CN111532348A

CN111532348A - Orchard transportation robot

Info

Publication number: CN111532348A
Application number: CN202010476750.1A
Authority: CN
Inventors: 唐建生; 段春艳; 冯泽君; 许继源; 李颖; 连佳生; 赖华景; 陈潇跃; 谢灏; 柳淦元
Original assignee: Foshan Polytechnic
Current assignee: Foshan Polytechnic
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2020-08-14

Abstract

The invention discloses an orchard transport robot which comprises a frame, wherein a left walking structure and a right walking mechanism are respectively arranged on the left lower side and the right lower side of the frame, a loading frame is arranged on the upper side of the frame, a binocular depth vision camera and a laser radar are further arranged on the front side of the frame, a power supply is further arranged on the frame, and the left walking mechanism, the right walking mechanism, the binocular depth vision camera and the laser radar are electrically connected with the power supply. The left walking mechanism and the right walking mechanism drive the orchard transportation robot to walk; the loading frame is used for storing fruits and vegetables picked by picking personnel; the binocular depth vision camera and the laser radar can identify external environments and personnel, and the left walking mechanism and the right walking mechanism can move according to the result fed back by the binocular depth vision camera and the laser radar. The technology provides a conveying mechanism for realizing automatic tracking of picking workers and assisting manual conveying of vegetables and fruits, and is beneficial to improving the picking efficiency of workers and reducing the labor cost.

Description

Orchard transportation robot

Technical Field

The invention relates to the technical field of agricultural transportation equipment, in particular to an orchard transportation robot.

Background

As the labor in rural areas is reduced, too much labor can not be invested for working in agricultural planting. The automatic picking technology in the orchard is still immature at present, a scientific and reasonable auxiliary tool is lacked in a manual picking mode, the picking work efficiency is low, the labor cost is high, the problem of surplus fruits and vegetables sometimes occurs due to the problem of low picking efficiency, and the income is reduced. The existing binocular depth vision camera and the laser radar are used for identifying the environment, and a transport mechanism capable of applying the binocular depth vision camera and the laser radar is expected by technical personnel in the field, so that the possibility is provided for realizing automatic tracking of picking workers and assisting in manual transportation of vegetables and fruits, the picking efficiency of the workers is improved, and the labor cost is reduced.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an orchard transportation robot.

The orchard transportation robot comprises a frame, a left walking structure and a right walking structure are respectively arranged on the left lower side and the right lower side of the frame, a loading frame is arranged on the upper side of the frame, a binocular depth vision camera and a laser radar are further arranged on the front side of the frame, the binocular depth vision camera and the laser radar are both electrically connected with the left walking structure, the binocular depth vision camera and the laser radar are both electrically connected with the right walking structure, a power supply is further arranged on the frame, and the left walking structure, the right walking structure, the binocular depth vision camera and the laser radar are all electrically connected with the power supply.

The orchard transportation robot provided by the embodiment of the invention at least has the following beneficial effects: the left walking mechanism and the right walking mechanism drive the orchard transportation robot to walk; the loading frame is used for storing fruits and vegetables picked by picking personnel; the binocular depth vision camera and the laser radar can identify external environments and personnel, and the left walking mechanism and the right walking mechanism can move according to the result fed back by the binocular depth vision camera and the laser radar. The technology provides a conveying mechanism for realizing automatic tracking of picking workers and assisting manual conveying of vegetables and fruits, and is beneficial to improving the picking efficiency of workers and reducing the labor cost.

According to some embodiments of the invention, the frame comprises a first upper transverse plate, the loading frame is detachably connected to the upper side of the first upper transverse plate, a left vertical plate is arranged on the left lower side of the first upper transverse plate, a right vertical plate is arranged on the right lower side of the first upper transverse plate, the left travelling mechanism is arranged on the left vertical plate, the right travelling mechanism is arranged on the right vertical plate, the frame further comprises an installation transverse plate, the installation transverse plate is arranged below the first upper transverse plate, the left side and the right side of the installation transverse plate are respectively and fixedly connected with the left vertical plate and the rear vertical plate, and the power supply is fixedly connected to the upper side of the installation transverse plate; first last diaphragm still is connected with first mounting panel and second mounting panel, first mounting panel interval set up in the top of second mounting panel, first mounting panel with the second mounting panel is located the front side of first last diaphragm, binocular degree of depth vision camera fixed connection in on the first mounting panel, laser radar fixed connection in on the second mounting panel.

