating shaft; 5. Switch plate; 6. Slot; 7. First rack; 8. First driving source; 9. First gear; 10. Rotating sleeve; 11. Second gear; 12. Screw rod; 13. Gear box; 14. Third gear; 15. Connecting frame; 16. Fourth gear; 17. Second driving source; 18. Hydraulic rod; 19. Guide frame; 20. Threaded rod; 21. Third driving source; 22. Sliding plate; 23. Fourth driving source; 24. Fifth gear; 25. Second rack; 26. Visual detector; 27. Liquid storage tank; 28. Liquid injection tube; 29. ​​Pump; 30. Delivery tube; 31. Dropper; 32. Controller; 33. Laser assembly. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1-Figure 8 , the present invention provides a technical solution:

[0035] A machine vision-based intelligent operation device for thinning strawberry flowers and fruits, comprising a body 1, a fixing plate 2 fixedly mounted on the bottom of the body 1, a driving wheel assembly 3 for moving the body 1, and further comprising:

[0036] A first drip irrigation assembly and a second drip irrigation assembly for drip irrigation of inhibitors and growth agents, wherein the first drip irrigation assembly and the second drip irrigation assembly have the same drip irrigation unit, and the drip irrigation unit comprises a liquid storage tank 27 for storing the inhibitor or the growth agent, a pump 29 for liquid discharge, and a dripping pipe 31 for liquid discharge;

[0037] The leaf-pushing assembly includes two paddles 5 for pushing strawberry leaves toward each other to facilitate drip irrigation by the drip irrigation assembly, a rotating shaft 4 for rotating the two paddles 5, a first rack 7 for pulling the two paddles 5 toward or away from each other, and a first gear 9 meshing between the two first racks 7;

[0038] The connection assembly includes a rotating sleeve 10 rotating on the rotating body 1 to make the drip irrigation unit approach or move away from the strawberry flower bud, a second gear 11 that keeps the rotating sleeve 10 rotating clockwise or counterclockwise, a gear box 13 that adjusts the speed of the second gear 11, and a longitudinal adjustment assembly for vertical adjustment is provided at the bottom of the screw rod 12;

[0039] A longitudinal adjustment assembly includes a telescopic connecting frame 15 that rotates on the screw rod 12 to control the movement of the drip irrigation unit, a fourth gear 16 that adjusts the angle of the connecting frame 15, and two hydraulic rods 18 that control the telescopic movement of the connecting frame 15;

[0040] The lateral adjustment assembly includes a guide frame 19 installed at the end of the connecting frame 15 away from the screw rod 12, a sliding plate 22 for adjusting the movement of the drip irrigation unit, a threaded rod 20 and a third driving source 21 for controlling the movement of the sliding plate 22, and a fine-tuning assembly for adjusting the alternating adjustment of the two drip irrigation units is provided on the sliding plate 22;

[0041] A fine-tuning assembly includes a second rack 25 for controlling the two drip irrigation units to move up and down alternately for drip irrigation, a fourth driving source 23 and a fifth gear 24 for keeping the two second racks 25 moving up and down alternately, and two drip tubes 31 are respectively mounted on the two second racks 25;

[0042] A visual detector 26 for detecting the distribution of strawberry flower buds is installed on the sliding plate 22;

[0043] First, Figure 3 As shown, before working, the two paddles 5 are away from each other, and the drip irrigation pipe is located at the front side of the machine body 1, and at the same time, the connecting frame 15 and the machine body 1 are in a vertical rotation state, which is conducive to the driving wheel assembly 3 controlling the movement of the machine body 1, and preventing the drip irrigation pipe from obstructing the paddles 5 when the two paddles 5 are away from each other, thereby affecting the storage of the paddles 5. At the same time, the drip irrigation pipe is located at the front side of the machine body 1, which can facilitate the movement of the equipment;

