CN115997556A - Automatic lotus seedpod picking device - Google Patents

Abstract

The invention discloses an automatic lotus seedpod picking device which comprises a track, a frame, a cross beam, a working slipway, a picking mechanical arm, a conveying system, a collecting system, an image collecting system and a control system, wherein the frame and the lotus seedpod collecting system are arranged on the track; the cross beam is symmetrically arranged on the frame left and right, two sides of the cross beam are respectively provided with a working slipway, and the picking mechanical arm is arranged on the working slipway; the image acquisition system acquires a shower image, and recognizes the shower through the control system and acquires the shower position information; the picking mechanical arm performs picking according to the position information of the target lotus seedpod, and the picked lotus seedpod is sent to the collecting system by the conveying system. The rails are arranged in lotus fields, the rails of adjacent lotus fields can be preset according to the shape of the lotus fields, and the rails of adjacent lotus fields are connected through transition rails so as to realize transition of the picking device in different lotus fields. The invention can execute selective lotus seedpod picking in areas where people such as lotus fields, lakes and the like are difficult to travel, and improves the efficiency and quality of lotus seedpod picking.

Description

Automatic lotus seedpod picking device

Technical Field

The invention relates to the field of lotus seedpod picking equipment, in particular to an automatic lotus seedpod picking device.

Background

The lotus seeds contain a plurality of elements beneficial to human bodies, have higher nutritive value and medicinal value, and are important cash crops in the south of China. Six to September each year is the season in which lotus seeds are mature. After lotus seeds are ripe, lotus farmers must put in the field to pick lotus plumes, and then lotus plumes are processed, so that lotus plumes are important work in the lotus seed production process. Because of the limitation of the technology, the lotus seedpod picking is always a manual operation since ancient times, and the manual lotus seedpod picking working environment is bad, the production efficiency is low, the labor intensity is high, and the lotus seedpod picking working environment becomes a bottleneck problem for restricting the development of lotus seed industry. Therefore, the invention high-efficiency automatic lotus seedpod picking machine replaces manual work, and is an urgent requirement for upgrading the traditional industrial technology.

In order to overcome the defect of manual picking of lotus seedpod, researchers put forward some schemes of the equipment for picking the lotus seedpod, and the special equipment for picking is designed to assist in manually picking the lotus seedpod. For example, patent document CN 210868806U discloses a shower picker. The device comprises a sleeve, a collecting cover, a collecting knife, a pull rope, an elastic piece and a fixing rod, wherein the collecting cover is arranged at one end of the sleeve and is provided with a U-shaped opening; the fixed rod penetrates through two ends of the limiting hole on the sleeve, and the elastic piece is arranged on the sleeve and is contacted with the fixed rod; the cutter handle of the cutter is provided with a through hole, the fixing rod penetrates through the cutter handle, and the blade is positioned on the right side of the U-shaped opening; one end of the pull rope is connected with the fixed rod, and the other end extends out of the sleeve. The device pulls the pull rope to realize the purpose that the harvesting knife cuts off the lotus seedpod. Patent document CN 109691298A provides a convenient and practical's lotus ware of adopting, including telescopic link, support frame, flexible auxiliary rod and intelligent processing system, the telescopic link includes carbide fibre pipe one, carbide fibre pipe two, carbide fibre pipe three, carbide fibre pipe four and carbide fibre pipe five, carbide fibre pipe one cover is established in the one end of carbide fibre pipe two, another pot head of carbide fibre pipe two is established in the one end of carbide fibre pipe three, another pot head of carbide fibre pipe three is established in the one end of carbide fibre pipe four, another pot head of carbide fibre pipe four is established in the one end of carbide fibre pipe five, another end fixed mounting of carbide fibre pipe one has the battery, the top fixed mounting of carbide fibre pipe one has the take-up pulley of one end of battery, be provided with locking knob one on the take-up pulley, this convenient and practical's lotus ware of adopting reasonable in design, convenient to use can effectually improve the efficiency of lotus seed picking. According to the technical scheme, hand equipment is required to pick, the dependence on the hand is still large, and the picking efficiency is low.

