The invention discloses a self-propelled multi-mechanical-arm potato picking machine based on machine vision. The machine comprises: mechanical arms, an industrial camera, an aluminum extrusion rack, a driving motor, conveying belts, speed reducers, steering motors, support frames, hub motor wheels, transmission shafts, C-shaped mounting plates, and a potato collecting box. The industrial camera is arranged at the foremost part of the aluminum extrusion rack, the mechanical arms are installed on the two sides of the aluminum extrusion rack, the potato collecting box is arranged on the rearmost portion of the aluminum extrusion rack, the C-shaped installation plates are arranged on the periphery of the bottom of the aluminum extrusion rack, each conveying belt is connected with the aluminum extrusion rack through a bearing seat, the driving motor controls the mechanical arms, each steering motor and each speed reducer are installed on one C-shaped installation plate in a connected mode, each C-shaped installation plate is connected with a support frame through a transmission shaft, the support frame is connected with one hub motor wheel, and each speed reducer drives a transmission shaft to further control the steering of a hub motor wheel. According to the potato picking and grading machine, positions of potatoes are recognized based on machine vision and transmitted to the driving motor, and the driving motor controls the mechanical arms to work to pick potatoes and place the potatoes on corresponding conveying belts, so that the functions are powerful; potato picking, grading, and boxing can be completed at a time, stable self-walking can be achieved, and potatoes can be picked and preliminarily graded at the same time, so that the follow-up grading workload is effectively reduced; the two mechanical arms work cooperatively, so that the picking efficiency is greatly improved, manual picking can be replaced, the labor intensity of workers is lowered, the problems of poor working environment, high labor intensity, and repeated and boring actions are effectively solved, and the quality of picked potatoes is guaranteed.

    本发明公开一种基于机器视觉的自走式多机械臂马铃薯捡拾机,包括机械臂、工业相机、铝型材机架、驱动电机、传送带、减速器、转向电机、支撑架、轮毂电机车轮、传动轴、C型安装板和集薯箱,工业相机布置在铝型材机架最前方,机械臂安装在铝型材机架两侧,集薯箱布置在铝型材机架最后方,C型安装板布置在铝型材机架底部四周,传送带通过轴承座与铝型材机架连接,驱动电机控制机械臂,转向电机和减速器安装在C型安装板连接,C型安装板通过传动轴连接支撑架,支撑架与轮毂电机车轮连接,减速器带动传动轴,进而控制轮毂电机车轮转向,该种马铃薯捡拾分级机基于机器视觉识别马铃薯位置并传递给驱动电机,驱动电机控制机械臂工作捡拾马铃薯,并放到对应传送带上,功能强大,可以一次性完成马铃薯捡拾、分级和入箱,并且能够实现稳定自走,捡拾马铃薯同时可以进行初步分级,有效减少后续分级工作量,两个机械臂协同工作,大大提高捡拾效率,可以代替人工捡拾,有效解决了工作环境差、劳动强度大和动作重复枯燥的问题,保证捡拾后马铃薯的质量。


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    Titel :

    Self-propelled multi-mechanical-arm potato picking machine based on machine vision


    Weitere Titelangaben:

    一种基于机器视觉的自走式多机械臂马铃薯捡拾机


    Beteiligte:
    CHEN JUN (Autor:in) / ZHOU JIANGUO (Autor:in) / GAO ZENING (Autor:in) / WANG MIAOHAI (Autor:in) / CHEN QINGYU (Autor:in) / LIU XING (Autor:in)

    Erscheinungsdatum :

    2022-02-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    A01D Ernten , HARVESTING / B25J Manipulatoren , MANIPULATORS / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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