Walnut picking and collecting integrated device based on machine vision

Abstract

The invention discloses a walnut picking and collecting integrated device based on machine vision. The walnut picking and collecting integrated device comprises a frame, crawler wheels are symmetrically arranged on the two sides of the frame, and a hydraulic system used for running of the crawler wheels is arranged in the frame; two gathering mechanisms are symmetrically arranged on the two sides of one end of the frame, each gathering mechanism comprises a gathering frame arranged on the outer side of the end of the frame, and the gathering frames are obliquely arranged outwards in the direction away from the frame. A picking mechanism, a conveying mechanism, a vibrating screening mechanism and a visual sorting mechanism are sequentially arranged on the frame in the direction away from the two gathering mechanisms, and a first collecting box used for collecting peeled walnuts and a second collecting box used for collecting green-husk walnuts are fixedly arranged at the position, below the visual sorting mechanism, of the frame. Automatic gathering, picking, conveying, impurity separating and sorting operations of multiple landed walnuts can be completed in sequence, so that the walnut harvesting efficiency is improved, and the labor intensity and the labor cost are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of walnut harvesting equipment, and in particular to a walnut picking and collecting integrated device based on machine vision. Background Art

[0002] During the harvesting process of walnuts, the walnut fruits on the branches are mainly shaken down by artificial sticks or corresponding vibration equipment, and then picked up and collected. Since the walnuts will be scattered after being shaken down, the current walnut collection mainly relies on manual labor, which has the problems of long working hours, large labor volume, low labor efficiency, etc., and since the harvest time is relatively concentrated, the labor cost is high. In order to solve the above problems, mechanical equipment for picking up and collecting walnuts has appeared on the market, but when the existing equipment picks up the walnuts on the ground, the green-skinned walnuts and the peeled walnuts whose green skin has fallen off will be collected together, so that the green-skinned walnuts and the peeled walnuts collected are collected together, and when the green-skinned walnuts and the peeled walnuts collected are processed, the green-skinned walnuts and the peeled walnuts need to be screened out first, and then they can be processed separately, so the method of screening after collection is slow in efficiency and takes a long time. Summary of the invention

[0003] The purpose of the present invention is to provide an integrated device for picking and collecting walnuts based on machine vision to solve the technical problems mentioned in the above background technology.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The invention discloses a walnut picking and collecting integrated device based on machine vision, comprising a vehicle frame, track wheels are symmetrically arranged on both sides of the vehicle frame, and a hydraulic system for the operation of the track wheels is arranged inside the vehicle frame.

[0006] Two groups of gathering mechanisms are symmetrically arranged on both sides of one end of the frame, and each group of the gathering mechanisms includes a gathering frame arranged on the outer side of the frame end, the gathering frame is inclined outward in the direction away from the frame, and a plurality of cleaning brushes are rotatably arranged at even intervals on the bottom of the gathering frame, and a first motor for driving the cleaning brushes to rotate synchronously is arranged at one end of the gathering frame close to the frame.

[0007] The frame is sequentially provided with a picking mechanism, a conveying mechanism, a vibrating screening mechanism and a visual sorting mechanism along a direction away from the two groups of the gathering mechanisms, and the frame is fixedly provided with a first collecting box for collecting peeled walnuts and a second collecting box for collecting green-skinned walnuts below the visual sorting mechanism.

[0008] Furthermore, a driving pulley is provided on the driving shaft of the first motor, and the central axis of each cleaning brush extends to the top of the gathering frame and is provided with a double-groove driven pulley, and the driving pulley and the double-groove pulley close to it and each adjacent two double-groove driven pulleys are connected by a transmission belt.

[0009] Furthermore, one end of each of the gathering frames is hingedly connected to a horizontal connecting ear fixedly arranged on the outside of the frame; a horizontal first connecting rod is fixedly arranged on the outside of the frame near each of the connecting ears, a second connecting rod is fixedly arranged in the middle of each of the gathering frames, and a hydraulic cylinder for adjusting the angle of the gathering frame is hingedly arranged between each of the first connecting rods and the second connecting rod on the corresponding side.

[0010] Furthermore, the picking mechanism includes a picking main shaft rotatably arranged on the frame near one end of the two gathering frames, and a second motor for driving the picking main shaft to rotate is arranged on the outer side of the frame; the picking main shaft is symmetrically fixed with two connecting turntables at a position close to the inner side of the frame, and a plurality of picking sub-shafts are evenly fixedly arranged along the circumferential direction between the two connecting turntables at a position close to the outer edge, and each of the picking sub-shafts is evenly fixedly arranged with a plurality of picking teeth tangent to it at a position close to the outer edge of the connecting turntable at intervals.