Patent document CN 113079824A provides a picking equipment on water, which comprises a housin, the arm structure, location detection structure, power device, wherein, be formed with in the casing and hold the chamber, the arm structure is including locating the arm seat that holds the intracavity, the gripper is connected with the arm seat, and have the movable stroke that stretches to the casing outside from holding the intracavity, the gripper is used for picking the lotus seedpod, location detection structure is located at least partially holds the intracavity, have and stretch out in the detection end that holds the chamber, with discernment location casing week side's barrier and picking the thing, power device locates the casing, with drive casing activity on water, realize automaticly, reduce the manpower, improve picking efficiency. The scheme does not consider the problem of storing the lotus seedpod after picking, and the lotus seedpod needs to be frequently reciprocated after picking, so that the picking efficiency is low; in addition, the scheme does not have the function of identifying the lotus seedpod, and has a certain limitation on the application range.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an automatic lotus seedpod picking device which can move independently in a lotus field, can identify and pick the lotus seedpod in an operation area, can effectively replace manual picking operation and improves picking efficiency.

The technical scheme adopted by the invention is as follows: the utility model provides an automatic device of picking of lotus seedpod, includes track, frame, crossbeam, work slip table, picks arm, conveying system, collecting system, image acquisition system and control system, its characterized in that: the track is fixed in the lotus field through a track support; the bottom of the frame is provided with a travelling mechanism which is movably arranged on a travelling rail; the beam is arranged at the top of the frame and is perpendicular to the advancing direction of the frame; two sides of the cross beam are respectively provided with a working slipway; the working sliding table is provided with a picking mechanical arm and can drive the picking mechanical arm to move along the cross beam; the collecting system is movably arranged on the track and connected with the frame, and is driven by the frame to walk; the conveying system is fixedly arranged on one side of the cross beam, and the output end of the conveying system is positioned above the collecting box on the collecting system; the image acquisition system comprises a camera bracket and an identification camera, wherein the camera bracket is fixedly arranged at the top of the frame, the upper part of the camera bracket is respectively branched to the left and the right sides, the branched ends of the two sides of the camera bracket are respectively provided with the identification camera, and the identification cameras observe a picking area downwards; the control system is connected with each part of the automatic lotus seedpod picking device through an electric signal and is connected with a remote control device through a remote communication module;

after the frame moves on the track for a certain distance, the image acquisition system acquires an image in the current picking area, processes and identifies the lotus seedpod in the image through the control system, and acquires the position information of the lotus seedpod; picking is carried out by the picking mechanical arm according to the position information of the target lotus seedpod, the picked lotus seedpod is placed in a conveying system by the picking mechanical arm, and then the picked lotus seedpod is conveyed to a collecting system by the conveying system; after picking of the current picking zone is completed, the frame is again moved forward a distance.

Preferably, the cross beams comprise a left cross beam, a right cross beam and a bolster; the bolster is fixedly arranged at the top of the frame; the left cross beam and the right cross beam are symmetrically arranged on the bolster and are respectively positioned at the left side and the right side of the frame; the left cross beam and the right cross beam are respectively and independently provided with a working sliding table.

Preferably, the cross beam is provided with a translation motor and a translation sliding rail, and the working sliding table is movably arranged on the translation sliding rail; the translation motor is fixedly arranged at the end part of the translation sliding rail; the translation motor drives the working slipway to horizontally move along the cross beam through synchronous belt transmission.

Preferably, the picking mechanical arm comprises a base, a first arm body, a second arm body, a wrist joint and a picking end effector; the base is fixed on the working slipway; the first arm body base is connected with the upper end of the base and can rotate on the base; the first arm body is hinged with the first arm body base; the second arm body is hinged with the first arm body; the wrist joint is hinged with the second arm body and can rotate around the axis of the second arm body; the picking end effector is hinged with the wrist joint and can rotate around the end part of the wrist joint; the picking end effector can perform picking of lotus plumes; the above-mentioned every rotation and hinge place also includes driving device.

Preferably, the track support comprises an adjustable upright post, an inclined stay rod and an anti-sedimentation sleeve; the adjustable upright post is of a sleeved telescopic structure, the upper end of the adjustable upright post is fixedly connected with the track, and the lower end of the adjustable upright post is connected with the anti-sedimentation sleeve; the anti-sedimentation sleeve is of a horn-shaped structure with a narrow upper part and a wide lower part; the upper end of the inclined stay bar is connected with the column shaft of the adjustable column through a connecting piece, and the lower end of the inclined stay bar is obliquely inserted into the lotus field downwards.