The loading frame is arranged on the first upper transverse plate, the left vertical plate and the right vertical plate are respectively provided with the left travelling mechanism and the right travelling mechanism, the power supply and some control modules are arranged on the mounting transverse plate, and the power supply and the controller are arranged between the first upper transverse plate and the mounting transverse plate to play a role in protection; binocular degree of depth vision camera fixed connection is on first mounting panel, and laser radar fixed connection is on the second mounting panel, and binocular degree of depth vision camera is located laser radar's upside, and binocular degree of depth vision camera absorbs the object information on upper portion more, and laser radar can detect the object that is closer to the downside more, conveniently avoids the roadblock, sets up more rationally like this.

According to some embodiments of the invention, a second upper transverse plate is detachably connected to the upper side of the first upper transverse plate, a movable cavity is arranged between the first upper transverse plate and the second upper transverse plate, a connecting through hole is arranged in the middle of the movable cavity, the connecting through hole vertically penetrates through the first upper transverse plate and the second upper transverse plate, a movable plate is slidably connected in the movable cavity, the loading frame is connected with the movable plate, a movable gap is arranged between the periphery of the movable plate and the side wall of the movable cavity, spring mounting holes are arranged on the front side, the rear side, the left side and the right side of the movable cavity, the axis of each spring mounting hole faces the middle of the movable cavity, a first pressure spring is arranged in each spring mounting hole, and one end of each first pressure spring, close to the movable plate, is abutted to the side wall of the movable plate.

The movable plate can slide in the movable cavity, and is positioned in the middle of the movable cavity in a stable state under the thrust of the first pressure springs in multiple directions; when the orchard transportation robot runs in a bumpy road section, the first pressure spring plays a role in buffering and protecting the movable plate, the movable plate is prevented from shifting forward, backward, leftward or rightward, the sloshing of fruits and vegetables in the loading frame is reduced, and the fruits and vegetables are protected.

According to some embodiments of the present invention, a first telescopic assembly is disposed on the movable plate, the first telescopic assembly includes a first telescopic through hole disposed along an up-down direction, the first telescopic through hole is disposed on the movable plate, the first telescopic through hole is disposed in the connection through hole, a first telescopic shaft is slidably connected in the first telescopic through hole, a frame connection portion is disposed at an upper end of the first telescopic shaft, the loading frame is detachably connected to the frame connection portion, the frame connection portion is disposed at an upper side of the movable plate, a first limiting portion is disposed at a lower end of the first telescopic shaft, the first limiting portion is disposed at a lower side of the movable plate, a second compression spring is sleeved on the first telescopic shaft, and the second compression spring is disposed between the frame connection portion and the movable plate.

The first telescopic shaft can slide up and down, the second pressure spring has upward thrust to the first telescopic shaft, and the loading frame is connected to the frame connecting part; when the orchard transportation robot runs in a bumpy road section, the first pressure spring plays a role in buffering and protecting the loading frame in the vertical direction, so that the sloshing of fruits and vegetables in the loading frame is reduced, and the protection effect on the fruits and vegetables is further increased. The first telescopic through hole is formed in the connecting through hole and smaller than the connecting through hole, and transverse movement of the first telescopic shaft is not influenced.

According to some embodiments of the present invention, the frame connecting portion is a frame connecting block, a connecting groove is provided on a lower side surface of the loading frame, the connecting groove is sleeved on the frame connecting block, a first through hole is provided in the frame connecting block, a second through hole opposite to the first through hole is provided in the frame connecting block, and a plug-in rod is detachably inserted in the first through hole and the second through hole.

The loading frame is placed on the frame connecting block through the connecting groove, then the inserting rod penetrates through the first penetrating hole and the second penetrating hole to fix the loading frame and the frame connecting block together, the detachable connection of the loading frame and the first telescopic shaft is achieved, and the loading frame is convenient to install or take down for the picking personnel to unload. The lower side of the loading frame is provided with a connecting groove, so that the bottom surface of the loading frame is a plane, and the loading frame can be directly flatly placed on the ground.

According to some embodiments of the present invention, the movable plate is provided with a plurality of first retractable assemblies, and the plurality of first retractable assemblies are uniformly distributed on the movable plate. A plurality of first flexible subassembly is connected and is loaded the frame, improves the stability that loads the frame.

