CN217905217U - Picking device - Google Patents

Abstract

The utility model relates to the technical field of agricultural machinery, a pick device is provided, include: the device comprises a walking mechanism, a picking mechanism, a vision module, a processing module and a control module; the picking mechanism comprises a plurality of picking components, and the traveling mechanism can drive the picking mechanism to move to a picking area; the vision module comprises a plurality of groups of vision sensors, the plurality of groups of vision sensors are connected with the picking assemblies in a one-to-one correspondence manner and are used for acquiring image information of the picking area; the processing module acquires picking paths of a plurality of target objects based on the image information and sends the picking paths to the control module; the control module controls the plurality of picking assemblies to pick the plurality of target objects based on the picking path. The utility model discloses a pick device, multiunit visual sensor acquire the image information who picks the region, and processing module generates a plurality of picking routes according to image information, and control module accomplishes the picking of a plurality of fruits at picking the operation in-process according to a plurality of picking route control a plurality of picking subassemblies, is favorable to promoting and picks efficiency.

Description

Picking device

Technical Field

The utility model relates to the technical field of agricultural machinery, especially, relate to a pick device.

Background

The fruit harvesting operation is labor-intensive operation, at present, manual operation is mainly used, the efficiency is low, the labor intensity of operators is high, and the picking robot has important significance for accelerating the agricultural modernization process.

In the prior art, a fruit picking robot mainly has two modes of shaking picking and harvesting and picking fruits one by one. Shake catch mode apples are separated by vibrating the branches or trunks and then using a catch device to catch the fallen fruit. The shaking harvesting mode and the fruit-by-fruit harvesting mode have a common problem and low harvesting efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model provides a pick device for there is the problem of picking inefficiency in the equipment of picking of solving current.

The utility model provides a pick device, include: the device comprises a walking mechanism, a picking mechanism, a vision module, a processing module and a control module;

the picking mechanism is arranged on the travelling mechanism and comprises a plurality of picking components, and the travelling mechanism can drive the picking mechanism to move to a picking area;

the vision module comprises a plurality of groups of vision sensors, and the plurality of groups of vision sensors are connected with the picking assemblies in a one-to-one correspondence manner and are used for acquiring image information of the picking areas; the processing module acquires picking paths of a plurality of target objects based on the image information and sends the picking paths to the control module;

the control module controls the plurality of picking assemblies to pick the plurality of target objects based on the picking path.

According to the picking device provided by the utility model, the picking mechanism further comprises a bracket, a sliding part, a guide rail component and a driving component;

the guide rail assembly comprises a first guide rail and a second guide rail, the first guide rail is arranged on the second guide rail along a first direction, the second guide rail is arranged on the bracket along a second direction, and the first direction and the second direction are perpendicular to each other;

the sliding part is connected with the first guide rail in a sliding manner, and the first guide rail is connected with the second guide rail in a sliding manner; the picking assemblies are connected with the sliding member, the picking assemblies can move along a third direction, and a preset angle is formed between the third direction and the horizontal plane;

the drive assembly is used for driving the picking assemblies, the sliding member and the first guide rail to move to corresponding positions so that the plurality of picking assemblies pick the plurality of target objects according to the picking path.

According to the utility model provides a pair of pick device, it is a plurality of the slider is followed first direction interval is located on the first guide rail, pick the subassembly with the slider one-to-one is connected.

According to the utility model provides a pair of pick device, adjacent two be equipped with first locating part between the slider.

According to the utility model provides a pair of pick device, it is a plurality of first guide rail is followed second direction interval is located on the second guide rail.

According to the utility model provides a pair of pick device, adjacent two be equipped with the second locating part between the first guide rail.

According to the picking device provided by the utility model, the picking mechanism further comprises a first conveyor belt;

the first conveyor belt is arranged at the bottom end of the first guide rail and arranged along the horizontal direction, and the picking assembly can place the picked target object into the first conveyor belt.