Preferably, the travelling mechanism comprises a base, a driving wheel assembly and an anti-tipping assembly; the driving wheel assembly is in contact connection with the top surface of the rail through the driving wheel and the supporting wheel, and drives the travelling mechanism to move along the rail; the anti-tipping assembly comprises an elastic mechanism and a pressing wheel, wherein the pressing wheel is in contact connection with the bottom surface of the rail, and the elastic mechanism presses the travelling mechanism on the rail through the pressing wheel to prevent the automatic lotus seedpod picking device from tipping when travelling on the rail.

Preferably, the collecting system comprises a collecting box and a travelling wheel assembly; the travelling wheel assembly is positioned at the bottom of the material collecting box and is connected with the track through unpowered rollers and anti-tipping wheel sets, and the travelling wheel assembly can support the material collecting box to move along the track.

Preferably, the conveying mechanism comprises a right rotary conveyor, a left rotary conveyor and a middle rotary conveyor; the right rotary conveyor and the left rotary conveyor are symmetrically arranged at the left side and the right side of the cross beam and are parallel to the cross beam; the middle rotary conveyor is arranged below the space between the right rotary conveyor and the left rotary conveyor and is vertically connected with the side wall of the cross beam; the conveying directions of the right rotary conveyor and the left rotary conveyor are from the two ends of the cross beam to the middle part of the cross beam, and the conveying direction of the middle rotary conveyor is from one end close to the cross beam to one end far away from the cross beam; the discharge end of the middle rotary conveyor is positioned above the material collecting box of the collecting system, and a distance sensor for detecting the height of the shower in the material collecting box is arranged at the discharge end of the middle rotary conveyor.

Preferably, the identification camera in the image acquisition system can acquire RGB information and depth information in a visual field range; preferably, the recognition camera is a depth camera.

Preferably, the control system comprises a controller, a driver, a battery module, a remote communication module and a remote control device; the controller, the driver, the battery module and the remote communication module are all arranged in the rack; the control system controls the action execution and function realization of the frame, the picking mechanical arm, the conveying system and the image acquisition system.

Preferably, the control system identifies the shower in the image by a deep learning algorithm.

In the prior art, the lotus seedpod is picked by manual driving or field taking, the picking difficulty and labor intensity are both high, and the picking efficiency is low. Some portable picking devices generally need to be manually controlled, so that only part of labor intensity and picking difficulty can be reduced, the problem of low picking efficiency still exists, and automation cannot be realized.

In the invention, the automatic lotus seedpod picking system comprises a track, a frame, a cross beam, a working slipway, a picking mechanical arm, a conveying system, a collecting system, an image acquisition system and a control system. Wherein, the track is directly placed in the lotus field through the track support, and other parts are all installed on the track. The picking mechanical arm can transversely move above the lotus field (vertical to the axis direction of the walking track in the horizontal plane) through the working sliding table, so that the range of a lotus seed picking area is enlarged, and under the synergistic effect of the image acquisition system and the control system, the picking operation of the target lotus seed can be accurately realized. The track is a single track, and the track does not occupy ridge space after being installed. By properly arranging the rails, the device can be used for picking the lotus seedpod in the irregular lotus fields, and the device can be used for picking the lotus seedpod in a plurality of lotus fields at the same time, so that the automatic picking efficiency of the lotus seedpod is greatly improved. Meanwhile, as the whole device is supported by the rails, the damage of the equipment in the movement process to lotus leaves and lotus flowers can be effectively reduced.

In the present invention, the frame moves back and forth on the rail by a walking mechanism at a predetermined step distance (the back and forth direction is the axial direction of the rail, and the direction in which the frame travels is the front, and vice versa). After the frame walks for a step, the control system controls the equipment to start picking the lotus seedpod in the range covered by the step, and after picking is finished, the frame is continuously controlled to walk to the next step to perform a new round of picking operation. The setting of floating distance can realize in the length direction of lotus field, cuts apart the lotus field into if each same width pluck region, and work slip table is realized in any region of plucking the accurate removal of adjustment plucking arm in horizontal, and the plucking arm can carry out multi freedom rotation. Through the synergistic effect of the two mechanisms, not only can the quick and accurate picking of the lotus seedpod be realized, but also the missing picking of the lotus seedpod can be effectively avoided.

