Automatic fruit tree pruning system based on machine vision

Abstract

The invention relates to the technical field of fruit tree pruning, in particular to an automatic fruit tree pruning system based on machine vision, which comprises a camera used for capturing fruit tree images and determining specific positions of fruits, branches and leaves. And the image processing module is used for identifying branch structures through an image processing technology and identifying branches and leaves needing to be pruned. And the decision making module is used for calculating a cutting path and a driving path of the trimmer and the driving vehicle from the current position to the target position according to a result of the image processing module. And the intelligent control module is used for controlling the trimmer and the driving vehicle to move to a target position to trim branches and leaves according to the information provided by the decision making module, and avoiding fruits and branches and leaves which do not need to be trimmed in the trimming process. By accurately identifying the branch structure of the fruit tree, the angle and force of the trimmer are adjusted in real time, fruits of the fruit tree and branches and leaves which do not need to be trimmed are avoided, trimming is more accurate, and the healthy growth state of the fruit tree can be maintained.

Description

Technical Field

[0001] The invention relates to the technical field of fruit tree pruning, and in particular to an automatic fruit tree pruning system based on machine vision. Background Art

[0002] During the growth of fruit trees, shaping and pruning is one of the important tasks that must be carried out. Fruit tree pruning is to cut off branches that are not conducive to the growth of fruit trees. It is of great significance to improve the light distribution and gas exchange at the canopy and orchard scale, balance the nutritional and reproductive growth of fruit trees, and promote the implementation of cultivation and harvesting measures. However, fruit tree pruning requires professional agricultural technicians, which makes pruning an expensive and labor-intensive task; therefore, various forms of fruit tree pruning machines have emerged.

[0003] In the existing fruit tree pruning technology, the rotary cutting mechanism is a common design. This mechanism uses a high-speed rotating blade to complete the pruning task. Its advantage is that it can quickly prune a large area and is suitable for large-scale operations in orchards. However, this design also has some obvious limitations and problems. For example, it is difficult to achieve precise control when pruning with a rotary blade, and it is easy to have a "one-size-fits-all" phenomenon, that is, all branches are cut off regardless of their size and position. This means that during the operation, not only will the parts that need to be pruned be removed, but some healthy branches and leaves that do not need to be pruned may also be cut off, which may also cause damage to the growing fruit.

[0004] In summary, how to solve the problem of damage to fruit trees caused by pruning fruit trees through a rotary cutting mechanism in the prior art has become a difficult problem that needs to be solved urgently in this field. Therefore, it is necessary to propose an automatic fruit tree pruning system based on machine vision. Summary of the invention

[0005] To solve the above problems, the present invention provides an automatic fruit tree pruning system based on machine vision, which can accurately identify the branch structure of the fruit tree, adjust the angle and strength of the pruner in real time, avoid the fruits and branches and leaves that do not need to be pruned, make pruning more precise, and help maintain the healthy growth of the fruit tree.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: an automatic fruit tree pruning system based on machine vision, including an image processing module, a decision-making module, an intelligent control module, a camera, a driving vehicle and a pruner.

[0007] Cameras are used to capture images of fruit trees and determine the specific locations of fruits and branches and leaves.

[0008] The image processing module is used to identify the branch structure through image processing technology and identify the branches and leaves that need to be pruned.

[0009] The decision making module is used to calculate the cutting path and driving path of the trimmer and the driving vehicle from the current position to the target position according to the result of the image processing module.

[0010] The intelligent control module is used to control the trimmer and the driving vehicle to move to the target position to trim branches and leaves according to the cutting path and driving path information provided by the decision-making module, and avoid fruits and branches and leaves that do not need to be trimmed during the pruning process.