According to the picking device provided by the utility model, the picking mechanism also comprises a second conveyor belt;

the second conveyor belt is arranged at one end of the first conveyor belt and is arranged along the vertical direction, the target object on the first conveyor belt can be conveyed to the second conveyor belt, and the second conveyor belt is used for conveying the target object to the loading box.

According to the picking device provided by the utility model, the picking assembly comprises a mechanical arm and a clamping jaw assembly;

one end of the mechanical arm is connected with the sliding part, the other end of the mechanical arm is connected with the clamping jaw assembly, the mechanical arm can drive the clamping jaw assembly to be close to the target object, and the clamping jaw assembly can clamp or loosen the target object.

According to the utility model provides a pair of pick device, running gear with control module connects, control module can control running gear removes extremely pick the region.

The utility model provides a picking device, running gear drives picking mechanism and removes to picking the region, multiunit vision sensor acquires the image information who picks the region, processing module obtains the positional information of a plurality of fruits according to a plurality of image information, and generate corresponding a plurality of picking routes based on the positional information of a plurality of fruits, control module accomplishes the picking of a plurality of fruits at a picking operation in-process according to a plurality of picking route control, be favorable to promoting picking efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a picking device provided by the present invention;

fig. 2 is a schematic view of a partial structure of a picking device provided by the present invention;

reference numerals are as follows: 1: a picking mechanism; 2: a traveling mechanism; 101: a support; 102: picking the components; 103: a slider; 104: a first guide rail; 105: a second guide rail; 106: a first conveyor belt; 107: a second conveyor belt.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A picking device according to an embodiment of the present invention will be described with reference to fig. 1 to 2.

As shown in fig. 1 and fig. 2, the embodiment of the utility model provides a picking device, include: the device comprises a travelling mechanism 2, a picking mechanism 1, a vision module, a processing module and a control module; the picking mechanism 1 is arranged on the travelling mechanism 2, the picking mechanism 1 comprises a plurality of picking assemblies 102, and the travelling mechanism 2 can drive the picking mechanism 1 to move to a picking area; the vision module comprises a plurality of groups of vision sensors, the plurality of groups of vision sensors are connected with the picking assemblies in a one-to-one correspondence manner and are used for acquiring image information of the picking area; the processing module acquires picking paths of a plurality of target objects based on the image information and sends the picking paths to the control module; the control module controls the plurality of picking assemblies 102 to pick a plurality of target objects based on the picking path.

Specifically, running gear 2 includes cockpit and chassis mechanism etc. and chassis mechanism includes chassis frame, and picking mechanism 1 sets up on chassis frame, and running gear 2 can remove to picking the region according to picking regional positional information. The vision module comprises a plurality of groups of vision sensors, the plurality of groups of vision sensors are in one-to-one correspondence connection with the picking assemblies 102, each group of vision sensors comprises one or more image acquisition units, each image acquisition unit comprises a camera, the number of the image acquisition units is set according to actual requirements, and each group of vision sensors acquires images of regions corresponding to the picking assemblies. The traveling mechanism 2 drives the picking mechanism 1 to move to a picking area, the picking area is a position where a fruit tree is located, for example, a plurality of fruit trees are located in an orchard, each fruit tree has a corresponding plurality of position areas, the position area of each fruit tree is mainly divided into two position areas, namely, a first side and a second side which are opposite to each other, namely, a left side area and a right side area of the fruit tree, the traveling mechanism 2 moves to the left side area or the right side area of the fruit tree, and the left side area or the right side area is a current picking area.

The multiple groups of visual sensors collect image information in the picking area, the processing module analyzes position information of a target object and generates a corresponding picking path according to the multiple image information acquired by the multiple groups of visual sensors, the corresponding picking path is sent to the control module, the control module sends a picking instruction to the picking assembly 102 according to the picking path, the picking assembly 102 picks the target object according to the picking instruction, and the target object is fruits on a fruit tree.