In the invention, a walking rail is placed in lotus fields through a rail support, and the rail support comprises an adjustable upright post, an inclined strut, an anti-sedimentation sleeve and a connecting piece. The height of the walking track can be adjusted according to the depths of water and silt in different lotus fields by the adjustable upright post, so that the damage to lotus leaves and lotus flowers in the picking process can be effectively avoided. The diagonal brace is used for supporting the adjustable upright post in an auxiliary manner, so that stability is improved. The anti-sedimentation sleeve is of a horn-shaped structure with a narrow upper part and a wide lower part, is arranged at the bottom of the adjustable upright post, can enlarge the contact area with lotus Tian Debu, prevents sedimentation, and further improves stability.

In the invention, the cross beam comprises a left cross beam, a right cross beam and a support beam, wherein the support beam is fixed at the top of the frame, and the left cross beam and the right cross beam are symmetrically arranged at the left side and the right side of the frame (namely, at the two sides of the horizontal plane which are vertical to the transverse direction of the axis of the walking track); the left cross beam and the right cross beam can be integrally formed integral cross beams and can be formed by detachably splicing a plurality of cross beam sections respectively, that is, the lengths of the left cross beam and the right cross beam can be adjusted in advance, namely, the total length of the left cross beam and the right cross beam can be set according to the average width or the minimum width of the left cross beam and the right cross beam before picking aiming at a plurality of lotus fields with different widths, so that the picking operation of lotus seedings in a plurality of lotus fields in a slice area can be realized only by one-time adjustment, the picking efficiency is greatly improved, and meanwhile, the practicability of the system is greatly improved.

In the present invention, the control system includes a controller, a driver, a battery module, a remote communication module, and a remote control device. The controller, the driver, the battery module and the remote communication module are all arranged in the rack. The battery module is a battery (e.g., lithium battery) for powering a controller that controls the various components of the system (primarily the various motors) via a driver. The controller is in signal connection with the remote control equipment through the remote communication module. Generally, the controller may be divided into a main controller and a motion controller, the main controller is connected with an identification camera of the image acquisition system, controls the identification camera to take a picture of the lotus, identifies the maturity of the lotus on the photo and determines the position information of the lotus to be picked, and the main controller controls each motor to act through a driver according to the target position information of the lotus, such as controlling the movement of a working sliding table and the movement of each joint of a picking mechanical arm, so that the picking end effector moves to the target position of the lotus without obstacle, and implements the lotus picking operation. Further, the remote control equipment realizes data communication with the controller through the remote communication module, and can remotely control the intelligent lotus seedpod picking equipment to implement picking operation in lotus fields. More specifically, in the invention, the remote control device can be a remote controller, a remote control handle, a mobile phone, a tablet and other handheld devices, and also comprises a computer and other network terminal devices.

In the present invention, an image acquisition system includes a camera mount and an identification camera, wherein: the camera support is arranged on the cross beam, in particular to be fixedly arranged in the middle of the cross beam. The tail end of the camera support is provided with an identification camera. The lens of the recognition camera can freely rotate 360 degrees (generally, is arranged downwards).

In the present invention, the conveying mechanism includes a left rotary conveyor, a right rotary conveyor, and a middle rotary conveyor. The left rotary conveyor and the right rotary conveyor are symmetrically arranged at the left side and the right side of the cross beam and are parallel to the cross beam. The middle rotary conveyor is arranged between the rotary conveyor and the right rotary conveyor and is vertically connected with the side wall of the cross beam. The left rotary conveyor and the right rotary conveyor convey the lotus seeders picked by the picking mechanical arms positioned at the two sides of the walking track to the middle rotary conveyor, and then the lotus seeders are conveyed into a collecting basket of the collecting system by the middle rotary conveyor. Generally, the left rotary conveyor, the right rotary conveyor, and the middle rotary conveyor are flexible belt conveyors.

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

1: the automatic lotus seedpod picking device is arranged in the lotus fields through the tracks to perform lotus seedpod picking operation, so that ridge space in the lotus fields is not occupied, picking systems in the lotus fields are not affected, and picking efficiency is high; in addition, the lotus seed picking machine is also suitable for lotus field picking operation with any configuration under a plurality of topography, and has low dependence on topography and strong practicability.

2: the automatic lotus seedpod picking system can realize the omnibearing coverage of a lotus seedpod picking area by controlling the identification camera, the travelling mechanism, the working sliding table, the picking mechanical arm and the like through the control equipment, accurately realize the identification, the positioning and the autonomous picking operation of the lotus seedpod, and greatly improve the intelligent level and the intelligent efficiency of the lotus seedpod picking.