According to some embodiments of the present invention, a second telescopic assembly is disposed on the movable plate, the second telescopic assembly includes a second telescopic through hole disposed along the up-down direction, the second telescopic through hole is disposed on the movable plate, the second telescopic through hole is disposed in the connecting through hole, a second telescopic shaft is slidably connected in the second telescopic through hole, a second limiting portion is disposed at an upper end of the second telescopic shaft, the second limiting portion is disposed at an upper side of the movable plate, a third limiting portion is disposed at a lower section of the second telescopic shaft, a first connecting plate is disposed at a lower end of the second telescopic shaft, the first connecting plate is disposed at a lower side of the third limiting portion, the first connecting plate and the third limiting portion are both disposed at a lower side of the movable plate, a third compression spring is sleeved on the second telescopic shaft, the third compression spring is disposed between the second limiting portion and the movable plate, the front side of first connection diaphragm is equipped with the second and connects the riser, first mounting panel with the second mounting panel is located respectively the last front side and the lower front side of riser are connected to the second, the downside of loading the frame is equipped with dodges the hole, it is right to dodge the hole the second telescopic shaft.

The binocular depth vision camera is fixedly connected to the first mounting plate, the laser radar is fixedly connected to the second mounting plate, the first mounting plate and the second mounting plate are connected with the second telescopic shaft through the first connecting plate, the first telescopic shaft and the second mounting plate can buffer in the up-down direction under the action of the third pressure spring, the second telescopic shaft is connected with the movable plate, and the buffer effect is achieved in the forward direction, the backward direction, the left direction or the right direction, so that the shaking of the binocular depth vision camera and the laser radar in the process can be reduced, and the identification accuracy of the binocular depth vision camera and the laser radar is improved; in addition, the binocular depth vision camera and the laser radar are kept relatively fixed, and the identification data are more accurate. The avoidance hole of the loading frame can accommodate the second telescopic shaft to slide up and down.

According to some embodiments of the invention, the upper and lower side walls of the movable chamber are provided with balls, which are in abutment with the movable plate. The movable plate slides on the ball, so that the friction force between the movable plate and the movable cavity can be reduced, and the movable cushion of the movable plate is better when bumping.

According to some embodiments of the present invention, the left traveling mechanism includes a driving wheel, an idle wheel, a tension wheel and a plurality of supporting wheels rotatably connected to the left vertical plate, wherein the axes of the driving wheel, the idle wheel, the tension wheel and the supporting wheels are all arranged along a left-right direction, the plurality of supporting wheels are arranged at intervals along a front-rear direction at a lower side of the frame, the driving wheel is arranged at an upper side of a rear side of the supporting wheel located at a rearmost side, the idle wheel is arranged at an upper side of a front side of the supporting wheel located at a foremost side, the tension wheel is arranged at an upper side between the driving wheel and the idle wheel, the driving wheel, the idle wheel, the tension wheel and the plurality of supporting wheels are wound with a track, a left traveling motor electrically connected to the power source is fixedly connected to the left vertical plate, and the left traveling motor is in transmission connection with the driving wheel, the right traveling mechanism and the left traveling mechanism are arranged in mirror symmetry along the left-right direction.

The left walking mechanism and the right walking mechanism are of crawler-type structures, the crawler belts are anti-skidding crawler belts, the transportation robot can better adapt to the walking of orchard terrains, and the left walking mechanism and the right walking mechanism are suitable for orchard terrains with smaller gradient levels such as plains, micro slopes and gentle slopes. The crawler belt is wound on the peripheries of the driving wheel, the idle wheel, the tensioning wheel and the plurality of supporting wheels, the supporting wheels press the crawler belt to walk on the ground, the idle wheel and the driving wheel prop the crawler belt at the front side and the rear side, and the tensioning wheel tensions the crawler belt upwards. The inner side of the crawler belt is provided with a toothed belt, and the driving wheel is provided with external teeth connected with the toothed belt to drive the crawler belt to rotate.

The fruit and vegetable picking device is used for assisting picking personnel in transporting fruits and vegetables.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.

FIG. 1 is a schematic diagram of a forward perspective structure according to an embodiment of the present invention;

FIG. 2 is a schematic top view of the first upper cross plate and the movable plate according to the embodiment of the present invention;

fig. 3 is a side sectional view schematically illustrating the connection of the loading frame and the movable plate according to the embodiment of the present invention,

fig. 4 is a schematic side view of the left traveling mechanism according to the embodiment of the present invention.