The image information comprises information of fruits, branches and leaves, the processing module extracts feature information of the branches, the leaves and the fruits in the image, the fruits are identified according to the feature information, the position information of the fruits is further obtained according to the feature information of the fruits in the image information, and picking paths for picking the fruits are generated based on the position information of the fruits. It will be appreciated that each picking assembly 102 has a corresponding picking path, for example the number of picking assemblies 102 is two, the processing module generates two picking paths corresponding to the two picking assemblies 102 based on the image information of the two sets of vision sensors, and further the control module controls the two picking assemblies 102 to complete the picking of two fruits during a picking operation based on the two picking paths.

Under the condition that the number of the picking assemblies 102 is multiple, the multiple groups of vision sensors simultaneously collect image information in a picking area, the processing module generates multiple picking paths according to the multiple image information, and the control module controls the multiple picking assemblies 102 to finish picking of multiple fruits in one picking operation process according to the multiple picking paths, so that the picking efficiency is improved.

The embodiment of the utility model provides an in, running gear 2 drives picking mechanism 1 and removes to picking the region, and multiunit vision sensor acquires the image information who picks the region, and processing module obtains the positional information of a plurality of fruits according to a plurality of image information, and based on the positional information of a plurality of fruits generates corresponding a plurality of picking routes, and control module accomplishes the picking of a plurality of fruits at a picking operation in-process according to a plurality of picking route control a plurality of picking subassemblies 102, is favorable to promoting and picks efficiency.

As shown in fig. 2, in an alternative embodiment, picker mechanism 1 further comprises a carriage 101, a slide 103, a rail assembly and a drive assembly; the guide rail assembly comprises a first guide rail 104 and a second guide rail 105, the first guide rail 104 is arranged on the second guide rail 105 along a first direction, the second guide rail 105 is arranged on the bracket 101 along a second direction, and the first direction and the second direction are perpendicular to each other; the sliding part 103 is connected with the first guide rail 104 in a sliding way, and the first guide rail 104 is connected with the second guide rail 105 in a sliding way; picking assemblies 102 are connected with the sliding member 103, the picking assemblies 102 can move along a third direction, and a preset angle is formed between the third direction and the horizontal plane; the driving assembly is used for driving the picking assemblies 102, the slide 103 and the first guide rail 104 to move to the corresponding positions, so that the plurality of picking assemblies 102 pick the plurality of target objects according to the picking path.

Specifically, the support 101 is a frame structure, and the bottom end of the support 101 is connected to the chassis frame, for example, the support 101 includes two vertical beams and two cross beams. The guide rail assembly comprises a first guide rail 104 and two second guide rails 105, the number of the second guide rails 105 is two, and the two second guide rails 105 are connected with two vertical beams in a one-to-one correspondence mode. The second guide rails 105 are arranged along a second direction, that is, two second guide rails 105 are arranged on the bracket 101 along the vertical direction; the first guide rail 104 is disposed along a first direction, the first direction is a horizontal direction, and two ends of the first guide rail 104 are slidably connected to the two second guide rails 105, respectively. The sliding part 103 is connected with the first guide rail 104 in a sliding manner, and when the number of the sliding parts 103 on the first guide rail 104 is one, the sliding part 103 can move from one end of the first guide rail 104 to the other end of the first guide rail 104 along the horizontal direction where the first guide rail 104 is located; in the case where the number of the sliders 103 on the first guide rail 104 is plural, the distance that the slider 103 can slide on the first guide rail 104 is set according to actual needs.

The driving assembly comprises a first driving member connected with the sliding member 103, and the first driving member can drive the sliding member 103 to slide on the first guide rail 104 along the horizontal direction; the driving assembly further comprises a second driving member connected with the first guide rail 104, and the second driving member can drive the first guide rail 104 to slide on the second guide rail 105 along the vertical direction; the driving assembly further comprises a third driving member connected to the picking assembly 102, the third driving member can drive the picking assembly 102 to move along a third direction, the third direction has a preset angle with the horizontal plane, and the preset angle is set according to actual requirements and can be, for example, 40 degrees, 45 degrees or 60 degrees.