[0044] like Figure 2 When working, the machine body 1 is pushed to the strawberry sowing ridge by the driving wheel assembly 3, so that the driving wheel assembly 3 is located in the gullies on both sides of the ridge. At this time, the two paddles 5 are located on both sides of the ridge ditch, and the strawberry leaves are located between the two paddles 5. Figure 5 , turn on the first driving source 8, at this time the first driving source 8 drives the first gear 9 and the gear box 13 to rotate forward, such as Figure 5When the first gear 9 rotates forward, the two racks move relative to each other. At this time, the first rack 7 pulls the paddle 5 to rotate with the rotating shaft 4 as the axis, so that the bottoms of the two paddles 5 gradually approach each other, so that the bottoms of the two paddles 5 are formed into an acute angle from an obtuse angle. During the rotation of the two paddles 5, the two paddles 5 form a paddle clamping on the strawberry leaves, so that the leaves on both sides of the ridge are paddled toward the middle of the ridge, and then the flowers and fruits on the lower side of the leaves are exposed, so as to facilitate the drip irrigation of the drip irrigation pipe, avoid the drip irrigation error when the drip irrigation pipe is drip irrigation with an inhibitor, and then affect the growth of the strawberry plants, and further improve the drip irrigation accuracy and drip irrigation safety of the equipment;

[0045] like Figure 6 When the first driving source 8 controls the two dial plates 5 to approach, the third gear 14 at the output end of the gear box 13 drives the second gear 11 to rotate forwardly. At this time, the second gear 11 controls the rotating sleeve 10 to rotate. Since the screw rod 12 is threadedly connected in the rotating sleeve 10 and is also threadedly connected to the fixed plate 2, the threaded rod 20 will gradually move downward under the drive of the rotating sleeve 10, so that the drip irrigation pipe gradually moves away from the fixed plate 2. At the same time, the second driving source 17 drives the fourth gear 16 to rotate forwardly, so that the connecting frame 15 swings forwardly with the screw rod 12 as the center. When the connecting frame 15 swings to a certain position, the connecting frame 15 is located in the card slot 6, and the connecting frame 15 and the body 1 are in a parallel state. At this time, the drip irrigation operation of the inhibitor can be carried out;

[0046] like Figure 7 The drip irrigation pipe on the right is an inhibitor, and the drip irrigation pipe on the left is a growth agent. The visual detector 26 collects and analyzes the flowers and fruits of the strawberry to determine the deformed fruits, defective flowers and reserved fruits. First, the fifth gear 24 is controlled to rotate forward. At this time, the rack on the right drops and the rack on the left rises, so that the inhibitor is close to the deformed fruit. At this time Figure 6 The pump 29 in the tank delivers the inhibitor in the liquid storage tank 27 to the dripping tube 31 through the delivery tube 30, and then the dripping tube 31 drips the liquid to the surface of the deformed fruit, thereby effectively inhibiting the growth of the deformed fruit and defective flowers. At the same time, the thinning of strawberry flowers and fruits can be completed without manual bending and cutting, making the thinning of strawberry flowers and fruits more convenient, fast and intelligent, reducing the use of manual labor, and accelerating the efficiency of thinning flowers and fruits;

[0047] like Figure 7 When the inhibitor in the dripping tube 31 is finished dripping, the fifth gear 24 is rotated in the opposite direction, and the growth agent is close to the reserved fruit. At the same time, the growth agent in the storage tank 27 is sucked into the delivery pipe 30 through the pump 29, and dripped by the dripping tube 31. In the process of working, the equipment can not only thin the flowers, vegetables and fruits, but also promote the growth of the reserved fruits in the process of thinning the flowers, vegetables and fruits, thereby effectively improving the growth quality and growth efficiency of strawberries, making the equipment more diverse in use, and further improving its practicality;

[0048] like Figure 7 Regardless of whether the inhibitor or the growth agent is being dripped, the forward and reverse rotation of the fifth gear 24 can not only control the two racks to work alternately up and down, but also the fine-tuning movement of the rack up and down can make the distance between the drip tube 31 and the flower bud more closely fitted, so that the drip tube 31 can drip more accurately, avoiding the inhibitor from dripping on the reserved fruit during drip irrigation, and also avoiding the growth agent from dripping on the deformed fruit, further improving the drip irrigation accuracy of the equipment. Since the length and position of the flower buds are different, the extension or shortening of the hydraulic rod 18 is controlled according to the position of the flower buds, so that the drip irrigation tube can effectively approach the flower buds, and at the same time cooperate with the movement of the sliding plate 22 in the guide frame 19, so that the equipment forms mobile drip irrigation when dripping, thereby further improving the drip irrigation efficiency and drip irrigation accuracy of the equipment.

