Fruit space attitude angle measuring device

Abstract

The invention relates to the technical field of fruit tree planting, and discloses a fruit space attitude angle measuring device, which comprises a base, two adjacent sides of the outer wall of the base are respectively and movably provided with a transverse base and a vertical base, and the outer walls of the transverse base and the vertical base are respectively provided with a graduated scale; the scale pointers are rotationally arranged in the middle of the transverse base and the middle of the vertical base respectively, a wiring harness laser lamp and an integrated power source are installed at the end of each scale pointer, and the wiring harness laser lamps are used for marking the positions of the stem and the calyx of the apple on the top face of the base; and the bull eye gradienter is used for adjusting the levelness of the base. The light beam generated by the wire beam laser lamp is aligned with the stem and the calyx of the apple, and the reading of the graduated scale and the pointer is combined to ensure that the measurement result of the attitude angle has high precision and reliability, so that the measurement error is reduced, and high-precision verification data can be provided for a subsequent automatic visual algorithm; the problem that the measurement result is not real and unstable in the prior art is effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of fruit tree planting, in particular to a device for measuring the spatial attitude angle of a fruit. Background Art

[0002] In apple picking or growth monitoring, accurate measurement of the spatial attitude angle of the fruit can help the picking machine determine the best gripping point for the fruit and provide data support for fruit quality monitoring. However, the existing fruit attitude measurement mainly relies on complex visual algorithms, which have low measurement accuracy, poor real-time performance, and difficulty in ensuring the authenticity of the measurement data. Therefore, there is an urgent need for a device that can accurately measure the spatial attitude angle of apple fruits to measure and verify the accuracy of existing algorithms, so as to improve the automation of fruit picking. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a device for measuring the spatial attitude angle of fruits, which solves the problems in the prior art of low measurement accuracy, poor real-time performance and difficulty in ensuring the authenticity of measurement data when using visual algorithms to measure the spatial attitude angles of fruits.

[0004] To achieve the above purpose, the present invention is implemented by the following technical scheme: a fruit space attitude angle measurement device, comprising:

[0005] The base has two adjacent sides of its outer wall respectively movably provided with a horizontal base and a vertical base, and the outer walls of the horizontal base and the vertical base are both installed with scales;

[0006] There are two scale pointers, which rotate respectively on the horizontal base and the middle of the vertical base, and are used to mark the reading of the scale when rotating. The ends of the scale pointers are installed with a wire beam laser light and an integrated power supply, and the integrated power supply is used to supply power to the wire beam laser light, and the wire beam laser light is used to mark the position of the fruit stalk and calyx of the apple on the top surface of the base;

[0007] The bull's eye level is installed inside the base and is used to adjust the levelness of the base.

[0008] Preferably, a protrusion is provided on one side of the scale, and the middle part of the scale pointer is sleeved on the outer wall of the protrusion.

[0009] Preferably, a gasket is provided in the middle of one side of the scale pointer, a fastening nut is provided on one side of the gasket, and the gasket and the fastening nut are both installed on the outside of the raised part to fix the scale pointer to the outer wall of the raised part.

[0010] Preferably, a pin is connected to one side of the horizontal base and the vertical base, and the pin passes through the base.

[0011] Preferably, an adjustable tripod is installed at the bottom of the base.

[0012] Preferably, an embedded nut is provided in the middle of the bottom surface of the base, and a ball joint is installed at the end of the adjustable tripod, and the ball joint is connected to the embedded nut.

[0013] The present invention provides a device for measuring the spatial attitude angle of a fruit. It has the following beneficial effects:

[0014] 1. The present invention aims the light beam generated by the linear laser lamp at the apple stalk and calyx, and combines the readings of the scale and the pointer to ensure that the measurement results of the attitude angle have high accuracy and reliability, which not only reduces the measurement error, but also provides high-precision verification data for the subsequent automated visual algorithm, effectively solving the problem of untrue and unstable measurement results in the prior art.