[0011] The technical principles of the above scheme are as follows:

[0012] The camera is installed on the driving vehicle and can move with the vehicle to take real-time images of the fruit trees; these images provide important information about the structure of the branches and trunks of the fruit trees and the location of the fruits. The image processing module receives the image data from the camera and processes the images using computer vision technology. Through these processes, the system can identify which branches and leaves need to be pruned and which parts need to be retained. The decision-making module calculates the optimal pruning path based on the information provided by the image processing module and the principles and standards of fruit tree pruning. After receiving the path information output by the decision-making module, the intelligent control module is responsible for coordinating and controlling the movement of the pruner and the movement of the driving vehicle; ensuring that the pruner can accurately reach the target position for pruning and avoid unnecessary damage to the fruit trees in the process.

[0013] The above scheme has the following beneficial effects:

[0014] 1. The present invention accurately identifies the branch structure of fruit trees, determines the specific positions of fruits and branches and leaves, and uses image processing technology to accurately distinguish branches and leaves that need to be pruned and parts that need to be retained, avoiding possible mis-pruning in traditional pruning methods. The pruning strategy is dynamically adjusted according to the actual situation of the fruit trees, making pruning more accurate and helping to maintain the healthy growth of fruit trees.

[0015] 2. During the pruning process of fruit trees, the present invention ensures the accuracy and safety of pruning by adjusting the angle and strength of the pruning device in real time. At the same time, according to the feedback from the camera, the fruit trees and branches and leaves that do not need to be pruned are avoided in time to avoid unnecessary damage.

[0016] 3. The present invention realizes a high degree of automation in the entire process from image acquisition to pruning execution, reduces the influence of human factors, and makes the pruning operation more efficient; and reduces the dependence on manual pruning, reducing the manpower cost of orchard management.

[0017] Furthermore, the branches and leaves that need to be pruned in the image processing module include but are not limited to crossed branches, overlapping branches, weak branches, dry branches, diseased and insect-infested branches, overgrown branches, inner branches, competing branches, drooping branches and overcrowded branches.

[0018] Beneficial effects: By identifying the diseased and weak branches of fruit trees, pruning operations can be more targeted, which can optimize the tree structure, improve ventilation and light conditions, and be conducive to the healthy growth of fruit trees, thereby improving the quality of fruit trees.

[0019] Furthermore, a shell is fixedly connected to the top of the driving vehicle, and a ball joint is rotatably fitted on the inner bottom wall of the shell; a hydraulic rod is fixedly connected to the top of the ball joint, and one end of the hydraulic rod away from the ball joint extends from the inside of the shell to the outside of the shell; an opening for the movement of the hydraulic rod is opened on the top of the shell, and a movable rubber ring is fixedly connected to the opening; the trimmer and the camera are both fixedly connected to the output shaft of the hydraulic rod; a lateral adjustment component and a longitudinal adjustment component for driving the hydraulic rod to move lateral and longitudinally are respectively provided inside the shell.

[0020] Beneficial effect: The design of the spherical joint and the inner bottom wall of the shell rotating together enables the hydraulic rod to move flexibly in multiple directions, thereby meeting the operating requirements of the trimmer and the camera at different angles.

[0021] Furthermore, the lateral adjustment component includes a controller and a first driving member, the controller is used to control the operation of the hydraulic rod and the first driving member; the first driving member is fixedly connected to the inner bottom wall of the outer shell, and the output shaft of the first driving member is fixedly connected to a semicircular adjustment plate; the adjustment plate is provided with an adjustment groove for the movement of the hydraulic rod along its length direction, and the inner wall of the adjustment plate is slidingly matched with the spherical joint; the end of the adjustment plate away from the first driving member is rotationally matched with the inner wall of the outer shell.

[0022] Beneficial effect: The first driving member drives the adjustment plate to rotate back and forth. Since the adjustment plate is semicircular and slidingly cooperates with the spherical joint, when the adjustment plate rotates back and forth laterally, it can drive the hydraulic rod to rotate accordingly. After moving to the specified position, the hydraulic rod is extended to make the trimmer and the camera reach the preset position, thereby realizing the adjustment of the position of the trimmer and the camera and improving the working efficiency.

