CN112703880A

CN112703880A - Fruit and vegetable picking robot with target recognition anti-collision function and recognition method

Info

Publication number: CN112703880A
Application number: CN202011555162.3A
Authority: CN
Inventors: 柴鑫璐; 王璇
Original assignee: Jiaxing University
Current assignee: Jiaxing University; Jiaxing Nanhu University
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-04-27
Anticipated expiration: 2040-12-23
Also published as: CN112703880B

Abstract

The invention discloses a fruit and vegetable picking robot with a target recognition anti-collision function and a recognition method, wherein the fruit and vegetable picking robot comprises a mobile platform, a storage box, a support column and a regulation rod, a protective shell is mounted at the bottom of the mobile platform through a bolt, a positioning seat is mounted at the top of the mobile platform, the storage box is embedded and mounted at the top of the positioning seat, a fixing plate is mounted at the top of the mobile platform and located on one side of the positioning seat, a high support seat is mounted at the top of the fixing plate, a low support seat is mounted at the top of the fixing plate, and the low support seat is located on one side. After the lower floor at the bin is paved, the user controls driving motor to operate, and driving motor drives the rotary rod and rotates for it rotates to drive the fly leaf, puts the one end of fly leaf in support piece's top, is used for fixing the fly leaf, continues to receive the fruit vegetables, avoids the turnip to pile up the condition that mutual extrusion takes place to damage.

Description

Fruit and vegetable picking robot with target recognition anti-collision function and recognition method

Technical Field

The invention relates to the technical field of fruit and vegetable picking robots, in particular to a fruit and vegetable picking robot with a target recognition anti-collision function and a recognition method.

Background

The intensity of labour of fruit vegetables receipts is very big, and the science and technology is advanced very greatly now, controls quick-witted case through numerical control system for pick the fruit vegetables, pick the fruit vegetables through picking the robot, alleviateed the cost of labor, conveniently when picking on a large scale, accelerate picking speed to the fruit vegetables, fruit vegetables picking robot generally for carrying out the structure and forming, weight ratio is higher, at the in-process that removes, causes the injury to the fruit vegetables easily.

The existing fruit and vegetable picking robot and the identification method have the defects that:

1. reference CN 211090696U discloses a fruit and vegetable picking apparatus, which comprises a frame and a clamping knob mechanism. The clamping knob mechanism is movably connected to the machine frame and has a clamping state and a knob state relative to the machine frame. When the fruit and vegetable picking machine is in a clamping state, the clamping knob mechanism is used for clamping the fruit and vegetable to be picked, and when the fruit and vegetable are to be picked, the clamping knob mechanism can drive the fruit and vegetable to be picked to rotate. When picking, external force is applied to the clamping knob mechanism, the pull rod moves linearly relative to the rack to clamp fruits and vegetables to be picked, then the external force is continuously applied, the clamping assembly rotates relative to the rack to drive the clamped fruits and vegetables to be picked to rotate relative to the rack, and the purpose of twist-off is achieved. The fruit and vegetable picking machine picks fruits and vegetables in a clamping-twisting-off step-by-step mode, is reliable in action and convenient to operate, greatly improves picking efficiency and reduces labor intensity. The device is manually controlled by a user in the picking process, so that the working efficiency of the device is influenced;

2. comparison document CN211253160U discloses an intelligence fruit vegetables picking robot based on automatic control, "includes the robot housing, wears the fruit piece, rotates wheel, second axis of rotation and follows the driving wheel, install on the robot housing and lead the fruit pipe, and lead and install the air brake on the fruit pipe, wear the fruit piece and lead fruit pipe interconnect, and lead fruit pipe and protection pad and laminate each other, rotate wheel and location nail bonding connection, and rotate wheel and first axis of rotation interconnect, first motor is placed on the robot housing, and robot housing and first axis of rotation interconnect. This robot is picked to intelligence fruit vegetables based on automatic control adopts buffer, can effectually protect and slow down the fruit at the in-process of falling the fruit, ensures that the collision between the fruit reduces to minimum, adopts automatic dress fruit device, puts in order the fruit that falls to no longer need the manual work to carry out the dress fruit, adopt gear intermittent type formula motion, be convenient for move the dress fruit case. After picking is finished, a user is inconvenient to carry the fruits and vegetables, the fruits and vegetables are easy to move in the carrying process, and the fruits and vegetables are easy to extrude with each other, so that the quality of the fruits and vegetables is influenced;

3. reference CN210630239U discloses a picking robot, "comprising: the device comprises a chassis, a traveling mechanism, a vehicle body, a slewing mechanism, a multi-joint mechanical arm mechanism, a clamping mechanism and a shearing mechanism. Wherein the running mechanism is arranged on the chassis. The vehicle body is arranged on the chassis. The slewing mechanism is connected between the vehicle body and the chassis. The multi-joint mechanical arm mechanism is arranged on the vehicle body. The clamping mechanism is arranged on the multi-joint mechanical arm mechanism. The shearing mechanism is arranged on the multi-joint mechanical arm mechanism. "lack conveyer, when conveying to fruit vegetables, the fruit vegetables receive to drop easily, influence user's conveying efficiency.

