Patent Publication Number: US-2021176431-A1

Title: Leaves spreading mechanism and plant recognition system

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to Taiwanese Application Serial No. 108144754, filed on Dec. 6, 2019. The entirety of the above-mentioned patent application is hereby incorporated by reference herein and made a part of this specification. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to a leaves spreading mechanism and a plant recognition system including the leaves spreading mechanism. 
     2. Description of Related Art 
     Currently, plants are graded through manpower, who can neither guarantee the quality of the grading nor identify defects of the leaves. In order to identify the defects of the leaves, the leaves have to be cut and then identified by a measurement device. Doing so will damage the plants. 
     Therefore, how to solve the problem of the prior art is becoming an urgent issue in the art. 
     SUMMARY 
     Provided is a leaves spreading mechanism according to the present disclosure, comprising: a leaves spreading device; and a first driver configured for driving the leaves spreading device to move left and right in a first direction to spread leaves of a plant at a position-to-be-tested. 
     Also provided is a plant recognition system according to the present disclosure, comprising: a leaves spreading mechanism comprising: a leaves spreading device including a leaves spreading frame and at least one attachment disposed on the leaves spreading frame; and a first driver configured for driving the leaves spreading device to move left and right in a first direction to enable the leaves spreading frame of the leaves spreading device to spread leaves of a plant at a position-to-be-tested; and an image processing module configured for controlling the attachment to capture an image of the spread leaves and identify features of the leaves. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  schematically illustrates a leaves spreading mechanism of a first embodiment according to the present disclosure; 
         FIG. 2  schematically illustrates a leaves spreading device of a leaves spreading mechanism of a first embodiment according to the present disclosure; 
         FIG. 3  schematically illustrates a leaves spreading frame of a leaves spreading device of a leaves spreading mechanism of a first embodiment according to the present disclosure; 
         FIG. 4  explosively illustrates a leaves spreading device of a leaves spreading mechanism of a first embodiment according to the present disclosure; 
         FIG. 5  schematically illustrates a leaves spreading mechanism spreading leaves of a plant of a first embodiment according to the present disclosure; 
         FIG. 6  schematically illustrates a servo motor of a leaves spreading mechanism of a first embodiment according to the present disclosure; 
         FIG. 7  schematically illustrates a leaves spreading mechanism of a second embodiment according to the present disclosure; 
         FIG. 8  schematically illustrates a plant recognition system according to the present disclosure; 
         FIG. 9  schematically illustrates a plant according to the present disclosure; 
         FIG. 10  is a functional block diagram of a microprocessor according to the present disclosure; and 
         FIGS. 11-13  schematically illustrate a plant recognition system according to the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are schematically shown in order to simplify the drawing. 
     It should be appreciated that the structures, proportions, size and the like of the figures in the present application are intended to be used in conjunction with the disclosure of the specification. They are not intended to limit the present disclosure and therefore do not represent any substantial technical meanings. The details of the specification may be on the basis of different points and applications, and numerous modifications and variations can be devised without departing from the spirit of the present disclosure. As used herein, the terms “first,” “second,” “a” and the like, are used to distinguish one element from another, and are not intended to limit the scope of the present application. Changes or adjustments are considered to be within the scope of the present disclosure, without departing from the scope of the present disclosure. 
       FIG. 1  schematically illustrates a leaves spreading mechanism  100  of a first embodiment according to the present disclosure. The leaves spreading mechanism  100  comprises a first driver  2 , two leaves spreading devices  1  disposed on two opposing sides of the first driver  2 , respectively, and a second driver  3 . In an embodiment, the leaves spreading mechanism  100  includes any number of the leaves spreading devices  1 . In an embodiment, the leaves spreading device(s)  1  is disposed at any portion of the first driver  2 , e.g., a center. 
     In an embodiment, the two leaves spreading devices  1  are disposed on two opposing sides of the first driver  2  respectively and driven by the first driver  2  to move left and right in a first direction (e.g., X-axis in  FIG. 1 ). The first driver  2  is disposed on the second driver  3 , and the second driver  3  drives the first driver  2  and the leaves spreading device  1  to move back and forth in a second direction (e.g., Y-axis in  FIG. 1 ). 
       FIG. 2  schematically illustrates a leaves spreading device  1  of a first embodiment according to the present disclosure. The leaves spreading device  1  includes a leaves spreading frame  11 , two attachments  12  and a third driver  13 . The third driver  13  is connected to the leaves spreading frame  11  and the first driver  2  (e.g., one of the two opposing sides of the first driver  2 ). The attachments  12  are disposed on the leaves spreading frame  11 . The third driver  13  drives the leaves spreading frame  11  to move up and down in a third direction (e.g., Z-axis in  FIG. 1 ). In an embodiment, any number of the attachments  12  are disposed on the leaves spreading frame  11 . In an embodiment, the attachments  12  include at least one of a micro camera, a liquid sprayer and a micro video camera or a combination thereof. The micro camera and the micro video camera capture an image of leaves of a plant. The liquid sprayer sprays liquid on the leaves. 