[0011] Furthermore, the conveying mechanism includes a conveying mesh belt inclinedly arranged on the frame, a third motor for driving the conveying mesh belt to move is arranged on the outer side of the frame, and the lower end of the conveying mesh belt is close to the picking mechanism.

[0012] Furthermore, the frame is fixedly provided with a plurality of shovel teeth at even intervals between the picking mechanism and the lower end of the conveyor belt.

[0013] Furthermore, the vibrating screen mechanism includes a first support plate and a second support plate fixedly arranged in sequence inside the frame, the first support plate is located below the upper end of the conveyor belt, the height of the second support plate is lower than the first support plate, vibrators are fixedly arranged in the middle of the bottom of the first support plate and the second support plate, respectively, and sliding rods are vertically slidably arranged at both ends of the first support plate and the second support plate, the upper ends of the four sliding rods are commonly fixedly connected to the sieve plate with sieve holes, and a limiting head is fixedly arranged at the lower end of each sliding rod.

[0014] Furthermore, a U-shaped shielding frame is fixedly arranged on the screen plate.

[0015] Furthermore, the visual sorting mechanism includes a sorting base plate that is fixedly arranged in an inclined manner in the frame, and the upper end of the sorting base plate is close to the lower end of the screen plate; a plurality of passage chutes are fixedly arranged on the sorting base plate at even intervals, and a sorting leakage hole is opened in the middle of each of the passage chutes; the sorting base plate is slidably provided with a sealing member with an L-shaped cross-section at the bottom of each of the sorting leakage holes, the horizontal portion of each of the sealing members is adapted to the contour of the sorting leakage hole, and the vertical portion of each of the sealing members is respectively connected to the telescopic end of the servo electric cylinder fixedly arranged at the bottom of the sorting base plate; the upper part of the sorting base plate is respectively fixedly provided with support columns perpendicular to the passage chutes at the middle of each adjacent two passage chutes, the upper parts of the plurality of support columns are commonly fixedly connected to the mounting plate, and the bottom of the mounting plate is respectively provided with visual sensors at positions corresponding to each of the passage chutes.

[0016] Furthermore, the upper end of each of the passage slide grooves is respectively provided with an entry slot connected thereto, the width of the entry slot gradually increases from bottom to top, and the outer edges of each two adjacent entry slots are overlapped.

[0017] Compared with the prior art, the beneficial technical effects of the present invention are:

[0018] The present invention uses a mobile platform composed of a frame and track wheels, and integrates a gathering mechanism, a picking mechanism, a conveying mechanism, a vibrating screening mechanism and a visual sorting mechanism. During the frame process, the automatic gathering, picking, conveying, impurity separation and sorting operations of multiple walnuts after falling to the ground can be completed in sequence, thereby improving the walnut harvesting efficiency and reducing labor intensity and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the gathering mechanism of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the picking mechanism and the conveying mechanism of the present invention;

[0023] Figure 4 It is a top view schematic diagram of the vibrating screening mechanism and the visual sorting mechanism of the present invention;

[0024] Figure 5 It is a schematic diagram of the vibrating screening mechanism and the visual sorting mechanism of the present invention from a bottom-up perspective;

[0025] Description of the accompanying drawings: 1. frame; 2. track wheel; 3. gathering frame; 4. cleaning brush; 5. first motor; 6. driving pulley; 7. double-groove driven pulley; 8. transmission belt; 9. connecting ear; 10. first connecting rod; 11. second connecting rod; 12. hydraulic cylinder; 13. first collecting box; 14. second collecting box; 15. picking up main shaft; 16. second motor; 17. connecting turntable; 18. picking up secondary shaft; 19. picking up teeth; 2 0. Conveyor belt; 21. Third motor; 22. Shovel teeth; 23. First support plate; 24. Second support plate; 25. Vibrator; 26. Slide bar; 27. Screen plate; 28. Spring; 29. ​​Limit head; 30. Shielding frame; 31. Sorting bottom plate; 32. Pass chute; 33. Sorting leak hole; 34. Entrance slot; 35. Sealing part; 36. Servo cylinder; 37. Support column; 38. Mounting plate; 39. Visual sensor. DETAILED DESCRIPTION

[0026] like Figure 1-Figure 5 As shown, a walnut picking and collecting integrated device based on machine vision includes a frame 1, track wheels 2 are symmetrically installed on both sides of the frame 1, and a hydraulic system for the operation of the track wheels 2 is installed in the frame 1. Thus, a mobile platform is formed to facilitate the movement of the entire device on the field ground.