3: the automatic lotus seed picking system improves the adaptability of the system to lotus fields with different configurations through the length-adjustable cross beam, further enlarges the picking area of the lotus seed, reduces the number of tracks arranged in the fields and reduces the picking cost. Meanwhile, the lotus seed picking device is supported by the rails, so that the problem that the lotus seed picking device walks in lotus fields is effectively solved, the occupied field area is small, and the damage of the lotus seed picking device to lotus leaves and lotus flowers is effectively avoided.

Drawings

FIG. 1 is a schematic view of the overall structure of the automatic shower picking system of the present invention;

FIG. 2 is a side view of the automatic shower picking system of the present invention;

FIG. 3 is a schematic diagram of a combination of a cross beam and a horizontal slip;

FIG. 4 is a schematic view of the overall structure of the picking robot;

FIG. 5 is a schematic diagram of the overall structure of the running gear;

FIG. 6 is a front view of the running gear;

FIG. 7 is a schematic diagram of a combination of a transport mechanism and a collection mechanism;

fig. 8 is a schematic view of the overall structure of the track support.

Reference numerals: 1: a walking rail; 2: a frame; 3: a cross beam; 301: a left cross beam; 302: a right cross beam; 303: a bolster; 4: a horizontal slipway; 401: a translation motor; 402: translating the slide rail; 403: a translation slider; 5: a picking mechanical arm; 501: a base; 502: a first arm base; 503: a first arm body; 504: a second arm 504;505: a wrist joint; 506: picking an end effector; 6: a conveying mechanism; 601: a left rotary conveyor; 602: a right rotary conveyor; 603: a middle rotary conveyor; 7: a collection mechanism; 71: a collecting box basket; 72: moving the tray; 721: an anti-tipping wheel set; 8: a visual recognition mechanism; 801: a camera mount; 802: identifying a camera; 9: a control device; 11: a walking mechanism; 1101: a housing; 1102: a drive wheel assembly; 1103: an anti-tipping assembly; 11021: a driving wheel; 11022: a support wheel; 11031: an elastic mechanism; 11032: a pinch roller; 12: a rail support; 1201: an adjustable column; 1202: a diagonal brace; 1203: an anti-sedimentation sleeve; 1204: a connecting piece;

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.

As shown in fig. 1-2, the automatic lotus seedpod picking device of the invention comprises a track 1, a frame 2, a cross beam 3, a working sliding table 4, a picking mechanical arm 5, a conveying system 6, a collecting system 7, an image collecting system 8 and a control system 9, and is characterized in that: the track 1 is fixed in the lotus field through a track support 12; the bottom of the frame 2 is provided with a travelling mechanism 21, and the travelling mechanism 11 is movably arranged on the travelling rail 1; the cross beam 3 is arranged at the top of the frame 2 and is perpendicular to the travelling direction of the frame 2; two sides of the cross beam 3 are respectively provided with a working sliding table 4; a picking mechanical arm 5 is arranged on the working sliding table 4, and the working sliding table 4 can drive the picking mechanical arm 5 to move along the cross beam 3; the collecting system 7 is movably arranged on the track 1 and connected with the frame 2, and is driven by the frame 2 to walk; the conveying system 6 is fixedly arranged on one side of the cross beam 3, and the output end of the conveying system 6 is positioned above the material collecting box 71 on the collecting system 7; the image acquisition system 8 comprises a camera bracket 801 and an identification camera 802, the camera bracket 801 is fixedly arranged at the top of the stand 2, the upper part of the camera bracket 801 is respectively branched to the left and the right, the branched ends of the two sides of the camera bracket 801 are respectively provided with the identification camera 802, and the identification camera 802 observes a picking area downwards; the control system 11 is connected with each part of the automatic lotus seedpod picking device through an electric signal and is connected with a remote control device through a remote communication module;

after the frame 2 moves a certain distance on the track 1, the image acquisition system 8 acquires images in the current picking area, processes and identifies the lotus seedpod in the images through the control system 9, and acquires the position information of the lotus seedpod; picking is carried out by the picking mechanical arm 5 according to the position information of the target lotus seedpod, the picked lotus seedpod is placed in the conveying system 6 by the picking mechanical arm 5, and then is conveyed to the collecting system 7 by the conveying system 6; after picking of the current picking zone is completed, the frame 2 is moved forward a distance again.