[0049] As a further solution of the present invention, a liquid storage tank 27 is installed above the machine body 1, a delivery pipe 30 is connected through the pump 29, the bottom of the delivery pipe 30 is conical, and an injection pipe 28 for liquid injection is installed on the liquid storage tank 27;

[0050] When working, Figure 6 The liquid storage tank 27 on the left side stores a growth agent, and the growth agent is gibberellin. The liquid storage tank 27 on the right side stores an inhibitor, and the inhibitor can be abscisic acid, so that the growth agent and the inhibitor can be operated separately on the reserved fruit box and the deformed fruit, respectively, thereby ensuring the inhibition of the growth of deformed fruits when thinning flowers, vegetables and fruits, and at the same time promoting the growth of reserved fruits, further increasing the yield of strawberries during growth, and further improving the practicality and ease of use of the equipment.

[0051] As a further solution of the present invention, two rotating shafts 4 are rotatably connected to both sides of the fixed plate 2, the two shifting plates 5 are at an acute angle when approaching each other, and at an obtuse angle when moving away from each other, a rubber sponge layer is provided on the surface of the shifting plate 5, a first driving source 8 is installed on the first gear 9, and a card slot 6 for swinging and clamping with the connecting frame 15 is provided on the shifting plate 5;

[0052] When working, Figure 6 When the two paddles 5 swing close to each other, the connecting frame 15 rotates to one side of the paddle 5, and the connecting frame 15 enters the card slot 6, thereby ensuring that the extension and retraction of the connecting frame 15 is not blocked by the paddle 5, and at the same time, the drip tube 31 can move left and right on the guide frame 19, so that during the drip irrigation process, the device can drip irrigate flower buds at different positions according to the analysis of the visual detector 26, thereby further improving the drip irrigation efficiency and accuracy of the equipment and reducing the disadvantages during drip irrigation.

[0053] As a further solution of the present invention, a first driving source 8 is installed at the input end of the gear box 13, a third gear 14 is installed at the output end of the gear box 13, the third gear 14 is meshedly connected with the second gear 11, the screw rod 12 is threadedly connected in the rotating sleeve 10, and a limit frame is provided between the screw rod 12 and the fixed plate 2 to ensure the guided movement of the screw rod 12;

[0054] When working, Figure 5 The gear box 13 adjusts the speed of the output of the third gear 14 so that a speed differential is formed between the speed of the third gear 14 and the speed of the first gear 9, so that when the two first racks 7 move, the third gear 14 simultaneously controls the second gear 11 to rotate, thereby rotating the rotating sleeve 10. Since the screw rod 12 is threadedly connected in the rotating sleeve 10 and slidably connected to the fixed plate 2, the fixed plate 2 limits the screw rod 12 so that the screw rod 12 moves driven by the rotating sleeve 10, thereby ensuring the use of the drip tube 31 and avoiding the drip tube 31 being in a low position when not in use, thereby causing damage to the drip tube 31.

[0055] As a further solution of the present invention, the fourth gear 16 is meshed with a second driving source 17, two hydraulic rods 18 are located on both sides of the connecting frame 15, and a damping ring is provided between the connecting frame 15 and the screw rod 12 to keep the angle of the connecting frame 15 fixed;

[0056] When working, Figure 6 When the screw rod 12 descends, the second driving source 17 drives the fourth gear 16 to rotate forward. At this time, the connecting frame 15 swings to the right, so that the drip irrigation pipe is located on the side of the ridge. Similarly, when the second driving source 17 drives the fourth gear 16 to rotate in the opposite direction, the connecting frame 15 swings to the left, so that the drip irrigation pipe is located on the other side of the ridge, thereby facilitating the drip irrigation of flowers and fruits by the drip irrigation pipe. At the same time, it avoids the drip irrigation pipe blocking the dial plate 5 when the equipment is not in use, thereby affecting the use of the equipment.

[0057] As a further solution of the present invention, the sliding plate 22 is threadedly connected to the threaded rod 20 and is slidably connected in the guide frame 19. A third driving source 21 is installed at one end of the threaded rod 20;

[0058] When working, Figure 7 When the third driving source 21 controls the threaded rod 20 to rotate forward, the sliding plate 22 moves to the left. Similarly, when the threaded rod 20 rotates reversely, the sliding plate 22 moves to the right, thereby effectively changing the position of the drip irrigation pipe, so that the drip irrigation pipe can be adjusted according to the position of the flower bud during drip irrigation, thereby further improving the drip irrigation accuracy of the equipment.