[0027] Two groups of gathering mechanisms are symmetrically installed on both sides of one end of the frame 1, and each group of the gathering mechanisms includes a gathering frame 3 installed on the outer side of the end of the frame 1, and the gathering frame 3 is tilted outward in a direction away from the frame 1. A plurality of cleaning brushes 4 are evenly spaced and rotatably installed at the bottom of the gathering frame 3, and a first motor 5 for driving each of the cleaning brushes 4 to rotate synchronously is installed at one end of the gathering frame 3 close to the frame 1.

[0028] Specifically: a driving pulley 6 is installed on the driving shaft of the first motor 5, and the central axis of each cleaning brush 4 extends to the top of the gathering frame 3 and is installed with a double-groove driven pulley 7, and the driving pulley 6 is connected to the double-groove pulley 7 close to it and each adjacent two double-groove driven pulleys 7 through a transmission belt 8. Through the above arrangement, the first motor 5 synchronously drives each cleaning brush to rotate. During the movement of the frame, the two groups of cleaning brushes on the gathering mechanisms on both sides of the frame continuously clean and gather the walnuts scattered within the working width from both sides to the center, gather the fallen walnuts into a strip-shaped walnut belt, increase the distribution density of the walnuts on the ground, and ensure that the gathered walnuts can be cleaned and gathered more efficiently.

[0029] In addition, in this embodiment, one end of each of the gathering frames 3 is respectively hingedly connected to a horizontal connection ear 9 fixedly arranged on the outside of the frame 1; a horizontal first connecting rod 10 is respectively fixedly arranged on the outside of the frame 1 near each of the connecting ears 9, and a second connecting rod 11 is respectively fixedly arranged in the middle of each of the gathering frames 3, and a hydraulic cylinder 12 for adjusting the angle of the gathering frame is respectively hingedly installed between each of the first connecting rods 10 and the second connecting rod 11 on the corresponding side. Through the expansion and contraction of the hydraulic cylinder 12, the opening angle of the two gathering frames 3 can be adjusted to adapt to different gathering widths.

[0030] The frame 1 is provided with a picking mechanism, a conveying mechanism, a vibrating screening mechanism and a visual sorting mechanism in sequence along the direction away from the two groups of the gathering mechanisms, and the frame 1 is fixedly installed with a first collecting box 13 for collecting peeled walnuts and a second collecting box 14 for collecting green-skinned walnuts under the visual sorting mechanism.

[0031] The picking mechanism includes a picking main shaft 15 rotatably mounted on one end of the frame 1 near the two gathering frames 3, and a second motor 16 for driving the picking main shaft 15 to rotate is mounted on the outer side of the frame 1. The picking main shaft 15 is symmetrically fixedly sleeved with two connecting turntables 17 at a position near the inner side of the frame 1, and a plurality of picking sub-shafts 18 are evenly fixedly mounted along the circumferential direction between the two connecting turntables 17 at a position near the outer edge, and each picking sub-shaft 18 is evenly fixedly provided with a plurality of picking teeth 19 tangent thereto at a position near the outer edge of the connecting turntable 17 at intervals.

[0032] The conveying mechanism includes a conveying mesh belt 20 installed obliquely on the frame 1, and a third motor 21 for driving the conveying mesh belt 20 is installed on the outer side of the frame 1, and the lower end of the conveying mesh belt 20 is close to the picking mechanism. In addition, the frame 1 is evenly spaced and fixed with a plurality of shovel teeth 22 between the picking mechanism and the lower end of the conveying mesh belt 20.

[0033] During the movement of the frame, the second motor drives the picking main shaft to rotate, and each secondary shaft rotates synchronously with the two connected turntables. When passing through the ground, the walnuts gathered on the ground can be picked up by moving them inwards onto the conveyor belt, and the running conveyor belt transports the walnuts upward to the vibrating screening mechanism.