In the drawings: 101-frame, 102-left running mechanism, 103-right running mechanism, 104-loading frame, 105-binocular depth vision camera, 106-laser radar, 107-control module, 108-power supply, 201-driving wheel, 202-idle wheel, 203-tension wheel, 204-supporting wheel, 205-crawler belt, 301-first upper transverse plate, 302-left vertical plate, 303-right vertical plate, 304-installation transverse plate, 305-first installation plate, 306-second installation plate, 307-second upper transverse plate, 308-movable cavity, 309-connecting through hole, 310-movable plate, 311-first pressure spring, 312-ball, 402-first telescopic through hole, 403-first telescopic shaft, 404-frame connecting part, 405-first limiting part, 406-a second pressure spring, 407-an inserting rod, 502-a second telescopic through hole, 503-a second telescopic shaft, 504-a second limiting part, 505-a third limiting part, 506-a first connecting plate, 507-a third pressure spring and 508-an avoiding hole.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, unless otherwise explicitly defined, terms such as provided, connected and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.

An orchard transportation robot according to an embodiment of the present invention is described below with reference to fig. 1 to 4.

Orchard transportation robot includes frame 101, the left side downside and the right side downside of frame 101 are equipped with left walking structure and right running gear 103 respectively, the upside of frame 101 is equipped with loads frame 104, the front side of frame 101 still is equipped with two mesh degree of depth vision cameras 105 and laser radar 106, two mesh degree of depth vision cameras 105 and laser radar 106 all with left walking structure electric connection, two mesh degree of depth vision cameras 105 and laser radar 106 all with right running gear electric connection, still be equipped with power 108 on the frame 101, left side running gear 102 right side running gear 103 two mesh degree of depth vision cameras 105 with laser radar 106 all with power 108 electric connection.

The left walking mechanism 102 and the right walking mechanism 103 drive the orchard transportation robot to walk; the loading frame 104 is used for storing fruits and vegetables picked by picking personnel; the binocular depth vision camera 105 and the lidar 106 may recognize an external environment and a person, the left travel mechanism 102 and the right travel mechanism 103 may move according to a result fed back by the binocular depth vision camera 105 and the lidar 106, and the power supply provides electric power to the left travel mechanism 102, the right travel mechanism 103, the binocular depth vision camera 105, and the lidar 106. The technology provides a conveying mechanism for realizing automatic tracking of picking workers and assisting manual conveying of vegetables and fruits, and is beneficial to improving the picking efficiency of workers and reducing the labor cost.

After the orchard transportation robot is used as a transportation mechanism, the automatic tracking can be further realized by adopting the following method. The object recognition method of the binocular depth vision camera 105 and the laser radar 106 is as follows: two digital images of an object in an environment are simultaneously acquired from different positions through two lenses of the binocular depth vision camera 105 and are sent to the control module 107 to be processed, based on a vision difference principle, the control module 107 recovers three-dimensional space information of the object on the basis of the known position relation of the two lenses, and further reconstructs a target object, so that the shot object can be restored in a virtual space. Meanwhile, the laser radar 106 emits multi-surface laser wave bands, the laser wave bands are irradiated to objects in the environment, and then reflected laser wave bands are received and converted into electric pulses to be transmitted to the control module 107 to measure and calculate the direction and the distance of the objects in the environment. An accurate three-dimensional space model can be established through information collected by the binocular vision depth camera and the laser radar 106, and the size, the shape, the azimuth and the distance of an object in the environment are obtained.

The method for identifying and tracking the picking personnel comprises the following steps: after the three-dimensional space model is established, the control module 107 identifies the model imaged in the three-dimensional space, and identifies the picking personnel through human characteristics; under the working scene of multiple persons and multiple devices, the persons need to wear the information identification cards at the waist, and the robot cannot track wrong selections when the multiple persons work simultaneously.

The method for tracking the motion trail of the picking personnel comprises the following steps: after the obstacle and the picking personnel are distinguished and identified, the binocular vision depth camera collects real-time video images, the control module 107 performs difference operation on the pixel gray value in the nth frame and the corresponding pixel gray value of the (n-1) th frame in a real-time digital image sequence, the obtained difference image is a displacement image of the picking personnel, and the displacement of the picking personnel in the three-dimensional space can be obtained. According to the displacement condition of the picking personnel, the control module 107 outputs two groups of control instructions respectively corresponding to the left traveling mechanism 102 and the right traveling mechanism 103, and controls the left traveling mechanism 102 and the right traveling mechanism 103 to work respectively, so that the robot is driven to travel along with the control instructions. When the orchard transportation robot needs to change the advancing direction when following picking personnel or avoiding obstacles, the control module 107 sends different speed instructions to the walking mechanism and the right walking mechanism 103 respectively, so that a speed difference is formed between the left side and the right side of the transportation robot, and the advancing direction is changed. When the orchard transportation robot needs pivot steering, taking left pivot steering as an example, the left walking mechanism 102 can be controlled not to act, and the right walking mechanism 103 can act, so that left pivot steering can be realized.