Disclosure of Invention

The invention aims to provide a fruit and vegetable picking robot with a target identification anti-collision function and an identification method, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a fruit and vegetable picking robot with a target recognition anti-collision function and a recognition method comprise a mobile station, a storage box, a support column and a regulation rod, wherein a protective shell is installed at the bottom of the mobile station through a bolt, a positioning seat is installed at the top of the mobile station, the storage box is installed at the top of the positioning seat in an embedded mode, a fixed plate is installed at the top of the mobile station and located on one side of the positioning seat, a high support seat is installed at the top of the fixed plate, a low support seat is installed at the top of the fixed plate and located on one side, away from the storage box, of the high support seat, mounting plates are installed inside the low support seat and the high support seat, the support column is installed at the top of the mobile station, a controller is installed on one side of the support column, a fixing, the inboard of backup pad is connected with the threaded rod, the shift ring is installed to the outside screw thread of threaded rod, the regulation pole is installed to the bottom of shift ring, fixed box is installed to the bottom of adjusting the pole, the bottom of adjusting the pole is run through and is installed the bracing piece, the connecting piece is installed in the outside of bracing piece, the movable plate is installed to one side of connecting piece, the second horizontal plate is installed to one side of movable plate, first horizontal plate is installed to one side of movable plate, and has first horizontal plate to be located the bottom of second horizontal plate, the operation motor is installed at the top of second horizontal plate, the output of operation motor is connected with the dwang, and the dwang runs through the inside of second horizontal plate, the top at first horizontal plate is connected to the bottom of dwa.

Preferably, a bearing seat is installed at the bottom of the mobile platform through a bolt, a bearing rod is connected to the inner side of the bearing seat, a mobile wheel is installed on the outer side of the bearing rod, a transmission wheel is installed on the outer side of the bearing rod, and an infrared scanner is installed at the front end of the mobile platform.

Preferably, the internally mounted of protecting crust has the battery, and the motor is installed through the bolt in the inside of protecting crust, and the output of motor runs through and installs the action wheel on the protecting crust front end inner wall, and the action wheel passes through the drive belt and is connected with the drive wheel.

Preferably, the insert is installed at the top of bin, install the connecting seat on the inner wall of one side of bin, the inside of connecting seat is run through there is the rotary rod, and rotary rod connects on the inner wall of bin, and the one end of rotary rod is connected with driving motor, driving motor installs on the front end inner wall of bin, the fly leaf is installed to one side of rotary rod, antiskid ribbed tile is installed at the top of fly leaf, install support piece on the opposite side inner wall of bin, and the one-degree gomphosis of fly leaf is on support piece, the blotter is installed to the bottom inboard of bin, the bottom of bin is provided with the gomph.

Preferably, the inboard of mounting panel is run through there is rotatory roller, and the one end of rotatory roller runs through low supporting seat, and control motor is installed to the one end of rotatory roller, and the transmission band is installed in the outside of rotatory roller.

Preferably, the guide slide bar is installed to the inboard of backup pad, and the guide slide bar is located one side of threaded rod, and the rotating electrical machines is installed to the outside of backup pad, and the output and the threaded rod of rotating electrical machines are connected.

Preferably, an adjusting motor is installed on the inner side of the top of the fixing box.

The fruit and vegetable picking robot with the target recognition anti-collision function and the recognition method of the fruit and vegetable picking robot with the target recognition anti-collision function are characterized in that: the connecting plate is installed at the top of bracing piece, and the bottom of connecting plate is connected with rotates the wheel, and rotates the wheel and install the inboard in the bottom of fixed box.

Preferably, a fruit and vegetable position identifier is installed at one end of the first transverse plate.

Preferably, the cutting knife is installed to one side of dwang, and the outside of dwang is fixed with drive gear, and drive gear is located the cutting knife top, and the digging arm is installed to one side of dwang, and splint are installed to the inboard of digging arm.

Preferably, the working steps of the device are as follows:

s1, the storage battery is controlled by the control controller to provide power for the motor, the motor runs to drive the driving wheel at the output end to rotate, the driving wheel drives the driving wheel to rotate through the driving belt, the driving wheel rotates to drive the bearing rod to rotate, the bearing rod rotates to drive the movable wheel to rotate, the movable wheel is used for driving the device to move, and the device is convenient for a user to carry;

s2, the threaded rod rotates, a rotating thread is arranged on the outer side of the threaded rod, the thread drives the moving ring to move, one end of the moving ring is sleeved on the outer side of the guide sliding rod, the moving ring is guided by the guide sliding rod to move in the moving process, the device can be guaranteed to be capable of moving stably, the moving ring drives the fruit and vegetable position recognizer at the lower end to move, the fruit and vegetable position recognizer is installed at one end of the first transverse plate, and in the moving process of the fruit and vegetable position recognizer, the guide clamping plate moves to the front of fruits and vegetables, so that the fruit and vegetable can be accurately grasped when the device grasps the fruits and vegetables;