[0034] The vibrating screen mechanism includes a first support plate 23 and a second support plate 24 which are fixedly installed in sequence inside the frame 1, wherein the first support plate 23 is located below the upper end of the conveyor mesh belt 20, and the height of the second support plate 24 is lower than that of the first support plate 23. A vibrator 25 is fixedly installed in the middle of the bottom of the first support plate 23 and the second support plate 24, respectively, and a slide bar 26 is vertically slidably installed at both ends of the first support plate 23 and the second support plate 24, and the upper ends of the four slide bars 26 are fixedly connected to a sieve plate 27 with sieve holes, and each of the slide bars 26 is provided with a spring 28 at a position between the sieve plate 27 and the first support plate 23 and the second support plate 24, and a limit head 29 is fixedly provided at the lower end of each of the slide bars 26.

[0035] When the conveyor belts flip over, the walnuts conveyed by them fall down onto the screen plate. At the same time, the two vibrators vibrate the screen plate during operation, so that most of the impurities in the walnut fruits are screened out through the screen holes of the screen plate. In the process of the walnuts rolling down the screen plate, the walnuts and impurities can be effectively separated. In addition, a U-shaped shielding frame 30 is fixed on the screen plate 27, which can effectively prevent the walnuts from scattering around the vibrating screen and only move downward to the visual sorting mechanism.

[0036] The visual sorting mechanism includes a sorting base plate 31 which is fixedly installed in the frame 1 at an angle, and the upper end of the sorting base plate 31 is close to the lower end of the screen plate 27. A plurality of passage chutes 32 are fixedly arranged at even intervals on the sorting base plate 31, and a sorting leak hole 33 is opened in the middle of each of the passage chutes 32. In this embodiment, the upper end of each of the passage chutes 32 is respectively provided with an entry slot 34 connected thereto, the width of the entry slot 34 gradually increases from bottom to top, and the outer edges of each adjacent two entry slots 34 are overlapped. Through the entry slot interface which is wide at the top and narrow at the bottom, the walnuts rolling down the screen plate can enter the interior of each passage chute respectively. The first collection box 13 is located below the lowest end of the plurality of passage chutes 32, and the second collection box 14 is located below the plurality of sorting leak holes 33.

[0037] The sorting bottom plate 31 is provided with sealing members 35 with L-shaped cross sections slidably mounted at the bottom of each of the sorting leak holes 33. The horizontal portion of each of the sealing members 35 matches the contour of the sorting leak holes 33, and the vertical portion of each of the sealing members 35 is connected to the telescopic end of the servo electric cylinder 36 fixedly mounted at the bottom of the sorting bottom plate 31. The upper portion of the sorting bottom plate 31 is provided with support columns 37 perpendicular to the respective positions located between the two adjacent passage chutes 32. The upper portions of the plurality of support columns 37 are fixedly connected to the mounting plate 38 in common. The bottom of the mounting plate 38 is provided with visual sensors 39 at positions corresponding to the respective passage chutes 32.

[0038] In the process of walnuts sliding down from each passage chute, the visual sensor recognizes the green-skinned walnuts and peeled walnuts in the corresponding passage chute in real time, and transmits the recognition signal to the control system mounted inside the frame. The control system controls the action of the servo electric cylinder at the bottom of the corresponding passage chute according to the preset program and the recognition signal: if the visual sensor recognizes that the walnut passing through the passage chute is a green-skinned walnut, the corresponding servo electric cylinder does not act, and the green-skinned walnut continues to roll down along the passage chute and enters the first collection box; if the visual sensor recognizes that the walnut passing through the passage chute is a peeled walnut, the corresponding servo electric cylinder shrinks, so that the sealing member no longer blocks the sorting leak hole on the passage chute, and the peeled walnut falls from the sorting leak hole to the second collection box below when rolling to the sorting leak hole. Then the servo electric cylinder extends and resets, and enters the next control cycle.

[0039] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A walnut picking and collecting integrated device based on machine vision, characterized in that: It comprises a vehicle frame, track wheels are symmetrically arranged on both sides of the vehicle frame, and a hydraulic system for the operation of the track wheels is arranged inside the vehicle frame; Two groups of gathering mechanisms are symmetrically arranged on both sides of one end of the frame, and each group of the gathering mechanisms includes a gathering frame arranged on the outer side of the end of the frame, the gathering frame is arranged outwardly inclined in a direction away from the frame, and a plurality of cleaning brushes are evenly spaced and rotatably arranged at the bottom of the gathering frame, and a first motor for driving each of the cleaning brushes to rotate synchronously is arranged at one end of the gathering frame close to the frame; The frame is sequentially provided with a picking mechanism, a conveying mechanism, a vibrating screening mechanism and a visual sorting mechanism along a direction away from the two groups of the gathering mechanisms, and the frame is fixedly provided with a first collecting box for collecting peeled walnuts and a second collecting box for collecting green-skinned walnuts below the visual sorting mechanism.

