Intelligent air suction type walnut picking equipment based on machine vision
By using a machine vision-based intelligent air-suction walnut picking device, combined with a cyclone separation and filtration mechanism, the problem of low efficiency of existing equipment has been solved, achieving efficient and dust-free walnut picking and reducing labor costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-21
- Publication Date
- 2026-04-07
AI Technical Summary
Existing walnut picking equipment relies on simple mechanical structures, such as rollers and screens, which results in walnuts being mixed with dust, weeds, and other debris, requiring additional separation steps, which is inefficient and increases labor costs.
This intelligent air-suction walnut picking device, based on machine vision, combines a cyclone separator and a filtration mechanism. It uses negative pressure vacuum to suck up walnuts and separates dust and debris through a cyclone separator and filter. Combined with an intelligent navigation and recognition system, it can accurately locate and efficiently pick up walnuts.
This technology enables dust-free walnut picking, improving picking efficiency and quality, reducing manual operations, lowering labor intensity and costs, and ensuring a clear field of view for the visual camera.
Smart Images
Figure CN121795239A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of green husked walnut picking, in particular to an intelligent air suction type walnut picking device based on machine vision. BACKGROUND
[0002] Walnut is a kind of nut with very high nutritional value, green husked walnut contains rich fatty acids, antioxidants and dietary fiber which can reduce cholesterol and improve blood lipid level, and is beneficial to cardiovascular health, the composition of these amino acids is similar to the human body's needs, and the digestion and absorption rate is high, during the growth of walnut, some of them will fall to the ground, or fall during picking, in order to ensure that resources are not wasted, walnut picking equipment will be used to pick up the walnuts on the ground;
[0003] However, the existing walnut picking equipment relies on simple mechanical structures such as rollers, screens, etc., and picks up walnuts from the ground by physical methods, and the picked walnuts contain dust, weeds and other impurities, which also need to be separated, thereby causing low efficiency of walnut picking, and the equipment also needs manual operation, thereby increasing the use cost and labor intensity of manual labor. SUMMARY
[0004] In view of the deficiencies of the prior art, the present application provides an intelligent air suction type walnut picking device based on machine vision, which solves the problem that the existing walnut picking equipment relies on simple mechanical structures such as rollers, screens, etc., and picks up walnuts from the ground by physical methods, and the picked walnuts contain dust, weeds and other impurities, which also need to be separated, thereby causing low efficiency of walnut picking.
[0005] To achieve the above purpose, the present application is implemented by the following technical scheme: an intelligent air suction type walnut picking device based on machine vision, comprising a mobile chassis, a positioning mechanism is arranged on the top of the mobile chassis, which is used for positioning and picking green husked walnuts on the ground, a device shell is fixedly connected to the top of the mobile chassis, a fixed frame is fixedly connected inside the device shell, a picking mechanism is arranged on one side of the inside of the fixed frame, which is used for generating negative pressure vacuum and collecting walnuts on the ground, and a filtering mechanism is arranged on the other side of the inner wall of the fixed frame, which is used for dust adsorption, thereby ensuring dust-free operation during walnut collection;
[0006] The picking mechanism comprises a cyclone separation barrel, the cyclone separation barrel is installed inside the fixed frame, a motor is fixedly connected to the top of the cyclone separation barrel, a cyclone separator is fixedly connected to the output end of the motor, a baffle is fixedly connected to the inner wall of the cyclone separation barrel, a collection barrel is installed at the bottom of the cyclone separation barrel, a collection pipeline is fixedly connected to the outside of the cyclone separation barrel, and a switch is fixedly connected to the outside of the cyclone separation barrel.
[0007] Preferably, the filtering mechanism comprises a filter barrel, the outer part of the filter barrel is fixedly connected to the inner part of the fixed frame, the top of the filter barrel is fixedly connected with a gas tank, the outer part of the gas tank is fixedly connected with a gas pipe, the inner wall of the filter barrel is installed with a filter core, the filter core is arranged in the inner part of the filter barrel, the bottom of the filter barrel is fixedly connected with a conveying pipeline, the outer part of the filter barrel is fixedly connected with a connecting pipeline, the pickup mechanism is arranged on one side of the filtering mechanism, one end of the conveying pipeline is fixedly connected to the inner wall of the cyclone separation barrel, one end of the connecting pipeline is fixedly connected to the inner wall of the cyclone separation barrel.