[0023] Furthermore, the longitudinal adjustment component includes a second driving member, and the controller is used to control the operation of the second driving member; the output shaft of the second driving member is fixedly connected to a semicircular moving plate, and the moving plate and the adjustment plate are installed vertically; the inner wall of the moving plate is slidably matched with the adjustment plate, and the moving plate is provided with a sliding groove along its length direction for the movement of the hydraulic rod; the second driving member is fixedly connected to the inner wall of the outer shell, and the end of the moving plate away from the second driving member is rotatably matched with the inner wall of the outer shell.

[0024] Beneficial effects: The moving plate is driven to reciprocate by the second driving member. Since the moving plate is semicircular and slides with the adjusting plate, the moving plate and the adjusting plate are installed vertically; therefore, the hydraulic rod can be made to reciprocate longitudinally through the longitudinal reciprocating motion of the moving plate; by combining with the adjusting plate, the hydraulic rod can be rotated in any direction, thereby improving the adaptability of the equipment; ensuring that the trimmer and the camera can accurately reach the required position, improving the working accuracy and efficiency.

[0025] Furthermore, the trimmer includes scissors, an arc plate and a straight rod, the straight rod is fixedly connected to the top of the hydraulic rod output shaft; the arc plate is fixedly connected to the top of the straight rod, and the scissors are hinged to the top of the straight rod; the straight rod is provided with a driving component for driving the scissors to rotate.

[0026] Beneficial effects: By driving the scissors to rotate, the scissors can rotate and close during the pruning process, thereby pruning branches and leaves; the automation efficiency of the device is increased, thereby reducing labor input.

[0027] Furthermore, the driving assembly includes a third driving member, and the controller is used to control the operation of the third driving member; the third driving member is fixedly connected to the outer wall of the straight rod, and the output shaft of the third driving member is coaxially fixedly connected to the first gear, and the first gear is meshed with a fan-shaped gear; the side of the fan-shaped gear away from the first gear is fixedly connected to the scissors.

[0028] Beneficial effect: The third driving member drives the first gear to rotate, and the first gear drives the fan-shaped gear meshing therewith to rotate; because the fan-shaped gear is fixedly connected to the scissors, the scissors can be closed when the fan-shaped gear rotates. This design enables the scissors to be accurately closed when needed, thereby improving the trimming efficiency.

[0029] Furthermore, the outer wall of the straight rod away from the third driving member is fixedly connected to a pump assembly for sucking branches and leaves, and the controller is used to control the operation of the pump assembly; the input end of the pump assembly is fixedly connected to an air suction port, and the inner wall of the air suction port is fixedly connected to a buffer layer.

[0030] Beneficial effects: The pump assembly generates negative pressure to suck the branches and leaves to be pruned; it can quickly fix the branches and leaves with light weight, making the pruning more stable. It effectively prevents the branches and leaves from shaking and moving during the pruning process, thereby improving the pruning accuracy and efficiency.

[0031] Furthermore, a movable baffle is hingedly connected to the outer wall of the straight rod away from the pump assembly, and a rotating assembly for rotating the movable baffle is provided on the straight rod.

[0032] Beneficial effect: For branches and leaves that do not need to be pruned, they can be avoided through the movable baffle to avoid accidental pruning or damage, making the pruning work more flexible and accurate.

[0033] Furthermore, the rotating assembly includes a fourth driving member, and the controller is used to control the operation of the fourth driving member; the fourth driving member is embedded and installed on the straight rod, and the output shaft of the fourth driving member is fixedly connected to the movable baffle.

[0034] Beneficial effects: the movable baffle is driven to rotate by the fourth driving member, thereby realizing the adjustment of the angle of the movable baffle; the automated operation mode is utilized to make the trimming work smoother and optimize the overall workflow.

[0035] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is an axonometric diagram of the automatic fruit tree pruning system based on machine vision in an embodiment of the present invention.

[0037] Figure 2 It is a front cross-sectional view of the housing in the embodiment of the present invention.

[0038] Figure 3 It is a side cross-sectional view of the housing in an embodiment of the present invention.

