TW202214093A - Automatic harvesting system and method, and harvesting module capable of preventing skin damage of crops during harvesting - Google Patents
Automatic harvesting system and method, and harvesting module capable of preventing skin damage of crops during harvesting Download PDFInfo
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本發明屬於一種自動採集系統、方法及採集模組，特別針對小型莊稼表皮脆弱的特點，而提供一種在不接觸莊稼表面的前提下，將莊稼由樹頭切斷並夾住的採集模組、自動採集系統及方法。The invention belongs to an automatic collection system, method and collection module, especially aiming at the characteristics of fragile skin of small crops, and provides a collection module for cutting and clamping crops from the tree head without contacting the surface of the crops. Collection system and method.
台灣農業長期以來，受到都市化之影響，一直面臨業產人力不足之問題，為此，政府不斷推展自動化農業發展計畫，企圖將台灣農業轉型成省時、省力、省工、精緻化的智慧化農業，以解決農業人口不足之問題。For a long time, Taiwan's agriculture has been affected by urbanization and has been facing the problem of insufficient industrial manpower. Therefore, the government has continued to promote the development plan of automated agriculture, in an attempt to transform Taiwan's agriculture into time-saving, labor-saving, labor-saving, and refined wisdom. agriculture to solve the problem of insufficient agricultural population.
為響應政府的自動化農業發展計畫，有台灣第M578931號專利，揭露一種果樹作物之自動採集系統，利用剪刀狀的採集裝置，並搭配輸送帶進行果樹作物的自動化採集，然而上述先前技術在採集果樹作物時，果樹作物有可能因為在掉落至輸送帶上的過程中受到損傷，破壞果樹作物的完整性。In response to the government's automated agriculture development plan, there is Taiwan Patent No. M578931, which discloses an automatic harvesting system for fruit tree crops, using a scissors-shaped harvesting device and a conveyor belt for automated harvesting of fruit tree crops. In the case of fruit tree crops, the fruit tree crops may be damaged during the process of falling onto the conveyor belt, destroying the integrity of the fruit tree crops.
另外，有台灣第M431549號專利，揭露一種蔬果自動採集系統，以機械手臂及真空吸盤夾具摘取蔬果，同時又有中國第CN106717546A號專利，以夾持機構夾住果實的蒂頭，再利用氣缸驅動剪切機構剪收果實的自動採集設備，然而當上述先前技術在摘取蔬果或果實時，機械手臂及真空吸盤夾具皆會觸碰到蔬果，而有可能損害蔬果的外表，尤其是表面脆弱的小型莊稼（例如：草莓、玉女小番茄），其表面更是禁不起夾具的觸碰，因此如何在不觸碰果實表面的情況下，仍可以採集小型莊稼之自動化採集方案，仍一項亟待解決之問題。In addition, there is Taiwan Patent No. M431549, which discloses an automatic collection system for fruits and vegetables, which uses a mechanical arm and a vacuum suction cup to pick fruits and vegetables. At the same time, there is a Chinese patent No. CN106717546A, which uses a clamping mechanism to clamp the pedicle of the fruit, and then use the air cylinder. It is an automatic collection device that drives the shearing mechanism to cut fruits. However, when the above-mentioned prior art is picking fruits and vegetables, both the robotic arm and the vacuum suction cup clamp will touch the fruits and vegetables, which may damage the appearance of the fruits and vegetables, especially the fragile surface. The surface of the small crops (such as strawberries, Yunu small tomatoes) cannot withstand the touch of the jig. Therefore, how to collect the small crops without touching the surface of the fruit is still an automatic collection scheme that needs to be solved urgently. the problem.
本案創作人鑑於上述先前技術所衍生的各項缺點，乃亟思加以改良創新，並經多年苦心孤詣潛心研究後，終於成功研發完成本發明之自動採集系統、方法及採集模組。In view of the shortcomings of the above-mentioned prior art, the creator of this case is eager to improve and innovate, and after years of painstaking research, he has finally successfully developed the automatic collection system, method and collection module of the present invention.