The auto-tracking method listed here is only one of the methods, and other known recognition methods using binocular depth vision camera 105 and lidar 106 may be used to recognize and control the progress during use.

In some embodiments of the present invention, the frame 101 includes a first upper horizontal plate 301, the loading frame 104 is detachably connected to an upper side of the first upper horizontal plate 301, a left vertical plate 302 is disposed on a left lower side of the first upper horizontal plate 301, a right vertical plate 303 is disposed on a right lower side of the first upper horizontal plate 301, the left traveling mechanism 102 is disposed on the left vertical plate 302, the right traveling mechanism 103 is disposed on the right vertical plate 303, the frame 101 further includes a mounting horizontal plate 304, the mounting horizontal plate 304 is disposed below the first upper horizontal plate 301, a left side and a right side of the mounting horizontal plate 304 are respectively fixedly connected to the left vertical plate 302 and the rear vertical plate, and the power supply 108 is fixedly connected to an upper side of the mounting horizontal plate 304; first diaphragm 301 still is connected with first mounting panel 305 and second mounting panel 306, first mounting panel 305 interval set up in the top of second mounting panel 306, first mounting panel 305 with second mounting panel 306 is located the front side of first diaphragm 301, binocular degree of depth vision camera 105 fixed connection in on the first mounting panel 305, lidar 106 fixed connection in on the second mounting panel 306.

The loading frame 104 is installed on the first upper transverse plate 301, the left vertical plate 302 and the right vertical plate 303 are respectively provided with the left travelling mechanism 102 and the right travelling mechanism 103, the power supply 108 and some control modules 107 are installed on the installation transverse plate 304, and the power supply 108 and the controller are installed between the first upper transverse plate 301 and the installation transverse plate 304 to play a role in protection; binocular depth vision camera 105 fixed connection is on first mounting panel 305, and laser radar 106 fixed connection is on second mounting panel 306, and binocular depth vision camera 105 is located laser radar 106's upside, and binocular depth vision camera 105 absorbs the object information on upper portion more, and laser radar 106 can detect the object that is closer to the downside, conveniently avoids the roadblock, sets up more rationally like this.

In some embodiments of the present invention, a second upper horizontal plate 307 is detachably connected to the upper side of the first upper horizontal plate 301, a movable cavity 308 is arranged between the first upper transverse plate 301 and the second upper transverse plate 307, a connecting through hole 309 is arranged in the middle of the movable cavity 308, the connecting through hole 309 vertically penetrates through the first upper transverse plate 301 and the second upper transverse plate 307, a movable plate 310 is slidably connected in the movable cavity 308, the loading frame 104 is connected with the movable plate 310, a movable gap is arranged between the periphery of the movable plate 310 and the side wall of the movable cavity 308, spring mounting holes are formed in the front side, the rear side, the left side and the right side of the movable cavity 308, the axis of each spring mounting hole faces to the middle of the movable cavity 308, a first compression spring 311 is arranged in the spring mounting hole, and one end of the first compression spring 311, which is close to the movable plate 310, is abutted against the side wall of the movable plate 310. The upper side of the first upper horizontal plate 301 is detachably connected with a second upper horizontal plate 307, so that the first upper horizontal plate 301 and the second upper horizontal plate 307 can be locked by screws after the movable plate 310 is placed in the movable cavity 308. The movable cavity 308 may be configured to have a first groove on the upper side of the first upper transverse plate 301, or a second groove on the lower side of the second upper transverse plate 307, or both the upper side of the first upper transverse plate 301 and the lower side of the second upper transverse plate 307.

The movable plate 310 can slide in the movable cavity 308, and under the thrust of the first compression springs 311 in multiple directions, the movable plate 310 is positioned in the middle of the movable cavity 308 in a stable state; when the orchard transportation robot runs in a bumpy road section, the first pressure spring 311 plays a role in buffering and protecting the movable plate 310, reduces the forward, backward, leftward or rightward deviation of the movable plate 310, reduces the sloshing of fruits and vegetables in the loading frame 104, and plays a role in protecting the fruits and vegetables.

