CN108527307A - A kind of eggplant picking robot based on image recognition - Google Patents
A kind of eggplant picking robot based on image recognition Download PDFInfo
- Publication number
- CN108527307A CN108527307A CN201810350310.4A CN201810350310A CN108527307A CN 108527307 A CN108527307 A CN 108527307A CN 201810350310 A CN201810350310 A CN 201810350310A CN 108527307 A CN108527307 A CN 108527307A
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- CN
- China
- Prior art keywords
- fixed
- main
- steering engine
- clamping jaw
- column
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
A kind of eggplant picking robot based on image recognition, belong to agricultural intelligent machinery field, it is by main car body, swivel base, what clamping jaw and belt formed, main car body is by sweep, arm-rest frame, collecting bin, primary control box, main line, main motor, plate mat, disk mounting hole, inclined plate, inclined plate frame, driving wheel, turbin generator axis, driving motor, what shock structure and main shaft formed, swivel base is by roundel, what dish axle and clamping jaw mounting groove formed, clamping jaw is by mounting blocks, big disk, first steering engine, first axle, first column, second steering engine, second axis, second column, splint holder, strap, sensor frame, ccd sensor, inside groove, what template linear motor and movable clamp plate formed, usefulness is：The flexible motion of four-degree-of-freedom manipulator is realized by swivel base, the first steering engine, the second steering engine and template linear motor；By the use of ccd sensor, the effect of intelligent image identification is realized, can more accurately judge the position of eggplant, and then realize that eggplant is won.
Description
Technical field
The present invention relates to a kind of eggplant picking robot based on image recognition, in particular by swivel base, first
Steering engine, the second steering engine and template linear motor realize that the flexible motion of four-degree-of-freedom manipulator realizes the gripping of eggplant, belong to agriculture
With intelligent machine field.
Background technology
Nowadays, in field or greenhouse, picking eggplant is mostly artificial patrol picking, it is contemplated that the height of some eggplants
Differ, for labourer, bends over and ceaselessly walk about to make one tired up and down, and the efficiency for picking eggplant is low, as can
A field or greenhouse eggplant material robot are designed, realizes the purpose of automatic identification eggplant and picking, it will greatly solution
Labour is put, picking rate is improved.
Invention content
Against the above deficiency, the present invention provides a kind of eggplant picking robot based on image recognition.
The present invention is achieved by the following technical solutions：A kind of eggplant picking robot based on image recognition, be by
What main car body, swivel base, clamping jaw and belt formed, the swivel base is mounted on main car body, clamping jaw installation
On swivel base, the belt connects swivel base and main car body.
Further, the main car body be by sweep, arm-rest frame, collecting bin, primary control box, main line, main motor, plate mat,
What disk mounting hole, inclined plate, inclined plate frame, driving wheel, turbin generator axis, driving motor, shock structure and main shaft formed, after the sweep
The fixed arm-rest frame in portion, the fixed collecting bin in left side and inclined plate frame of the sweep, the inclined plate frame are fixed on collecting bin
Front, fixed inclined plate on the inclined plate frame, the fixed primary control box in right side and main motor of the collecting bin are described
Primary control box draws main line and is connected with main motor, and the main motor extends downwardly main shaft, and the front of the main motor is fixed
Plate mat, the plate mat are equipped with disk mounting hole and form through-hole in sweep, fixed on four angles of the lower part of the sweep
Shock structure, driving motor is installed on the shock structure, the driving motor stretches out turbin generator axis, the turbin generator
Driving wheel is installed on axis.
Further, the swivel base is made of roundel, dish axle and clamping jaw mounting groove, the roundel
The fixed dish axle in lower part, top are equipped with clamping jaw mounting groove.
Further, the clamping jaw be by mounting blocks, big disk, the first steering engine, first axle, the first column, the second steering engine,
Second axis, the second column, splint holder, strap, sensor frame, ccd sensor, inside groove, template linear motor and movable clamp plate
Composition, the mounting blocks top is equipped with big disk, fixed first steering engine on the big disk, first steering engine
First axle is stretched out, fixed first column in the first axle is installed with the second steering engine on first column, and described second
Steering engine stretches out the second axis, fixed second column on second axis, and the second fixed splint holder in column front end is described
One end of splint holder is equipped with strap, and the splint holder top is equipped with sensor frame, fixed on the sensor frame
Ccd sensor, the splint holder are equipped with two groups of parallel inside grooves, and the movable clamp plate is fixed on template linear motor
On, and in inside groove.
