Apple orchard fruit tree shooting device

Abstract

The utility model discloses an apple orchard fruit tree shooting device, and relates to the technical field of orchard operation, the apple orchard fruit tree shooting device comprises a walking trolley and image shooting devices arranged at the two ends of the walking trolley, the image shooting devices are slidably connected with the walking trolley, the sliding direction of the image shooting devices is perpendicular to the first walking direction of the walking trolley, and the sliding direction of the image shooting devices is perpendicular to the first walking direction of the walking trolley. And the image acquisition ends of the image shooting devices at the two ends are arranged in opposite directions. When the walking trolley walks between two rows of apple trees, the two image shooting devices move in the opposite directions with the to-be-shot fruit trees as the reference, and therefore the shooting view range is widened. The two groups of image shooting devices are arranged at the two ends of the walking trolley, so that the two groups of image shooting devices shoot fruit trees on the two sides in a staggered and interactive manner, and the problem that the two groups of image shooting devices shield each other during shooting is also avoided.

Description

Technical Field

[0001] The present application relates to the technical field of orchard operations, and in particular to a device for photographing fruit trees in an apple orchard. Background Art

[0002] As the largest fruit in my country, apples are consumed in large quantities every year, and the area of ​​domestic apple orchards has reached nearly 2 million hectares in recent years. The traditional decentralized orchard management model is difficult to liberate labor, and the contradiction between the traditional orchard management model and the modern orchard management needs is becoming increasingly obvious. The management methods of orchards are developing in a diversified direction, and the intelligent orchard management model is booming. In the management and management of apple orchards, whether it is picking or managing apples, the identification of apples is essential.

[0003] Chinese patent CN107748886B discloses a track-based modern standardized orchard information perception system based on a depth camera, which uses sensors and cameras as the collection end, wherein the camera for collecting information is set on a rotating chassis through a rod, and the camera's collection direction can be controlled by rotating the chassis. The camera is set in the middle of the entire device, and can realize multi-directional information image collection under the action of the controller and the rotating chassis.

[0004] However, due to the limited space between rows of fruit trees in an apple orchard, the device usually moves between two rows of fruit trees, so the distance between the camera and the fruit trees is too close, resulting in a small field of view of the camera when taking pictures of two rows of fruit trees, and only a small part of the apples on a fruit tree can be photographed or identified. Summary of the invention

[0005] In order to solve the above technical problems, this application proposes the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides an apple orchard fruit tree photographing device, comprising: a walking cart, and image photographing devices arranged at both ends of the walking cart, the image photographing device being slidably connected to the walking cart, the sliding direction of the image photographing device being perpendicular to the forward moving direction of the walking cart, and the image acquisition ends of the image photographing devices at both ends are arranged in opposite directions.

[0007] In a possible implementation, the image capturing device includes a retractable shooting pole, a first end of the shooting pole is slidably disposed on the trolley, and a shooting camera is disposed on the second end.

[0008] In a possible implementation, the walking vehicle includes a vehicle body and a base platform disposed on the vehicle body, two ends of the base platform are respectively provided with slide rails, and the shooting pole is slidably connected to the base platform via the slide rails.

[0009] In a possible implementation, a toothed guide rail is fixedly disposed on an edge of the slide rail, and a driving system is disposed at the first end of the shooting pole, and the driving system is used to drive the shooting pole to move laterally along the toothed guide rail.

[0010] In a possible implementation, the drive system includes a system box body, the system box body is arranged on the shooting pole, a driving motor is arranged in the system box body, a first bevel gear is arranged on the rotation output shaft of the driving motor, a slider is arranged in the slide rail, a transmission gear group is arranged on the slider, a first gear is arranged between the transmission gear group and the toothed guide rail, the first bevel gear and the first gear are respectively meshed with the transmission gear group, the first gear is meshed with the toothed guide rail, and the shooting pole is fixedly connected to the intermediate bearing of the first gear.

[0011] In a possible implementation, the transmission gear set includes a second gear fixedly disposed on the slider, the second gear being meshingly connected to the first gear, a connecting shaft being vertically disposed on the second gear, one end of the connecting shaft being fixedly connected to the second gear, and a second bevel gear being fixedly disposed on the other end, the second bevel gear being meshingly connected to the first bevel gear.

[0012] In the embodiment of the present application, when the walking vehicle moves between two rows of apple trees, the two sets of image capture devices respectively move in opposite directions with reference to the fruit trees to be photographed, thereby widening the shooting field of view. Since the two sets of image capture devices are arranged at both ends of the walking vehicle, the two sets of image capture devices are staggered and alternately photographed when photographing the fruit trees on both sides, which also avoids the problem of mutual occlusion of the two sets of image capture devices during shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the structure of a device for photographing fruit trees in an apple orchard provided in an embodiment of the present application;

[0014] Figure 2 A side view of a device for photographing fruit trees in an apple orchard provided in an embodiment of the present application;

[0015] Figure 3 A schematic diagram of an operation scene of an apple orchard fruit tree photographing device provided in an embodiment of the present application;

[0016] Figure 4 A schematic diagram of a drive system provided in an embodiment of the present application;

[0017] Figure 1-4 In the symbol, it is represented as:

[0018] 1-shooting pole, 2-shooting camera, 3-body, 4-base platform, 5-slide rail, 6-toothed guide rail, 7-drive system, 8-drive motor, 9-first bevel gear, 10-slider, 11-first gear, 12-second gear, 13-connecting shaft, 14-second bevel gear. DETAILED DESCRIPTION

[0019] The present solution is described below in conjunction with the accompanying drawings and specific implementation methods.