[0039] Figure 4 It is a front cross-sectional view of a trimmer in an embodiment of the present invention.

[0040] Figure 5 It is a side view of the movable baffle in the embodiment of the present invention.

[0041] Figure 6 For the embodiment of the present invention Figure 1 Enlarged view of part A.

[0042] The figure marks in the drawings of the specification include: 1. camera; 2. drive vehicle; 3. housing; 4. ball joint; 5. hydraulic rod; 6. first motor; 7. adjustment plate; 8. second motor; 9. moving plate; 10. scissors; 11. arc plate; 12. straight rod; 13. third motor; 14. first gear; 15. fan gear; 16. air pump; 17. air inlet; 18. movable baffle; 19. fourth motor. DETAILED DESCRIPTION

[0043] The following is further described in detail through specific implementation methods:

[0044] Embodiment 1:

[0045] As attached Figure 1-Figure 6 As shown: A fruit tree automatic pruning system based on machine vision, including an image processing module, a decision-making module, an intelligent control module, a camera 1, a driving vehicle 2 and a pruner.

[0046] Among them, the camera 1 is mainly used to capture the image of the fruit tree and determine the specific location of the fruit and branches and leaves. The image processing module is used to identify the branch structure through image processing technology and identify the branches and leaves that need to be pruned. The decision-making module is used to calculate the cutting path and driving path of the pruner and the driving vehicle 2 from the current position to the target position based on the results of the image processing module. The intelligent control module is used to control the pruner and the driving vehicle 2 to move to the target position for branch pruning according to the cutting path and driving path information provided by the decision-making module, while avoiding fruits and branches and leaves that do not need to be pruned during the pruning process.

[0047] The following is a detailed explanation of the functions of each module and component:

[0048] The camera 1 is mounted on the driving vehicle 2 and can move with the vehicle to capture images of the fruit trees in real time; these images provide important information such as the structure of the branches and trunks of the fruit trees and the position of the fruits.

[0049] The image processing module is used to receive image data from the camera 1 and process the image using computer vision technology, for example, image segmentation, feature extraction, object recognition and other steps. Through these processes, the system can identify which branches and leaves need to be pruned and which parts need to be retained. Avoid the possibility of mispruning in traditional pruning methods. Dynamically adjust the pruning strategy according to the actual situation of the fruit trees, so that pruning is more accurate, which helps to maintain the healthy growth of the fruit trees.

[0050] Specifically, computer vision technology uses the SIFT feature extraction method to extract the features of branches and leaves, including edge, texture and color information, and uses the convolutional neural network (CNN) for feature learning and classification. The model is trained with a large amount of labeled data to enable it to accurately identify different types of branches and leaves.

[0051] The U-Net semantic segmentation technology is used to segment different parts of the image and generate pixel-level label maps. The Mask R-CNN instance segmentation technology is then used to identify and segment each branch individually to ensure that the boundaries of each branch are clear. The multi-scale feature extraction and the output of the deep learning model are integrated to improve the accuracy and robustness of recognition.

[0052] The branches and leaves that need to be pruned include but are not limited to crossed branches, overlapping branches, weak branches, dry branches, diseased and insect-infested branches, overgrown branches, inner branches, competing branches, drooping branches and overcrowded branches; in this embodiment, diseased and insect-infested branches are selected. By identifying the diseased and weak branches of fruit trees, the pruning operation is more targeted, the tree structure can be optimized, the ventilation and light transmission conditions can be improved, and the healthy growth of fruit trees can be promoted, thereby improving the quality of fruit trees.

[0053] Specifically, by using the CNN algorithm for comparative analysis, the crossing branches are identified by detecting the intersection points and angles between the branches. Overlapping branches are identified by detecting the overlapping areas between the branches. Weak branches are identified by detecting the thickness and color of the branches. Dry branches are identified by detecting the color and texture of the branches. Diseased and insect-infested branches are identified by detecting abnormal spots and textures on the branches. Leggy branches are identified by detecting the growth direction and length of the branches. Inner bore branches are identified by detecting the position and lighting conditions of the branches. Competing branches are identified by detecting the competitive relationship between branches (such as distance and angle). Drooping branches are identified by detecting the degree and direction of the bending of the branches. Overcrowded branches are identified by detecting the density and distribution of branches.