       FIG. 3  schematically illustrates a leaves spreading frame  11  of a first embodiment according to the present disclosure. The leaves spreading frame  11  includes a first connector  111 , a triangular member  112 , a second connector  113  and a ball-shaped member  114  that are integrated with one another or manufactured individually. 
     The first connector  111  has a first end  1111  connected to the third driver  13 , and a second end  1112  opposing the first end  1111  and connected to the triangular member  112 . 
     The second connector  113  has a first end  1131  connected to the triangular member  112 , and a second end  1132  opposing the first end  1131  and connected to the ball-shaped member  114 . 
     The triangular member  112  is constituted by three sides, one of which is connected to the second end  1112  of the first connector  111 , and the others of which form an angle connected to the second connector  113 . 
     The three sides of the triangular member  112  are integrated with one another or manufactured individually. In an embodiment, a smooth curve is formed at an intersection of two of the three sides of the triangular member  112  that are not connected to the first connector  111 , with the second connector  113  and the ball-shaped member  114  omitted. 
     In an embodiment, the two attachments  12  are disposed on the two of the three sides of the triangular member  112  that are not connected to the first connector  111 . In an embodiment, the two attachments  12  are disposed on any one or two of the sides of the triangular member  112 . 
       FIG. 4  explosively illustrates the leaves spreading device  1  according to the present disclosure. The first driver  2  includes a board  21 , gears  22 , a pair of gear racks  23 , and a coupling stand  24 . The gears  22  and the pair of gear racks  23  are disposed on a first surface (i.e., an upper surface) of the board  21 . The coupling stand  24  is disposed on a second surface (i.e., a lower surface) of the board  21 . The pair of gear racks  23  are engaged with the gears  22  and a first transmission member  132  of the third driver  13  of the leaves spreading device  1 , respectively. The gears  22  drive the pair of gear racks  23  and the leaves spreading device  1  to move left and right in a first direction (e.g., X-axis in  FIG. 4 ). 
     The third driver  13  comprises a lifting rod  131  and a first transmission member  132 . The first transmission member  132  drives the lifting rod  131  to move up and down. The lifting rod  131  has a through hole  1311 . The manner in which the first connector  111  of the leaves spreading frame  11  connects to the third driver  13  is that the first end  1111  of the first connector  111  passes through the through hole  1311 . In an embodiment, the through hole  1311  is formed on a side of the lifting rod  131  opposing the first transmission member  132 . 
     The second driver  3  includes a slide groove  31 , a second transmission member  33  and a slide rail  32 . The second transmission member  33  is disposed in the slide groove  31 . The slide rail  32  is disposed above the second transmission member  33  in the slide groove  31 . The second transmission member  33  is coupled to the coupling stand  24  of the first driver  2 . The second transmission member  33  drives the coupling stand  24  of the first driver  2  to move on the slide rail  32 . 
       FIG. 5  schematically illustrates the leaves spreading mechanism  100  spreading leaves of a plant of a first embodiment according to the present disclosure. The third driver  13  of the leaves spreading device  1  drives the leaves spreading frame  11  to move up and down in a third direction (e.g., Z-axis in  FIG. 5 ), to adjust the leaves spreading frame  11  to be leveled with the leaves of the plant  4 . The second driver  3  drives the leaves spreading device  1  to move in Y-axis toward the plant  4  at a position-to-be-tested, to drive the leaves spreading frame  11  of the leaves spreading device  1  to be inserted among the leaves of the plant  4 . After the leaves spreading frame  11  of the leaves spreading device  1  is inserted among the leaves of the plant  4 , the first driver  2  drives the leaves spreading device  1  to move left and right in a first direction, to drive the leaves spreading frame  11  of the leaves spreading device  1  to spread the leaves of the plant  4  at the position-to-be-tested. In an embodiment, the attachment  12  is a micro camera or a micro video camera, and captures an image of the spread leaves. In another embodiment, the attachment  12  is a liquid sprayer, and sprays liquid on the faces of the spread leaves. The position-to-be-tested is located right in front of the leaves spreading mechanism  100 . In an embodiment, each of the third drivers  13  drives the leaves spreading frame  11  to be leveled with the leaves of the plant  4 . In another embodiment, each of the third drivers  13  drives the leaves spreading frame  11  not to be leveled with the leaves of the plant  4  (i.e., each of the lifting rods  131  of the third drivers  13  can be at different heights). 