s3, after the clamp plate moves to the front of the fruit and vegetable, the motor continues to operate, the clamp plate moves to the two sides of the fruit and vegetable, then the operation motor is controlled to operate, the operation motor operates to drive the transmission gear on the rotating rod to rotate, the transmission gear is embedded with another gear, when the transmission gear rotates, the other gear is driven to rotate relatively, the rotating rod rotates to drive the cutting knife to operate relatively, the device is convenient to cut leaves on the radish, meanwhile, the movable arms rotate relatively to drive the clamp plate to extrude each other for clamping the part of the radish on the ground surface, then the adjusting rod is shortened to drive the clamp plate to ascend, and the radish is pulled out;

s4, then adjusting the motor to rotate the connecting plate of the output end, the connecting plate rotates and drives the rotating wheel to rotate, the device is convenient to drive the support rod to rotate, the support rod rotates to drive the clamp plate to change the direction, the radish is moved above the transmission belt, at the same time, the motor is controlled to operate to drive the rotating roller to rotate, the rotating roller rotates to drive the transmission belt on the outer side to rotate, the radish is driven to move from the lower part to the higher part, the radish enters the inside of the storage box, the buffer cushion plays a role in buffering the radish, the safety of the radish is ensured, a user can tile the radish, after the lower layer of the storage box is fully paved, the user controls the driving motor to operate, the driving motor drives the rotating rod to rotate, the movable plate is driven to rotate, one end of the movable plate is placed above the support, the fruits and vegetables are continuously received, and the situation that the radishes are piled up and are mutually extruded to be damaged is avoided.

Compared with the prior art, the invention has the beneficial effects that:

1. the storage box is fixed above the mobile station through the positioning seat, the positioning seat is embedded with the embedding groove in the storage box, the storage box is embedded and fixed, the stability of the storage box is guaranteed, a user can replace the storage box conveniently after the storage box is filled with the storage box, the storage box is embedded with the embedding grooves in other storage boxes after the storage box is carried by the user, the storage box is used for fixing the device, the connection tightness between the storage boxes is improved, the storage box is prevented from shaking when the device is stacked too high, the user can stack the storage box conveniently, and the worker can carry fruits and vegetables conveniently.

2. According to the invention, the infrared scanner sends out infrared rays to scan articles in front, and then the scanned images are transmitted to the controller, an image recognition system is arranged in the controller and used for recognizing fruits and vegetables buried in the ground, after the positions of the fruits and vegetables are determined, the controller sends out commands to the rotating motor, and the fruit and vegetable position recognizer shoots the fruits and vegetables at the same time and is used for confirming the positions of the fruits and vegetables and measuring the sizes of the fruits and vegetables.

3. The rotary roller is driven to rotate by controlling the motor to operate, the rotary roller rotates to drive the transmission belt on the outer side to rotate, the rotary roller is used for driving radishes to move from a low position to a high position, the radishes enter the storage box, the buffer pads play a role in buffering the radishes, safety of the radishes is guaranteed, a user can tile the radishes, after the lower layer of the storage box is fully paved, the user controls the driving motor to operate, the driving motor drives the rotary rod to rotate and is used for driving the movable plate to rotate, one end of the movable plate is placed above the supporting piece and is used for fixing the movable plate and continuously receiving fruits and vegetables, the situation that the radishes are piled up and are mutually extruded to cause damage is avoided, the internal space of the storage.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic side sectional view of the present invention;

FIG. 3 is a schematic side view of the present invention;

FIG. 4 is a schematic front view of the present invention;

FIG. 5 is a schematic view of the storage case of the present invention;

FIG. 6 is a schematic view of the mounting plate structure of the present invention;

FIG. 7 is a cross-sectional view of the adjusting lever of the present invention;

fig. 8 is a schematic perspective view of an adjusting lever according to the present invention.