In some embodiments of the present invention, the movable plate 310 is provided with a first telescopic assembly, the first telescopic assembly includes a first telescopic through hole 402 disposed along the up-down direction, the first telescopic through hole 402 is disposed on the movable plate 310, the first telescopic through hole 402 is arranged in the connecting through hole 309, a first telescopic shaft 403 is slidably connected in the first telescopic through hole 402, a frame connecting part 404 is arranged at the upper end of the first telescopic shaft 403, the loading frame 104 is detachably connected with the frame connecting part 404, the frame connecting portion 404 is disposed at the upper side of the movable plate 310, a first limiting portion 405 is disposed at the lower end of the first telescopic shaft 403, the first limiting portion 405 is disposed at the lower side of the movable plate 310, the first telescopic shaft 403 is sleeved with a second pressure spring 406, the second compression spring 406 is disposed between the frame connecting portion 404 and the movable plate 310.

The first telescopic shaft 403 can slide up and down, the second pressure spring 406 pushes the first telescopic shaft 403 upwards, and the loading frame 104 is connected to the frame connecting part 404; when the orchard transportation robot runs in a bumpy road section, the first pressure spring 311 plays a role in buffering and protecting the loading frame 104 in the vertical direction, so that the sloshing of fruits and vegetables in the loading frame 104 is reduced, and the protection effect on the fruits and vegetables is further increased. The first telescopic through hole 402 is arranged in the connecting through hole 309, and the first telescopic through hole 402 is smaller than the connecting through hole 309, so that the transverse movement of the first telescopic shaft 403 is not influenced.

In some embodiments of the present invention, the frame connecting portion 404 is a frame connecting block, a connecting groove is disposed on a lower side surface of the loading frame 104, the connecting groove is sleeved on the frame connecting block, a first through hole transversely disposed is disposed on the frame connecting block, a second through hole opposite to the first through hole is disposed on the frame connecting block, and a plug rod 407 is detachably inserted in the first through hole and the second through hole.

Load frame 104 and place on the frame connecting block through the connecting grooves, first interlude hole is just right to the second interlude hole when first telescopic shaft 403 and first flexible through-hole 402 circumference are fixed and are conveniently installed and load frame 104, then pass first interlude hole and second interlude hole with grafting stick 407 and load frame 104 and frame connecting block together fixed, realize loading frame 104 and the releasable connection of first telescopic shaft 403, make things convenient for picking personnel to install and load frame 104 or take off and load frame 104 and unload. The lower side of the loading frame 104 is provided with a connecting groove, so that the bottom surface of the loading frame 104 is a plane, and the loading frame 104 can be directly flatly placed on the ground.

In some embodiments of the present invention, the movable plate 310 is provided with a plurality of first retractable elements, and the plurality of first retractable elements are uniformly distributed on the movable plate 310. The first telescopic assemblies are connected with the loading frame 104, so that the stability of the loading frame 104 is improved, and four corners of the first telescopic assemblies connected with the loading frame 104 can be arranged.

In some embodiments of the present invention, a second telescopic assembly is disposed on the movable plate 310, the second telescopic assembly includes a second telescopic through hole 502 disposed along the vertical direction, the second telescopic through hole 502 is disposed on the movable plate 310, the second telescopic through hole 502 is disposed in the connecting through hole 309, a second telescopic shaft 503 is slidably connected in the second telescopic through hole 502, a second position-limiting portion 504 is disposed at the upper end of the second telescopic shaft 503, the second position-limiting portion 504 is disposed at the upper side of the movable plate 310, a third position-limiting portion 505 is disposed at the lower section of the second telescopic shaft 503, a first connecting plate 506 is disposed at the lower end of the second telescopic shaft 503, the first connecting plate 506 is disposed at the lower side of the third position-limiting portion 505, the first connecting plate 506 and the third position-limiting portion 505 are both disposed at the lower side of the movable plate 310, a third compression spring 507 is sleeved on the second telescopic shaft 503, third pressure spring 507 is located spacing portion 504 of second with between the fly leaf 310, the front side of first connection diaphragm is equipped with the second and connects the riser, first mounting panel 305 with second mounting panel 306 is located respectively the last front side and the lower front side of riser are connected to the second, the downside of loading frame 104 is equipped with dodges the hole 508, dodge the hole 508 just right the second telescopic shaft 503.

The binocular depth vision camera 105 is fixedly connected to the first mounting plate 305, the laser radar 106 is fixedly connected to the second mounting plate 306, the first mounting plate 305 and the second mounting plate 306 are connected with the second telescopic shaft 503 through the first connecting plate 506, the buffering can be carried out in the vertical direction under the action of the third pressure spring 507, the second telescopic shaft 503 is connected with the movable plate 310, the buffering effect can be achieved in the forward direction, the backward direction, the left direction or the right direction, the shaking of the binocular depth vision camera 105 and the laser radar 106 in the process can be reduced, and the identification accuracy of the binocular depth vision camera 105 and the laser radar 106 is improved; in addition, the binocular depth vision camera 105 and the laser radar 106 are kept relatively fixed, and the identification data are more accurate. The clearance hole 508 of the loading frame 104 can accommodate the second telescopic shaft 503 to slide up and down.

In some embodiments of the present invention, balls 312 are disposed on both upper and lower sidewalls of the movable chamber 308, and the balls 312 abut against the movable plate 310. The movable plate 310 slides on the balls 312, so that the friction between the movable plate 310 and the movable chamber 308 can be reduced, and the movable plate 310 can be better cushioned during bumping.

In some embodiments of the present invention, the left traveling mechanism 102 includes a driving wheel 201, an idler wheel 202, a tension wheel 203, and a plurality of support wheels 204 rotatably connected to the left riser 302, axes of the driving wheel 201, the idler wheel 202, the tension wheel 203, and the support wheels 204 are all arranged in a left-right direction, the plurality of support wheels 204 are arranged at intervals in a front-rear direction on a lower side of the frame 101, the driving wheel 201 is arranged on an upper side of a rear side of the support wheel 204 located at a rearmost side, the idler wheel 202 is arranged on an upper side of a front side of the support wheel 204 located at a foremost side, the tension wheel 203 is arranged on an upper side between the driving wheel 201 and the idler wheel 202, peripheries of the driving wheel 201, the idler wheel 202, the tension wheel 203, and the plurality of support wheels 204 are wound with a track 205, and a left traveling motor electrically connected to the power source 108 is fixedly connected to the left riser 302, the left traveling motor is in transmission connection with the driving wheel 201, and the right traveling mechanism 103 and the left traveling mechanism 102 are arranged in mirror symmetry with each other along the left-right direction.

Both the left walking mechanism 102 and the right walking mechanism 103 adopt a crawler belt 205 type structure, and the crawler belt 205 adopts an anti-skid crawler belt 205, so that the transportation robot can better adapt to the walking of orchard terrains, and is suitable for orchard terrains with smaller gradient grades such as plains, micro slopes and gentle slopes. The track 205 is looped around the outer peripheries of the drive wheel 201, the idler wheel 202, the tension wheel 203, and a plurality of support wheels 204, the support wheels 204 press the track 205 to run on the ground, the idler wheel 202 and the drive wheel 201 brace the track 205 on the front and rear sides, and the tension wheel 203 tensions the track 205 in the upper side. The inner side of the crawler 205 is provided with a toothed belt, and the driving wheel 201 is provided with external teeth connected with the toothed belt to drive the crawler 205 to rotate.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various equivalent modifications or substitutions can be made within the knowledge of those skilled in the art without departing from the gist of the present invention, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. The utility model provides an orchard transportation robot, its characterized in that, includes the frame, the left side downside and the right downside of frame are equipped with left walking structure and right walking mechanism respectively, the upside of frame is equipped with loads the frame, the front side of frame still is equipped with two mesh degree of depth vision cameras and lidar, two mesh degree of depth vision cameras and lidar all with left walking structure electric connection, two mesh degree of depth vision cameras and lidar all with right walking structure electric connection, still be equipped with the power on the frame, left side walking mechanism right walking mechanism two mesh degree of depth vision cameras with lidar all with power electric connection.

2. The orchard transportation robot according to claim 1, wherein the frame comprises a first upper transverse plate, the loading frame is detachably connected to the upper side of the first upper transverse plate, a left vertical plate is arranged on the left lower side of the first upper transverse plate, a right vertical plate is arranged on the right lower side of the first upper transverse plate, the left travelling mechanism is arranged on the left vertical plate, the right travelling mechanism is arranged on the right vertical plate, the frame further comprises an installation transverse plate, the installation transverse plate is arranged below the first upper transverse plate, the left side and the right side of the installation transverse plate are respectively and fixedly connected with the left vertical plate and the rear vertical plate, and the power supply is fixedly connected to the upper side of the installation transverse plate; first last diaphragm still is connected with first mounting panel and second mounting panel, first mounting panel interval set up in the top of second mounting panel, first mounting panel with the second mounting panel is located the front side of first last diaphragm, binocular degree of depth vision camera fixed connection in on the first mounting panel, laser radar fixed connection in on the second mounting panel.