As shown in fig. 3, the cross beam 3 includes a left cross beam 301, a right cross beam 302, and a bolster 303; the bolster 303 is fixedly arranged on the top of the frame 2; the left cross beam 301 and the right cross beam 302 are symmetrically arranged on the supporting beam 303 and are respectively positioned at the left side and the right side of the frame 2; the left cross beam 301 and the right cross beam 302 are respectively and independently provided with a working sliding table 4.

As shown in fig. 3, the cross beam 3 is provided with a translation motor 304 and a translation sliding rail 305, and the working sliding table 4 is movably mounted on the translation sliding rail 305; the translation motor 304 is fixedly arranged at the end part of the translation sliding rail 305; the translation motor 304 drives the working slipway 4 to horizontally move along the cross beam 3 through synchronous belt transmission.

As shown in fig. 4, the picking mechanical arm 5 includes a base 501, a first arm base 502, a first arm 503, a second arm 504, a wrist 505, and a picking end effector 506; the base 501 is fixed on the working slipway 4; the first arm base 502 is connected with the upper end of the base 501 and can rotate on the base 501; the first arm 503 is hinged with the first arm base 502; the second arm 504 is hinged with the first arm 503; the wrist joint 505 is hinged with the second arm 504 and can rotate around the axis of the second arm 504; the picking end effector 506 is hinged with the wrist joint 505 and can rotate around the end part of the wrist joint 505; the picking end effector 506 may perform picking of the lotus seedpod; the above-mentioned every rotation and hinge place also includes driving device.

As shown in fig. 8, the track support 12 includes an adjustable column 1201, a diagonal brace 1202, an anti-settling sleeve 1203, and a connector 1204; the adjustable upright post 1201 is of a sleeved telescopic structure, the upper end of the adjustable upright post 1201 is fixedly connected with the track 1, and the lower end of the adjustable upright post 1201 is connected with the anti-sedimentation sleeve 1203; the anti-sedimentation sleeve 1203 is of a horn-shaped structure with a narrow upper part and a wide lower part; the upper end of the diagonal brace 1202 is connected with the column shaft of the adjustable column 1201 through a connecting piece 1204, and the lower end of the diagonal brace 1202 is inserted into the lotus field obliquely downwards.

As shown in fig. 5-6, the running gear 11 includes a base 1101, a drive wheel assembly 1102, and an anti-tip assembly 1103; the driving wheel assembly 1102 is in contact connection with the top surface of the rail 1 through the driving wheel 11021 and the supporting wheel 11022, and drives the travelling mechanism 11 to move along the rail 1; the anti-tipping assembly 1103 comprises an elastic mechanism 11031 and a pressing wheel 11032, wherein the pressing wheel 11032 is in contact connection with the bottom surface of the rail 1, and the elastic mechanism 11031 presses the travelling mechanism 11 on the rail through the pressing wheel 11032 to prevent the automatic lotus seedpod picking device from tipping when travelling on the rail.

As shown in fig. 7, the collection system 7 comprises a collection box 71 and a travelling wheel assembly 72; the travelling wheel assembly 72 is positioned at the bottom of the material collecting box 71, and the travelling wheel assembly 72 is connected with the track 1 through an unpowered roller wheel and anti-tipping wheel set 721 and can support the material collecting box 71 to move along the track 1.

As shown in fig. 7, the conveying mechanism 6 includes a right rotary conveyor 601, a left rotary conveyor 602, and a middle rotary conveyor 603; the right rotary conveyor 601 and the left rotary conveyor 602 are symmetrically arranged on the left side and the right side of the cross beam 3 and are parallel to the cross beam 3; the middle rotary conveyor 603 is arranged below the space between the right rotary conveyor 601 and the left rotary conveyor 602 and is vertically connected with the side wall of the cross beam 3; the conveying directions of the right rotary conveyor 601 and the left rotary conveyor 602 are from two ends of the beam 3 to the middle of the beam 3, and the conveying direction of the middle rotary conveyor 603 is from one end close to the beam 3 to one end far from the beam 3; the discharge end of the middle rotary conveyor 603 is located above the collection box 71 of the collection system 7, and the discharge end thereof is provided with a distance sensor for detecting the height of the shower in the collection box 71.

As shown in fig. 1, the recognition camera 802 in the image acquisition system 8 may acquire RGB information and depth information within a field of view; preferably, the recognition camera 802 is a depth camera.