In the figure: 1. a mobile station; 101. positioning seats; 102. a bearing seat; 103. a bearing rod; 104. a moving wheel; 105. a driving wheel; 106. an infrared scanner; 2. a protective shell; 201. a storage battery; 202. an electric motor; 203. a driving wheel; 3. a storage tank; 301. an insert; 302. a connecting seat; 303. rotating the rod; 304. a movable plate; 305. an anti-skid plate; 306. a support member; 307. a cushion pad; 308. a fitting groove; 309. a drive motor; 4. mounting a plate; 401. a fixing plate; 402. a lower support seat; 403. a high support seat; 404. a rotating roller; 405. controlling the motor; 406. a conveyor belt; 5. a support pillar; 501. a fixing ring; 502. a support plate; 503. a threaded rod; 504. a guide slide bar; 505. a rotating electric machine; 506. a controller; 6. adjusting a rod; 601. a moving ring; 602. a fixing box; 603. adjusting the motor; 7. a support bar; 701. a connecting plate; 702. a rotating wheel; 703. a connecting member; 8. moving the plate; 801. a first transverse plate; 802. a second transverse plate; 803. a fruit and vegetable position identifier; 9. rotating the rod; 901. operating the motor; 902. a cutting knife; 903. a transmission gear; 904. a movable arm; 905. and (4) clamping the plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, an embodiment of the present invention: a fruit and vegetable picking robot with a target recognition anti-collision function and a recognition method thereof comprise a mobile station 1, a storage box 3, a support column 5 and an adjusting rod 6, wherein a protective shell 2 is installed at the bottom of the mobile station 1 through bolts, the mobile station 1 is used for supporting the protective shell 2 and ensuring the stability of the protective shell 2, an internal storage battery 201 is protected through the protective shell 2, the safety of the storage battery 201 is ensured, the storage battery 201 is prevented from being damaged due to the influence of the outside in the process of a user, a positioning seat 101 is installed at the top of the mobile station 1, the storage box 3 is installed at the top of the positioning seat 101 in an embedded mode, the positioning seat 101 is fixed above the mobile station 1 and is embedded into an embedded groove 308 in the storage box 3 for embedding and fixing the storage box 3, the stability of the storage box 3 is ensured, and the fruit and vegetable picking robot is, the user changes bin 3, fixed plate 401 is installed at the top of mobile station 1, and fixed plate 401 is located one side of positioning seat 101, high supporting seat 403 is installed at the top of fixed plate 401, low supporting seat 402 is installed at the top of fixed plate 401, and low supporting seat 402 is located one side of high supporting seat 403 far away from bin 3, mounting plate 4 is installed inside low supporting seat 402 and high supporting seat 403, the device is fixed at the top of mobile station 1 by fixed plate 401, the stability of fixed plate 401 is guaranteed, high supporting seat 403 and low supporting seat 402 are supported and fixed through fixed plate 401, high supporting seat 403 and low supporting seat 402 are convenient for fixing mounting plate 4, mounting plate 4 is used for supporting transmission device, it is guaranteed that transmission device can normally transport fruits and vegetables, support column 5 is installed at the top of mobile station 1, controller 506 is installed to one side of support column 5, solid fixed ring 501 is installed through the bolt in the top outside of support column 5, backup pad 502 is installed to solid fixed ring 501's inboard, the inboard of backup pad 502 is connected with threaded rod 503, support controller 506 and solid fixed ring 501 by support column 5, the person of facilitating the use carries out the controlling means operation through controller 506, be used for controlling the device, gu fixed ring 501 fixes at the top of support column 5, improve solid fixed ring 501's stability, support backup pad 502 is supported by solid fixed ring 501, guarantee the stability of backup pad 502, the convenient device supports threaded rod 503, guarantee that threaded rod 503 can rotate steadily, threaded rod 503 rotates external screw thread and rotates, and external screw thread carries out the gomphosis with removal ring 601, go on the gomphosis with removal ring 601 internal thread in the screw thread pivoted in-process, the device is convenient for the device to drive the movable ring 601 to move for adjusting the position of the gripping device below, the movable ring 601 is installed on the outer side of the threaded rod 503 through threads, the adjusting rod 6 is installed at the bottom of the movable ring 601, the fixing box 602 is installed at the bottom of the adjusting rod 6, the movable ring 601 is sleeved on the outer side of the threaded rod 503, when the threaded rod 503 rotates, the movable ring 601 is driven to transversely adjust the position, the adjusting rod 6 below is driven to adjust and move, the adjusting rod 6 drives the fixing box 602 to move up and down through adjusting the length, the fixing box 602 supports the support rod 7, when the fixing box 602 moves up and down, the support rod 7 is driven to move, the support rod 7 is installed at the bottom of the adjusting rod 6 in a penetrating manner, the connecting piece 703 is installed on the outer side of the support rod 7, the movable plate 8 is installed, the stability of the moving plate 8 is ensured, the situation that the moving plate 8 shakes during moving is avoided, the moving plate 8 can support the second transverse plate 802 and the first transverse plate 801 conveniently, the second transverse plate 802 is installed on one side of the moving plate 8, the first transverse plate 801 is located at the bottom of the second transverse plate 802, the operating motor 901 is installed at the top of the second transverse plate 802, the output end of the operating motor 901 is connected with the rotating rod 9, the rotating rod 9 penetrates through the inside of the second transverse plate 802, the bottom of the rotating rod 9 is connected to the top of the first transverse plate 801, the operating motor 901 is supported by the second transverse plate 802, the stability of the operating motor 901 is ensured, the rotating rod 9 is connected through the first transverse plate 801 and the second transverse plate 802, and when the operating motor 901 drives the rotating rod 9 to rotate, dwang 9 can be steady rotate, makes things convenient for dwang 9 drive arrangement to rotate.

The bottom of the mobile station 1 is provided with a bearing seat 102 through a bolt, the inner side of the bearing seat 102 is connected with a bearing rod 103, the outer side of the bearing rod 103 is provided with a movable wheel 104, the outer side of the bearing rod 103 is provided with a driving wheel 105, the front end of the mobile station 1 is provided with an infrared scanner 106, the bearing seat 102 is fixed at the bottom of the mobile station 1, the stability of the bearing seat 102 is improved, the bearing seat 102 is convenient for supporting the bearing rod 103, the bearing rod 103 can be ensured to rotate stably, the bearing rod 103 rotates to drive the driving wheel 105 to rotate, the driving wheel 105 rotates to drive the mobile station 1 to move, a user can carry the device conveniently, an infrared ray emitted by the infrared scanner 106 scans a front article, then the scanned image is transmitted to the controller 506, an image recognition system is arranged in the controller 506 and is used for recognizing fruits and, after determining the position of the fruit or vegetable, controller 506 commands rotating motor 505.