為解決上述先前技術之問題，本發明提供一種自動採集系統、方法及採集模組，其目的在於： 1. 提供一種紓解台灣農業人力不足問題的智慧化農業方案； 2. 提供一種在不觸碰果實表面的情況下，自動採集小型莊稼的解決方案； 3. 提供一種不須以氣缸作為驅動元件，而省去加裝空氣壓縮機之重量，以利於自走車重量配置的自動採集方案； 4. 提供一種結合深度攝影機的自動採集系統，藉以即時追蹤莊稼位置； 5. 提供一種二段式莊稼採集模組，將莊稼採集分為第一段的粗略動作，以及第二段的細微動作，以免採集模組在採集過程中對莊稼造成干涉。 In order to solve the problems of the above-mentioned prior art, the present invention provides an automatic collection system, method and collection module, the purpose of which is to: 1. Provide a smart agricultural solution to alleviate the shortage of agricultural manpower in Taiwan; 2. Provide a solution to automatically collect small crops without touching the surface of the fruit; 3. Provide an automatic collection scheme that does not require a cylinder as a driving element and saves the weight of installing an air compressor, so as to facilitate the weight configuration of the self-propelled vehicle; 4. Provide an automatic acquisition system combined with a depth camera to track the position of crops in real time; 5. Provide a two-stage crop collection module, which divides crop collection into the first stage of rough action and the second stage of fine action, so as to prevent the collection module from interfering with the crops during the collection process.
本發明為一種自動採集系統、方法及採集模組，其中採集模組包含：本體、伸臂單元、切夾單元、攝影模組及接收模組，其中本體包含一個容置空間，且伸臂單元及切夾單元皆設於容置空間內，而在容置空間的一側面設有開口，伸臂單元及切夾單元可由開口向外伸出，其中接收模組設於伸臂單元下方，並與開口的一側邊連接，攝影模組則設於本體的上方，用於擷取莊稼的影像。其中，伸臂單元向外突出的一端設有一圈套部，而圈套部的中心位置設有一個四方形的穿口，並以穿口離本體最遠之側邊為第一側邊，而在第一側邊設有第二側邊，第一側邊上設有朝向第二側邊的第一刀，其中，切夾單元向外突出的一端設有一圈套部切夾部，並以離本體最遠之側邊為第三側邊，在第三側邊上設有第二刀及凸塊，其中第二刀朝向第一側邊，而凸塊則位於第二刀的下方，當第一刀與第二刀相交一重疊距離時，凸塊與第一側邊之間相隔第三間距，且重疊距離大於第三間距。The present invention is an automatic collection system, method and collection module, wherein the collection module comprises: a main body, an outrigger unit, a clipping unit, a photographing module and a receiving module, wherein the main body includes an accommodating space, and the outrigger unit and the cutting and clip unit are all arranged in the accommodating space, and an opening is arranged on one side of the accommodating space, and the outrigger unit and the clipping unit can be extended from the opening, wherein the receiving module is arranged under the outrigger unit, and Connected to one side of the opening, the camera module is arranged above the main body for capturing images of crops. Wherein, one end of the outrigger unit protruding outward is provided with a snare portion, and the center of the snare portion is provided with a square piercing, and the side of the piercing that is farthest from the main body is the first side, and the second side is the first side. One side is provided with a second side, and the first side is provided with a first knife facing the second side, wherein the end of the cutting and clamping unit protruding outward is provided with a ring-shaped cutting and clamping portion, and the most distant from the body is provided. The far side is the third side, and the third side is provided with a second knife and a convex block, wherein the second knife faces the first side, and the convex block is located below the second knife, when the first knife When intersecting with the second knife by an overlapping distance, a third distance is separated between the protruding block and the first side edge, and the overlapping distance is greater than the third distance.
其中，採集模組還包含第一馬達及第二馬達，第一馬達係用於驅動伸臂單元向開口外面伸縮，第二馬達係用於驅動切夾單元向第一側邊移動。The acquisition module further includes a first motor and a second motor, the first motor is used for driving the outrigger unit to extend and retract outside the opening, and the second motor is used for driving the clipping unit to move to the first side.
其中，莊稼為莓果、小番茄、葡萄、櫻桃、辣椒或帶有蒂頭的小型莊稼。Among them, the crops are berries, small tomatoes, grapes, cherries, peppers or small crops with stems.