The sliding part 103 is provided with a mounting seat, a preset angle is formed between the third driving part and the horizontal plane, the fixed end of the third driving part is connected with the mounting seat, the driving end of the third driving part is connected with the picking assembly 102, and the third driving part can drive the picking assembly 102 to move along the third direction. It will be appreciated that the first, second and third drive members are all connected to a control module which controls the picking assemblies 102, slides 103 and first guide 104 to move to respective positions by the drive assemblies, thereby enabling the picking assemblies 102 to pick fruit according to a picking path.

The embodiment of the utility model provides an in, slider 103 drives picks subassembly 102 and removes along the first direction, first guide rail 104 drives picks subassembly 102 and removes along the second direction, the third driving piece drives picks subassembly 102 and removes along the third direction, the first direction is the horizontal direction, the second direction is vertical direction, preset angle has between third direction and the horizontal plane, it can follow three direction and remove to pick subassembly 102 from this, be convenient for pick the fruit of each different positions, the realization is to the omnidirectional of fruit on the fruit tree.

In an alternative embodiment, as shown in fig. 2, a plurality of slides 103 are spaced along a first direction on the first rail 104, and the picking assemblies 102 are connected to the slides 103 in a one-to-one correspondence.

Specifically, a plurality of slides 103 may be mounted on the first guide rail 104, the number of slides 103 is not particularly limited, for example, the number of slides 103 is two, two picking assemblies 102 are connected with two slides 103 in a one-to-one correspondence, and two picking assemblies 102 are connected with two sets of vision sensors in a one-to-one correspondence.

The traveling mechanism 2 drives the picking mechanism 1 to move to a picking area, the two sets of vision sensors simultaneously collect image information in the picking area, the processing module analyzes the image information obtained by the two sets of vision sensors to obtain position information of two fruits and generates two picking paths, and the two picking assemblies 102 pick the two fruits simultaneously based on the two picking paths. It will be appreciated that the first rail 104 simultaneously carries both picking assemblies 102 in the vertical direction, and that the height displacement of both picking assemblies 102 in the vertical direction is the same. The two slides 103 move the two picking assemblies 102 in the horizontal direction, and the horizontal displacement of the two picking assemblies 102 in the horizontal direction depends on the position information of the two fruits. The picking assemblies 102 are movable in a third direction, the tilt displacement of the two picking assemblies 102 moving in the third direction being dependent on the positional information of the fruit.

The control module sends a driving instruction to the driving assemblies according to the two picking paths, and the driving assemblies drive the two sliding members 103, the first guide rail 104 and the two picking assemblies 102 to move to corresponding positions according to the driving instruction, so that the two picking assemblies 102 can pick two fruits according to the two picking paths.

The embodiment of the utility model provides an in, install a plurality of sliders 103 on the first guide rail 104, a plurality of picking subassembly 102 are connected with a plurality of sliders 103 one-to-one, and first guide rail 104 removes along vertical direction, and a plurality of sliders 103 drive a plurality of picking subassemblies 102 and remove along the horizontal direction simultaneously, in once picking the operation, accomplish the harvesting of a plurality of fruits, simple structure picks efficiently.

In an alternative embodiment, a first limiting member is disposed between two adjacent sliding members 103.

Specifically, the first limiting part may be a first limiting sensor, and the first limiting sensor is connected to the control module. For example, the number of the sliding members 103 is two, and the two sliding members 103 are defined as a first sliding member and a second sliding member, and the first limiting sensor is mounted on each of the first sliding member and the second sliding member. During picking, the first sliding part and the second sliding part move along the first guide rail 104, and when the first sliding part moves to be close to the second sliding part, the control module receives a signal sent by a first limit sensor on the first sliding part to control the first sliding part to stop moving; or when the second sliding part moves to be close to the first sliding part, the control module receives a signal sent by a first limit sensor on the second sliding part to control the second sliding part to stop moving; or the control module receives signals sent by the first limiting sensor on the first sliding part and signals sent by the first limiting sensor on the second sliding part at the same time, and controls the first sliding part and the second sliding part to stop moving at the same time, so that the two picking assemblies 102 can be effectively prevented from colliding, and the use reliability of the picking device is guaranteed. Under the condition that the quantity of slider 103 is a plurality of, all install first spacing sensor on every slider 103, can effectively avoid a plurality of picking subassembly 102 to bump, ensure to pick the reliability that the device used.