Further, the swivel base is inserted into the installation of disk mounting hole realization and main car body by dish axle, described
Clamping jaw is mounted on the installation of clamping jaw mounting groove realization and swivel base by mounting blocks, and the belt connects main shaft and dish axle.
Further, the shock structure is made of the elastomeric rubber material of high density.
Further, the angle of inclination of the inclined plate is 45 °, and the opening angle of the collecting bin is 60 °.
The usefulness of the invention is：
Mobile reliability and controllability are realized by four groups of driving wheels；
The flexible of four-degree-of-freedom manipulator is realized by swivel base, the first steering engine, the second steering engine and template linear motor
Movement, meanwhile, the use of template linear motor can make gripping process more efficiently；
By the use of ccd sensor, realizes the effect of intelligent image identification, can more accurately judge the position of eggplant,
And then realize that eggplant is won；
By the use of shock structure, picking eggplant can be enable to encounter rugged ground in the process and smoothly moved, no
Larger jolt can be generated to top on vehicle；
By the use of inclined plate and collecting bin, the eggplant after picking can be made to realize the purpose of storage.
Description of the drawings
Attached drawing 1 is the whole axonometric drawing of the present invention；
Attached drawing 2 is axonometric drawing under the entirety of the present invention；
Attached drawing 3 is the main car body rear axle mapping of the present invention；
Attached drawing 4 is axonometric drawing under bold and unrestrained main car body；
Attached drawing 5 is the swivel base axonometric drawing of the present invention；
Attached drawing 6 is the clamping jaw axonometric drawing of the present invention；
Attached drawing 7 is partial enlarged view at the A of the present invention.
In figure, 1, main car body；2, swivel base；3, clamping jaw；4, belt；101, sweep；102, arm-rest frame；103, it collects
Storehouse；104, primary control box；105, main line；106, main motor；107, plate mat；108, disk mounting hole；109, inclined plate；110, inclined plate frame；
111, driving wheel；112, turbin generator axis；113 driving motors；114, shock structure；115, main shaft；201, roundel；202, dish axle；
203, clamping jaw mounting groove；301, mounting blocks；302, big disk；303, the first steering engine；304, first axle；305, the first column；306、
Second steering engine；307, the second axis；308, the second column；309, splint holder；310, strap；311, sensor frame；312, CCD is passed
Sensor；313, inside groove；314, template linear motor；315, movable clamp plate.
Specific implementation mode
A kind of eggplant picking robot based on image recognition is by 4 groups of main car body 1, swivel base 2, clamping jaw 3 and belt
At, swivel base 2 is mounted on main car body 1, and clamping jaw 3 is mounted on swivel base 2, and belt 4 connects swivel base 2 and main vehicle
Body 1.
Main car body 1 is by sweep 101, arm-rest frame 102, collecting bin 103, primary control box 104, main line 105, main motor 106, disk
Pad 107, disk mounting hole 108, inclined plate 109, inclined plate frame 110, driving wheel 111, turbin generator axis 112, driving motor 113, shock structure
114 and main shaft 115 form, the fixed arm-rest frame 102 in 101 rear portion of sweep, fixed 103 He of collecting bin in left side of sweep 101
Inclined plate frame 110, inclined plate frame 110 are fixed on the front of collecting bin 103, fixed inclined plate 109 on inclined plate frame 110, collecting bin 103
The fixed primary control box 104 in right side and main motor 106, primary control box 104 draw main line 105 and are connected with main motor 106, main motor 106
Main shaft 115, the fixed plate mat 107 in front of main motor 106 are extended downwardly, plate mat 107 is equipped with disk mounting hole 108 and in sweep
101 form through-holes, fixed shock structure 114 on four angles of the lower part of sweep 101, and driving motor is installed on shock structure 114
113, driving motor 113 stretches out turbin generator axis 112, and driving wheel 111 is installed on turbin generator axis 112.
Swivel base 2 is made of roundel 201, dish axle 202 and clamping jaw mounting groove 203, and 201 lower part of roundel is fixed
Dish axle 202, top is equipped with clamping jaw mounting groove 203.