2. The integrated device for picking and collecting walnuts based on machine vision according to claim 1, characterized in that: A driving pulley is provided on the driving shaft of the first motor, and the central axis of each cleaning brush extends to the top of the gathering frame and is provided with a double-groove driven pulley. The driving pulley is connected to the double-groove pulley adjacent to it and each adjacent two double-groove driven pulleys through a transmission belt.

3. The integrated device for picking and collecting walnuts based on machine vision according to claim 2, characterized in that: One end of each of the gathering frames is hingedly connected to a horizontal connecting ear fixedly arranged on the outer side of the frame; a horizontal first connecting rod is fixedly arranged on the outer side of the frame near each of the connecting ears, and a second connecting rod is fixedly arranged in the middle of each of the gathering frames, and a hydraulic cylinder for adjusting the angle of the gathering frame is hingedly arranged between each of the first connecting rods and the second connecting rod on the corresponding side.

4. The integrated device for picking and collecting walnuts based on machine vision according to claim 1, characterized in that: The picking mechanism includes a picking main shaft rotatably arranged on the frame near one end of the two gathering frames, and a second motor for driving the picking main shaft to rotate is arranged on the outer side of the frame; the picking main shaft is symmetrically fixed with two connecting turntables at a position close to the inner side of the frame, and a plurality of picking sub-shafts are evenly fixedly arranged along the circumferential direction between the two connecting turntables at a position close to the outer edge, and each of the picking sub-shafts is evenly fixedly arranged with a plurality of picking teeth tangent to it at a position close to the outer edge of the connecting turntable at intervals.

5. The integrated device for picking and collecting walnuts based on machine vision according to claim 4 is characterized in that: The conveying mechanism comprises a conveying mesh belt which is inclinedly arranged on the frame, a third motor for driving the conveying mesh belt to move is arranged on the outer side of the frame, and the lower end of the conveying mesh belt is close to the picking mechanism.

6. The integrated device for picking and collecting walnuts based on machine vision according to claim 5, characterized in that: The frame is fixedly provided with a plurality of shovel teeth at even intervals between the picking mechanism and the lower end of the conveyor belt.

7. The integrated device for picking and collecting walnuts based on machine vision according to claim 5, characterized in that: The vibrating screen mechanism includes a first support plate and a second support plate which are fixedly arranged inside the frame in sequence, the first support plate is located below the upper end of the conveyor belt, the height of the second support plate is lower than the first support plate, vibrators are fixedly arranged in the middle of the bottom of the first support plate and the second support plate, respectively, and sliding rods are vertically slidably arranged at both ends of the first support plate and the second support plate, the upper ends of the four sliding rods are commonly fixedly connected to the sieve plate with sieve holes, and a limiting head is fixedly arranged at the lower end of each sliding rod.

8. The integrated device for picking and collecting walnuts based on machine vision according to claim 7, characterized in that: A U-shaped shielding frame is fixedly arranged on the screen plate.

9. The integrated device for picking and collecting walnuts based on machine vision according to claim 7, characterized in that: The visual sorting mechanism includes a sorting base plate that is fixedly arranged in an inclined manner in the frame, and the upper end of the sorting base plate is close to the lower end of the screen plate; a plurality of passage chutes are fixedly arranged on the sorting base plate at even intervals, and a sorting leak hole is opened in the middle of each of the passage chutes; a sealing member with an L-shaped cross-section is slidably arranged at the bottom of each of the sorting leak holes, the horizontal portion of each of the sealing members is adapted to the contour of the sorting leak hole, and the vertical portion of each of the sealing members is respectively connected to the telescopic end of a servo electric cylinder fixedly arranged at the bottom of the sorting base plate; support columns perpendicular to the passage chutes are respectively fixedly arranged on the upper part of the sorting base plate at the position between each adjacent two of the passage chutes, the upper parts of the plurality of support columns are commonly fixedly connected to the mounting plate, and the bottom of the mounting plate is respectively provided with visual sensors at positions corresponding to the passage chutes.

10. The integrated device for picking and collecting walnuts based on machine vision according to claim 9, characterized in that: The upper end of each of the passage slide grooves is respectively provided with an entry slot opening communicated therewith, the width of the entry slot opening gradually increases from bottom to top, and the outer edges of each two adjacent entry slot openings are overlapped.

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