CN108781762B

CN108781762B - Efficient strawberry picking robot and picking method

Info

Publication number: CN108781762B
Application number: CN201810315723.9A
Authority: CN
Inventors: 刘长青; 仇帅; 张宇; 单驰; 操守捷
Original assignee: HOHAI UNIVERSITY WENTIAN COLLEGE
Current assignee: HOHAI UNIVERSITY WENTIAN COLLEGE
Priority date: 2018-04-10
Filing date: 2018-04-10
Publication date: 2021-04-13
Anticipated expiration: 2038-04-10
Also published as: CN108781762A

Abstract

The invention discloses an efficient strawberry picking robot and a picking method, and belongs to the technical field of robots. It comprises a frame; the identification and screening module is used for obtaining the RGB value of the strawberry through color identification and judging mature strawberry, immature strawberry, single stem and multiple stems; the picking module cuts the mature strawberries obtained by the identification and screening module; and the collection module is used for collecting the mature strawberries. Through the cooperation of discernment screening module, picking module and collection module, can realize the collection to ripe strawberry for supplementary manual work leads to the fact the damaged condition of peel in the minimize to the harvesting of strawberry, has improved picking efficiency, has reduced artifical picking intensity of labour.

Description

Efficient strawberry picking robot and picking method

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an efficient strawberry picking robot and a picking method.

Background

A Raspberry (Raspberry, raspberry, etc.), perennial herbaceous plant, 10-40 cm high, with stem lower than or close to leaf, dense yellow soft hair, three leaves, small leaves with short handle, thicker texture, inverted egg shape or rhombus, dense leaf handle with yellow soft hair, cymbidium, small leaves with one short handle under the inflorescence; the petals are white, nearly round or oval, the polymerized fruit is large, and the preserved sepals are upright and cling to the fruit; the lean fruit is oval in shape and smooth, the flowering period is generally 4-5 months, and the fruit period is 6-7 months. According to data statistics, the number of strawberry varieties in the world is up to 20000, 200 new varieties are developed in China and introduced from foreign countries, dozens of excellent varieties are cultivated in large area, and the number of the strawberries planted by fruit growers is increased with the increasing of the demand of the strawberries, but the traditional manual labor force mainly has the following problems in the strawberry picking process: (1) the labor amount of manual picking is large and the efficiency is low; (2) the harvesting of the ridge-planted strawberries is stoop operation, the front feet and the rear feet are stood in a straight line, the strawberries are in furrows in a squatting or semi-squatting posture, the operation is abnormally tired, and the harvesting cost is increased; (3) the strawberry fruit quantity is large, the picking labor quantity is large, the integral mature period of each strawberry is long, and the strawberry fruit is easy to rot if the strawberry cannot be picked in time; (4) the peel is easy to damage, and the peel cannot be damaged in the picking process, so that the quality is influenced.

At present, in the aspect of strawberry harvesting, a strawberry harvesting robot device suitable for overhead cultivation is developed by Nippon canton et al aiming at a modern greenhouse cultivation mode, the robot adopts a 5-degree-of-freedom harvesting manipulator, a vision system is similar to the tomato harvesting robot, an end effector adopts a vacuum air suction blade-adding cutter, during harvesting, the space position of a harvesting target is calculated by a machine vision system firstly, then the harvesting manipulator moves to a preset position, the end effector approaches to the target until the strawberry is sucked, the position of the strawberry is detected by a 3-photoelectric switch, when the strawberry is located at a proper position, a wrist joint moves, fruit stalks enter into a specified position, the cutter rotates to cut off the fruit stalks, and harvesting is completed.

In addition, other strawberry grading methods have been studied in japan, such as using a wavy fruit tray when picking fruits, arranging strawberries in a prescribed pattern, and facilitating the grading by a robot. For example, a 4-freedom strawberry harvesting robot device for ridge operation is developed and designed by Yongtian and the like of Japan Kawasaki university, the robot adopts a mechanical arm which is also a frame-type three-freedom-degree rectangular coordinate and adopts vertical picking up and down, two cameras which vertically overlook the ground acquire images of strawberries, one is used for searching a target fruit, and the other is used for calculating the position of the target fruit; and measuring the distance from the mechanical claw to the strawberry by using a laser sensor, grabbing the strawberry fruit handle by using the mechanical claw, and cutting the fruit handle by using a cutter. The robot has the advantages that the strawberry harvesting experimental device is large in size, no walking driving device is provided, and the occlusion, overlapping and the like of branches and leaves of strawberries are not researched; meanwhile, the picking manipulator adopts a pneumatic driving mode, the complexity and the manufacturing cost of the system are increased, and the application and the popularization in production have difficulty.