3. The orchard transportation robot according to claim 2, wherein a second upper cross plate is detachably attached to an upper side of the first upper cross plate, a movable cavity is arranged between the first upper transverse plate and the second upper transverse plate, a connecting through hole is arranged in the middle of the movable cavity, the connecting through hole vertically penetrates through the first upper transverse plate and the second upper transverse plate, a movable plate is connected in the movable cavity in a sliding manner, the loading frame is connected with the movable plate, a movable gap is arranged between the periphery of the movable plate and the side wall of the movable cavity, spring mounting holes are arranged on the front side, the rear side, the left side and the right side of the movable cavity, the axis of each spring mounting hole faces to the middle of the movable cavity, and a first pressure spring is arranged in the spring mounting hole, and one end of the first pressure spring, which is close to the movable plate, is abutted against the side wall of the movable plate.

4. The orchard transportation robot according to claim 3, wherein a first telescopic assembly is arranged on the movable plate, the first telescopic assembly comprises a first telescopic through hole arranged in the up-down direction, the first telescopic through hole is formed in the movable plate, the first telescopic through hole is formed in the connecting through hole, a first telescopic shaft is slidably connected in the first telescopic through hole, a frame connecting portion is arranged at the upper end of the first telescopic shaft, the loading frame is detachably connected with the frame connecting portion, the frame connecting portion is arranged on the upper side of the movable plate, a first limiting portion is arranged at the lower end of the first telescopic shaft, the first limiting portion is arranged at the lower side of the movable plate, a second pressure spring is sleeved on the first telescopic shaft, and the second pressure spring is arranged between the frame connecting portion and the movable plate.

5. The orchard transportation robot according to claim 4, wherein the frame connecting portion is a frame connecting block, a connecting groove is formed in the lower side surface of the loading frame, the connecting groove is sleeved on the frame connecting block, a first through hole transversely arranged is formed in the frame connecting block, a second through hole opposite to the first through hole is formed in the frame connecting block, and a plugging rod is detachably inserted in the first through hole and the second through hole.

6. The orchard transportation robot according to claim 4, wherein a plurality of the first telescopic assemblies are arranged on the movable plate and are uniformly distributed on the movable plate.

7. The orchard transportation robot according to claim 3, wherein a second telescopic assembly is arranged on the movable plate, the second telescopic assembly comprises a second telescopic through hole arranged along the up-down direction, the second telescopic through hole is arranged on the movable plate, the second telescopic through hole is arranged in the connecting through hole, a second telescopic shaft is slidably connected in the second telescopic through hole, a second limiting portion is arranged at the upper end of the second telescopic shaft, the second limiting portion is arranged at the upper side of the movable plate, a third limiting portion is arranged at the lower section of the second telescopic shaft, a first connecting plate is arranged at the lower end of the second telescopic shaft, the first connecting plate is arranged at the lower side of the third limiting portion, the first connecting plate and the third limiting portion are both arranged at the lower side of the movable plate, a third compression spring is sleeved on the second telescopic shaft, and the third compression spring is arranged between the second limiting portion and the movable plate, the front side of first connection diaphragm is equipped with the second and connects the riser, first mounting panel with the second mounting panel is located respectively the last front side and the lower front side of riser are connected to the second, the downside of loading the frame is equipped with dodges the hole, it is right to dodge the hole the second telescopic shaft.

8. The orchard transportation robot according to claim 3, wherein balls are arranged on both the upper side wall and the lower side wall of the movable cavity, and the balls are abutted with the movable plate.

9. The orchard transportation robot according to claim 2, wherein the left traveling mechanism includes a driving wheel, an idler wheel, a tension wheel and a plurality of support wheels rotatably connected to the left riser, the driving wheel, the idler wheel, the tension wheel and the support wheels are arranged along a left-right direction, the support wheels are arranged at a lower side of the frame at intervals along a front-rear direction, the driving wheel is arranged at an upper side of a rear side of the support wheel located at a rearmost side, the idler wheel is arranged at an upper side of a front side of the support wheel located at a foremost side, the tension wheel is arranged at an upper side between the driving wheel and the idler wheel, a track is wound around peripheries of the driving wheel, the idler wheel, the tension wheel and the support wheels, a left traveling motor electrically connected to the power supply is fixedly connected to the left riser, and the left traveling motor is in transmission connection with the driving wheel, the right traveling mechanism and the left traveling mechanism are arranged in mirror symmetry along the left-right direction.