本發明還提供一種自動採集系統，包含如上所述之採集模組、機械手臂、控制模組及處理模組，其中機械手臂與本體連接，控制模組與機械手臂、第一馬達及第二馬達連接，處理模組與控制模組及攝影模組連接，並以處理模組對控制模組進行控制，而進行莊稼的採集。The present invention also provides an automatic collection system, comprising the collection module, the robotic arm, the control module and the processing module as described above, wherein the robotic arm is connected to the body, the control module is connected to the robotic arm, the first motor and the second motor Connection, the processing module is connected with the control module and the photographing module, and the processing module controls the control module to collect crops.
本發明還提供一種利用如上所述之自動採集系統進行採集的自動採集方法，包含： S701：利用攝影模組，拍攝莊稼的影像； S702：利用處理模組，根據影像判斷莊稼的位置資訊； S703：利用自走車，將自動採集系統移至莊稼周圍； S704：再利用攝影模組，拍攝莊稼的影像； S705：利用處理模組，根據影像判斷莊稼的位置、深度、熟度及外形完整度，判斷採集順序，以及機械手臂、第一馬達及第二馬達所須移動的距離及角度； S706：利用機械手臂，將採集模組移動至莊稼附近； S707：利用第一馬達，將採集模組的伸臂單元往莊稼移動，而使採集模組的圈套部被移至莊稼下方； S708：利用機械手臂，將圈套部往上移動，使莊稼穿過穿口，並將莊稼的蒂頭停在圈套部的第一側邊與第二側邊之間； S709：利用第二馬達，將切夾單元往第一側邊移動，令採集模組的第二刀與第一刀相交，而切斷莊稼的蒂頭與枝頭之間的連結，同時將莊稼的蒂頭夾在切夾部的凸塊與第一側邊之間； S710：利用第一馬達，將伸臂單元往採集模組的本體方向移動，而將莊稼帶回接收模組的上方； S711：利用第二馬達，將切夾單元往本體方向移動，而拉大凸塊與下邊之間的距離，藉以將莊稼落下，並被接收口而送往收穫籃。 The present invention also provides an automatic collection method using the above-mentioned automatic collection system for collection, comprising: S701: Use the camera module to shoot images of crops; S702: Use the processing module to determine the location information of the crops according to the image; S703: Use the self-propelled vehicle to move the automatic collection system around the crops; S704: Reuse the camera module to shoot images of crops; S705: Use the processing module to judge the position, depth, maturity and shape integrity of the crop according to the image, judge the acquisition sequence, and the distance and angle that the robotic arm, the first motor and the second motor must move; S706: Use the robotic arm to move the acquisition module to the vicinity of the crops; S707: Use the first motor to move the outrigger unit of the collection module toward the crops, so that the trap part of the collection module is moved to the bottom of the crops; S708: Use the mechanical arm to move the snare part upwards to make the crops pass through the opening, and stop the pedicles of the crops between the first side and the second side of the snare; S709: Use the second motor to move the clipping unit to the first side, so that the second knife of the collection module intersects the first knife to cut off the connection between the stalk and the branch of the crops, and at the same time cut the crops The pedicle is clamped between the projection of the cutting clip and the first side edge; S710: Use the first motor to move the outrigger unit toward the body of the collecting module, and bring the crops back to the top of the receiving module; S711 : Use the second motor to move the clipping unit toward the main body to increase the distance between the protrusion and the lower side, so as to drop the crops and send them to the harvesting basket by the receiving port.
如上所述，本發明的自動採集系統、方法及採集模組，在不觸碰果實表面的情況下，自動採集小型莊稼，並以馬達取代氣缸作為夾爪的驅動元件，減少夾持端的重量，省去加裝空氣壓縮機之重量，增加自動採集系統的靈活性。As mentioned above, the automatic collection system, method and collection module of the present invention can automatically collect small crops without touching the surface of the fruit, and replace the cylinder with a motor as the driving element of the gripper, thereby reducing the weight of the gripping end, It saves the weight of installing an air compressor and increases the flexibility of the automatic collection system.