Clamping jaw 3 is by mounting blocks 301, big disk 302, the first steering engine 303, first axle 304, the first column 305, the second steering engine
306, the second axis 307, the second column 308, splint holder 309, strap 310, sensor frame 311, ccd sensor 312, inside groove
313, template linear motor 314 and movable clamp plate 315 form, and 301 top of mounting blocks is equipped with big disk 302, on big disk 302
Fixed first steering engine 303, the first steering engine 303 stretch out first axle 304, fixed first column 305 in first axle 304, the first column
Second steering engine 306 is installed on 305, the second steering engine 306 stretches out the second axis 307, fixed second column 308 on the second axis 307, the
One end of the fixed splint holder 309 in two columns, 308 front end, splint holder 309 is equipped with strap 310, and 309 top of splint holder, which is equipped with, to be passed
Sensor frame 311, fixed ccd sensor 312 on sensor frame 311, splint holder 309 are equipped with two groups of parallel inside grooves 313, can
Dynamic clamping plate 315 is fixed on template linear motor 314, and in inside groove 313.
Swivel base 2 is inserted into the installation of 108 realization and main car body 1 of disk mounting hole by dish axle 202, and clamping jaw 3 passes through installation
Block 301 is mounted on the installation of clamping jaw mounting groove 203 realization and swivel base 2, and belt 4 connects main shaft 115 and dish axle 202.
Shock structure 114 is made of the elastomeric rubber material of high density.
The angle of inclination of inclined plate 109 is 45 °, and the opening angle of collecting bin 103 is 60 °.
At work, staff pushes arm-rest frame 102 that the machine is shifted onto to eggplant field to be picked, clamping jaw 3 to the device
Towards outside, even if splint holder 309, strap 310,315 equal court of sensor frame 311, ccd sensor 312 and movable clamp plate
Outward, after machine operation, driving motor 113 drives driving wheel 111 slowly to operate, and machine moves forward, while ccd sensor
After 312 detect eggplant by image recognition principle, pass through the first steering engine 303, first axle 304, the first column 305, the second steering engine
306, the structure of the second axis 307 and the second column 308 makes the splint holder 309 of front end be moved to the position of eggplant to be picked, template
Linear motor 314 drives movable clamp plate 315 to be moved towards 310 direction of strap in inside groove 313, after gripping eggplant, passes through
First steering engine 303, first axle 304, the first column 305, the second steering engine 306, the second axis 307 and the second column 308 structure make eggplant
It takes, while primary control box 104 drives main motor 106 to run by main line 105, then passes through 202 band of main shaft 115, belt 4 and dish axle
Dynamic swivel base 2 rotates, and then clamping jaw 3 is made to be rotated around dish axle 202, and after turning over certain angle, template linear motor 314 drives
Movable clamp plate 315 moves in inside groove away from 310 direction of strap, and eggplant is put down, and eggplant enters along inclined plate 109 to be collected
The purpose of picking eggplant is realized in storehouse 103.In the process, staff sets the rotation angle model of swivel base 2 in advance
It encloses, and in machine moving process, encounters the region of ground injustice, shock structure 114, which plays a role, to be enabled the machine to smoothly
It is moved in field.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case of spirit, changes, modifications, replacement and modification that embodiment is carried out still fall within protection scope of the present invention it
It is interior.
Claims (7)
1. a kind of eggplant picking robot based on image recognition, is made of main car body, swivel base, clamping jaw and belt,
It is characterized in that：The swivel base is mounted on main car body, and the clamping jaw is mounted on swivel base, the belt
Connect swivel base and main car body.
2. a kind of eggplant picking robot based on image recognition as described in claim 1, it is characterised in that：The main vehicle
Body be by sweep, arm-rest frame, collecting bin, primary control box, main line, main motor, plate mat, disk mounting hole, inclined plate, inclined plate frame, driving wheel,
What turbin generator axis, driving motor, shock structure and main shaft formed, the fixed arm-rest frame in sweep rear portion, the sweep
The fixed collecting bin in left side and inclined plate frame, the inclined plate frame are fixed on the front of collecting bin, fixed on the inclined plate frame
Inclined plate, the fixed primary control box in right side and main motor of the collecting bin, the primary control box draw main line and are connected with main motor,
The main motor extends downwardly main shaft, the fixed plate mat in front of the main motor, and the plate mat is installed equipped with disk
It is simultaneously installed on fixed shock structure on sweep formation through-hole, four angles of the lower part of the sweep, the shock structure in hole
Driving motor, the driving motor stretches out turbin generator axis, driving wheel is installed on the turbin generator axis.