As shown in fig. 1, the control system 9 includes a controller, a driver, a battery module, a remote communication module, and a remote control device; the controller, the driver, the battery module and the remote communication module are all arranged in the frame 2; the control system 9 controls the action execution and function realization of the frame 2, the picking mechanical arm 5, the conveying system 6 and the image acquisition system 8.

The control system 9 recognizes the shower in the image by a deep learning algorithm.

The working process of the invention is as follows: when the rack moves to the operation area along the track, the main controller controls the identification camera to shoot pictures of the left and right shower areas, identifies the maturity of the shower in the pictures, and calculates the position coordinates of each mature shower in the left and right areas; and the main controller performs picking path planning on the lotus seedpod in the left and right areas according to the position coordinates of each mature lotus seedpod. After the path planning is completed, the main controller controls the movement of the left and right horizontal sliding tables and the movement of each joint of the picking mechanical arm through the movement controller, so that the picking end effector can move to the target lotus seedpod position without obstacle, and the lotus seedpod picking operation is implemented. After picking, the picking end effector moves along with the picking mechanical arm, the lotus seedpod is placed on a left rotary conveyor or a right rotary conveyor, the lotus seedpod is concentrated towards the middle part of a cross beam on the left rotary conveyor or the right rotary conveyor, and finally enters a material collecting box basket through the middle rotary conveyor; the lotus seedpod picking process is repeated until all lotus seedpods in the left and right areas of the lotus field are picked, and then the whole device moves forwards along the track by one picking step distance to enter the next picking cycle.

Claims (11)

1. The utility model provides an automatic picking device of lotus seedpod, includes track (1), frame (2), crossbeam (3), work slip table (4), picks arm (5), conveying system (6), collecting system (7), image acquisition system (8) and control system (9), its characterized in that: the track (1) is fixed in the lotus field through a track support (12); the bottom of the frame (2) is provided with a travelling mechanism (21), and the travelling mechanism (11) is movably arranged on the travelling rail (1); the cross beam (3) is arranged at the top of the frame (2) and is perpendicular to the advancing direction of the frame (2); two sides of the cross beam (3) are respectively provided with a working sliding table (4); a picking mechanical arm (5) is arranged on the working sliding table (4), and the working sliding table (4) can drive the picking mechanical arm (5) to move along the cross beam (3); the collecting system (7) is movably arranged on the track (1) and connected with the frame (2), and is driven by the frame (2) to walk; the conveying system (6) is fixedly arranged on one side of the cross beam (3), and the output end of the conveying system (6) is positioned above a collection box (71) on the collection system (7); the image acquisition system (8) comprises a camera support (801) and an identification camera (802), the camera support (801) is fixedly arranged at the top of the stand (2), the upper part of the camera support (801) is respectively bifurcated at the left side and the right side, the two bifurcated ends of the camera support (801) are respectively provided with the identification camera (802), and the identification camera (802) is used for observing a picking area downwards; the control system (11) is connected with each part of the automatic shower picking device through an electric signal and is connected with a remote control device through a remote communication module;

after the frame (2) moves on the track (1) for a certain distance, an image acquisition system (8) acquires images in the current picking area, and a control system (9) processes and identifies the lotus seedpod in the images, and acquires position information of the lotus seedpod; picking is carried out by the picking mechanical arm (5) according to the position information of the target lotus seedpod, the picked lotus seedpod is placed in the conveying system (6) by the picking mechanical arm (5), and then is conveyed to the collecting system (7) by the conveying system (6); after picking of the current picking zone is completed, the frame (2) is moved forward a certain distance again.

2. An automatic shower head picking device as defined in claim 1, wherein: the cross beam (3) comprises a left cross beam (301), a right cross beam (302) and a bolster (303); the bolster (303) is fixedly arranged at the top of the frame (2); the left cross beam (301) and the right cross beam (302) are symmetrically arranged on the bolster (303) and are respectively positioned at the left side and the right side of the frame (2); the left cross beam (301) and the right cross beam (302) are respectively and independently provided with a working sliding table (4).

3. An automatic shower head picking device according to claim 1 or 2, wherein: a translation motor (304) and a translation sliding rail (305) are arranged on the cross beam (3), and the working sliding table (4) is movably arranged on the translation sliding rail (305); the translation motor (304) is fixedly arranged at the end part of the translation sliding rail (305); the translation motor (304) drives the working slipway (4) to horizontally move along the cross beam (3) through synchronous belt transmission.

