CN206879476U - A kind of novel strawberry A seating picking machine - Google Patents
A kind of novel strawberry A seating picking machine Download PDFInfo
- Publication number
- CN206879476U CN206879476U CN201720704962.4U CN201720704962U CN206879476U CN 206879476 U CN206879476 U CN 206879476U CN 201720704962 U CN201720704962 U CN 201720704962U CN 206879476 U CN206879476 U CN 206879476U
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- picking machine
- module
- seating
- strawberry
- camera
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Abstract
The utility model discloses a kind of novel strawberry A seating picking machine,Including picking machine main body,The picking machine body top side is provided with controller,The controller is provided with mechanical arm,Camera is provided with inside described mechanical arm one end,The camera bottom is provided with gripper,The gripper is connected with mechanical arm,The controller side is provided with operating platform,The utility model by provided with camera by image transmitting,By handling and analyzing,It is determined that won after the object to be won by operation handle,By provided with conveyer belt,Be advantageous to strawberry being put on conveyer belt and transport,Transporting operating platform allows operating personnel to collect,Pass through display and operating system,Show the motion of camera and gripper,Be advantageous to control in time,Improve harvesting accuracy,By provided with seat,Allowing staff to be seated just can operate,Improve picking efficiency.
Description
Technical field
It the utility model is related to strawberry harvesting field, more particularly to a kind of novel strawberry A seating picking machine.
Background technology
It is well known that strawberry, be called pineapple strawberry, the red certain kind of berries, the foreign certain kind of berries, the certain kind of berries etc., be a kind of red fruit, the rose family,
Fragaria perennial herb, Europe is originated in, nowadays there is kind more than 50 known to the whole world.The strawberry of countries in the world cultivation is mainly 18
The large fruited strawberry brought out in century, i.e. pineapple strawberry, the main place of production is in China, the U.S., Australia, New Zealand.The outward appearance of strawberry
It is delicious red tender in heart, pulp succulence, sweet and sour taste, and have special strong fruit aroma, more because nutritive value is high, contain
Abundant vitamin C, the effect of helpful digestion, so being described as " fruit queen " by people.
Strawberry is sweet and delicious because nutritive value is high, enjoys great popularity.But the harvesting of strawberry is complex, usually work
People bends between strawberry clump or couchant plucked step by step.Whether picking efficiency or collection efficiency are all at a fairly low,
And bend over to also result in the body of worker damage for a long time, therefore, a kind of novel strawberry A seating picking machine is invented to solve above-mentioned ask
Inscribe necessary.
Utility model content
The purpose of this utility model is to provide a kind of novel strawberry A seating picking machine, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the utility model provides following technical scheme：A kind of novel strawberry A seating picking machine, including
Picking machine main body, the picking machine body top side are provided with controller, and the controller is provided with mechanical arm, the mechanical arm
Camera is provided with inside one end, the camera bottom is provided with gripper, and the gripper is connected with mechanical arm, the controller
Side is provided with operating platform, and described operating platform one end is provided with conveyer belt, described conveyer belt one end be connected with operating platform and
The other end is through picking machine main body and extends to picking machine body exterior, and the conveyer belt bottom is provided with three power transmission shafts, described
Connected between three power transmission shafts by chain drive, described picking machine body top one end is provided with display and operating system, described
Display includes display screen and operation handle with operating system, and the operation handle is arranged at display and operating system bottom, described
Picking machine bottom part body one end is provided with seat support, and the seat support top side is provided with the first seat and opposite side is provided with
Second seat.
Preferably, the picking machine bottom part body is provided with rubber wheel.
Preferably, with being provided with camera calibration module inside operating system, the camera calibration module is defeated for the display
Go out end and be provided with image capture module, described image acquisition module output end is provided with image pre-processing module, described image pretreatment
Module output end is provided with image segmentation module, and described image segmentation module output end is provided with image characteristics extraction module, the figure
As characteristic extracting module output end is provided with strawberry center-of-mass coordinate determining module.
Preferably, the camera calibration module is electrically connected with camera.
Preferably, the conveyer belt is arranged to matrix.
Preferably, it is provided with dividing plate on the conveyer belt.
Preferably, the display is arranged at directly over the first seat with operating system and operation handle.