3. a kind of eggplant picking robot based on image recognition as described in claim 1, it is characterised in that：The rotation
Chassis is made of roundel, dish axle and clamping jaw mounting groove, the fixed dish axle in roundel lower part, and top is equipped with clamping jaw
Mounting groove.
4. a kind of eggplant picking robot based on image recognition as described in claim 1, it is characterised in that：The clamping jaw
It is by mounting blocks, big disk, the first steering engine, first axle, the first column, the second steering engine, the second axis, the second column, splint holder, geometrical clamp
What plate, sensor frame, ccd sensor, inside groove, template linear motor and movable clamp plate formed, the mounting blocks top is equipped with
Big disk, fixed first steering engine on the big disk, first steering engine stretch out first axle, solid in the first axle
Determine the first column, the second steering engine is installed on first column, second steering engine stretches out the second axis, second axis
One end of upper fixed second column, the second fixed splint holder in column front end, the splint holder is equipped with strap, institute
The splint holder top stated is equipped with sensor frame, and fixed ccd sensor on the sensor frame, the splint holder is equipped with
Two groups of parallel inside grooves, the movable clamp plate are fixed on template linear motor, and in inside groove.
5. a kind of eggplant picking robot based on image recognition as described in claim 1-4, it is characterised in that：The rotation
Turn the installation that disk mounting hole realization and main car body is inserted on chassis by dish axle, the clamping jaw is pacified by mounting blocks mounted on clamping jaw
Tankage realizes that the installation with swivel base, the belt connect main shaft and dish axle.
6. a kind of eggplant picking robot based on image recognition as described in claim 1-4, it is characterised in that：Described subtracts
Shake column is made of the elastomeric rubber material of high density.
7. a kind of eggplant picking robot based on image recognition as described in claim 1-4, it is characterised in that：Described is oblique
The angle of inclination of plate is 45 °, and the opening angle of the collecting bin is 60 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350310.4A CN108527307A (en) | 2018-04-18 | 2018-04-18 | A kind of eggplant picking robot based on image recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350310.4A CN108527307A (en) | 2018-04-18 | 2018-04-18 | A kind of eggplant picking robot based on image recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108527307A true CN108527307A (en) | 2018-09-14 |
Family
ID=63478001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810350310.4A Pending CN108527307A (en) | 2018-04-18 | 2018-04-18 | A kind of eggplant picking robot based on image recognition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527307A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111155506A (en) * | 2020-01-20 | 2020-05-15 | 赵东明 | Highway sampling device for building engineering |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8427136D0 (en) * | 1984-03-19 | 1984-12-05 | Kubota Ltd | Fruit harvesting robot hand |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Flexible picking device and method for citrus picking robot |
| CN107671868A (en) * | 2016-06-15 | 2018-02-09 | 钟红萍 | A kind of anti-land mine robot |
| CN107685903A (en) * | 2017-09-27 | 2018-02-13 | 黄石市友创科技股份有限公司 | A kind of manipulator of double automated sewing bag |
| CN207070638U (en) * | 2017-06-15 | 2018-03-06 | 深圳普思英察科技有限公司 | A kind of small-sized eggplant harvesting robotic |
| US9913429B1 (en) * | 2015-04-27 | 2018-03-13 | X Development Llc | Tagging of fruit-producing flowers for robotic selective harvesting |
-
2018
- 2018-04-18 CN CN201810350310.4A patent/CN108527307A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8427136D0 (en) * | 1984-03-19 | 1984-12-05 | Kubota Ltd | Fruit harvesting robot hand |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Flexible picking device and method for citrus picking robot |
| US9913429B1 (en) * | 2015-04-27 | 2018-03-13 | X Development Llc | Tagging of fruit-producing flowers for robotic selective harvesting |
| CN107671868A (en) * | 2016-06-15 | 2018-02-09 | 钟红萍 | A kind of anti-land mine robot |
| CN207070638U (en) * | 2017-06-15 | 2018-03-06 | 深圳普思英察科技有限公司 | A kind of small-sized eggplant harvesting robotic |
| CN107685903A (en) * | 2017-09-27 | 2018-02-13 | 黄石市友创科技股份有限公司 | A kind of manipulator of double automated sewing bag |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111155506A (en) * | 2020-01-20 | 2020-05-15 | 赵东明 | Highway sampling device for building engineering |
| CN111155506B (en) * | 2020-01-20 | 2021-07-13 | 江苏中装建设有限公司 | Highway sampling device for building engineering |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |