CN211745437U - Robot is picked to overhead fruit vegetables intelligence - Google Patents
Robot is picked to overhead fruit vegetables intelligence Download PDFInfo
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- CN211745437U CN211745437U CN201921268865.0U CN201921268865U CN211745437U CN 211745437 U CN211745437 U CN 211745437U CN 201921268865 U CN201921268865 U CN 201921268865U CN 211745437 U CN211745437 U CN 211745437U
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- 235000013311 vegetables Nutrition 0.000 title description 9
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Abstract
An overhead intelligent fruit and vegetable picking robot is characterized in that a workbench is arranged in front of an upper plate surface of a crawler-type vehicle body base, and a robot support frame is arranged behind the upper plate surface; collecting boxes are arranged on two sides of the robot supporting frame, and a collecting box supporting frame is fixed below the collecting boxes; the upper end of the robot support frame is fixedly connected with a two-degree-of-freedom rotating holder; the two-degree-of-freedom rotating holder is connected with a binocular camera; the rear of the two-freedom-degree rotating holder is provided with an electric storage box, a power box is arranged under the electric storage box, a lead screw is fixed at the center of the workbench, three fixed polish rods are uniformly distributed on the outer circumference of the lead screw and penetrate through the workbench, the lead screw is in threaded connection with the workbench, a six-freedom-degree mechanical arm is fixed on the workbench, a mechanical claw is arranged at the front end of the six-freedom-degree mechanical arm, picking of different fruits is carried out through a targeted picking mechanical arm with appropriate replacement, the labor intensity of fruit growers can be reduced, the labor productivity is improved, the production cost is reduced, timely picking of fruits is guaranteed, and the quality of the fruits.
Description
Technical Field
The utility model belongs to the technical field of the robot, a agricultural product picking assists instrument, concretely relates to overhead fruit vegetables intelligence picking robot.
Background
Fruits and vegetables are important economic crops in China and have an important position in national economy. In the food consumption structure, the specific gravity of the fruit and vegetable consumption in the whole food consumption is gradually increased. The fruit and vegetable harvesting operation is the most time-consuming and labor-consuming link in fruit and vegetable production, the labor force required to be input during fruit and vegetable harvesting accounts for 50% -70% of the whole production process, the manual picking cost is high, and the labor force almost reaches more than 40% of the product; and the fruit and vegetable picking operation often needs to be carried out by means of climbing with a ladder, so that the long-time operation is high in labor intensity and has certain danger.
The problems of multiple aspects exist in the existing fruit and vegetable picking. On the one hand, the traditional fruit and vegetable cultivation mode in China is ground ridge culture, the ground environment is complex, and the shading is easy to be unfavorable for the lighting and picking of fruits, so that the modern farm-oriented planting technology is greatly popularized in China, and the modern planting of the fruits and vegetables such as the elevated strawberry and the apple is realized. On the other hand, to current fruit vegetables picker, there is bulky, the flexibility is lower, destroy the plant easily, picking rate low grade problem, applicable in the large tracts of land is picked, but can't be applicable to the condition that fruit vegetables modernized were planted, the standardization was planted, and does not have the machinery to carry out the harvesting of multiple fruit vegetables.
Disclosure of Invention
In order to overcome above-mentioned prior art not enough, the utility model aims at providing an overhead fruit vegetables intelligence picking robot, with intelligence, high efficiency, it is open, convenient as the starting point, in order to carry out low-cost production, the large tracts of land is promoted and application scope is extensive target, the pertinence of change of accessible is suitable the picking manipulator carries out the harvesting of different fruits, not only can reduce fruit grower's intensity of labour, improve productivity, reduction in production cost, guarantee that the fruit is in time gathered, guarantee fruit vegetables quality, and to promoting china's agricultural science and technology progress, trail world agriculture new technology, it has great realistic meaning to accelerate china's agriculture modernization process.
In order to realize the purpose, the utility model discloses a technical scheme is:
an overhead intelligent fruit and vegetable picking robot comprises a crawler-type vehicle body base, wherein a workbench is arranged in front of an upper plate surface of the crawler-type vehicle body base, and a robot support frame is arranged behind the upper plate surface; collecting boxes are arranged on two sides of the robot supporting frame, and a collecting box supporting frame is fixed below the collecting boxes; the upper end of the robot support frame is fixedly connected with a two-degree-of-freedom rotating holder; the two-freedom-degree rotating tripod head is connected with a binocular camera, an electric storage box is arranged behind the two-freedom-degree rotating tripod head, a power box is arranged under the electric storage box, a lead screw is fixed at the center of a workbench, three fixed polished rods are uniformly distributed on the outer circumference of the lead screw, the three fixed polished rods penetrate through the workbench, the lead screw is connected with the workbench through threads, a six-freedom-degree mechanical arm is fixed on the workbench, and a mechanical claw is arranged at the front end of the six-freedom-degree mechanical arm.
The workbench is connected with the screw rod through a bearing seat, a lifting mechanism is formed by driving of a motor, and the screw rod is connected with the planetary gear train located right below the screw rod to form a rotating mechanism for completing the rotating function of the workbench.
The mounting, the fixing and the placing are connected in a welding mode, a bolt connecting mode and an adhesive mode.
The mechanical claw is connected with a six-degree-of-freedom machine through a bolt and can be replaced according to the characteristics of different fruits and vegetables.
The collecting box and the collecting box supporting frame can be separated, and the collecting box can be conveniently replaced.
Each joint of the six-degree-of-freedom mechanical arm is controlled by a steering engine, and the six-degree-of-freedom mechanical arm is driven by an STM32 controller.
The rotation and the lifting are driven by a stepping motor.
The motion, the image acquisition and the processing of the robot are finished by a raspberry Pi 3B +.
The six-degree-of-freedom mechanical arm and the motor are driven by a hardware part and are composed of a raspberry group controller module, a lithium battery power supply module, an ultrasonic obstacle avoidance module, a steering engine, a motor driving module, a tracking module, a navigation positioning module, a vision module and the like.
The utility model has the advantages that:
this overhead fruit vegetables intelligence picking robot, small, intelligent degree is high, and the picking of different fruits is carried out to the change picking manipulator of accessible pertinence, and the application is wide, can effectively enough reduce fruit grower's intensity of labour, reduction in production cost.
Drawings
Fig. 1 is an overall structure diagram of the present invention.
Fig. 2 is a structural view of the lifting mechanism of the present invention.
Fig. 3 is a structural view of the rotating part of the present invention.
Fig. 4 is the structure diagram of the collecting box and the supporting mechanism of the present invention.
Fig. 5 is the structure view of the camera pan/tilt head of the present invention.
Fig. 6 is a structural diagram of the six-degree-of-freedom mechanical arm of the present invention.
Fig. 7 is a design diagram of the overall scheme of the present invention.
Fig. 8 is a flowchart of the procedure of the present invention.
Fig. 9 is a working path diagram of the present invention.
Wherein, 1 is a crawler-type vehicle body base; 2 is a rotating mechanism; a polish rod 3; 4 is a lead screw; 5 is a collecting box supporting frame; 6 is a collecting box; 7 is a robot supporting frame; 8 is a power box; 9 is an electric storage box; 10 is a binocular camera; 11 is a two-degree-of-freedom rotating holder; 12 is a workbench; 13 is a mechanical claw; and 14 is a six-degree-of-freedom mechanical arm.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the overhead intelligent fruit and vegetable picking robot comprises a crawler-type vehicle body base 1 and is characterized in that a workbench 12 is arranged in front of the upper plate surface of the crawler-type vehicle body base 1, and a robot support frame 7 is arranged behind the upper plate surface; the collecting box 6 is arranged on two sides of the robot supporting frame 7, and the collecting box supporting frame 5 is fixed below the collecting box 6; the upper end of the robot support frame 7 is fixedly connected with a two-degree-of-freedom rotating holder 11; the two-degree-of-freedom rotating holder 11 is connected with a binocular camera 10; an electric storage box 9 is arranged behind the two-freedom-degree rotating holder 11, a power box 8 is arranged under the electric storage box 9, a lead screw 4 is fixed at the center of a workbench 12, three fixed polished rods 4 are uniformly distributed on the outer circumference of the lead screw 4, the three fixed polished rods 4 penetrate through the workbench 12, the lead screw 4 is in threaded connection with the workbench 12, a six-freedom-degree mechanical arm 14 is fixed on the workbench 12, and a mechanical claw 13 is arranged at the front end of the six-freedom-degree mechanical arm 14.
The workbench 12 is connected with the screw rod 4 through a bearing seat, and is driven by a motor to form a lifting mechanism, and the screw rod is connected with a planetary gear train right below the screw rod to form a rotating mechanism for completing the rotating function of the workbench.
The mounting, the fixing and the placing are connected in a welding mode, a bolt connecting mode and an adhesive mode.
The mechanical claw 13 is connected with the six-degree-of-freedom mechanical arm 14 through a bolt, and can be replaced according to the characteristics of different fruits and vegetables.
The collecting box 6 and the collecting box supporting frame 5 can be separated, and the replacement of the collecting box can be conveniently completed.
Each joint of the six-degree-of-freedom mechanical arm 14 is controlled by a steering engine, and the six-degree-of-freedom mechanical arm 14 is driven by an STM32 controller.
The rotation and the lifting are driven by a stepping motor.
The motion, the image acquisition and the processing of the robot are finished by a raspberry Pi 3B +.
The six-degree-of-freedom mechanical arm 14 and the motor are driven by a hardware part to control the six-degree-of-freedom mechanical arm and the motor, and the six-degree-of-freedom mechanical arm is composed of a raspberry controller module, a lithium battery power supply module, an ultrasonic obstacle avoidance module, a steering engine, a motor driving module, a tracing module, a navigation positioning module, a vision module and the like. Working through a program flow chart as in fig. 8, the program is simple programmed and is not within the scope of protection of the structure.
The robot picking process adopts a linear folding forward mode, fruit tree scanning and fruit and vegetable detection are carried out by using a machine vision technology, fruit and vegetable are identified and classified by adopting a convolutional neural network based on deep learning, position information of mature fruit and vegetable is acquired and fed back by combining binocular vision positioning, and coordinates are converted into a mechanical arm coordinate system to control a six-degree-of-freedom mechanical arm to grab the fruit and vegetable.
Carrying out the step
Step S101: after entering an orchard, the fruit and vegetable picking robot performs cruise picking in a straight line folding mode; in the moving process, the two-degree-of-freedom camera holder can rotate to detect and identify fruits in the field of view.
Step S102: when the robot runs to the position near the fruit tree, the robot stops running. And (4) acquiring images by using a camera, and performing maturity analysis and size classification on the detected fruits and vegetables by using a deep neural network (CNN).
Step S103: after the processing is finished, determining whether the picking is carried out or not, and if the picking is carried out, positioning the picking by using a binocular vision technology; adjusting the posture of a binocular camera, and more accurately positioning the detected mature fruits and vegetables;
step S104: and transmitting the processed coordinates to a six-degree-of-freedom mechanical arm controller STM32, and controlling the mechanical arm to pick fruits and vegetables.
Step S105: according to the earlier stage of classification and grading of fruits and vegetables, the mechanical arms are used for respectively putting the picked fruits and vegetables of different grades into the fruit and vegetable collecting boxes on the two sides of the robot, and the classification and the grading are finished.
Step S106: after picking of fruits and vegetables on one side of the fruit tree close to the robot is completed, the robot moves, the steps S101-S105 are sequentially executed, and picking of the fruits and vegetables is continuously carried out.
Step S107: when the fruit and vegetable collecting box is full or the power of the robot is insufficient, the robot returns to the starting position to wait for replacing the collecting box or charging.