[0054] The decision-making module calculates the optimal pruning path based on the information provided by the image processing module and in combination with the principles and standards of fruit tree pruning; including determining the position that the pruner needs to reach and the route that the driving vehicle 2 needs to travel.

[0055] Specifically, a series of pruning rules are formulated in combination with professional knowledge and experience in horticultural pruning. For example, crossed branches, overlapping branches and other branches that may affect the growth of trees and ventilation and light transmission should be pruned, while strong and well-growing branches should be retained.

[0056] In the decision-making process, factors such as the tree's growth environment, soil type, and climatic conditions are also taken into consideration to ensure that pruning decisions are scientific and reasonable. Each branch is assigned a priority score based on its type and location, and branches with high scores are pruned first. For example, diseased and insect-infested branches and dry branches have the highest priority, followed by crossed branches and overlapping branches, and finally weak branches and overgrown branches.

[0057] After receiving the path information output by the decision-making module, the intelligent control module is responsible for controlling the action of the trimmer and the movement of the driving vehicle 2. It ensures that the trimmer can accurately reach the target position for pruning, and ensures the accuracy and safety of pruning by adjusting the angle and strength of the trimmer in real time. And according to the feedback from camera 1, it timely avoids the fruits of the fruit trees and the branches and leaves that do not need to be pruned to avoid unnecessary damage to the fruit trees. From image acquisition to pruning execution, the entire process is highly automated, reducing the impact of human factors, making pruning operations more efficient; and reducing dependence on manual pruning, reducing the labor cost of orchard management.

[0058] Specifically, the Dijkstra algorithm is used for path planning to generate the shortest path based on the current position and target position of the pruner. Considering the motion constraints of the mechanical shears and the complexity of the orchard environment, the RRT (Rapidly-exploring Random Trees) algorithm is used for path planning to ensure the feasibility and safety of the path.

[0059] During the path planning process, obstacles in the orchard (such as other branches, fruits, supports, etc.) are considered, and the RVO dynamic obstacle avoidance algorithm is used to ensure that the pruner does not collide with obstacles during movement. The multi-objective optimization algorithm NSGA-II is used to simultaneously consider the length, time and safety of the pruning path to generate the optimal pruning path.

[0060] Finally, during the pruning process, the intelligent control module can monitor the position and status of the mechanical shears in real time and make adaptive adjustments based on the actual situation. For example, when encountering thick branches, the intelligent control module will adjust the cutting force and speed of the pruning machine to ensure the pruning effect and quality.

[0061] Embodiment 2:

[0062] As attached Figure 1-Figure 3 As shown, the difference from the above embodiment lies in that the top of the driving vehicle 2 is bolted fixedly connected to the shell 3, and the inner bottom wall of the shell 3 is rotatably matched with a ball joint 4; the top of the ball joint 4 is bolted fixedly connected to the hydraulic rod 5, and the top of the hydraulic rod 5 extends from the inside of the shell 3 to the outside of the shell 3; an opening for the movement of the hydraulic rod 5 is opened at the top of the shell 3, and a movable rubber ring is fixedly bonded to the opening; the trimmer and the camera 1 are bolted fixedly connected to the output shaft of the hydraulic rod 5; the inside of the shell 3 is respectively provided with a lateral adjustment component and a longitudinal adjustment component for driving the hydraulic rod 5 to move lateral and longitudinally.