[0020] See also Figure 1 and Figure 2 The apple orchard fruit tree photographing device in this embodiment includes: a walking cart, image photographing devices arranged at both ends of the walking cart, the image photographing device is slidably connected to the walking cart, the sliding direction of the image photographing device is perpendicular to the forward direction of the walking cart, and the image acquisition ends of the image photographing devices at both ends are arranged in opposite directions. Two groups of image photographing devices are installed in opposite directions on the walking cart, and they shoot alternately left and right, and are installed front and back in a staggered manner. The image photographing device at one end is responsible for photographing a row of apple trees on the right side of the walking cart, and the image photographing device at the other end is responsible for photographing a row of apple trees on the left side of the walking cart, thereby avoiding the problem of mutual occlusion of the two groups of image photographing devices during shooting. Figure 3 , which is a schematic diagram of the apple orchard fruit tree photographing device in this embodiment operating in an apple orchard.

[0021] In this embodiment, the image capture device includes a retractable shooting pole 1, a first end of the shooting pole 1 is slidably disposed on the trolley, and a second end is provided with a shooting camera 2. According to the height of the fruit trees on both sides, the height of the shooting camera 2 is flexibly adjusted by the shooting pole 1, and the shooting camera 2 obtains the best shooting field of view in conjunction with the lateral movement of the pole.

[0022] The walking trolley includes a vehicle body 3 and a base platform 4 arranged on the vehicle body 3 , and slide rails 5 are respectively arranged at both ends of the base platform 4 . The shooting pole 1 is slidably connected to the base platform 4 through the slide rails 5 , and the shooting pole 1 can move laterally along the slide rails 5 .

[0023] In this embodiment, a toothed guide rail 6 is fixedly arranged at the edge of the slide rail 5, and a driving system 7 is arranged at the first end of the shooting pole 1, and the driving system 7 is used to drive the shooting pole 1 to move laterally along the toothed guide rail 6. Figure 4The driving system 7 includes: a system box body, the system box body is arranged on the shooting pole 1, a driving motor 8 is arranged in the system box body, a first bevel gear 9 is arranged on the rotation output shaft of the driving motor 8, a slider 10 is arranged in the slide rail 5, a transmission gear set is arranged on the slider 10, a first gear 11 is arranged between the transmission gear set and the toothed guide rail 6, the first bevel gear 9 and the first gear 11 are respectively meshed with the transmission gear set, and the first gear 11 is meshed with the toothed guide rail 6.

[0024] Furthermore, the transmission gear group includes a second gear 12 fixedly arranged on the slider 10, the second gear 12 is meshingly connected with the first gear 11, a connecting shaft 13 is vertically arranged on the second gear 12, one end of the connecting shaft 13 is fixedly connected with the second gear 12, and a second bevel gear 14 is fixedly arranged on the other end, and the second bevel gear 14 is meshingly connected with the first bevel gear 9.

[0025] The driving system 7 is fixedly installed at the lower part of the shooting pole 1. When the shooting pole 1 needs to be controlled to move, the rotating output shaft of the driving motor 8 in the driving system 7 drives the first bevel gear 9 to rotate, and the first bevel gear 9 drives the second bevel gear 14 to rotate. The second bevel gear 14 rotates coaxially with the second gear 12, and the second gear 12 is meshed with the first gear 11. The middle bearing of the first gear 11 is connected to the shooting pole 1, so that the shooting pole 1 moves laterally along the toothed guide rail 6.

[0026] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0027] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An apple orchard fruit tree photography device, characterized in that: It includes: a walking trolley, image shooting devices arranged at both ends of the walking trolley, the image shooting device is slidably connected to the walking trolley, the sliding direction of the image shooting device is perpendicular to the previous moving direction of the walking trolley, and the image acquisition ends of the image shooting devices at both ends are set in opposite directions.

2. The apple orchard fruit tree photographing device according to claim 1, characterized in that: The image shooting device comprises a retractable shooting pole, a first end of which is slidably arranged on the trolley, and a shooting camera is arranged on the second end.

3. The apple orchard fruit tree photographing device according to claim 2, characterized in that: The walking trolley comprises a vehicle body and a base platform arranged on the vehicle body, and two ends of the base platform are respectively provided with slide rails, and the shooting pole is slidably connected with the base platform through the slide rails.

4. The apple orchard fruit tree photographing device according to claim 3, characterized in that: A toothed guide rail is fixedly arranged at the edge of the slide rail, and a driving system is arranged at the first end of the shooting pole, and the driving system is used for driving the shooting pole to move laterally along the toothed guide rail.

5. The apple orchard fruit tree photographing device according to claim 4, characterized in that: The driving system includes a system box body, which is arranged on the shooting pole, a driving motor arranged in the system box body, a first bevel gear is arranged on the rotation output shaft of the driving motor, a slider is arranged in the slide rail, a transmission gear group is arranged on the slider, a first gear is arranged between the transmission gear group and the toothed guide rail, the first bevel gear and the first gear are respectively meshed and connected with the transmission gear group, the first gear is meshed and connected with the toothed guide rail, and the shooting pole is fixedly connected to the intermediate bearing of the first gear.

6. The device for photographing fruit trees in an apple orchard according to claim 5, characterized in that: The transmission gear set includes a second gear fixedly arranged on the slider, the second gear is meshingly connected with the first gear, a connecting shaft is vertically arranged on the second gear, one end of the connecting shaft is fixedly connected with the second gear, and a second bevel gear is fixedly arranged on the other end, and the second bevel gear is meshingly connected with the first bevel gear.

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