In addition, the research of quite deep and systematic in aspects such as strawberry fruit target identification, extraction, location, picking robot and hand claw in the aspect of strawberry picking in the medium of Zhang iron of China agricultural university has been carried out, strawberry picking robot experimental system has been established, the identification and location of strawberry have been realized to image processing techniques such as binocular vision, the condition such as overlapping each other or sheltering from to the strawberry fruit has been studied, the strawberry picking manipulator taking ridge formula strawberry planting system as the basis has been researched and designed, and the fruit vision system to ridge formula cultivation structure has been researched, and ridge picking running gear is picked in the ground. In summary, it can be seen from the research direction of the strawberry picking robot that the current stage of strawberry picking research is mainly focused on the following parts:

1) the method mainly aims at the research of a picking mechanism with a high-hanging planting mode, and few ridge-type strawberry picking robots are suitable for the planting mode which is dominant in China, although the ridge-type strawberry picking robots have related machine types, the research is incomplete, a driving device is not provided, the volume is large, and the ridge-type strawberry picking robots cannot be combined with the actual planting environment;

2) the research aiming at the design aspect of the single mechanism mostly focuses on the design research of the end effector and the visual system, and the research and the design on the aspects of how to adapt to the walking mechanism of the picking robot for planting the terrain and the matching with the picking arm are less;

3) the influence of the sensor on picking is too pursued, the mechanical structure is not considered, the strawberry planting mode is not combined, the picking is researched, and the fruit is not picked by the mechanical auxiliary sensor;

4) utilize arm and color sensor, go bionical picking technique, though technological progress all the year has but the effect is gradual and little, and the cost is higher, inefficiency.

Disclosure of Invention

1. Problems to be solved

Aiming at the problems of large labor amount and low efficiency of existing ridge-type manual strawberry picking, the invention provides a high-efficiency strawberry picking robot, which is a high-efficiency and intelligent agricultural machine, is a small machine capable of automatically screening and collecting, and is used for assisting in manually picking strawberries, reducing the labor intensity and improving the strawberry picking efficiency.

The invention also provides a picking method of the efficient strawberry picking robot, the steps are connected in order, and the picking efficiency of the strawberries is improved while the strawberries are protected as much as possible to be picked.

2. Technical scheme

In order to solve the problems, the technical scheme adopted by the invention is as follows:

the efficient strawberry picking robot comprises a rack, wherein a handle is arranged on the rack, and four rollers are arranged below the rack;

the identification and screening module is used for obtaining the RGB value of the strawberry through color identification and judging mature strawberry, immature strawberry, single stem and multiple stems;

the picking module cuts the mature strawberries obtained by the identification and screening module;

and the collection module is used for collecting the mature strawberries.

In a possible embodiment of the present invention, the identification and screening module includes a color sensor and a screening mechanism, the screening mechanism includes a motor, a dual-output worm gear, a transmission chain, a screening wheel, a suspension, and a rotating shaft, wherein the suspension is fixed to the rack, the rotating shaft is fixed below the suspension, one end of the rotating shaft is connected to the screening wheel, and the other end of the rotating shaft is connected to the transmission chain; the motor is fixed above the rack and connected with the double-output worm gear, and the transmission chain is wound on the double-output worm gear; the color sensor is fixed on the suspension and is positioned above the sorting wheel.

In a possible embodiment of the invention, the sorting wheel comprises a hub, a polyethylene brush, an inner support rod, an outer clamping plate and a spring fastener, wherein the hub is provided with a plurality of mounting grooves, the mounting grooves can fix the polyethylene brush, the inner support rod is rotationally fixed on a hub shaft, the outer clamping plate is limited on the hub through the spring fastener, the polyethylene brush forms a sorting wheel picking end (picking fruit stems), and the outer clamping plate can be freely contracted and contracted, so that the fruit stems can be fixed.

In one possible implementation manner of the invention, the picking module comprises a steering engine, a spring, a cutter and a connecting rod, the steering engine is fixed on the frame, the steering engine is connected with the cutter through the connecting rod, the spring is sleeved on the cutter, and the head of the cutter penetrates through a cutter groove formed in the hub.