為利 貴審查委員了解本發明之技術特徵、內容與優點及其所能達到之功效，茲將本發明配合附圖，並以實施例之表達形式詳細說明如下，而其中所使用之圖式，其主旨僅為示意及輔助說明書之用，未必為本發明實施後之真實比例與精準配置，故不應就所附之圖式的比例與配置關係解讀、侷限本發明於實際實施上的權利範圍，合先敘明。In order to help the examiners to understand the technical features, content and advantages of the present invention and the effects that can be achieved, the present invention is hereby described in detail with the accompanying drawings and in the form of embodiments as follows. The subject matter is only for illustration and auxiliary description, and is not necessarily the real scale and precise configuration after the implementation of the present invention. Therefore, the ratio and configuration relationship of the attached drawings should not be interpreted or limited to the scope of rights of the present invention in actual implementation. Together first to describe.
請參閱圖1，其係為本發明之採集模組的示意圖。本發明之採集模組1包含：本體10、伸臂單元11、切夾單元12、攝影模組13及接收模組14，其中在本體10內設有容置空間100，伸臂單元11及切夾單元12皆設於容置空間100內，而在本體10的一個側面設有與容置空間100相通的開口101，且伸臂單元11可以由開口101往外伸出，切夾單元12則設於伸臂單元11的上方，隨著伸臂單元11的伸出而一起由開口101往外伸出。Please refer to FIG. 1 , which is a schematic diagram of the acquisition module of the present invention. The
其中，伸臂單元11的前端更設有圈套部110，且圈套部110常態性地露出於容置空間100之外，切夾單元12的前端設有切夾部120，並與圈套部110搭配，藉由圈套部110與切夾部120的組合，構成本發明之採集模組的夾爪。The front end of the
其中，本體10在與開口101相鄰的一個面上設有攝影模組13，而在開口101的對面，則設有一個手臂連接部102。Wherein, the
其中，接收模組14設於圈套部110的下方，並與本體10連接，在接收模組14的上端則設有接收口140，係用於接收來由圈套部110與切夾部120組成之夾爪所抓取的物件。The receiving
請參閱圖2，其係為本發明之採集模組的分解圖。本發明之採集模組1更包含：第一馬達15及第二馬達16，皆設於容置空間100內，其中第一馬達15安裝在伸臂單元11旁邊，且與伸臂單元11的齒輪連接，第二馬達16則安裝在切夾單元12上面，並以鎖固元件與切夾單元12連接。Please refer to FIG. 2 , which is an exploded view of the acquisition module of the present invention. The
請參閱圖3，其係為本發明之夾爪的俯視圖。本發明之採集模組的夾爪由圈套部110及切夾部120所組成，在圈套部110的中心位置設有一個四邊形的穿口1100，其中，穿口1100離本體10最遠的側邊為第一側邊111，第一側邊111的對邊為第二側邊112，且在第一側邊111還設有第一刀113。Please refer to FIG. 3 , which is a top view of the gripper of the present invention. The clamping jaw of the collection module of the present invention is composed of a
其中，在伸臂單元11的上方設有切夾單元12，且切夾單元12的切夾部120位於穿口1100的上方，而切夾部120離本體10最遠的側邊為第三側邊121，在第三側邊121還設有第二刀122。The
當切夾部120靠在第二側邊112時，第一刀113與第二刀122之間的距離，以及第一側邊111二端的距離，使得被夾取物件得以通過穿口1100，例如在本發明之實施例中，被夾取物件為一般常見的小番茄，所以第一刀113與第二刀122之間的距離為35mm，而第一側邊111二端的距離為45mm。When the
請參閱圖4，其係為本發明之夾爪的側視圖。在本發明之實施例中，第一側邊111被第一刀113分為上邊1111及下邊1112，且第一刀113的第一刃1130至下邊1112的距離為第一間距610，第一刃1130至上邊1111之間的距離為第四間距640。Please refer to FIG. 4 , which is a side view of the clamping jaw of the present invention. In the embodiment of the present invention, the
其中，第二刀122的第二刃1220至第三側邊121的距離為第二間距620，而在第三側邊121設有凸塊123，且凸塊123朝向下邊1112。The distance from the
在本發明之實例中，凸塊123在靠近第二刀122之處更設有凹槽124。In the example of the present invention, the convex
請參閱圖5，其係為本發明實施例之夾爪的側視圖。在本發明之實施例中，採集模組1所夾取的夾取物為一顆莊稼5，其中莊稼5可以為莓果、小番茄、葡萄、櫻桃或其他帶有蒂頭的小型莊稼。Please refer to FIG. 5 , which is a side view of the clamping jaw according to the embodiment of the present invention. In the embodiment of the present invention, the grasped object by the