[0063] like Figure 2 As shown, the lateral adjustment component includes a controller and a first driving member. In this embodiment, the first driving member is a first motor 6; the controller is used to control the operation of the hydraulic rod 5 and the first motor 6; the first motor 6 is bolted and fixedly connected to the inner bottom wall of the shell 3, and the output shaft of the first motor 6 is bolted and fixedly connected to a semicircular adjustment plate 7; the adjustment plate 7 is provided with an adjustment groove for the movement of the hydraulic rod 5 along its length direction, and the inner wall of the adjustment plate 7 is slidably matched with the ball joint 4; one end of the left side of the adjustment plate 7 is rotatably matched with the inner wall of the shell 3.

[0064] like Figure 3 As shown, the longitudinal adjustment component includes a second driving member. In this embodiment, the second driving member is a second motor 8, and the controller is used to control the operation of the second motor 8; the output shaft of the second motor 8 is bolted and fixedly connected with a semicircular moving plate 9, and the moving plate 9 is vertically installed with the adjustment plate 7; the inner wall of the moving plate 9 is slidably matched with the adjustment plate 7, and the moving plate 9 is provided with a sliding groove for the movement of the hydraulic rod 5 along its length direction; the second motor 8 is bolted and fixedly connected to the inner wall of the outer shell 3, and one end of the left side of the moving plate 9 is rotatably matched with the inner wall of the outer shell 3.

[0065] The specific implementation process is as follows: Figure 2As shown, the first motor 6 drives the adjustment plate 7 to reciprocate. Since the adjustment plate 7 is semicircular and slides with the ball joint 4, the moving plate 9 has a sliding groove along its length for the hydraulic rod 5 to move. Therefore, when the adjustment plate 7 reciprocates horizontally, it can drive the hydraulic rod 5 to rotate accordingly. After moving to the specified position, the trimmer and the camera 1 are moved to the preset position by extending the hydraulic rod 5, thereby adjusting the position of the trimmer and the camera 1 and improving the working efficiency. Figure 1 and Figure 3 For example, when the first motor 6 drives the adjusting rod to move to the right, the hydraulic rod 5 can move to the right; otherwise, the hydraulic rod 5 can move to the left.

[0066] like Figure 3 As shown, the moving plate 9 is driven by the second motor 8 to rotate back and forth. Since the moving plate 9 is semicircular and slides with the adjusting plate 7, the moving plate 9 and the adjusting plate 7 are installed vertically, and the adjusting plate 7 has an adjusting groove for the movement of the hydraulic rod 5 along its length direction; therefore, the hydraulic rod 5 can be made to perform longitudinal reciprocating motion through the longitudinal reciprocating motion of the moving plate 9; by combining with the adjusting plate 7, the hydraulic rod 5 can be rotated in any direction, thereby improving the adaptability of the equipment; ensuring that the trimmer and the camera 1 can accurately reach the required position, improving the working accuracy and efficiency.

[0067] by Figure 1 and Figure 2 For example, when the second motor 8 drives the motion rod to move to the right, the hydraulic rod 5 can move to the right; conversely, the hydraulic rod 5 can move to the left. The design of the spherical joint 4 and the inner bottom wall of the housing 3 are rotatably matched, so that the hydraulic rod 5 can move flexibly in multiple directions, thereby meeting the operation requirements of the trimmer and the camera 1 at different angles.

[0068] Embodiment 3:

[0069] As attached Figure 1 , Figure 4 and Figure 6 As shown, the difference from the above embodiment is that the trimmer includes scissors 10, an arc plate 11 and a straight rod 12, the straight rod 12 is bolted and fixedly connected to the top of the output shaft of the hydraulic rod 5; the arc plate 11 is bolted and fixedly connected to the top of the straight rod 12, and the scissors 10 are hinged to the top of the straight rod 12; the straight rod 12 is provided with a driving component for driving the scissors 10 to rotate.

[0070] like Figure 4As shown, the driving assembly includes a third driving member. In this embodiment, the third driving member is a third motor 13, and the controller is used to control the operation of the third motor 13; the third motor 13 is bolted and fixedly connected to the outer wall of the straight rod 12, and the output shaft of the third motor 13 is coaxially bolted and fixedly connected to the first gear 14, and the first gear 14 is meshed with a fan-shaped gear 15; the right side of the fan-shaped gear 15 is bolted and fixedly connected to the scissors 10.