In a possible embodiment of the present invention, the collecting module includes a tray, and the inner edge of the tray is provided with brushes for tightly adhering to two sides of the trapezoidal ridge of the strawberry cultivation field.

In a possible embodiment of the invention, the strawberry fruit sorting machine further comprises a middle impeller wrapping module, the middle impeller wrapping module comprises two baffles formed by PVC and bristles, the two baffles are symmetrically arranged below the rack and penetrate through the whole rack, the baffles and the sorting wheel are positioned on the same horizontal plane, an inlet is in a trapezoidal shape and gradually narrows inwards, strawberry plants are separated from fruits, the damage to the strawberry plants is reduced to the maximum extent, and accurate screening of the screening module is convenient to recognize.

In a possible embodiment of the invention, the sorting mechanisms are six in number and form two rows, the sorting mechanisms are symmetrically arranged below the rack, the front ends of the two rows of sorting wheels are respectively provided with the correcting and grabbing wheels, the correcting and grabbing wheels and the sorting wheels are consistent in structure, when the sorting machine is used, the sorting wheels and the correcting and grabbing wheels are opposite in rotation direction and used for picking up the edges of the strawberries distributed in a fan shape and assisting the sorting wheels of the strawberries, and therefore, missing picking of the strawberries is avoided.

In a possible embodiment of the present invention, the middle impeller-wrapping module further includes a tail sweeping wheel, and the tail sweeping wheel is provided with a flexible brush along a circumferential surface.

The invention also provides a picking method of the efficient strawberry picking robot, which comprises the following specific steps:

s101, separating strawberry plants from fruits by a baffle plate positioned at the front end, picking up strawberry stems by a polyethylene brush on a sorting wheel, and fixing the strawberry stems by an inner support rod and an outer clamping plate;

s102, when the picked fruit stems move to a set range above a hub of a sorting wheel, a color sensor captures strawberries at the front ends of the fruit stems, color recognition is carried out on the strawberries, obtained RGB values are screened by matching with a color recognition algorithm, and mature strawberries, immature strawberries, single stems and multiple stems are judged;

s103, when the single-stem strawberries are judged to be mature, a cutter positioned above a hub of the sorting wheel is driven by a steering engine to quickly cut fruit stems; when a plurality of fruit stems are picked up, the fruit stems are not cut through the judgment of the RGB value, and the next sorting wheel picks up again for judgment and cutting;

and S104, the picked strawberries freely roll off from the edge of the ridge and fall on a tray tightly attached to the edge of the ridge to finish the picking of the strawberries.

In a possible embodiment of the present invention, in step S101, strawberries with fan-shaped edges are picked up by a straightening and grabbing wheel; in step 102, the specific procedure of the color recognition algorithm is as follows: before the color sensor normally collects color, white color is collected, a white balance reference is established, the collection of the normal color is started after the white balance, the color sensor can be transmitted to a chip through serial port or IIC communication through the setting of a program, and the collected color is obtained through the calculation of the chip; the color acquired by the chip is red, and the specified steering engine is enabled to act through the serial port communication steering engine driving plate to drive the cutter to cut downwards.

3. Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

(1) according to the efficient strawberry picking robot, the matching of the identification screening module, the picking module and the collecting module can realize the collection of mature strawberries, the efficient strawberry picking robot is used for assisting the manual picking of strawberries, the condition that the fruit peel is damaged is reduced as much as possible, the picking efficiency is improved, and the labor intensity of manual picking is reduced;

(2) the efficient strawberry picking robot adopts the sorting wheel and the color sensor, the sorting wheel can convey fruit stems and fruits to a certain height, and then the maturity, single stem and multiple stems of strawberries can be rapidly identified, so that the indirect influence of strawberry plants is avoided;

(3) the efficient strawberry picking robot comprises a polyethylene brush, an inner support rod, an outer clamping plate and a spring fastener, wherein the polyethylene brush forms a picking end (picking fruit stems) of the sorting wheel, and the outer clamping plate can be freely contracted and contracted, so that the fruit stems are fixed;

(4) according to the efficient strawberry picking robot, the middle of the robot is wrapped with the impeller module, strawberry plants and fruits can be separated, damage to the strawberry plants is reduced to the maximum extent, and accurate screening of the screening module is convenient to recognize;

(5) the efficient strawberry picking robot has wide application range, can pick strawberries of different types and different solar terms by changing sorting wheels to plant on ridges, planting in soilless culture tubes and the like,

(6) the high-efficiency strawberry picking robot has high working efficiency, can pick continuously, realizes high efficiency of picking one strawberry per second, can pick fruits without damage, has high picking precision, has screening accuracy of mature and immature fruits reaching about 94 percent,

(7) the efficient strawberry picking robot provided by the invention has the advantages that the cost is low, the energy consumption is low, the accurate identification of the color sensor is realized through the auxiliary action of the sorting wheel, the excessive dependence on the sensor is reduced, the research on the identification interference of the color sensor is realized, the traditional mechanical arm picking is abandoned, and the machining difficulty is reduced.