[0059] As a further solution of the present invention, the fourth driving source 23 is mounted on the sliding plate 22, the fifth gear 24 is located at the output end of the fourth driving source 23, the fifth gear 24 is meshed between two second racks 25, and the second racks 25 are slidably connected to the sliding plate 22;

[0060] When working, Figure 7 When the fifth gear 24 rotates forward, the right rack descends, and at this time the drip irrigation pipe of the inhibitor descends. At the same time, according to the number of rotations of the fifth gear 24, the descending height of the rack can be controlled, so that during the drip irrigation of the drip irrigation pipe, the drip irrigation is adjusted according to the height of the flower buds, thereby avoiding the height of the flower buds being too high or too low, thereby affecting the accuracy of its drip irrigation. Similarly, when the fifth gear 24 rotates reversely, the left rack descends. At this time, the drip irrigation pipe of the growth agent can drip the growth agent to the reserved fruit, thereby effectively promoting the growth of the reserved fruit, further improving the quality of planting and the yield of strawberries, so that the equipment can not only be used for thinning flowers and fruits but also promote their growth, further improving its practicality and convenience of use.

[0061] As a further solution of the present invention, a controller 32 and a display are installed on the upper side of the body 1, and the controller 32 and the display are electrically connected to the visual detector 26 for analyzing the distribution of strawberry flower buds;

[0062] When working, Figure 2 After the visual detector 26 detects the position of the flower bud, through information processing, the controller 32 drips the inhibitor or growth agent to the flower bud according to the processing result, making the equipment more intelligent when used, and further improving the efficiency of thinning flowers, vegetables and fruits, and further ensuring the promotion of the growth of reserved fruits.

[0063] As a further solution of the present invention, a laser assembly 33 is provided on one of the second racks 25. When the second rack 25 drives the drip irrigation pipe 31 to rise and fall, the laser assembly 33 can be driven to click on the flowers and fruits. An independent CCD camera, an angle adjuster and a PLC control are provided inside the laser assembly 33. The flowers and fruits are collected by the CCD camera, and the angle adjuster is driven by the PLC control to drive the laser emitter to click on the flowers and fruits.

[0064] During operation, the growth of flowers and fruits is observed according to the detection of the visual detector 26, and whether to retain the flowers and fruits is determined according to the size growth of the flowers and fruits. When it is necessary to remove the unwanted fruits, the second rack 25 is driven to descend so that the laser assembly 33 is located on the flowers and fruits. At the same time, the specific positions of the flowers and fruits are collected by the CCD camera inside the laser assembly, and then the emission position of the laser emitter is adjusted by the angle adjuster. Finally, the laser emitted by the laser assembly 33 removes the flowers and fruits, making the device more convenient to use. At the same time, in the process of thinning flowers and fruits, small fruits and flowers that are not wanted to be retained can be removed independently, further improving the quality and effect of the equipment for thinning flowers and fruits.

Claims

1. A machine vision-based intelligent operation device for thinning strawberry flowers and fruits, comprising a body (1), a visual detector (26) arranged on the body (1), a fixing plate (2) fixedly mounted on the bottom of the body (1), and a driving wheel assembly (3) for moving the body (1), characterized in that: Also includes: A moving assembly, located at the bottom of the body (1), used to drive the visual detector (26) to move horizontally and vertically; A first drip irrigation assembly and a second drip irrigation assembly for driving liquid drip irrigation, wherein the first drip irrigation assembly and the second drip irrigation assembly have the same drip irrigation unit, and the drip irrigation unit comprises two drip irrigation pipes (31) installed on both sides of the visual detector (26); The leaf-pushing assembly is arranged on the fixed plate (2) and comprises two paddles (5) for conveniently pushing the strawberry leaves closer together. When the two paddles (5) are brought closer together, the moving assembly is used to drive the visual detector (26) and the drip tube (31) to descend, thereby making way for the paddles (5).

2. A machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 1, characterized in that: The drip irrigation unit comprises a liquid storage tank (27) for storing an inhibitor or a growth agent, a pump (29) for discharging liquid, a dripping pipe (31) for discharging liquid, and a delivery pipe (30) for connecting the pump (29) and the dripping pipe (31). The liquid storage tank (27) is installed above a machine body (1), the delivery pipe (30) is connected to the pump (29), the bottom of the delivery pipe (30) is conical, and the liquid storage tank (27) is installed with an injection pipe (28) for injecting liquid.