The internally mounted of protecting crust 2 has battery 201, motor 202 is installed through the bolt in the inside of protecting crust 2, install action wheel 203 on the output of motor 202 runs through protecting crust 2 front end inner wall, and action wheel 203 is connected with drive wheel 105 through the drive belt, battery 201 carries out the required electric power of storage device operation, for the device provides the electric energy, guarantee that the device can normal operating, battery 201 provides electric power for motor 202, the action wheel 203 that motor 202 moved the output rotates, action wheel 203 drives drive wheel 105 through the drive belt and rotates, conveniently provide the power of removal for the device.

The top of the storage box 3 is provided with an inserting piece 301, one side inner wall of the storage box 3 is provided with a connecting seat 302, a rotating rod 303 penetrates through the connecting seat 302, the rotating rod 303 is connected to the inner wall of the storage box 3, one end of the rotating rod 303 is connected with a driving motor 309, the driving motor 309 is installed on the front end inner wall of the storage box 3, one side of the rotating rod 303 is provided with a movable plate 304, the top of the movable plate 304 is provided with an antiskid plate 305, the other side inner wall of the storage box 3 is provided with a support 306, the movable plate 304 is embedded on the support 306 once, the inner side of the bottom of the storage box 3 is provided with a buffer cushion 307, the bottom of the storage box 3 is provided with an embedding groove 308, after the storage box 3 is carried by a user, the storage box 3 is embedded with the embedding, make things convenient for the workman to carry the fruit vegetables, fix connecting seat 302 on the inner wall of bin 3, guarantee the stability of connecting seat 302, convenience of customers supports rotary rod 303, rotary rod 303 is connected with driving motor 309, after the lower floor of bin 3 is full, the user controls driving motor 309 to operate, driving motor 309 drives rotary rod 303 and rotates, be used for driving fly leaf 304 and rotate, place the one end of fly leaf 304 above support piece 306, be used for fixing fly leaf 304, continue to receive the fruit vegetables, avoid the turnip to pile up the mutual extrusion and take place the condition of damaging, antiskid ribbed slab 305 comprises anti-skidding buffer material, be used for supporting the fruit vegetables, avoid the condition that takes place to roll in the process of fruit vegetables transport, the damage of fruit vegetables once more, blotter 307 has easy cushion composition, play the cushioning effect to the turnip of whereabouts by blotter 307, the safety of the radish is ensured.

The inboard of mounting panel 4 is run through there is rotatory roller 404, and the one end of rotatory roller 404 runs through low supporting seat 402, control motor 405 is installed to the one end of rotatory roller 404, transmission band 406 is installed in the outside of rotatory roller 404, after the fruit vegetables fall on transmission band 406, control motor 405 operation drives rotatory roller 404 and rotates, rotatory roller 404 rotates and drives transmission band 406 and rotate, it is protruding that the interception is installed in the outside of transmission band 406, avoid the fruit vegetables to take place the condition of landing at the in-process of transportation.

The inner side of the supporting plate 502 is provided with a guide sliding rod 504, the guide sliding rod 504 is positioned on one side of a threaded rod 503, the outer side of the supporting plate 502 is provided with a rotating motor 505, the output end of the rotating motor 505 is connected with the threaded rod 503, the rotating motor 505 runs to drive the threaded rod 503, the threaded rod 503 rotates, the outer side of the threaded rod 503 is provided with a rotating thread, the moving ring 601 is driven by the thread to move, one end of the moving ring 601 is sleeved on the outer side of the guide sliding rod 504, in the moving process of the moving ring 601, the moving ring 601 is guided by the guide sliding rod 504 to move, and the device can be enabled to.

Adjustment motor 603 is installed to the top inboard of fixed box 602, extracts the back at splint 905 with the turnip, and adjustment motor 603 moves the connecting plate 701 that drives the output and rotates, drives when connecting plate 701 pivoted and rotates wheel 702, and convenient device drives bracing piece 7 and rotates, and bracing piece 7 rotates and drives splint 905 redirecting, removes the top of transmission band 406 with the turnip, and convenient to use person carries out adjusting device's direction.

Connecting plate 701 is installed at the top of bracing piece 7, and the bottom of connecting plate 701 is connected with rotates wheel 702, and rotates wheel 702 and install at the bottom of fixed box 602 inboard, and connecting plate 701 is used for being connected with adjustment motor 603, and connecting plate 701 pivoted drives when adjusting motor 603 and rotates wheel 702, makes things convenient for the device to drive the bracing piece 7 of bottom and rotates for the direction of adjusting splint 905.

Fruit vegetables position recognizer 803 is installed to first transverse plate 801's one end, and fruit vegetables position recognizer 803 is shot fruit vegetables for confirm the position of fruit vegetables, measure the size of fruit vegetables simultaneously, at the in-process that fruit vegetables position recognizer 803 removed, guide splint 905 removes the place ahead of fruit vegetables, and convenient device is when gripping fruit vegetables, can be accurate grasp fruit vegetables, avoids the device at the in-process that removes, touches fruit vegetables, causes the injury to fruit vegetables.

Cutting knife 902 is installed to one side of dwang 9, the outside of dwang 9 is fixed with drive gear 903, and drive gear 903 is located cutting knife 902 top, digging arm 904 is installed to one side of dwang 9, splint 905 is installed to the inboard of digging arm 904, operation motor 901 operation drives drive gear 903 on the dwang 9 and rotates, drive gear 903 and another mutual gomphosis of gear, when drive gear 903 rotates, drive another gear relative rotation, it carries out relative rotation to drive dwang 9, dwang 9 rotates and drives cutting knife 902 relative operation, the convenience of installation cuts the leaf on the turnip, digging arm 904 rotates the drive splint 905 extrusion each other relatively simultaneously, a part for to the turnip on the earth's surface carries out the clamping.

The working steps of the device are as follows:

s1, the storage battery 201 is controlled by the control controller 506 to provide power for the motor 202, the motor 202 operates to drive the driving wheel 203 at the output end to rotate, the driving wheel 203 drives the driving wheel 105 to rotate through the driving belt, the driving wheel 105 rotates to drive the bearing rod 103 to rotate, the bearing rod 103 rotates to drive the moving wheel 104 to rotate, the device is driven to move, a user can carry the device conveniently, during the moving process, the infrared scanner 106 sends out infrared rays to scan articles in front, then the scanned images are transmitted to the controller 506, an image recognition system is arranged in the controller 506 and used for recognizing fruits and vegetables buried in the ground, and after the positions of the fruits and vegetables are determined, the controller 506 sends out commands to the rotating motor 505;

s2, the threaded rod 503 rotates, a rotating thread is arranged on the outer side of the threaded rod 503, the moving ring 601 is driven to move by the thread, one end of the moving ring 601 is sleeved on the outer side of the guide sliding rod 504, in the moving process of the moving ring 601, the guide sliding rod 504 guides the moving ring 601 to move, the device can be guaranteed to be capable of moving stably, the moving ring 601 moves to drive the fruit and vegetable position identifier 803 at the lower end to move, the fruit and vegetable position identifier 803 is installed at one end of the first transverse plate 801, in the moving process of the fruit and vegetable position identifier 803, the guide clamping plate 905 moves to the front of the fruit and vegetable, and the fruit and vegetable can be accurately grasped when being grasped by the device;

s3, after the clamp plate 905 moves to the front of the fruit and vegetable, the motor 202 continues to operate, the clamp plate 905 moves to the two sides of the fruit and vegetable, then the operation motor 901 is controlled to operate, the operation motor 901 operates to drive the transmission gear 903 on the rotating rod 9 to rotate, the transmission gear 903 is embedded with another gear, when the transmission gear 903 rotates, the other gear is driven to rotate relatively, the rotating rod 9 rotates to drive the cutting knife 902 to operate relatively, the device is convenient to cut leaves on the radish, meanwhile, the movable arms 904 rotate relatively to drive the clamp plate 905 to extrude mutually for clamping the part of the radish on the ground surface, then the adjusting rod 6 is shortened to drive the clamp plate 905 to ascend, and the radish is pulled out;

s4, then adjusting the motor 603 to operate and drive the connecting plate 701 of the output end to rotate, the connecting plate 701 rotates and drives the rotating wheel 702 to rotate, the convenient device drives the supporting rod 7 to rotate, the supporting rod 7 rotates and drives the clamping plate 905 to change direction, the radishes are moved to the upper part of the conveying belt 406, meanwhile, the motor 405 is controlled to operate and drive the rotating roller 404 to rotate, the rotating roller 404 rotates and drives the conveying belt 406 at the outer side to rotate, the radishes are driven to move from the lower part to the upper part, the radishes enter the inside of the storage box 3, the buffer 307 has a buffer effect on the radishes, the safety of the radishes is ensured, a user can tile the radishes, after the lower layer of the storage box 3 is fully paved, the user controls the driving motor 309 to operate, the driving motor 309 drives the rotating rod 303 to rotate, the driving, used for fixing the movable plate 304, continuously receiving fruits and vegetables, and avoiding the situation that the radishes are piled up and extruded mutually to cause damage.