[0008] Preferably, the positioning mechanism comprises two electric guide rails one, the two ends of the electric guide rail one are installed on the top of the mobile chassis, the outer part of the electric guide rail one is slidably connected with a sliding block one, one side of the sliding block one is installed with an electric guide rail two, the outer part of the electric guide rail two is slidably connected with a sliding block two, one side of the sliding block two is installed with an electric guide rail three, the outer part of the electric guide rail three is slidably connected with a sliding block three, one side of the sliding block three is fixedly connected with a limiting sleeve ring, one end of the collecting pipeline is arranged in the inner part of the limiting sleeve ring, the bottom of the mobile chassis is installed with four wheels, one side of the sliding block three is installed with a visual camera.
[0009] Preferably, the intelligent air suction type walnut picking system comprises an intelligent walnut recognition system and an intelligent navigation system, the intelligent walnut recognition system comprises an image acquisition module, an image processing unit, a device shell and a power management system, the image acquisition module uses a visual camera to take pictures of the walnuts in the picking area below the mobile chassis in real time, the image processing unit uses a convolutional neural network to process the images collected by the visual camera in real time to locate the walnuts, the device shell is used to control the positioning mechanism to move the collecting pipeline to the top of the green walnut, and the power management system is used to provide stable power supply.
[0010] Preferably, the intelligent navigation system comprises a Beidou navigation module, a data processing unit, a power supply module and a positioning camera, which is used to make the optimal driving path for the trolley, the Beidou navigation module is used to locate the position of the trolley in the orchard in real time and limit it within the range of the walnut picking orchard, the positioning camera collects the walnut trees and environmental perception near the device, the data processing unit is used to process the images collected by the positioning camera to avoid the walnut trees and plan the path, so as to realize the autonomous walking of the device in the walnut orchard, and the power supply module is used to provide stable power supply for the system.
[0011] Working principle: when the device is used, the walnut picking device moves in the specified direction under the action of the intelligent navigation system, so that the walnut picking device moves to the specified position, the ground is photographed and recognized by the intelligent walnut recognition system, and the photographed walnuts are positioned by the device shell, so that the walnuts on the ground are conveniently and intelligently picked up.
[0012] After the intelligent walnut identification system locates the walnuts, the electric guide rail one drives the slider one to adjust its left and right position, and the electric guide rail two drives the slider two to adjust its front and back position. In conjunction with the electric guide rail three, the slider three moves up and down. By adjusting these, one end of the collection pipe can be easily aligned with the walnuts on the ground. Then, the motor is started to drive the cyclone separator to rotate, which in turn creates negative pressure inside the cyclone separator barrel. This causes one end of the collection pipe to suck up the walnuts on the ground, thus sucking them into the cyclone separator barrel. Gravity causes the walnuts to fall into the collection barrel, making the walnuts easy to collect.
[0013] During the collection process, dust and other debris are collected. When the debris enters the cyclone separator, the centrifugal force generated by the cyclone separator causes it to pass through the baffle and enter the connecting pipe and then into the filter barrel. The filter element then adsorbs and filters the dust, thus separating the collected dust from the walnuts.
[0014] This invention provides an intelligent pneumatic suction walnut picking device based on machine vision. It has the following features:
[0015] Beneficial effects:
[0016] 1. This invention uses a motor to rotate the cyclone separator, which draws walnuts into the cyclone separator bucket from one end of the collection pipe. Under the influence of gravity, the walnuts fall into the collection bucket. This allows dust to pass through the baffle and enter the filter bucket, where it is adsorbed by the filter element. By utilizing fluid dynamics, dust-free picking is achieved, providing a clear field of view for the visual camera, ensuring fast and accurate walnut picking, and improving the efficiency and quality of walnut picking.