Drawings

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.

Fig. 1 is a schematic structural diagram of a high-efficiency strawberry picking robot of the invention;

FIG. 2 is a front view of the high efficiency strawberry picking robot of the present invention;

FIG. 3 is a top view of the high efficiency strawberry picking robot of the present invention;

FIG. 4 is a schematic structural diagram of an identification screening module of the efficient strawberry picking robot of the invention;

fig. 5 is an installation schematic diagram of a picking module and an identification sorting module of the efficient strawberry picking robot of the invention;

FIG. 6 is a schematic view of a sorting wheel structure of the efficient strawberry picking robot of the present invention;

FIG. 7 is a schematic structural view of a tail sweeping wheel of the efficient strawberry picking robot of the present invention;

fig. 8 is a picking flow chart of the efficient strawberry picking robot of the present invention.

The notation in the figure is:

100. a frame; 110. a handle; 120. a roller;

200. identifying a screening module; 210. a color sensor; 220. a motor; 230. a dual output worm gear; 240. a drive chain; 250. a sorting wheel; 251. a hub; 252. a polyethylene brush; 253. an inner brace rod; 254. an outer splint; 255. a spring buckle; 256. a cutter slot; 260. a suspension; 270. a rotating shaft; 280. correcting the grabbing wheel;

300. a picking module; 310. a steering engine; 330. a spring; 340. a cutter; 350. a connecting rod;

400. a collection module; 410. a tray;

500. the middle is wrapped with an impeller module; 510. a baffle plate; 520. the tail part sweeps a wheel.

Detailed Description

The following detailed description of exemplary embodiments of the invention refers to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration exemplary embodiments in which the invention may be practiced. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to describe the features and characteristics of the invention, to set forth the best mode of carrying out the invention, and to sufficiently enable one skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.

The detailed description and exemplary embodiments of the invention will be better understood when read in conjunction with the appended drawings, where the elements and features of the invention are identified by reference numerals.

Example 1

As shown in fig. 1 to 8, the efficient strawberry picking robot of the present invention comprises a frame 100, a handle 110 disposed thereon, and four rollers 120 disposed thereunder; the identification screening module 200 is used for obtaining the RGB value of the strawberry through color identification and judging mature strawberry, immature strawberry, single stem and multiple stems; the picking module 300 is used for cutting the mature strawberries obtained by the identification and screening module 200; and a collecting module 400 for collecting the mature strawberries.

The identification and screening module 200 of the embodiment comprises a color sensor 210 and a screening mechanism, wherein the screening mechanism comprises a motor 220, a double-output worm gear 230, a transmission chain 240, a screening wheel 250, a suspension 260 and a rotating shaft 270, the suspension 260 is fixed with the rack 100, the rotating shaft 270 is fixed below the suspension 260, one end of the rotating shaft 270 is connected with the screening wheel 250, and the other end of the rotating shaft 270 is connected with the transmission chain 240; the motor 220 is fixed above the frame 100 and connected with the dual-output worm gear 230, and the transmission chain 240 is wound on the dual-output worm gear 230; the color sensor 210 is fixed on a suspension 260 and positioned above the sorting wheel 250, specifically: the vertical distance between 1cm fixed on the right side of the cutter groove 256 and the edge of the hub 251 is 4cm, the accuracy rate of color identification is high, the performance is stable, and the influence of background color on color identification of the sensor is solved by matching the semi-conical surface arranged on the hub 251.

As shown in fig. 6, the sorting wheel 250 includes a hub 251, a polyethylene brush 252, an inner supporting rod 253, an outer clamping plate 254 and a spring fastener 255, the hub 251 is provided with a plurality of mounting slots, the mounting slots can fix the polyethylene brush 252, the inner supporting rod 253 is rotatably fixed on the hub 251, the outer clamping plate 254 is limited on the hub 251 through the spring fastener 255, wherein the polyethylene brush 252 forms a picking end (picking fruit stems) of the sorting wheel 250, and the outer clamping plate 254 can be freely contracted and contracted, thereby fixing the fruit stems.