Technique effect of the present utility model and advantage：By rubber wheel, it is easy to move forward, passes through controller control machinery
Arm moves, by provided with camera by image transmitting, by handling and analyzing, it is determined that passing through operation handle after the object to be won
Won, by provided with conveyer belt, being advantageous to strawberry being put on conveyer belt and transporting, transport operating platform and allow operating personnel
Collect, by display and operating system, show the motion of camera and gripper, be advantageous to control in time, it is accurate to improve harvesting
Property, by the way that provided with seat, allowing staff to be seated just can operate, and improve picking efficiency.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is image processing system schematic diagram of the present utility model.
In figure：1 picking machine main body, 2 controllers, 3 mechanical arms, 4 cameras, 5 grippers, 6 operating platforms, 7 conveyer belts, 8
Power transmission shaft, 9 chains, 10 displays and operating system, 11 display screens, 12 operation handles, 13 seat supports, 14 first seats, 15 the
Two seats, 16 rubber wheels, 17 camera calibration modules, 18 image capture modules, 19 image pre-processing modules, 20 images segmentation mould
Block, 21 image characteristics extraction modules, 22 strawberry center-of-mass coordinate determining modules.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
The utility model provides a kind of novel strawberry A seating picking machine as shown in Figure 1-2, including picking machine main body 1,
The top side of picking machine main body 1 is provided with controller 2, and the controller 2 is provided with mechanical arm 3, in described one end of mechanical arm 3
Portion is provided with camera 4, and the bottom of camera 4 is provided with gripper 5, and the gripper 5 is connected with mechanical arm 3, the controller 2
Side is provided with operating platform 6, and described one end of operating platform 6 is provided with conveyer belt 7, and described one end of conveyer belt 7 is connected with operating platform 6
And the other end through picking machine main body 1 and is extended to outside picking machine main body 1, the bottom of conveyer belt 7 is provided with three transmissions
Axle 8, it is connected by chain 9 between three power transmission shafts 8, described top one end of picking machine main body 1 is provided with display and behaviour
Make system 10, the display includes display screen 11 and operation handle 12 with operating system 10, and the operation handle 12 is arranged at aobvious
Show and be provided with seat support 13, the top of seat support 13 one with the bottom of operating system 10, the bottom end of picking machine main body 1
Side is provided with the first seat 14 and opposite side is provided with the second seat 15.
The bottom of picking machine main body 1 is provided with rubber wheel 16, easy to remove, and the display is provided with the inside of operating system 10
Camera calibration module 17, the output end of camera calibration module 17 are provided with image capture module 18, described image collection mould
The output end of block 18 is provided with image pre-processing module 19, and the output end of described image pretreatment module 19 is provided with image segmentation module 20,
The described image segmentation output end of module 20 is provided with image characteristics extraction module 21, and the output end of described image characteristic extracting module 21 is set
There is strawberry center-of-mass coordinate determining module 22, by camera 4 by image transmitting, by handling and analyzing, it is determined that pair to be won
Won as after, the camera calibration module 17 is electrically connected with camera 4, and the conveyer belt 7 is arranged to matrix, wins
Strawberry put when transporting on conveyor belt 7, prevent from dropping, dividing plate be provided with the conveyer belt 7, prevent that strawberry falls during transport
Fall, the display is arranged at directly over the first seat 14 with operating system 10 and operation handle 12, easy to operation.
This practical operation principle：In use, being moved forward by rubber wheel 16, transported by the control machinery arm 3 of controller 2
It is dynamic, by camera 4 by image transmitting, by handling and analyzing, it is determined that being carried out after the object to be won by operation handle 12
Win, after winning, strawberry be put on conveyer belt 7 and transported, transported operating platform 6 and allow operating personnel to collect, by display with
Operating system 10, show the motion of camera 4 and gripper 5, be advantageous to control in time, improve harvesting accuracy, by provided with
Seat, allowing staff to be seated just can operate, and improve picking efficiency.
Finally it should be noted that：Preferred embodiment of the present utility model is the foregoing is only, is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it can still modify to the technical scheme described in foregoing embodiments, or to which part technical characteristic
Progress equivalent substitution, all within the spirit and principles of the utility model, any modification, equivalent substitution and improvements made etc.,
It should be included within the scope of protection of the utility model.