       FIG. 6  schematically illustrates a servo motor of a leaves spreading mechanism of a first embodiment according to the present disclosure. In an embodiment, a servo motor  5  is disposed on the first end  1111  of the first connector  111  of the leaves spreading frame  11 , and drives the first connector  111  to rotate to drive the triangular member  112  to rotate. The triangular member  112  is adjusted by rotating itself to be inserted into a suitable position among the leaves of the plant  4 . The second driver  3  drives the leaves spreading frame  11  to be inserted among the leaves of the plant  4 . In an embodiment, when the leaves spreading frame  11  is among the leaves of the plant  4 , the servo motor  5  drives the triangular member  112  to rotate and spread the leaves. 
       FIG. 7  schematically illustrates a leaves spreading mechanism  200  of a second embodiment according to the present disclosure. The second embodiment differs from the first embodiment in that the triangular member  112  and the second connector  113  of the leaves spreading frame  11  are omitted in the leaves spreading device  1 ′, the attachment  12  is disposed at a different location, and the length of the first connector  111  is changed. 
     In the leaves spreading device  1 ′ of the second embodiment, the leaves spreading frame  11 ′ comprises a first connector  111 ′ and a ball-shaped member  114 . The first connector  111 ′ has a first end  1111 ′ and a second end  1112 ′ opposing the first end  1111 ′. The first end  1111 ′ and the third driver  13  are connected in the same manner as the first end  1111  and the third driver  13  of the leaves spreading mechanism  100  do in the first embodiment. The first end  1111 ′ passes through a through hole in the lifting rod  131  of the third driver  13 . The second end  1112 ′ is connected to the ball-shaped member  114 . The leaves spreading frame  11 ′ is or is not integrally formed. In an embodiment, the first connector  111 ′ is longer than the first connector  111 . 
     In an embodiment, two attachments  12  are disposed on a side of the first connector  111 ′ away from the third driver  13 . In another embodiment, any number of the attachment  12  is disposed. 
     A plant recognition system is also provided. The plant recognition system employs the leaves spreading mechanism  100  of  FIG. 1  or the leaves spreading mechanism  200  of  FIG. 7 . In an embodiment, the attachment  12  of the plant recognition system is one of a micro camera and a micro video camera or a combination thereof, and captures an image of the leaves of the plant  4 . The schematic diagram of a plant recognition system  300  of  FIG. 8  is described based on the leaves spreading mechanism  100  of  FIG. 1 . 
     As shown in  FIG. 8 , the plant recognition system  300  comprises a leaves spreading mechanism  100 , a first image capturing device  61 , a microprocessor  7  and a turning plate  8 . The microprocessor  7  is connected to the first image capturing device  61 , the turning plate  8  and the leaves spreading mechanism  100  in a wired or wireless manner. 
     The turning plate  8  carries and turning the plant  4 . 
     The first image capturing device  61  is disposed at the position-to-be-tested in front of the plant  4  and captures a first image of a front face of the plant  4  (as shown in  FIG. 9 ). The front face of the plant  4  faces the leaves spreading mechanism  100 . 
     In an embodiment, the first image capturing device  61  is disposed on the third driver  13 . 
       FIG. 10  schematically illustrates a microprocessor  7  according to the present disclosure. The microprocessor  7  comprises a control module  71  and an image processing module  72 . In an embodiment, the control module  71  and the image processing module  72  are software executable by the microprocessor  7 . 
     The control module  71  receives the first image captured by the first image capturing device  61 , and controls the operations of the first driver  2 , the second driver  3 , the third driver  13 , the turning plate  8  and/or the servo motor  5  based on the first image captured by the first image capturing device  61 . 
     The image processing module  72  receives images of leaves of the plant  4  captured by the micro camera, and identifies features of the leaves based on the images. In an embodiment, the features of the leaves include the defects, color, length and width of the leaves. 
     The control module  71 , after receiving the first image captured by the first image capturing device  61 , determines the position of the leaves of the plant  4  based on the first image, and controls the third driver  13  to adjust the leaves spreading frame  11  to be flush with the leaves based on the determined position of the leaves. In an embodiment, different leaves spreading frames  11  are adjusted to be at the same height. In another embodiment, the lifting rods  131  driven by different third drivers  13  are controlled based on the position of the leaves to adjust different leaves spreading frame  11  to be at different height. 