[0015] 2. The present invention uses the horizontal adjustment function of the bull's eye level to allow the user to quickly calibrate the horizontal state of the device, thereby greatly reducing the impact of tilt or external vibration on the measurement results, allowing the device to maintain high-precision measurements in different environments, expanding its application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the scale of the present invention;

[0018] Figure 3 It is a schematic diagram of the bottom surface of the base of the present invention;

[0019] Figure 4 It is a schematic diagram of an adjustable tripod of the present invention;

[0020] Figure 5 for Figure 4 A in the enlarged view;

[0021] Figure 6 It is a schematic diagram of an embodiment of the present invention;

[0022] Figure 7 for Figure 6 Schematic diagram of the reading in;

[0023] Figure 8 for Figure 7 Schematic diagram of reading the pitch projection angle;

[0024] Fig. 9 for Figure 7 Schematic diagram of reading the roll projection angle;

[0025] Fig.10 It is a schematic diagram of a scale of the present invention;

[0026] Fig.11 It is a schematic diagram of angle conversion of the present invention.

[0027] Among them, 1. Wire harness laser light; 2. Integrated power supply; 3. Scale pointer; 4. Scale ruler; 5. Horizontal base; 6. Vertical base; 7. Gasket; 8. Fastening nut; 9. Base; 10. Bull's eye level; 11. Pin shaft; 12. Embedded nut; 13. Adjustable tripod; 14. Ball joint; 15. Apple. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the specification 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.

[0029] In order to better understand the present invention, the above contents are described in detail below in conjunction with specific embodiments.

[0030] Please see attached Figure 1 -Attached Fig.11 The embodiment of the present invention provides a device for measuring the spatial attitude angle of a fruit, comprising:

[0031] The base 9 has two adjacent sides of its outer wall respectively movably provided with a horizontal base 5 and a vertical base 6, and the outer walls of the horizontal base 5 and the vertical base 6 are both installed with a scale 4;

[0032] There are two scale pointers 3, which are respectively rotated in the middle of the horizontal base 5 and the vertical base 6, and are used to mark the reading of the scale 4 during rotation. The ends of the scale pointers 3 are installed with a wire beam laser light 1 and an integrated power supply 2. The integrated power supply 2 is used to supply power to the wire beam laser light 1. The wire beam laser light 1 is used to mark the position of the fruit stalk and calyx of the apple 15 on the top surface of the base 9;

[0033] A bull's eye level 10 is installed inside the base 9 and is used to adjust the levelness of the base 9 .

[0034] In the present invention, the outer walls of the horizontal base 5 and the vertical base 6 are both installed with a scale 4, which can rotate around the installation point. The scale pointer 3 can be aligned with the scale 4 during the rotation process to achieve accurate angle reading function. At the same time, the end of the scale pointer 3 is fixedly installed with a wire beam laser light 1 and an integrated power supply 2. The integrated power supply 2 provides a stable power supply for the wire beam laser light 1, and the wire beam laser light 1 is used to project a light beam to align the fruit stalk and calyx position of the apple 15 on the top surface of the base 9 to ensure the measurement accuracy of the attitude angle and the reliability of the data. At the same time, a bull's eye level 10 is installed inside the base 9, and its function is to adjust the level of the base 9. Through the auxiliary function of the bull's eye level 10, the user can easily adjust the device to a horizontal state, thereby eliminating the interference of tilt on the measurement accuracy, and further improving the adaptability of the device and the accuracy of the measurement results.

[0035] A raised portion is provided on one side of the scale 4, and the middle of the scale pointer 3 is sleeved on the outer wall of the raised portion. A gasket 7 is provided in the middle of one side of the scale pointer 3, and a fastening nut 8 is provided on one side of the gasket 7, and both the gasket 7 and the fastening nut 8 are installed outside the raised portion to fix the scale pointer 3 on the outer wall of the raised portion.

[0036] In the present invention, a raised portion is designed on one side of the scale 4, and the raised portion serves as a guide and support structure for the installation of the scale pointer 3, and the scale pointer 3 can rotate freely around the raised portion while ensuring that it maintains stability during the measurement process. Through the cooperation of the gasket 7 and the fastening nut 8, the scale pointer 3 can be effectively and firmly fixed to the outside of the raised portion, thereby avoiding loosening or position displacement during use, and ensuring the accuracy and repeatability of the measurement.

[0037] A pin 11 is connected to one side of the horizontal base 5 and the vertical base 6, and the pin 11 passes through the base 9. An adjustable tripod 13 is installed at the bottom of the base 9. An embedded nut 12 is provided in the middle of the bottom surface of the base 9, and a ball joint 14 is installed at the end of the adjustable tripod 13, and the ball joint 14 is connected to the embedded nut 12.

[0038] In the present invention, the horizontal base 5 and the vertical base 6 can be installed and fixed by the pin shaft 11, and the adjustable tripod 13 can enable the device to adapt to a variety of different terrain conditions. By adjusting the length of the tripod, the height and angle of the device can be flexibly adjusted to meet the measurement needs in different environments and improve the practicality and flexibility of the device. An embedded nut 12 is provided in the middle of the bottom surface of the base 9 as a connection and fixing point. A ball joint 14 is installed at the end of the adjustable tripod 13, and the ball joint 14 is connected to the embedded nut 12. Through the cooperation of the ball joint 14 and the embedded nut 12, a stable connection between the tripod and the base 9 can be achieved, and a certain degree of adjustment freedom is allowed at the same time, which not only improves the stability of the device, but also provides convenience for quickly adjusting the posture of the device, ensuring the accuracy and reliability of the measurement process.

[0039] Working principle: When in use, the base 9 is supported by an adjustable tripod, and the measuring device is first leveled using the bull's eye level 10, and then the apple 15 is placed on the base 9, and then the vertical base 6 and the scale pointer 3 are moved to align the line beam laser emitted by the line beam laser lamp 1 with the fruit stalk and calyx of the apple 15, and the angle value is read, that is, the pitch projection angle of the apple's spatial pitch angle α on the plane, recorded as θ1. In the same way, by moving the horizontal base 5 and the scale pointer 3, the line beam laser emitted by the line beam laser lamp 1 is aligned with the fruit stalk and calyx of the apple 15, and the angle value is read, that is, the roll projection angle of the apple's spatial roll angle β on the plane, recorded as θ2;

[0040] Then, the conversion formula is used to calculate the pitch angle α and roll angle β of the apple space, and finally the unit vector of the apple space attitude angle can be obtained. The conversion formula is as follows:

[0041] tanθ1=l3 / l1

[0042] tanθ2=l3 / l2

[0043] l4 2 =l2 2 +l1 2

[0044]

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for measuring the spatial attitude angle of a fruit, characterized in that: include: A base (9), wherein two adjacent sides of the outer wall of the base are movably provided with a transverse base (5) and a vertical base (6), and the outer walls of the transverse base (5) and the vertical base (6) are both provided with a scale (4); Two scale pointers (3) are provided, which rotate respectively in the middle of the horizontal base (5) and the vertical base (6) and are used to align the reading of the scale ruler (4) when rotating. The ends of the scale pointers (3) are installed with a wire beam laser light (1) and an integrated power supply (2). The integrated power supply (2) is used to supply electric energy to the wire beam laser light (1). The wire beam laser light (1) is used to align the fruit stalk and calyx position of the apple (15) on the top surface of the base (9); A bull's eye level (10) is installed inside the base (9) and is used to adjust the levelness of the base (9).

2. A fruit space attitude angle measuring device according to claim 1, characterized in that: A protrusion is provided on one side of the scale (4), and the middle part of the scale pointer (3) is sleeved on the outer wall of the protrusion.

3. A fruit space attitude angle measuring device according to claim 2, characterized in that: A gasket (7) is provided in the middle of one side of the scale pointer (3), a fastening nut (8) is provided on one side of the gasket (7), and both the gasket (7) and the fastening nut (8) are mounted on the outside of the raised portion to fix the scale pointer (3) to the outer wall of the raised portion.

4. A fruit space attitude angle measuring device according to claim 1, characterized in that: A pin shaft (11) is connected to one side of the horizontal base (5) and the vertical base (6), and the pin shaft (11) passes through the base (9).

5. A fruit space attitude angle measuring device according to claim 1, characterized in that: An adjustable tripod (13) is installed at the bottom of the base (9).

6. A fruit spatial attitude angle measuring device according to claim 5, characterized in that: An embedded nut (12) is arranged in the middle of the bottom surface of the base (9), and a ball joint (14) is installed at the end of the adjustable tripod (13), and the ball joint (14) is connected to the embedded nut (12).

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