The working principle is as follows: the user controls the storage battery 201 to provide power for the motor 202 by operating the controller 506, the motor 202 operates to drive the driving wheel 203 at the output end to rotate, the driving wheel 203 drives the driving wheel 105 to rotate through the driving belt, the driving wheel 105 rotates to drive the bearing rod 103 to rotate, the bearing rod 103 rotates to drive the moving wheel 104 to rotate, the device is driven to move, the device is convenient for the user to carry, in the moving process, infrared rays are sent by the infrared scanner 106 to scan articles in front, then the scanned images are transmitted to the controller 506, an image recognition system is arranged in the controller 506 and used for recognizing fruits and vegetables buried in the ground, after the positions of the fruits and vegetables are determined, the controller 506 sends commands to the rotating motor 505, the threaded rod 503 rotates, the outer side of the threaded rod 503 is provided with rotating threads, and the moving ring 601 is driven by the threads to move, meanwhile, one end of a moving ring 601 is sleeved outside the guide sliding rod 504, in the moving process of the moving ring 601, the guide sliding rod 504 guides the moving ring 601 to move, so that the device can be ensured to be displaced stably, the moving ring 601 moves to drive a fruit and vegetable position identifier 803 at the lower end to move, the fruit and vegetable position identifier 803 is installed at one end of a first transverse plate 801, in the moving process of the fruit and vegetable position identifier 803, a guide clamping plate 905 moves to the front of a fruit and vegetable, so that the device can accurately clamp the fruit and vegetable when gripping the fruit and vegetable, after the clamping plate 905 moves to the front of the fruit and vegetable, the motor 202 continues to operate, the clamping plate 905 moves to the two sides of the fruit and vegetable, then the operation motor 901 is controlled to operate, the operation motor 901 operates to drive a transmission gear 903 on a rotating rod 9 to rotate, the transmission gear 903 is mutually embedded with another gear, drives another gear to rotate relatively, drives the rotating rod 9 to rotate relatively, the rotating rod 9 rotates to drive the cutting knife 902 to operate relatively, the convenient device cuts leaves on the radish, simultaneously, the movable arm 904 rotates relatively to drive the clamping plate 905 to extrude each other for clamping parts of the radish on the ground surface, then the adjusting rod 6 shortens to drive the clamping plate 905 to ascend, extracts the radish, then the adjusting motor 603 operates to drive the connecting plate 701 of the output end to rotate, the connecting plate 701 rotates to drive the rotating wheel 702 to rotate simultaneously, the convenient device drives the supporting rod 7 to rotate, the supporting rod 7 rotates to drive the clamping plate 905 to change the direction, the radish is moved to the upper part of the conveying belt 406, simultaneously, the controlling motor 405 operates to drive the rotating roller 404 to rotate, the rotating roller 404 rotates to drive the conveying belt 406 at the outer side to rotate, and is used for driving the radish to, the turnip enters into bin 3's inside, play the cushioning effect to the turnip by blotter 307, guarantee the safety of turnip, the user can tile the turnip, after the lower floor of bin 3 is paved, user control driving motor 309 moves, driving motor 309 drives rotary rod 303 and rotates, be used for driving fly leaf 304 and rotate, place the one end of fly leaf 304 in support piece 306's top, be used for fixing fly leaf 304, continue to receive the fruit vegetables, avoid the turnip to pile up the condition that mutual extrusion takes place the damage.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a fruit vegetables picking robot and recognition method with function is prevented crashing in target identification, includes mobile station (1), bin (3), support column (5) and regulation pole (6), its characterized in that: protective housing (2) is installed through the bolt in the bottom of mobile station (1), positioning seat (101) is installed at the top of mobile station (1), bin (3) is installed in the top gomphosis of positioning seat (101), fixed plate (401) is installed at the top of mobile station (1), and fixed plate (401) is located one side of positioning seat (101), high supporting seat (403) is installed at the top of fixed plate (401), low supporting seat (402) is installed at the top of fixed plate (401), and low supporting seat (402) is located one side of keeping away from bin (3) of high supporting seat (403), the internally mounted of low supporting seat (402) and high supporting seat (403) has mounting panel (4), support column (5) is installed at the top of mobile station (1), controller (506) is installed to one side of support column (5), solid fixed ring (501) is installed through the bolt in the top outside of support column (5), the inner side of the fixing ring (501) is provided with a supporting plate (502), the inner side of the supporting plate (502) is connected with a threaded rod (503), the outer side of the threaded rod (503) is provided with a moving ring (601) in a threaded manner, the bottom of the moving ring (601) is provided with an adjusting rod (6), the bottom of the adjusting rod (6) is provided with a fixing box (602), the bottom of the adjusting rod (6) is provided with a supporting rod (7) in a penetrating manner, the outer side of the supporting rod (7) is provided with a connecting piece (703), one side of the connecting piece (703) is provided with a moving plate (8), one side of the moving plate (8) is provided with a second transverse plate (802), one side of the moving plate (8) is provided with a first transverse plate (801), the first transverse plate (801) is positioned at the bottom of the second transverse plate (802), and the top of, the output end of the running motor (901) is connected with a rotating rod (9), the rotating rod (9) penetrates through the inside of the second transverse plate (802), and the bottom of the rotating rod (9) is connected to the top of the first transverse plate (801);

the infrared scanning device is characterized in that a bearing seat (102) is installed at the bottom of the mobile platform (1) through a bolt, a bearing rod (103) is connected to the inner side of the bearing seat (102), a mobile wheel (104) is installed on the outer side of the bearing rod (103), a driving wheel (105) is installed on the outer side of the bearing rod (103), and an infrared scanner (106) is installed at the front end of the mobile platform (1).

2. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: the inside mounting of protecting crust (2) has battery (201), and motor (202) are installed through the bolt in the inside of protecting crust (2), and install action wheel (203) on the output of motor (202) runs through protecting crust (2) front end inner wall, and action wheel (203) pass through the drive belt and are connected with drive wheel (105).

3. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: insert (301) are installed at the top of bin (3), install connecting seat (302) on the one side inner wall of bin (3), the inside of connecting seat (302) is run through has rotary rod (303), and rotary rod (303) are connected on the inner wall of bin (3), and the one end of rotary rod (303) is connected with driving motor (309), driving motor (309) are installed on the front end inner wall of bin (3), fly leaf (304) are installed to one side of rotary rod (303), antiskid ribbed tile (305) are installed at the top of fly leaf (304), install support piece (306) on the opposite side inner wall of bin (3), and the once gomphosis of fly leaf (304) is on support piece (306), blotter (307) are installed to the bottom inboard of bin (3), the bottom of bin (3) is provided with gomphosis groove (308).

4. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: the inboard of mounting panel (4) is run through and is had rotatory roller (404), and the one end of rotatory roller (404) runs through low supporting seat (402), and control motor (405) are installed to the one end of rotatory roller (404), and transmission band (406) are installed to the outside of rotatory roller (404).

5. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: a guide sliding rod (504) is installed on the inner side of the supporting plate (502), the guide sliding rod (504) is located on one side of the threaded rod (503), a rotating motor (505) is installed on the outer side of the supporting plate (502), and the output end of the rotating motor (505) is connected with the threaded rod (503).

6. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: and an adjusting motor (603) is arranged on the inner side of the top of the fixed box (602).

7. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: the top of the support rod (7) is provided with a connecting plate (701), the bottom of the connecting plate (701) is connected with a rotating wheel (702), and the rotating wheel (702) is arranged on the inner side of the bottom of the fixed box (602).

8. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: and a fruit and vegetable position identifier (803) is arranged at one end of the first transverse plate (801).

9. The fruit and vegetable picking robot with the target recognition and anti-collision function and the recognition method according to claim 1, wherein the fruit and vegetable picking robot comprises: cutting knife (902) is installed to one side of dwang (9), and the outside of dwang (9) is fixed with drive gear (903), and drive gear (903) are located cutting knife (902) top, and digging arm (904) are installed to one side of dwang (9), and splint (905) are installed to the inboard of digging arm (904).

10. The fruit and vegetable picking robot with the target identification anti-collision function and the identification method according to claims 1-9 are characterized in that the device comprises the following working steps:

s1, the storage battery (201) is controlled by the control controller (506) to provide power for the motor (202), the motor (202) operates to drive the driving wheel (203) at the output end to rotate, the driving wheel (203) drives the driving wheel (105) to rotate through the transmission belt, the driving wheel (105) rotates to drive the bearing rod (103) to rotate, the bearing rod (103) rotates to drive the moving wheel (104) to rotate to drive the device to move, and the device is convenient for a user to carry, during the moving process, the infrared scanner (106) emits infrared rays to scan the object in front, then the scanned graph is transmitted to a controller (506), an image recognition system is arranged in the controller (506) and is used for recognizing fruits and vegetables buried in the ground, after the position of the fruit and vegetable is determined, the controller (506) sends a command to the rotating motor (505);

s2, rotating a threaded rod (503), wherein a rotating thread is arranged on the outer side of the threaded rod (503), the moving ring (601) is driven to move by the thread, one end of the moving ring (601) is sleeved on the outer side of a guide sliding rod (504), the guide sliding rod (504) guides the moving ring (601) to move in the moving process of the moving ring (601), the device can be guaranteed to move stably, a fruit and vegetable position recognizer (803) at the lower end is driven to move by the moving ring (601), the fruit and vegetable position recognizer (803) is installed at one end of a first transverse plate (801), a guide clamping plate (905) moves to the front of fruits and vegetables in the moving process of the fruit and vegetable position recognizer (803), and the fruits and vegetables can be accurately grasped by the device when being grasped;

s3, after the clamp plate (905) moves to the front of the fruit and vegetable, the motor (202) continues to operate, the clamp plate (905) moves to the two sides of the fruit and vegetable, then the operation motor (901) is controlled to operate, the operation motor (901) operates to drive the transmission gear (903) on the rotating rod (9) to rotate, the transmission gear (903) is embedded with another gear, when the transmission gear (903) rotates, the other gear is driven to rotate relatively, the rotating rod (9) rotates to drive the cutting knife (902) to operate relatively, the leaf on the radish is cut by the convenient device, meanwhile, the movable arm (904) rotates relatively to drive the clamp plate (905) to extrude mutually, the part of the radish on the ground surface is clamped, then the adjusting rod (6) is shortened to drive the clamp plate (905) to ascend, and the radish is pulled;

s4, then adjusting motor (603) to drive connecting plate (701) of output end to rotate, connecting plate (701) rotates and simultaneously drives rotating wheel (702) to rotate, convenient device drives support rod (7) to rotate, support rod (7) rotates and drives clamp plate (905) to change direction, radish is moved to the upper part of transmission belt (406), control motor (405) operates and drives rotating roller (404) to rotate, rotating roller (404) rotates and drives outer transmission belt (406) to rotate, which is used for driving radish to move from low to high, radish enters into the interior of storage box (3), buffer function is played to radish by buffer (307), radish safety is ensured, user can tile radish, after lower layer of storage box (3) is full, user controls driving motor (309) to operate, driving motor (309) drives rotating rod (303) to rotate, the movable plate (304) is driven to rotate, one end of the movable plate (304) is placed above the supporting piece (306) and used for fixing the movable plate (304), fruits and vegetables are continuously received, and the situation that the radishes are piled up and are squeezed mutually to cause damage is avoided.