     After determining from the first image that the leaves spreading frame  11  cannot be inserted among the leaves of the plant  4 , the control module  71  controls the servo motor  5  to drive the triangular member  112  to rotate such that the leaves spreading frame  11  rotates and is adjusted to a suitable position, at which the leaves spreading frame  11  is allowed to be inserted among the leaves of the plant  4 . In another embodiment, the control module  71  controls the turning plate  8  to rotate to adjust the leaves of the plant  4  disposed on the turning plate  8  to a suitable position, at which the leaves spreading frame  11  is allowed to be inserted among the leaves of the plant  4 . 
     After determining from the first image that the leaves spreading frame  11  can be inserted among the leaves of the plant  4 , the control module  71  controls the second driver  3  to drive the leaves spreading frame  11  to be inserted among the leaves of the plant  4 . 
     After the leaves spreading frame  11  is inserted among the leaves of the plant  4 , the control module  71  controls the first driver  2  or the servo motor  5  to drive the leaves spreading frame  11  to spread the leaves of the plant  4 . 
     When the leaves spreading frame  11  spreads the leaves of the plant  4 , the image processing module  72  controls the micro camera to capture the image of the leaves of the plant  4 , receives the image of the leaves captured by the micro camera, and identifies the features of the leaves based on the image of the leaves. In an embodiment, the image processing module  72  controls the micro camera to capture the images of front and rear sides of the same leaves or the images of different leaves. 
       FIGS. 11-13  schematically illustrate a plant recognition system according to the present disclosure. As shown in  FIG. 11 , the plant recognition system  300  further comprises a second image capturing device  62 , a third image capturing device  63 , a fourth image capturing device  64 , and a light source  65  disposed by the first image capturing device  61 , the second image capturing device  62 , the third image capturing device  63  and the fourth image capturing device  64 . In an embodiment, the light source  65  projects light onto the plant  4 . 
     The second image capturing device  62  is disposed 45 degrees below in front of the plant  4  disposed on the position-to-be-tested and on the third driver  13 . The third image capturing device  63  is disposed above the plant  4  disposed on the position-to-be-tested. The fourth image capturing device  64  is disposed on the right or left side of the plant  4  disposed on the position-to-be-tested. The second image capturing device  62 , the third image capturing device  63  and the fourth image capturing device  64  may provide second to fourth images of the plant  4  disposed on the position-to-be-tested to the control module  71  of the microprocessor  7 , for the control module  71  to determine the position of the plant  4  or the position of the leaves of the plant  4 . 
     As shown in  FIG. 12 , the plant recognition system  300  further comprises a conveyance device  70 . In an embodiment, the conveyance device  70  is a conveyer belt that surrounds the leaves spreading mechanism  100 . The turning plate  8  is disposed on the conveyance device  70 . The conveyance device  70  conveys the plant  4  on the turning plate  8  to the position-to-be-tested right in front of the leaves spreading mechanism  100 . The microprocessor  7  controls, based on the first image captured by the first image capturing device  61  or the first to fourth images captured by the first to fourth image capturing devices  61  to  64 , respectively, the leaves spreading mechanism  100  and the turning plate  8  to spread the leaves of the plant  4 , capture the images of the spread leaves, and identify the features of the leaves. 
     In another embodiment, the conveyance device  70  is a manipulator that conveys the plant  4  to the position-to-be-tested right in front of the leaves spreading mechanism  100 . In an embodiment, the turning plate  8  is disposed at the bottom of the plant  4 , and is conveyed, together with the plant  4 , by the manipulator. In another embodiment, the turning plate  8  is disposed at the position-to-be-tested, and the manipulator conveys the plant  4  to the turning plate  8  at the position-to-be-tested. 
     As shown in  FIG. 13 , the plant recognition system  300  is disposed in a housing  9 . The housing  9  has an opening  91 . The opening  91  provides another manipulator to convey the plant  4  to the turning plate  8  on the conveyance device  70 . The conveyance device  70  conveys the plant  4  to the position-to-be-tested right in front of the leaves spreading mechanism  100 . The microprocessor  7  controls, based on the first image captured by the first image capturing device  61  or the first to fourth images captured by the first to fourth image capturing devices  61  to  64 , respectively, the leaves spreading mechanism  100  and the turning plate  8  to spread the leaves, capture the images of the spread leaves, and identify the features of the leaves. 
     It is thus known from the above that in the leaves spreading mechanism and the plant recognition system according to the present disclosure, the first to third drivers, the servo motor and the turning plate allow the leaves spreading frame to easily spread leaves at any angle, and the image processing module can identify features of an image of the spread leaves captured by a micro camera disposed on the leaves spreading frame. Therefore, the identifying of the quality of the plants is improved. 
     It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed embodiments. It is intended that the specification and examples be considered as exemplary only, with a true scope of the present disclosure being indicated by the following claims and their equivalents.