The sorting mechanisms are six in number and form two rows, the sorting mechanisms are symmetrically arranged below the rack 100, the front ends of the two rows of sorting wheels 250 are respectively provided with the straightening and grabbing wheels 280, the straightening and grabbing wheels 280 are consistent with the sorting wheels 250 in structure, when the sorting mechanism is used, the sorting wheels 250 and the straightening and grabbing wheels 280 are opposite in rotation direction and used for picking up the edges of strawberries distributed in a fan shape, the sorting mechanism is assisted with the strawberry sorting wheels 250, and omission of the strawberries is avoided.

It should be noted that: the maximum diameter of the sorting wheel 250 is 5cm, and a freely replaceable picking end is designed on the sorting wheel 250 and is made of fiber resin materials. Rigidity and caruncle performance of the strawberries are calculated and researched by combining characteristics of the strawberries, special heat treatment is carried out on the fiber resin material, adhesion to fruit stems is stronger when the strawberries are picked up, and probability density distribution calculation is carried out according to the relation between the number of picking ends on the sorting wheel 250 and probability density distribution of the strawberries.

The advancing speed of the whole robot is V, the rotating speed of the sorting wheel 250 is W, and V is W obtained through actual test and theoretical deduction, so that the sorting efficiency can reach more than 97%, the number of sorting ends on the sorting wheel 250 is X, the picking frequency is T through measuring N for the probability distribution density of strawberry fruits, and the N (TV/nW) is X through the mathematical relation; (N is a constant), the number of sorting ends can be determined, with 10 being the most effective in combination with the particular test of the experiment.

As shown in fig. 5, the picking module 300 of this embodiment includes a steering gear 310, a spring 330, a cutter 340 and a connecting rod 350, the steering gear 310 is fixed on the frame 100, the steering gear 310 is connected with the cutter 340 through the connecting rod 350, the spring 330 is sleeved on the cutter 340, the head of the cutter 340 passes through a cutter groove 256 formed on the hub 251, and the following requirements are further subdivided:

1. steering engine 310: the sweep angle of the independent steering engine 310 is 0-180 degrees, the locked-rotor torque is 1.2-1.4 kg/cm/(4.8 v), the working voltage is 4.8 v-6 v, and the brightness exceeds SG 90. The 6 independent steering engines 310 are connected with the cutter 340 through the connecting rod 350 and are matched with the color sensor 210 to cut the fruit stems;

2. the cutting knife 340: the model is 600mm, 800mm and 65 manganese steel, and the fruit stem is conveniently cut by specially processing the knife edge; the cutter 340 is positioned right above the sorting wheel 250, and a cutter groove 256 is formed on the inner side, close to the hub 251 of the sorting wheel 250, of the sorting wheel 250 and is used for assisting in cutting the fruit stems;

3. connecting rod 350: mechanical analysis is carried out on the steering gear, the maximum cutting speed is provided, the steering gear 310 with small torque force can easily cut, and the power of the whole machine is reduced.

In addition, the collection module 400 of this embodiment includes tray 410, and the inboard edge of tray 410 is equipped with the brush for hug closely the trapezoidal ridge both sides in strawberry cultivation field, the height of tray 410 can be adjusted, is about 7cm with the biggest vertical distance of strawberry, and single biggest full load weight is 5 kilograms.

This robot is still including middle impeller module 500 of wrapping up in, and middle impeller module 500 of wrapping up in includes two baffles 510 that constitute by PVC and mane, and two baffles 510 symmetries set up in the below of frame 100 and run through whole frame 100, and baffle 510 and sorting wheel 250 are in same horizontal plane, and the entry is trapezoidal inside narrowing down gradually, separates strawberry plant and fruit, and furthest reduces the injury to the strawberry plant, also is convenient for sieve the accurate screening of module. As shown in fig. 7, the middle impeller-wrapping module 500 further includes a tail sweeping wheel 520, and the tail sweeping wheel 520 is provided with a flexible brush along a circumferential surface.

This strawberry robot need carry out big data processing, owing to carry out the control of colour identification module and picking module 300 and motor 220 drive module simultaneously, so have higher requirement in the aspect of the performance and the communication of main control chip, STM32F series STM32F103ZET6 main control chip's a great deal of advantage is fine has satisfied the requirement of this device, so main control chip selects STM32F series STM32F103ZET 6.