[0017] 2. This invention utilizes an intelligent navigation system to move the walnut picking device in a designated direction. Once the device reaches the designated location, an intelligent walnut recognition system takes a picture of the ground and locates the walnuts in the image using the device's casing. This allows for convenient and intelligent picking of walnuts from the ground. The invention accurately identifies the location of individual walnuts and infers their three-dimensional position from the relative position of the walnut detection frame, providing a basis for subsequent picking.
[0018] 3. This invention uses an electric guide rail one to drive a slider one for adjustment, and then an electric guide rail two to drive a slider two for adjustment. In conjunction with an electric guide rail three, a slider three is driven to move up and down. The slider three then drives a limit ring to move, thus allowing one end of the collection pipe to be conveniently aligned with the walnuts on the ground for pickup. With the help of an intelligent navigation system, the optimal driving path is determined for the trolley, avoiding repetitive work and ineffective movement, and effectively avoiding interference from obstacles, thereby improving the service life of the trolley. Attached Figure Description
[0019] Figure 1 This is a perspective view of the present invention;
[0020] Figure 2 This is a schematic diagram of the collection pipe structure of the present invention;
[0021] Figure 3 This is a schematic diagram of the conveying pipeline structure of the present invention;
[0022] Figure 4 This is a schematic diagram of the filter element structure of the present invention;
[0023] Figure 5 This is a schematic diagram of the cyclone separator structure of the present invention;
[0024] Figure 6 This is a schematic diagram of the limiting collar structure of the present invention;
[0025] Figure 7 This is a schematic diagram of the electric guide rail structure of the present invention;
[0026] Figure 8 This is a diagram of the intelligent navigation system of the present invention;
[0027] Figure 9 This is a diagram of the intelligent walnut identification system of the present invention.
[0028] The components include: 1. Mobile chassis; 2. Wheels; 3. Equipment casing; 4. Positioning mechanism; 401. Electric guide rail one; 402. Slider one; 403. Electric guide rail two; 404. Slider two; 405. Electric guide rail three; 406. Limiting ring; 407. Slider three; 5. Vision camera; 6. Fixing frame; 7. Picking mechanism; 701. Cyclone separator; 702. Collection pipe; 703. Collection bucket; 704. Baffle; 705. Switch; 706. Motor; 707. Cyclone separator; 8. Filtration mechanism; 801. Conveying pipe; 802. Filter element; 803. Connecting pipe; 804. Filter bucket; 805. Air tank; 806. Air pipe. Detailed Implementation
[0029] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0030] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 6 This invention provides an intelligent air-suction walnut picking device based on machine vision, comprising two mobile chassis 1, which serve as supports and stabilizers. A positioning mechanism 4 is installed on the top of each mobile chassis 1, used to adjust its position for convenient subsequent picking of walnuts from the ground. A device housing 3 is fixedly connected to the top of each mobile chassis 1. A device drive battery is installed on one side of the device housing 3 for storing power, and a walnut recognition camera is installed on the outside of the device housing 3 for capturing walnuts during the movement of the trolley. A fixed frame 6 is fixedly connected inside the device housing 3. A picking mechanism 7 is installed on one side of the inside of the fixed frame 6, used to locate walnuts on the ground in conjunction with a vision camera 5, and facilitates collection of walnuts through three-axis motion. A filtering mechanism 8 is installed on the other side of the inner wall of the fixed frame 6 for filtering and collecting dust and debris during the collection process.
[0031] Please see the appendix Figure 2 Appendix Figure 3 and attached Figure 5 The picking mechanism 7 includes a cyclone separator 701, which is externally mounted inside the fixed frame 6. The cyclone separator 701 is designed to separate debris from walnuts through airflow. A motor 706 is fixedly connected to the top of the cyclone separator 701, and a cyclone separator 707 is fixedly connected to the output end of the motor 706. The motor 706 serves as a drive source, driving the cyclone separator 707 to operate. The airflow generated by the cyclone separator 707 separates debris from walnuts. A baffle 704 is fixedly connected to the inner wall of the cyclone separator 701 to guide the direction of airflow. A collection bucket 703 is installed at the bottom of the cyclone separator 701, and a collection pipe 702 is fixedly connected to the outside of the cyclone separator 701. A switch 705 is also fixedly connected to the outside of the cyclone separator 701. The collection bucket 703, in conjunction with the collection pipe 702, can collect walnuts.
[0032] Please see the appendix Figure 3 Appendix Figure 4 and attached Figure 5The filtration mechanism 8 includes a filter barrel 804, which is externally fixedly connected to the inside of the fixing frame 6. The filter barrel 804 is used to collect separated debris. An air tank 805 is fixedly connected to the top of the filter barrel 804, and an air pipe 806 is fixedly connected to the outside of the air tank 805. A filter element 802 is installed on the inner wall of the filter barrel 804. The filter element 802 is located inside the filter barrel 804 and is used to adsorb dust inside the filter barrel 804. A conveying pipe 801 is fixedly connected to the bottom of the filter barrel 804, and a connecting pipe 803 is fixedly connected to the outside of the filter barrel 804. The connecting pipe 803 is used to guide the debris separated from the cyclone separator 701 into the inside of the filter barrel 804 through the cyclone separator 707. The picking mechanism 7 is located on one side of the filtering mechanism 8. One end of the conveying pipe 801 is fixedly connected to the inner wall of the cyclone separator 701, and one end of the connecting pipe 803 is fixedly connected to the inner wall of the cyclone separator 701. One end of the collecting pipe 702 is located inside the limiting sleeve 406. The picking mechanism 7 is responsible for the initial separation of walnuts and impurities, and sends the mixture into the filtering barrel 804 and filters it through the dust separated by the filtering mechanism 8.
[0033] Please see the appendix Figure 1 Appendix Figure 6 and attached Figure 7 The positioning mechanism 4 includes two electric guide rails 401. The two ends of the electric guide rails 401 are mounted on the top of the mobile chassis 1. A slider 402 is slidably connected to the outside of the electric guide rails 401. An electric guide rail 403 is mounted on one side of the slider 402. The electric guide rails 401 drive the slider 402 to move the electric guide rails 403. A slider 404 is slidably connected to the outside of the electric guide rails 403. An electric guide rail 405 is mounted on one side of the slider 404. The electric guide rails 403 drive the slider 404 to move the electric guide rail 405. A slider 407 is slidably connected to the outside of the electric guide rails 405. A limit collar 406 is fixedly connected to one side of the slider 407. The electric guide rails 405 drive the slider 407 to move the limit collar 406 up and down. Four wheels 2 are installed at the bottom of the mobile chassis 1, and a vision camera 5 is installed on the outside of one side slider 402. The wheels 2 improve the flexibility of the device, and the vision camera 5 is installed on one side of slider 407, so that the vision camera 5 can be realized without interference from other objects.
[0034] Please see the appendix Figure 7 Appendix Figure 8 and attached Figure 9The equipment casing 3 is equipped with an intelligent walnut recognition system. This system is installed in the picking area to precisely guide the picking mechanism 7 in collecting walnuts. An intelligent navigation system is installed at the front of the vehicle. By recognizing walnut trees and planning a path, the intelligent walnut recognition system includes an image acquisition module, an image processing unit, the equipment casing, and a power management system. It is used to detect walnuts on the ground and collect them. The acquisition module uses a visual camera to capture real-time images of the walnuts in the picking area under the mobile chassis, thus locating the walnuts. The image processing unit uses a convolutional neural network to process the images captured by the visual camera in real time, thereby determining the specific location of the walnuts. The equipment casing controls the positioning mechanism in real-time to move the collection pipe to the top of the green-skinned walnuts. The power management system provides a stable power supply. The intelligent navigation system includes a Beidou navigation module, a data processing unit, a power supply module, and a positioning camera, used to plan the optimal driving path for the vehicle. The Beidou navigation module is used to locate the position of the vehicle in the orchard in real time and limit it to the area of the walnut orchard where it is picking. The positioning camera collects images of walnut trees near the device. The data processing unit is used to process the images collected by the positioning camera to formulate the optimal driving path, avoid walnut trees and plan the path, so as to realize the autonomous movement of the device in the walnut orchard and ensure that the vehicle moves efficiently along the predetermined route. The power supply module is used to provide a stable power supply for the system.