[0071] The specific implementation process is as follows: the third motor 13 drives the first gear 14 to rotate, and the first gear 14 drives the fan gear 15 meshing with it to rotate; because the fan gear 15 is bolted and fixedly connected to the scissors 10, when the fan gear 15 rotates, the scissors 10 can be closed. Figure 4 For example, when the first gear 14 rotates clockwise, it can drive the fan gear 15 to rotate counterclockwise; counterclockwise rotation drives the scissors 10 to move downward, thereby closing the scissors 10 downward; conversely, the scissors 10 can be opened upward. This design allows the scissors 10 to be accurately closed when needed, thereby improving the pruning efficiency. By driving the scissors 10 to rotate, the scissors 10 can rotate and close during the pruning process, thereby pruning the branches and leaves; the automation efficiency of the device is increased, thereby reducing labor input.

[0072] Embodiment 4:

[0073] As attached Figure 1 and Figure 6 As shown, the difference from the above embodiment is that the outer wall on the left side of the straight rod 12 is bolted and fixedly connected with a pump assembly for sucking branches and leaves. In this embodiment, the pump assembly is an air pump 16, and the controller is used to control the operation of the air pump 16; the input end of the air pump 16 is bolted and fixedly connected with an air intake port 17, and the inner wall of the air intake port 17 is fixedly bonded with a buffer layer.

[0074] The specific implementation process is as follows: negative pressure is generated by the air pump 16, so that the branches and leaves to be pruned are sucked; the branches and leaves with light weight can be quickly fixed, so that the pruning can be more stable. The shaking and movement of the branches and leaves during the pruning process are effectively prevented, thereby improving the pruning accuracy and efficiency.

[0075] Embodiment 5:

[0076] As attached Figure 5 and Figure 6 As shown, the difference from the above embodiment is that a movable baffle 18 is hingedly connected to the outer wall on the right side of the straight rod 12 , and a rotating assembly for rotating the movable baffle 18 is provided on the straight rod 12 .

[0077] The rotating assembly includes a fourth driving member. In this embodiment, the fourth driving member is a fourth motor 19. The controller is used to control the operation of the fourth motor 19. The fourth motor 19 is bolted and embedded in the straight rod 12. The output shaft of the fourth motor 19 is bolted and fixedly connected to the movable baffle 18.

[0078] The specific implementation process is as follows: the fourth motor 19 drives the movable baffle 18 to rotate, thereby adjusting the angle of the movable baffle 18; the automated operation method is used to make the pruning work smoother and optimize the overall workflow. For branches and leaves that do not need to be pruned, the movable baffle 18 can avoid them to avoid accidental pruning or damage, making the pruning work more flexible and accurate.

[0079] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A fruit tree automatic pruning system based on machine vision, comprising an image processing module, a decision-making module, an intelligent control module, a camera (1), a driving vehicle (2) and a pruner, characterized in that: A camera (1) is used to capture images of fruit trees and determine the specific locations of fruits and branches and leaves; An image processing module is used to identify the branch structure through image processing technology and identify the branches and leaves that need to be pruned; A decision-making module, for calculating a cutting path and a driving path of a trimmer and a driving vehicle (2) from a current position to a target position according to the result of the image processing module; The intelligent control module is used to control the trimmer and the driving vehicle (2) to move to the target position to trim branches and leaves according to the cutting path and driving path information provided by the decision-making module, and avoid fruits and branches and leaves that do not need to be trimmed during the trimming process.

2. The automatic fruit tree pruning system based on machine vision according to claim 1, characterized in that: The branches and leaves that need to be pruned in the image processing module include but are not limited to crossed branches, overlapping branches, weak branches, dry branches, diseased and insect-infested branches, overgrown branches, inner branches, competing branches, drooping branches and overcrowded branches.