As shown in fig. 8, the picking method of the efficient strawberry picking robot of the embodiment includes the following specific steps:

s101, separating strawberry plants from fruits by a baffle 510 positioned at the front end, picking up strawberry stems by a polyethylene brush 252 on a sorting wheel 250, and fixing the strawberry stems by an inner supporting rod 253 and an outer clamping plate 254;

s102, when the picked fruit stems move to a set range above a hub 251 of a sorting wheel 250, a color sensor 210 captures strawberries at the front ends of the fruit stems, performs color recognition on the strawberries, obtains RGB values, performs screening by matching with a color recognition algorithm, and judges mature strawberries, immature strawberries, single stems and multiple stems;

s103, when the single-stem strawberries are judged to be mature, the cutter 340 positioned above the hub 251 of the sorting wheel 250 is driven by the steering engine 310 to quickly cut fruit stems; when a plurality of fruit stems are picked up, the fruit stems are not cut through the judgment of the RGB value, and the next sorting wheel 250 picks up again for judgment and cutting;

and S104, the picked strawberries freely roll off from the edge of the ridge and fall onto a tray 410 tightly attached to the edge of the ridge to finish the picking of the strawberries.

In step S101, strawberries with fan-shaped edges are picked up by the straightening and grabbing wheel 280; in step 102, the specific procedure of the color recognition algorithm is as follows: before the color sensor 210 normally collects color, white color collection is firstly carried out, a white balance reference is established, the normal color collection is started after the white balance, the color sensor 210 can be transmitted to a chip through serial port or IIC communication through the setting of a program, and the collected color is obtained through the calculation of the chip; the color acquired by the chip is red, and the designated steering engine 310 is driven to act to drive the cutter 340 to cut downwards through the serial port communication steering engine 310 driving plate.

The method specifically comprises the following steps: the single-path IIC realizes color identification and picking program source codes:

compared with the modern greenhouse cultivation mode of the Japanese tombarthite and the like, the strawberry picking robot device suitable for overhead cultivation is developed, the robot adopts a 5-degree-of-freedom picking manipulator, a visual system end effector adopts a vacuum air suction blade-adding cutter, during harvesting, the space position of a picking target is calculated by a machine vision system firstly, and picking is carried out; in addition, the visual system has too many interference factors in the image acquisition process, the picking accuracy and the picking time can be influenced by the light and shade machine shake of light in the picking process, the density of strawberry fruits and the like, and according to 15 s/strawberry picking robot given by the factors, the strawberry picking robot can be seen to be completely incapable of being used for production and putting into use;

in addition, the efficient strawberry picking robot adopts the fixed picking end and the color sensor to perform picking and screening, so that data acquisition of a vision system is abandoned, and the technical cost is reduced; the fixed flexible sorting wheel module is utilized, modular assembly can be performed according to different terrains, and the application range of the robot is greatly enlarged; fixed discernment screening module, can make through the design to the robot shell pick at mechanical inside going on, through inside light filling, it is accurate quick to reduce external factor interference and make to pick, the rate of accuracy is up to more than 90%, through the design of these innovations, can realize 3 s/individual high-speed picking, five times of machine picking efficiency of adding money, the cost is far less than the robot of adding money more, in the picking process, we utilize the growing environment of strawberry, the flexible end of selecting separately of design, the direct contact of machinery with the fruit has been avoided, traditional arm picking can be abandoned like this, the technical difficulty is reduced, the picking efficiency is improved, very big reduction the damaged rate of fruit, the quality of strawberry is improved.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. An efficient strawberry picking robot is characterized by comprising a machine frame (100);

the identification screening module (200) is used for obtaining the RGB value of the strawberries through color identification and judging mature strawberries, immature strawberries, single stems and multiple stems;

a picking module (300) for cutting the mature strawberries obtained by the identification and screening module (200);

a collection module (400) for collecting the mature strawberries; the identification and screening module (200) comprises a color sensor (210) and a screening mechanism, wherein the screening mechanism comprises a motor (220), a double-output worm gear (230), a transmission chain (240), a screening wheel (250), a suspension (260) and a rotating shaft (270), the suspension (260) is fixed with the rack (100), the rotating shaft (270) is fixed below the suspension (260), one end of the rotating shaft (270) is connected with the screening wheel (250), and the other end of the rotating shaft (270) is connected with the transmission chain (240); the motor (220) is fixed above the rack (100) and is connected with the double-output worm gear (230), and the transmission chain (240) is wound on the double-output worm gear (230); the color sensor (210) is fixed on a suspension (260) and positioned above the sorting wheel (250).