In an alternative embodiment, as shown in fig. 2, a plurality of first rails 104 are spaced apart along the second direction on a second rail 105.

Specifically, the number of the first guide rails 104 is plural, and the plural first guide rails 104 are provided on the second guide rail 105 at intervals in the vertical direction. The number of the first guide rails 104 is not particularly limited, and for example, the number of the first guide rails 104 is two, and two sliders 103 are mounted on each first guide rail 104. The picking mechanism 1 thus comprises four picking assemblies 102, the four picking assemblies 102 being connected in a one-to-one correspondence with four slides 103, the four picking assemblies 102 being connected in a one-to-one correspondence with four sets of vision sensors.

The traveling mechanism 2 drives the picking mechanism 1 to move to a picking area, the four groups of vision sensors simultaneously collect image information in the picking area, the processing module analyzes the image information obtained by the four groups of vision sensors to obtain position information of the four fruits and generates four picking paths, and the four picking assemblies 102 pick the four fruits simultaneously based on the four picking paths. It will be appreciated that the height displacement of vertical movement of two picking assemblies 102 on the same first rail 104 is the same.

The control module sends driving instructions to the driving assemblies according to the four picking paths, the driving assemblies drive the two first guide rails 104 to move to corresponding positions along the vertical direction according to the driving instructions, drive the two sliding pieces 103 on each first guide rail 104 to move to corresponding positions along the horizontal direction, and drive the four picking assemblies 102 to move to corresponding positions along the third direction. It will be appreciated that the four slides 103 move in a horizontal direction, the two first rails 104 move in a vertical direction, and the four picking assemblies 102 move in a third direction, and that these motion commands are synchronized, thereby enabling four fruits to be picked according to four picking paths in a picking operation, which is beneficial to further improving picking efficiency.

The embodiment of the utility model provides an in, a plurality of first guide rails 104 are located on second guide rail 105 along vertical direction interval, a plurality of sliders 103 are located on first guide rail 104 along horizontal direction interval, a plurality of picking subassembly 102 are connected with a plurality of sliders 103 one-to-one, in once picking the operation, a plurality of first guide rails 104 remove along vertical direction, a plurality of sliders 103 on every first guide rail 104 drive a plurality of picking subassemblies 102 and remove along horizontal direction simultaneously, in once picking the operation, accomplish the harvesting of a plurality of fruits, be favorable to further promoting and pick efficiency.

In an alternative embodiment, a second limiting member is disposed between two adjacent first guide rails 104.

Specifically, the second limiting member may be a second limiting sensor, and the second limiting sensor is connected to the control module. For example, the number of the first guide rails 104 is two, and the second limit sensors are mounted on both the two first guide rails 104. In the picking process, the two first guide rails 104 move along the second guide rail 105 at the same time, each first guide rail 104 can move upwards or downwards along the vertical direction, when the two first guide rails 104 move to be close to each other, the control module can control one of the two first guide rails 104 to stop moving according to a received signal sent by the second limit sensor, also can control the other of the two first guide rails 104 to stop moving, or simultaneously control the two first guide rails 104 to stop moving, so that the two first guide rails 104 can be effectively prevented from colliding, and the use reliability of the picking device is guaranteed. Under the condition that the quantity of first guide rail 104 is a plurality of, all install the spacing sensor of second on every first guide rail 104, can effectively avoid a plurality of first guide rails 104 to bump, ensure to pick the reliability that the device used.