以下進一步說明，本發明之採集模組1夾取莊稼5的過程。The following further describes the process of clamping the
在莊稼5的蒂頭落在穿口1100的範圍內時，切夾部120往第一側邊111靠近，而使第一刀113與第二刀122相交，直到第一刃1130與第二刃1220之間相隔一重疊距離650時，莊稼5蒂頭與樹枝之間的連接被第一刀113與第二刀122切斷。同時，凸塊123與下邊1112之間的距離縮短至第三間距630，而使莊稼5的蒂頭剛好被夾在凸塊123與下邊1112之間。When the pedicle of the
其中，重疊距離650大於莊稼5蒂頭的直徑，而第三間距630小於莊稼5被蒂頭的直徑，例如在本發明之實施例中，莊稼5為一般常見的小番茄，其蒂頭直徑介於1.6-1.9mm之間，所以重疊距離650為2mm，而第三間距630為1.5mm。The overlapping
進一步說明，重疊距離650與第三間距630的決定因子，本發明以小番茄為例，而如上述，小番茄的蒂頭直徑介於1.6-1.9mm之間，所以在本發明之採集模組1切夾小番茄時，凸塊123與下邊1112會對小番茄的蒂頭進行擠壓，而使蒂頭被夾第三間距630（1.5ｍｍ），而第一刀113與第二刀122在相交重疊距離650（2mm）必須大於小番茄蒂頭的直徑（約1.9mm），以確保小番茄的蒂頭被完全切斷。To further illustrate, the determining factor of the
請參閱圖4及圖5，其中，第四間距640的設計，可以使小番茄的蒂頭被切斷時，第二刃1220不至於碰到上側邊1111，且第二刃1220與上側邊1111還可以留有第一餘寬660的距離，例如在本發明之實施例中，第一餘寬660為3mm。Please refer to FIG. 4 and FIG. 5 , wherein, the design of the
同樣地，凹槽124的設計，可以使小番茄的蒂頭被切斷時，第一刃1130不至於碰到凸塊123，且第一刃1130與第三側邊121之間還可以留有第二餘寬670的距離，例如在本發明之實施例中，第二餘寬670為3mm。Similarly, the design of the
請參閱圖6，其係為本發明之自動採集系統的示意圖。本發明之自動採集系統係用於採集莊稼5，自動採集系統包含採集模組1、機械手臂2、處理裝置3及自走車4，其中採集模組1更包含伸臂單元11、攝影模組13，以及接收莊稼5的接收模組14。Please refer to FIG. 6 , which is a schematic diagram of the automatic collection system of the present invention. The automatic collection system of the present invention is used to collect
其中，機械手臂2放置於自走車4上，並於機械手臂2下方設置一台一升降器41，藉以增加機械手臂2在縱軸方向的靈活度，並以採集連接部20與採集模組1的手臂連接部102連接。Among them, the
其中，接收模組14更包含接收莊稼5的接收口140、裝載莊稼5的收穫籃142及連接收穫籃142與接收口140之間的接收通道141。The receiving
請參閱圖7，其係為本發明之處理模組及其連接元件的方塊圖。本發明之處理裝置3包含處理模組31及控制模組32，具體而言，處理模組31為電腦CPU，控制模組32則為Arduino控制板，其中處理模組31與攝影模組13連接，具體而言，攝影模組13為實感景深攝影機。Please refer to FIG. 7 , which is a block diagram of the processing module and its connecting elements of the present invention. The processing device 3 of the present invention includes a
控制模組32則與第一馬達15、第二馬達16及機械手臂2連接，用以控制採集模組1的位置及伸臂單元11及切夾單元12的移動，具體地，第一馬達15、第二馬達16為伺服馬達，而機械手臂2為協作機械手臂。The
在本發明之實施例中，處理模組31與攝影模組13及控制模組32連接，且處理模組31接收來自攝影模組13所拍攝的莊稼5影像，判斷莊稼5的位置、深度、熟度及外形完整度，然後藉由控制模組32操控採集模組1進行莊稼5的採集。In the embodiment of the present invention, the
請參閱圖8，其係為本發明之自動採集方法的流程圖。本發明之自動採集方法的流程包含：
S701：利用攝影模組13，拍攝莊稼5的影像；
S702：利用處理模組31，根據影像判斷莊稼5的位置資訊；
S703：利用自走車4，將自動採集系統移至莊稼5周圍；
S704：再利用攝影模組13，拍攝莊稼5的影像；
S705：利用處理模組31，根據影像判斷莊稼5的位置、深度、熟度及外形完整度，判斷採集順序後，再判斷機械手臂2、第一馬達15及第二馬達16所須移動的距離及角度；
S706：利用機械手臂2，將採集模組1移動至莊稼5附近；
S707：利用第一馬達15，將採集模組1的伸臂單元11往莊稼5移動，而使採集模組1的圈套部110被移至莊稼5下方；
S708：利用機械手臂2，將圈套部110往上移動，使莊稼5穿過穿口1100，且莊稼5的蒂頭落在圈套部110的第一側邊111與切夾部120的第三側邊121之間；
S709：利用第二馬達16，如圖9所示，將切夾單元12往第一側邊111移動，令採集模組1的第二刀122與第一刀113相交，而切斷莊稼5的蒂頭與枝頭之間的連結，同時將莊稼5的蒂頭夾在凸塊123與第一側邊111之間；
S710：利用第一馬達15，如圖9所示，將伸臂單元11往採集模組1的本體10方向移動，而將莊稼5帶回接收模組14的上方；
S711：利用第二馬達16，將切夾單元12往本體10方向移動，而拉大凸塊123與第一側邊111之間的距離，藉以將莊稼5由接收口140送往收穫籃142。
Please refer to FIG. 8 , which is a flowchart of the automatic collection method of the present invention. The process of the automatic collection method of the present invention includes:
S701: Use the photography module 13 to shoot images of crops 5;
S702: Use the processing module 31 to determine the location information of the crop 5 according to the image;
S703: Use the self-propelled vehicle 4 to move the automatic collection system around the crops 5;
S704: Reuse the photography module 13 to shoot images of crops 5;
S705: Use the processing module 31 to judge the position, depth, maturity and shape integrity of the crop 5 according to the image, and after judging the acquisition sequence, then judge the distance that the robot arm 2, the first motor 15 and the second motor 16 need to move and angle;
S706: Use the robotic arm 2 to move the collection module 1 to the vicinity of the crop 5;
S707: Using the first motor 15, the outrigger unit 11 of the collection module 1 is moved toward the crop 5, so that the snare part 110 of the collection module 1 is moved below the crop 5;
S708 : Use the robotic arm 2 to move the snare part 110 upward, so that the crop 5 passes through the opening 1100 , and the pedicle of the crop 5 falls on the first side 111 of the snare part 110 and the third side of the clipping part 120 between side 121;
S709 : Using the second motor 16 , as shown in FIG. 9 , the cutting and clamping unit 12 is moved to the first side edge 111 , so that the second knife 122 of the acquisition module 1 intersects the first knife 113 to cut the crop 5 . The connection between the pedicle and the branch, while the pedicle of the
為解決台灣農業人口不足之問題，先前技術提出以剪刀狀的採集裝置搭配輸送帶的方式進行水果採集，或以機械手臂結合真空吸盤進行水果採集等方式，但都仍無法避免損害莊稼外表之問題。In order to solve the problem of insufficient agricultural population in Taiwan, the prior art proposed to use a scissors-shaped collection device with a conveyor belt for fruit collection, or a robotic arm combined with a vacuum suction cup for fruit collection. .
為此，本發明提供一種自動採集系統、方法及採集模組，在不觸碰果實表面的情況下，自動採集小型莊稼，並以馬達取代氣缸作為夾爪的驅動元件，減少夾持端的重量，省去加裝空氣壓縮機之重量，增加自動採集系統的靈活性，更進一步以深度攝影機，即時追小型莊稼果位置，再搭配二段式夾爪降低，降低夾爪對影像的干擾，而達到提升採集系統精準度之目的。To this end, the present invention provides an automatic collection system, method and collection module, which can automatically collect small crops without touching the surface of the fruit, and use a motor instead of a cylinder as the driving element of the gripper to reduce the weight of the gripping end, Save the weight of installing an air compressor, increase the flexibility of the automatic acquisition system, and further use the depth camera to track the position of small crops in real time, and then use the two-stage gripper to lower it to reduce the interference of the gripper on the image. The purpose of improving the accuracy of the acquisition system.
上列詳細說明係針對本發明之可行實施例之具體說明，惟該實施例並非用以限制本發明之專利範圍，凡未脫離本發明技藝精神所為之等效實施或變更，均應包含於本案之專利範圍中。The above detailed descriptions are specific descriptions of feasible embodiments of the present invention, but the embodiments are not intended to limit the patent scope of the present invention. Any equivalent implementation or modification that does not depart from the technical spirit of the present invention shall be included in this case. within the scope of the patent.
1:採集模組 10:本體 100:容置空間 101:開口 102:手臂連接部 11:伸臂單元 110:圈套部 1100:穿口 111:第一側邊 1111:上邊 1112:下邊 112:第二側邊 113:第一刀 1130:第一刃 12:切夾單元 120:切夾部 121:第三側邊 122:第二刀 1220:第二刃 123:凸塊 124:凹槽 13:攝影模組 14:接收模組 140:接收口 141:接收通道 142:收穫籃 15:第一馬達 16:第二馬達 2:機械手臂 20:採集連接部 3:處理裝置 31:處理模組 32:控制模組 4:自走車 41:升降器 5:莊稼 610:第一間距 620:第二間距 630:第三間距 640:第四間距 650:重疊距離 660:第一餘寬 670:第二餘寬 S701-S711:步驟 1: Collection module 10: Ontology 100: Accommodating space 101: Opening 102: Arm connection 11: Outrigger unit 110: Snare Department 1100: Piercing 111: First side 1111: Above 1112: below 112: Second side 113: The first knife 1130: First Blade 12: Clamping unit 120: Cutting part 121: Third side 122: The second knife 1220: Second Blade 123: bump 124: Groove 13: Photography module 14: Receive module 140: receiving port 141: Receive channel 142: Harvest Basket 15: The first motor 16: Second motor 2: Robotic arm 20: Collection connection 3: Processing device 31: Processing modules 32: Control Module 4: Bicycle 41: Lifter 5: crops 610: First pitch 620: Second pitch 630: Third pitch 640: Fourth pitch 650: Overlap Distance 660: first margin 670: Second margin S701-S711: Steps
圖1 為本發明之採集模組的示意圖； 圖2 為本發明之採集模組的分解圖； 圖3 為本發明之夾爪的俯視圖； 圖4 為本發明之夾爪的側視圖； 圖5 為本發明實施例之夾爪的側視圖； 圖6 為本發明之自動採集系統的示意圖； 圖7 為本發明之處理模組及其連接元件的方塊圖； 圖8 為本發明之自動採集方法的流程圖； 圖9 為本發明實施例之自動採集方法之的第一分解步驟圖； 圖10 為本發明實施例之自動採集方法之的第二分解步驟圖。 1 is a schematic diagram of a collection module of the present invention; 2 is an exploded view of the acquisition module of the present invention; Fig. 3 is the top view of the clamping jaw of the present invention; Fig. 4 is the side view of the clamping jaw of the present invention; Fig. 5 is the side view of the clamping jaw of the embodiment of the present invention; Fig. 6 is the schematic diagram of the automatic collection system of the present invention; 7 is a block diagram of the processing module and its connecting elements of the present invention; FIG. 8 is a flowchart of the automatic collection method of the present invention; FIG. 9 is a first exploded step diagram of the automatic collection method according to the embodiment of the present invention; FIG. 10 is a second exploded step diagram of the automatic collection method according to the embodiment of the present invention.
10:本體 10: Ontology
100:容置空間 100: Accommodating space
101:開口 101: Opening
102:手臂連接部 102: Arm connection
11:伸臂單元 11: Outrigger unit
110:圈套部 110: Snare Department
12:切夾單元 12: Clamping unit
120:切夾部 120: Cutting part
13:攝影模組 13: Photography module
14:接收模組 14: Receive module
140:接收口 140: receiving port
16:第二馬達 16: Second motor
Claims (8)
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