2. The efficient strawberry picking robot according to claim 1, wherein the sorting wheel (250) comprises a hub (251), a polyethylene brush (252), an inner supporting rod (253), an outer clamping plate (254) and a spring fastener (255), the hub (251) is provided with a plurality of mounting grooves, the mounting grooves can fix the polyethylene brush (252), the inner supporting rod (253) is rotatably fixed on the shaft of the hub (251), and the outer clamping plate (254) is limited on the hub (251) through the spring fastener (255).

3. The efficient strawberry picking robot according to claim 2, wherein the picking module (300) comprises a steering engine (310), a spring (330), a cutter (340) and a connecting rod (350), the steering engine (310) is fixed on the rack (100), the steering engine (310) is connected with the cutter (340) through the connecting rod (350), the spring (330) is sleeved on the cutter (340), and the head of the cutter (340) penetrates through a cutter groove (256) formed in the hub (251).

4. The efficient strawberry picking robot according to claim 3, wherein the collecting module (400) comprises a tray (410), and brushes are arranged at the inner side edges of the tray (410) and used for clinging to two sides of a trapezoidal ridge of the strawberry planting field.

5. The efficient strawberry picking robot according to any one of claims 1 to 4, characterized by further comprising an intermediate impeller-wrapping module (500), wherein the intermediate impeller-wrapping module (500) comprises two baffles (510) made of PVC and bristles, the two baffles (510) are symmetrically arranged below the rack (100) and penetrate through the whole rack (100), the baffles (510) and the sorting wheel (250) are in the same horizontal plane, and an inlet is in a trapezoidal shape and gradually narrows inwards.

6. The efficient strawberry picking robot according to claim 3, wherein the sorting mechanisms are six in number and form two rows, the sorting mechanisms are symmetrically arranged below the frame (100), the front ends of the two rows of sorting wheels (250) are respectively provided with the straightening grabbing wheels (280), the straightening grabbing wheels (280) are consistent with the sorting wheels (250) in structure, and when the efficient strawberry picking robot is used, the sorting wheels (250) and the straightening grabbing wheels (280) are opposite in rotation direction.

7. The efficient strawberry picking robot according to claim 5, wherein the middle impeller wrapping module (500) further comprises a tail sweeping wheel (520), and the tail sweeping wheel (520) is provided with a flexible brush along a circumferential surface.

8. A picking method of a high-efficiency strawberry picking robot is characterized by comprising the following specific steps:

s101, separating strawberry plants from fruits by a baffle plate (510) positioned at the front end, picking up strawberry stems by a polyethylene brush (252) on a sorting wheel (250), and fixing the strawberry stems by an inner supporting rod (253) and an outer clamping plate (254);

s102, when the picked fruit stems move to a set range above a hub (251) of a sorting wheel (250), a color sensor (210) captures strawberries at the front ends of the fruit stems, performs color recognition on the strawberries, obtains RGB values, performs screening by matching with a color recognition algorithm, and judges mature strawberries, immature strawberries, single stems and multiple stems;

s103, when the single-stem strawberries are judged to be mature, a cutter (340) positioned above a hub (251) of the sorting wheel (250) is driven by a steering engine (310) to quickly cut fruit stems; when a plurality of fruit stems are picked up, the fruit stems are not cut through the judgment of the RGB value, and the next sorting wheel (250) picks up again for judgment and cutting;

and S104, the picked strawberries freely roll off from the edge of the ridge and fall onto a tray (410) tightly attached to the edge of the ridge to finish the picking of the strawberries.

9. The picking method of the high-efficiency strawberry picking robot according to claim 8, characterized in that in the step S101, strawberries with fan-shaped edges are picked by a straightening grabbing wheel (280); in step S102, the specific procedure of the color recognition algorithm is as follows: the color sensor (210) collects white before normal color collection, a white balance reference is established, normal color collection is started after white balance, the color sensor (210) can be transmitted to a chip through serial port or IIC communication through program setting, and the collected color is obtained through calculation of the chip; the color acquired by the chip is red, and the designated steering engine (310) acts to drive the cutter (340) to cut down through the serial port communication steering engine (310) driving plate.