In an alternative embodiment, picking assembly 102 comprises a robotic arm and a jaw assembly; one end of the mechanical arm is connected with the sliding part 103, the other end of the mechanical arm is connected with the clamping jaw assembly, the mechanical arm can drive the clamping jaw assembly to be close to a target object, and the clamping jaw assembly can clamp or loosen the target object.

Specifically, the picking assembly 102 includes a mechanical arm and a clamping jaw assembly, one end of the mechanical arm is connected to the driving end of the third driving member, the clamping jaw assembly is disposed at the other end of the mechanical arm, and the third driving member can drive the mechanical arm to move along the third direction. The clamping jaw assembly comprises a plurality of flexible clamping jaws, the number of the flexible clamping jaws is not specifically limited, for example, the number of the flexible clamping jaws is three, the three flexible clamping jaws are annularly arranged at the other end of the mechanical arm around the axis of the mechanical arm, and the three flexible clamping jaws enclose and close to form a circular space for picking fruits.

The mechanical arm drives the clamping jaw assembly to move to a position close to the fruit, and the fourth driving part drives the plurality of flexible clamping jaws to clamp the fruit and rotate to twist off the fruit handle. After the clamping jaw assemblies clamp the fruits, the third driving piece drives the mechanical arm to return to the initial position along the third direction, then the clamping jaw assemblies loosen the fruits, and the picked fruits can be placed in the loading box through manual work or a transplanting mechanism. The third driving member may be an air cylinder or an electric push rod, for example, the third driving member is an air cylinder, a piston rod of the air cylinder is connected to the mechanical arm, and the mechanical arm can move in the third direction through the extending or retracting action of the piston rod.

The embodiment of the utility model provides an in, the one end and the third driving piece of arm are connected, and the other end and the clamping jaw subassembly of arm are connected, and third driving piece driving arm removes along the third direction, and the arm drives clamping jaw subassembly and is close to the fruit to pick the fruit, after picking the fruit, third driving piece driving arm returns to initial position, loosens the fruit of picking, carries out the picking operation of next time, simple structure, easy realization.

As shown in fig. 2, in an alternative embodiment, picker mechanism 1 further includes a first conveyor belt 106; the first conveyor belt 106 is disposed at the bottom end of the first guide rail 104, the first conveyor belt 106 is disposed along the horizontal direction, and the picking assembly 102 can place the picked target object into the first conveyor belt 106.

Specifically, the first conveyor 106 is disposed below the first guide rail 104, after the gripper assemblies pick the fruits, the third driving member drives the robot arm to move to the initial position along the third direction, at this time, the gripper assemblies loosen the fruits, the fruits fall onto the first conveyor 106, and with the rotation of the first conveyor 106, the fruits falling onto the first conveyor 106 are conveyed to the end portion of the first conveyor 106, and further, the picked fruits can be placed into the loading box through a manual or transplanting mechanism. The first conveyor belt 106 is U-shaped, which can effectively prevent the fruits from falling off during the movement process along with the first conveyor belt 106.

As shown in fig. 2, in an alternative embodiment, picker mechanism 1 further comprises a second conveyor belt 107; the second conveyor belt 107 is disposed at one end of the first conveyor belt 106, the second conveyor belt 107 is disposed in a vertical direction, the target object on the first conveyor belt 106 can be conveyed to the second conveyor belt 107, and the second conveyor belt 107 is used for conveying the target object to the loading bin.

Specifically, the first conveyor belt 106 is arranged in a horizontal direction, the second conveyor belt 107 is arranged in a vertical direction, the second conveyor belt 107 is positioned at one end of the first conveyor belt 106, the second conveyor belt 107 is connected with the loading box, and the loading box is positioned at the rear end of the chassis frame. The picking assembly 102 picks the fruits and then puts the fruits into the first conveying belt 106, the fruits are conveyed to the second conveying belt 107 through the first conveying belt 106 and then conveyed to the loading box through the second conveying belt 107, the picked fruits do not need to be manually transferred, labor intensity of operators is reduced, and picking efficiency is improved.