Claims (7)
1. a kind of novel strawberry A seating picking machine, including picking machine main body (1), it is characterised in that：Picking machine main body (1) top
Portion side is provided with controller (2), and the controller (2) is provided with mechanical arm (3), is provided with and takes the photograph inside described mechanical arm (3) one end
As head (4), camera (4) bottom is provided with gripper (5), and the gripper (5) is connected with mechanical arm (3), the control
Device (2) side is provided with operating platform (6), and described operating platform (6) one end is provided with conveyer belt (7), described conveyer belt (7) one end with
Operating platform (6) is connected and the other end runs through picking machine main body (1) and extends to picking machine main body (1) outside, the transmission
Band (7) bottom is provided with three power transmission shafts (8), is connected between three power transmission shafts (8) by chain (9), the harvesting
One end is provided with display and operating system (10) at the top of owner's body (1), and the display includes display screen (11) with operating system (10)
With operation handle (12), the operation handle (12) is arranged at display and operating system (10) bottom, the picking machine main body (1)
Bottom end is provided with seat support (13), and seat support (13) top side is provided with the first seat (14) and opposite side is set
There is the second seat (15).
A kind of 2. novel strawberry A seating picking machine according to claim 1, it is characterised in that：The picking machine main body (1)
Bottom is provided with rubber wheel (16).
A kind of 3. novel strawberry A seating picking machine according to claim 1, it is characterised in that：The display and operating system
(10) internal to be provided with camera calibration module (17), camera calibration module (17) output end is provided with image capture module
(18), described image acquisition module (18) output end is provided with image pre-processing module (19), described image pretreatment module (19)
Output end is provided with image segmentation module (20), and described image segmentation module (20) output end is provided with image characteristics extraction module
(21), described image characteristic extracting module (21) output end is provided with strawberry center-of-mass coordinate determining module (22).
A kind of 4. novel strawberry A seating picking machine according to claim 1 or 2, it is characterised in that：The camera calibration
Module (17) is electrically connected with camera (4).
A kind of 5. novel strawberry A seating picking machine according to claim 1, it is characterised in that：The conveyer belt (7) is set
For matrix.
A kind of 6. novel strawberry A seating picking machine according to claim 1, it is characterised in that：Set on the conveyer belt (7)
It is equipped with dividing plate.
A kind of 7. novel strawberry A seating picking machine according to claim 1, it is characterised in that：The display and operating system
(10) it is arranged at operation handle (12) directly over the first seat (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720704962.4U CN206879476U (en) | 2017-06-16 | 2017-06-16 | A kind of novel strawberry A seating picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720704962.4U CN206879476U (en) | 2017-06-16 | 2017-06-16 | A kind of novel strawberry A seating picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206879476U true CN206879476U (en) | 2018-01-16 |
Family
ID=61317747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720704962.4U Expired - Fee Related CN206879476U (en) | 2017-06-16 | 2017-06-16 | A kind of novel strawberry A seating picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206879476U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108401655A (en) * | 2018-03-14 | 2018-08-17 | 河南工业大学 | A kind of ridge culture strawberry picking machine |
| CN108432422A (en) * | 2018-03-20 | 2018-08-24 | 金陵科技学院 | A kind of soil embryo nursery type seedling plantation robot |
| CN108718705A (en) * | 2018-05-08 | 2018-11-02 | 重庆交通大学 | Strawberry picking machine |
| CN109041772A (en) * | 2018-06-26 | 2018-12-21 | 浙江理工大学 | A kind of parallel pineapple auxiliary picker of cart type |
-
2017
- 2017-06-16 CN CN201720704962.4U patent/CN206879476U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108401655A (en) * | 2018-03-14 | 2018-08-17 | 河南工业大学 | A kind of ridge culture strawberry picking machine |
| CN108401655B (en) * | 2018-03-14 | 2020-12-25 | 河南工业大学 | Ridge culture strawberry picking machine |
| CN108432422A (en) * | 2018-03-20 | 2018-08-24 | 金陵科技学院 | A kind of soil embryo nursery type seedling plantation robot |
| CN108718705A (en) * | 2018-05-08 | 2018-11-02 | 重庆交通大学 | Strawberry picking machine |
| CN108718705B (en) * | 2018-05-08 | 2023-08-15 | 重庆交通大学 | Strawberry picking machine |
| CN109041772A (en) * | 2018-06-26 | 2018-12-21 | 浙江理工大学 | A kind of parallel pineapple auxiliary picker of cart type |
| CN109041772B (en) * | 2018-06-26 | 2023-12-01 | 浙江理工大学 | Auxiliary picking device for cart type parallel pineapple |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20180616 |