4. An automatic shower head picking device as defined in claim 1, wherein: the picking mechanical arm (5) comprises a base (501), a first arm body base (502), a first arm body (503), a second arm body (504), a wrist joint (505) and a picking end effector (506); the base (501) is fixed on the working sliding table (4); the first arm body base (502) is connected with the upper end of the base (501) and can rotate on the base (501); the first arm body (503) is hinged with the first arm body base (502); the second arm body (504) is hinged with the first arm body (503); the wrist joint (505) is hinged with the second arm body (504) and can rotate around the axis of the second arm body (504); the picking end effector (506) is hinged with the wrist joint (505) and can rotate around the end part of the wrist joint (505); the picking end effector (506) may perform picking of a shower; the above-mentioned every rotation and hinge place also includes driving device.

5. An automatic shower head picking device as defined in claim 1, wherein: the track support (12) comprises an adjustable upright (1201), a diagonal brace (1202), an anti-sedimentation sleeve (1203) and a connecting piece (1204); the adjustable upright post (1201) is of a sleeved telescopic structure, the upper end of the adjustable upright post (1201) is fixedly connected with the track (1), and the lower end of the adjustable upright post (1201) is connected with the anti-sedimentation sleeve (1203); the anti-sedimentation sleeve (1203) is of a horn-shaped structure with a narrow upper part and a wide lower part; the upper end of the diagonal brace (1202) is connected with the column shaft of the adjustable column (1201) through a connecting piece (1204), and the lower end of the diagonal brace (1202) is inserted into the lotus field obliquely downwards.

6. An automatic shower head picking device as defined in claim 1, wherein: the travelling mechanism (11) comprises a base (1101), a driving wheel assembly (1102) and an anti-tipping assembly (1103); the driving wheel assembly (1102) is in contact connection with the top surface of the rail (1) through the driving wheel (11021) and the supporting wheel (11022), and drives the travelling mechanism (11) to move along the rail (1); the anti-tipping assembly (1103) comprises an elastic mechanism (11031) and a pressing wheel (11032), wherein the pressing wheel (11032) is in contact connection with the bottom surface of the rail (1), and the elastic mechanism (11031) presses the travelling mechanism (11) on the rail through the pressing wheel (11032) so as to prevent the automatic shower picking device from tipping when walking on the rail.

7. An automatic shower head picking device as defined in claim 1, wherein: the collecting system (7) comprises a collecting box (71) and a travelling wheel assembly (72); the travelling wheel assembly (72) is positioned at the bottom of the material collecting box (71), the travelling wheel assembly (72) is connected with the track (1) through unpowered rollers and anti-tipping wheel sets (721) and can support the material collecting box (71) to move along the track (1).

8. An automatic shower head picking device as defined in claim 1, wherein: the conveying mechanism (6) comprises a right rotary conveyor (601), a left rotary conveyor (602) and a middle rotary conveyor (603); the right rotary conveyor (601) and the left rotary conveyor (602) are symmetrically arranged at the left side and the right side of the cross beam (3) and are parallel to the cross beam (3); the middle rotary conveyor (603) is arranged below the space between the right rotary conveyor (601) and the left rotary conveyor (602) and is vertically connected with the side wall of the cross beam (3); the conveying directions of the right rotary conveyor (601) and the left rotary conveyor (602) are from the two ends of the cross beam (3) to the middle part of the cross beam (3), and the conveying direction of the middle rotary conveyor (603) is from one end close to the cross beam (3) to one end far away from the cross beam (3); the discharge end of the middle rotary conveyor (603) is positioned above the collecting box (71) of the collecting system (7), and a distance sensor for detecting the height of the shower in the collecting box (71) is arranged at the discharge end of the middle rotary conveyor.

9. An automatic shower head picking device as defined in claim 1, wherein: an identification camera (802) in the image acquisition system (8) can acquire RGB information and depth information in a visual field range; preferably, the recognition camera (802) is a depth camera.

10. An automatic shower head picking device as defined in claim 1, wherein: the control system (9) comprises a controller, a driver, a battery module, a remote communication module and remote control equipment; the controller, the driver, the battery module and the remote communication module are all arranged in the rack (2); the control system (9) controls the action execution and function realization of the frame (2), the picking mechanical arm (5), the conveying system (6) and the image acquisition system (8).

11. An automatic shower head picking apparatus as defined in claims 1 and 10, wherein: the control system (9) identifies the shower in the image by a deep learning algorithm.

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