In an alternative embodiment, the travelling mechanism 2 is connected to a control module, which is capable of controlling the travelling mechanism 2 to move to the picking area.

Specifically, running gear 2 is connected with control module, control module control running gear 2 removes the picking region department to corresponding fruit tree in the orchard, the regional image information of picking is acquireed to the multiunit vision sensor, processing module obtains the positional information of a plurality of fruits according to a plurality of image information, and generate corresponding a plurality of picking routes based on the positional information of a plurality of fruits, control module accomplishes the picking of a plurality of fruits at a picking operation in-process according to a plurality of picking route control a plurality of picking subassemblies 102, from this circulation carry out a lot of picking operation, accomplish the picking operation of picking the fruit in the region of picking, realize the intelligent operation of picking the device.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. A picking device, comprising: the device comprises a walking mechanism, a picking mechanism, a vision module, a processing module and a control module;

the picking mechanism is arranged on the travelling mechanism and comprises a plurality of picking components, and the travelling mechanism can drive the picking mechanism to move to a picking area;

the vision module comprises a plurality of groups of vision sensors, and the plurality of groups of vision sensors are connected with the picking assemblies in a one-to-one correspondence manner and are used for acquiring image information of the picking area; the processing module acquires picking paths of a plurality of target objects based on the image information and sends the picking paths to the control module;

the control module controls the plurality of picking assemblies to pick the plurality of target objects based on the picking path.

2. The harvesting device of claim 1, wherein the harvesting mechanism further comprises a bracket, a slide, a rail assembly, and a drive assembly;

the guide rail assembly comprises a first guide rail and a second guide rail, the first guide rail is arranged on the second guide rail along a first direction, the second guide rail is arranged on the bracket along a second direction, and the first direction and the second direction are perpendicular to each other;

the sliding part is connected with the first guide rail in a sliding manner, and the first guide rail is connected with the second guide rail in a sliding manner; the picking assemblies are connected with the sliding member, the picking assemblies can move along a third direction, and a preset angle is formed between the third direction and the horizontal plane;

the drive assembly is used for driving the picking assemblies, the sliding member and the first guide rail to move to corresponding positions so that the plurality of picking assemblies pick the plurality of target objects according to the picking path.

3. The picking apparatus of claim 2, wherein a plurality of the slides are spaced along the first direction on the first track, the picking assemblies being connected in a one-to-one correspondence with the slides.

4. A picking apparatus as claimed in claim 3, in which a first stop is provided between adjacent slides.

5. A harvesting apparatus according to claim 2, wherein a plurality of the first rails are provided on the second rail at intervals along the second direction.

6. The picking device of claim 5, wherein a second stop is provided between two adjacent first rails.

7. The picking device of claim 2, wherein the picking mechanism further comprises a first conveyor belt;

the first conveyor belt is arranged at the bottom end of the first guide rail and arranged along the horizontal direction, and the picking assembly can place the picked target object into the first conveyor belt.

8. The harvesting device of claim 7, wherein the harvesting mechanism further comprises a second conveyor belt;

the second conveyor belt is arranged at one end of the first conveyor belt and is arranged along the vertical direction, the target object on the first conveyor belt can be conveyed to the second conveyor belt, and the second conveyor belt is used for conveying the target object to the loading box.

9. The picking device of claim 2, wherein the picking assembly comprises a robotic arm and a jaw assembly;

one end of the mechanical arm is connected with the sliding part, the other end of the mechanical arm is connected with the clamping jaw assembly, the mechanical arm can drive the clamping jaw assembly to be close to the target object, and the clamping jaw assembly can clamp or loosen the target object.

10. A picking apparatus as claimed in claim 1, in which the travelling mechanism is connected to the control module, the control module being capable of controlling the travelling mechanism to move to the picking zone.

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