Claims (8)
1. An overhead intelligent fruit and vegetable picking robot comprises a crawler-type vehicle body base (1) and is characterized in that a workbench (12) is arranged in front of the upper plate surface of the crawler-type vehicle body base (1), and a robot support frame (7) is arranged behind the upper plate surface; collecting boxes (6) are arranged on two sides of the robot supporting frame (7), and a collecting box supporting frame (5) is fixed below the collecting boxes (6); the upper end of the robot support frame (7) is fixedly connected with a two-degree-of-freedom rotating cradle head (11); the two-degree-of-freedom rotating holder (11) is connected with a binocular camera (10); electric storage box (9) is equipped with at two degree of freedom rotation cloud platform (11) rear, headstock (8) are equipped with under electric storage box (9), workstation (12) center fixed screw (4), three fixed screw (4) of evenly distributed on the outer circumferencial line of lead screw (4), workstation (12) are run through in three fixed screw (4), workstation (12) threaded connection lead screw (4), fixed six degree of freedom arms (14) on workstation (12), gripper (13) are equipped with to six degree of freedom arms (14) front end.
2. An intelligent picking robot for overhead fruits and vegetables according to claim 1, characterized in that the working table (12) is connected with a lead screw (4) through a bearing seat, and is driven by a motor to form a lifting mechanism, and the lead screw is connected with a planetary gear train right below the lead screw to form a rotating mechanism for completing the rotating function of the working table.
3. The intelligent picking robot for overhead fruits and vegetables according to claim 1, wherein the mounting, the fixing and the placing are in welding, bolt connection and adhesive connection.
4. The intelligent picking robot for overhead fruits and vegetables according to claim 1, characterized in that the gripper (13) is connected with a six-degree-of-freedom mechanical arm (14) through a bolt, and can be replaced according to the characteristics of different fruits and vegetables.
5. An intelligent picking robot for overhead fruits and vegetables according to claim 1 characterized in that the collection box (6) is separable from the collection box support frame (5) to facilitate the replacement of the collection box.
6. The intelligent picking robot for overhead fruits and vegetables according to claim 1, characterized in that each joint of the six-degree-of-freedom mechanical arm (14) is controlled by a steering engine, and the six-degree-of-freedom mechanical arm (14) is driven by an STM32 controller.
7. The intelligent picking robot for overhead fruits and vegetables according to claim 1, wherein the rotation and lifting are driven by a stepping motor.
8. The intelligent picking robot for overhead fruits and vegetables according to claim 1, wherein the movement, image acquisition and processing of the robot are completed by raspberry pi 3B +.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921268865.0U CN211745437U (en) | 2019-08-07 | 2019-08-07 | Robot is picked to overhead fruit vegetables intelligence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921268865.0U CN211745437U (en) | 2019-08-07 | 2019-08-07 | Robot is picked to overhead fruit vegetables intelligence |
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| Publication Number | Publication Date |
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| CN211745437U true CN211745437U (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921268865.0U Expired - Fee Related CN211745437U (en) | 2019-08-07 | 2019-08-07 | Robot is picked to overhead fruit vegetables intelligence |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690090A (en) * | 2020-12-29 | 2021-04-23 | 华南农业大学 | Bidirectional sisal hemp harvester |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
| CN115250748A (en) * | 2022-08-12 | 2022-11-01 | 陈军明 | Automatic picking vehicle |
-
2019
- 2019-08-07 CN CN201921268865.0U patent/CN211745437U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690090A (en) * | 2020-12-29 | 2021-04-23 | 华南农业大学 | Bidirectional sisal hemp harvester |
| CN112690090B (en) * | 2020-12-29 | 2022-02-18 | 华南农业大学 | Bidirectional sisal hemp harvester |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
| CN114375689B (en) * | 2022-02-08 | 2023-09-08 | 辽宁科技大学 | Target maturity judging and classifying storage method for agricultural picking robot |
| CN115250748A (en) * | 2022-08-12 | 2022-11-01 | 陈军明 | Automatic picking vehicle |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201027 |