3. A machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 1, characterized in that: The paddle assembly comprises a first rack (7) for pulling two paddle plates (5) to move closer to or farther from each other, a first gear (9) meshed between the two first racks (7), and a rotating shaft (4) for rotating the two paddle plates (5). The two rotating shafts (4) are rotatably connected to the two sides of a fixed plate (2). When the two paddle plates (5) move closer to each other, they form an acute angle, and when they move away from each other, they form an obtuse angle. A rubber sponge layer is provided on the surface of the paddle plate (5). A first driving source (8) is installed on the first gear (9). The paddle plate (5) is provided with a slot (6) for swinging and engaging with a connecting frame (15).

4. The machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 1, characterized in that: The connection assembly is arranged between the machine body (1) and the fixed plate (2) and passes through the fixed plate (2). The connection assembly is used for making way for the drip irrigation unit when the dial plate (5) moves closer to or farther away from the machine body. The connection assembly comprises a screw rod (12) for rotating a rotating sleeve (10) on the rotating machine body (1) to make the drip irrigation unit move closer to or farther away from the strawberry flower bud, a second gear (11) for keeping the rotating sleeve (10) rotating clockwise or counterclockwise, and a gear box (13) for adjusting the rotation speed of the second gear (11). The input end of the gear box (13) is provided with a first driving source (8), the output end of the gear box (13) is provided with a third gear (14), the third gear (14) and the second gear (11) are meshedly connected, the screw rod (12) is threadedly connected in the rotating sleeve (10), the screw rod (12) is slidably connected in the fixed plate (2), and a limit frame for ensuring the guided movement of the screw rod (12) is provided between the screw rod (12) and the fixed plate (2).

5. The machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 4, characterized in that: The moving assembly comprises a longitudinal adjustment assembly for driving the visual detector (26) to move longitudinally and a lateral movement assembly for lateral movement, wherein the longitudinal adjustment assembly is arranged at the bottom of the screw rod (12) to control the longitudinal movement of the drip irrigation unit, and the longitudinal adjustment assembly comprises a telescopic connecting frame (15) rotating on the screw rod (12), a fourth gear (16) for adjusting the angle of the connecting frame (15), two hydraulic rods (18) connected to a second driving source (17) for controlling the telescopic movement of the connecting frame (15) are meshed on the fourth gear (16), and the two hydraulic rods (18) are located on both sides of the connecting frame (15), and a damping ring for keeping the angle of the connecting frame (15) fixed is provided between the connecting frame (15) and the screw rod (12).

6. The machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 5, characterized in that: A transverse adjustment component is arranged at an end of the longitudinal adjustment component away from the screw rod (12), and comprises a guide frame (19) installed at an end of the connecting frame (15) away from the screw rod (12), a sliding plate (22) for adjusting the movement of the drip irrigation unit, a threaded rod (20) for controlling the movement of the sliding plate (22), and a third driving source (21), wherein the sliding plate (22) is provided with a fine adjustment component for adjusting the alternating adjustment of the two drip irrigation units, the sliding plate (22) is threadedly connected to the threaded rod (20), and is slidably connected in the guide frame (19), and the third driving source (21) is installed at one end of the threaded rod (20).

7. The machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 6, characterized in that: A fine-tuning component is arranged on a sliding plate (22) in a lateral adjustment component and controls two drip irrigation units to move up and down alternately. The fine-tuning component comprises a second rack (25) for controlling a drip irrigation pipe (31) to descend or move away, a fourth driving source (23) and a fifth gear (24) for keeping the two second racks (25) moving up and down alternately. The two drip irrigation pipes (31) are respectively mounted on the two second racks (25), the fourth driving source (23) is mounted on the sliding plate (22), the fifth gear (24) is located at the output end of the fourth driving source (23), the fifth gear (24) is meshed between the two second racks (25), and the second rack (25) is slidably connected to the sliding plate (22).

8. The machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 7, characterized in that: A laser assembly (33) is arranged on one of the second racks (25). When the second rack (25) drives the drip irrigation pipe (31) to rise and fall, the laser assembly (33) can be driven to click and remove the flowers and fruits. An independent CCD camera, an angle adjuster and a PLC control are arranged inside the laser assembly (33). The flowers and fruits are collected by the CCD camera, and the angle adjuster is driven by the PLC control to adjust the angle so as to drive the laser emitter to click on the flowers and fruits.

9. The machine vision-based intelligent operation device for thinning strawberry flowers and fruits according to claim 1, characterized in that: A controller (32) and a display are installed on the upper side of the machine body (1); the controller (32) and the display are both electrically connected to a visual detector (26) for analyzing the distribution of strawberry flower buds.

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