[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A machine vision-based intelligent pneumatic walnut picking device, comprising a mobile chassis (1), characterized in that, The top of the mobile chassis (1) is provided with a positioning mechanism (4) for positioning and picking up green walnuts on the ground. The top of the mobile chassis (1) is fixedly connected with a device shell (3). The inside of the device shell (3) is fixedly connected with a fixed frame (6). One side of the inside of the fixed frame (6) is provided with a picking mechanism (7) for generating a negative pressure vacuum and collecting walnuts on the ground. The other side of the inner wall of the fixed frame (6) is provided with a filtering mechanism (8) for dust adsorption, thereby ensuring dust-free operation during walnut collection. The picking mechanism (7) includes a cyclone separator (701), the outside of which is installed inside the fixed frame (6). A motor (706) is fixedly connected to the top of the cyclone separator (701), and a cyclone separator (707) is fixedly connected to the output end of the motor (706). A baffle (704) is fixedly connected to the inner wall of the cyclone separator (701). A collection bucket (703) is installed at the bottom of the cyclone separator (701). A collection pipe (702) is fixedly connected to the outside of the cyclone separator (701). A switch (705) is fixedly connected to the outside of the cyclone separator (701).
2. The intelligent pneumatic walnut picking device based on machine vision according to claim 1, characterized in that, The filtration mechanism (8) includes a filter barrel (804), the outside of which is fixedly connected to the inside of the fixing frame (6). A gas tank (805) is fixedly connected to the top of the filter barrel (804), and a gas pipe (806) is fixedly connected to the outside of the gas tank (805). A filter element (802) is installed on the inner wall of the filter barrel (804), and the filter element (802) is located inside the filter barrel (804). A conveying pipe (801) is fixedly connected to the bottom of the filter barrel (804), and a connecting pipe (803) is fixedly connected to the outside of the filter barrel (804). The picking mechanism (7) is located on one side of the filtration mechanism (8). One end of the conveying pipe (801) is fixedly connected to the inner wall of the cyclone separator (701), and one end of the connecting pipe (803) is fixedly connected to the inner wall of the cyclone separator (701).
3. The intelligent pneumatic walnut picking device based on machine vision according to claim 1, characterized in that, The positioning mechanism (4) includes two electric guide rails (401). The two ends of the electric guide rails (401) are installed on the top of the mobile chassis (1). A slider (402) is slidably connected to the outside of the electric guide rails (401). An electric guide rail (403) is installed on one side of the slider (402). A slider (404) is slidably connected to the outside of the electric guide rails (403). An electric guide rail (405) is installed on one side of the slider (404). A slider (407) is slidably connected to the outside of the electric guide rails (405). A limiting collar (406) is fixedly connected to one side of the slider (407). One end of the collection pipe (702) is located inside the limiting collar (406). Four wheels (2) are installed at the bottom of the mobile chassis (1). A vision camera (5) is installed on one side of the slider (407).
4. A machine vision-based intelligent pneumatic walnut picking system, applied to the machine vision-based intelligent pneumatic walnut picking device according to any one of claims 1-3, characterized in that, The intelligent air-suction walnut picking system includes an intelligent walnut identification system and an intelligent navigation system; The intelligent walnut identification system includes an image acquisition module, an image processing unit, a device housing, and a power management system. The image acquisition module uses a visual camera to capture real-time images of walnuts in the picking area under the moving chassis. The image processing unit uses a convolutional neural network to process the images captured by the visual camera in real-time to locate the walnuts. The device housing is used to control the positioning mechanism in real-time to move the collection pipe to the top of the green walnuts. The power management system is used to provide a stable power supply.
5. The intelligent pneumatic walnut picking system based on machine vision according to claim 4, characterized in that, The intelligent navigation system includes a Beidou navigation module, a data processing unit, a power supply module, and a positioning camera. It is used to formulate the optimal driving path for the vehicle. The Beidou navigation module is used to locate the vehicle's position in the orchard in real time and restrict it to the area of the walnut orchard where it is picking walnuts. The positioning camera collects images of walnut trees near the device. The data processing unit is used to process the images collected by the positioning camera to avoid walnut trees and plan the path, enabling the device to move autonomously in the walnut orchard. The power supply module is used to provide a stable power supply for the system.