3. The machine vision-based automatic pruning system for fruit trees according to claim 2, characterized in that: The top of the driving vehicle (2) is fixedly connected to a housing (3), and the inner bottom wall of the housing (3) is rotatably matched with a ball joint (4); the top of the ball joint (4) is fixedly connected to a hydraulic rod (5), and one end of the hydraulic rod (5) away from the ball joint (4) extends from the inside of the housing (3) to the outside of the housing (3); the top of the housing (3) is provided with an opening for the hydraulic rod (5) to move, and a movable rubber ring is fixedly connected to the opening; the trimmer and the camera (1) are both fixedly connected to the output shaft of the hydraulic rod (5); and a lateral adjustment component and a longitudinal adjustment component for driving the hydraulic rod (5) to move lateral and longitudinally are respectively provided inside the housing (3).

4. The machine vision-based automatic pruning system for fruit trees according to claim 3, characterized in that: The lateral adjustment component comprises a controller and a first driving member, the controller is used to control the operation of the hydraulic rod (5) and the first driving member; the first driving member is fixedly connected to the inner bottom wall of the outer shell (3), and the output shaft of the first driving member is fixedly connected to a semicircular adjustment plate (7); the adjustment plate (7) is provided with an adjustment groove for the movement of the hydraulic rod (5) along its length direction, and the inner side wall of the adjustment plate (7) is slidably matched with the spherical joint (4); and the end of the adjustment plate (7) away from the first driving member is rotationally matched with the inner side wall of the outer shell (3).

5. The machine vision-based automatic fruit tree pruning system according to claim 4, characterized in that: The longitudinal adjustment component comprises a second driving member, and the controller is used to control the operation of the second driving member; the output shaft of the second driving member is fixedly connected to a semicircular moving plate (9), and the moving plate (9) is vertically installed with the adjusting plate (7); the inner wall of the moving plate (9) is slidably matched with the adjusting plate (7), and the moving plate (9) is provided with a sliding groove along its length direction for the hydraulic rod (5) to move; the second driving member is fixedly connected to the inner wall of the outer shell (3), and the end of the moving plate (9) away from the second driving member is rotatably matched with the inner wall of the outer shell (3).

6. The machine vision-based automatic pruning system for fruit trees according to claim 5, characterized in that: The trimmer comprises scissors (10), an arc plate (11) and a straight rod (12); the straight rod (12) is fixedly connected to the top end of the output shaft of the hydraulic rod (5); the arc plate (11) is fixedly connected to the top end of the straight rod (12); the scissors (10) are hinged to the top end of the straight rod (12); and a driving component for driving the scissors (10) to rotate is provided on the straight rod (12).

7. The machine vision-based automatic fruit tree pruning system according to claim 6, characterized in that: The driving assembly comprises a third driving member, and the controller is used to control the operation of the third driving member; the third driving member is fixedly connected to the outer wall of the straight rod (12); the output shaft of the third driving member is coaxially fixedly connected to the first gear (14); the first gear (14) is meshed with a fan-shaped gear (15); the fan-shaped gear (15) is fixedly connected to the scissors (10) at a side away from the first gear (14).

8. The machine vision-based automatic fruit tree pruning system according to claim 7, characterized in that: A pump assembly for sucking branches and leaves is fixedly connected to the outer wall of the straight rod (12) away from the third driving member, and a controller is used to control the operation of the pump assembly; an input end of the pump assembly is fixedly connected to an air intake port (17), and a buffer layer is fixedly connected to the inner wall of the air intake port (17).

9. The machine vision-based automatic fruit tree pruning system according to claim 8, characterized in that: A movable baffle (18) is hingedly connected to the outer wall of the straight rod (12) away from the pump assembly, and a rotating assembly for rotating the movable baffle (18) is provided on the straight rod (12).

10. The machine vision-based automatic fruit tree pruning system according to claim 9, characterized in that: The rotating assembly comprises a fourth driving member, and the controller is used to control the operation of the fourth driving member; the fourth driving member is embedded and installed on the straight rod (12), and the output shaft of the fourth driving member is fixedly connected to the movable baffle (18).

Images