CN112894753A - Greenhouse melon picking robot based on multiple sensors - Google Patents
Greenhouse melon picking robot based on multiple sensors Download PDFInfo
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- CN112894753A CN112894753A CN202110075910.6A CN202110075910A CN112894753A CN 112894753 A CN112894753 A CN 112894753A CN 202110075910 A CN202110075910 A CN 202110075910A CN 112894753 A CN112894753 A CN 112894753A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a greenhouse melon picking robot based on multiple sensors, relates to the technical field of agricultural tools, and solves the problem that greenhouse melons cannot be picked mechanically. And guarantee that the melon slowly falls into the collecting box, do not cause the damage. The application provides a greenhouse melon picking robot based on multisensor adopts the cooperation of multiple sensor, forms automatic or manual formula picking robot, has greatly reduced paying out of manpower.
Description
Technical Field
The invention relates to the technical field of agricultural tools, in particular to a greenhouse melon picking robot based on multiple sensors.
Background
Melon (Cucumis melo L.) is also called muskmelon, Hami melon, etc. Is an annual sprawl herb of the Cucurbitaceae family. The stems and branches have edges. The curly hair is fine and single and is slightly soft. The long petiole is provided with a groove and short bristles; the blade is made of thick paper and is rough on the upper surface and is bristled by white coarse bristles. Parthenocarpy, hermaphrodite. Male flowers: several plants are clustered in the axilla of the leaf; the flower stalks are fine; yellow corolla; female flowers: single growth, rough pedicel and soft hair; the ovary is oblong. The shape and color of the fruit are different according to varieties, and are usually spherical or oblong, the peel is smooth, longitudinal furrows or stripes are formed, and the pulp is white, yellow or green and has fragrant and sweet taste; the seeds are white or yellow-white, oval or long round, the tips are sharp, and the surface is smooth. And in the flower and fruit period, in summer.
The muskmelon is most suitable for being planted on sandy loam which has a deep soil layer, good permeability, a pH value of 5.5-8.0 and is not easy to accumulate water. The soil with peracid and alkali needs to be improved and then cultivated. The melon is exposed to light, and the light is required to be 10-12 hours per day to maintain normal growth and development. Plastic films and glass with high transparency and without water drops are used as much as possible in greenhouse cultivation. The melon is warm, heat-resistant and cold-resistant. The germination temperature of the seeds is 15-37 ℃, and the early spring open field sowing is stabilized to be above 15 ℃ so as to avoid rotten seeds. The plant growth temperature is preferably 25-30 ℃, and the plant can grow at 14-45 ℃. The flowering temperature is most suitable for 25 ℃, and the fruit ripening is suitable for 30 ℃. The day and night temperature difference of the air temperature has great influence on the quality of the muskmelon. The temperature difference between day and night is large, which is beneficial to the accumulation of sugar and the improvement of fruit quality. Therefore, greenhouse cultivation is often used.
The growing melons can bear melons along with the main vines and the grand vines, and the bearing fruits are suspended in the air to ensure a good growing environment, and need to be picked manually in sequence when ripe, so that the manual consumption is high. Based on this current problem, the application provides a greenhouse melon picking robot based on multisensor adopts the cooperation of multiple sensor, forms automatic or manual formula picking robot, has greatly reduced paying out of manpower.
Disclosure of Invention
The invention aims to provide a greenhouse melon picking robot based on multiple sensors, which adopts the cooperation of multiple sensors to form an automatic or manual picking robot, and greatly reduces the labor intensity.
The invention provides a greenhouse melon picking robot based on multiple sensors, which comprises: the picking machine comprises a driving system, a picking system, a collecting system and a control system;
the driving system comprises a driving wheel driven by a steering engine, supporting rods are arranged on two sides of the driving wheel, a control bedplate is fixedly arranged at the tops of the two supporting rods, and the control system is embedded and arranged in the control bedplate;
the picking system comprises picking plates extending along the running and stopping directions of the driving wheels, the picking plates are fixed between the two supporting rods, first telescopic rods are respectively fixed at the front ends of the two sides of the picking plates, and mechanical arm clamping jaws are arranged at the end parts of the two first telescopic rods, which are far away from the picking plates, and are used for clamping melons; two sliding tables are arranged on the lower surface of the picking plate in a sliding mode in parallel along the length direction, second telescopic rods are respectively arranged on the surfaces, opposite to each other, of the two sliding tables, and cutting knives are arranged at the end parts, opposite to the picking plate, of the second telescopic rods through driving motors and used for cutting vines of melons;
the collecting system comprises a collecting groove arranged below the picking plate, the collecting groove is communicated with a collecting box, the bottom surface of the collecting groove gradually lowers along the direction close to the collecting box, a driven wheel is arranged below the collecting box, and the collecting box is connected with the control bedplate through a hollow pipe;
the control system is electrically connected with the steering engine, the first telescopic rod, the mechanical arm clamping jaw, the second telescopic rod and the driving motor, and a color sensor and a position sensor are mounted at the center of the clamping jaw and used for judging the position of the melon; the ethylene concentration sensor and the quality sensor are arranged in the collecting box and are used for judging the maturity degree of the collected melons and the weight of the collected melons, and distinguishing and collecting the melons according to the maturity degree and the weight of the melons; a contact sensor is arranged on the top surface in the collecting box and used for judging whether the collected melons fill the collecting box or not; an obstacle avoidance sensor is arranged at the front end of the collecting tank and used for exploring a path and preventing the robot from being impacted; the color sensor, the position sensor, the ethylene concentration sensor, the quality sensor, the contact sensor and the obstacle avoidance sensor are all electrically connected with the control system, a touch display screen is arranged on the surface of the control bedplate, and the touch display screen is electrically connected with the control system.
Furthermore, the surface of the collecting box is provided with a collecting hole which is communicated with the collecting tank, and a buffer device is arranged in the collecting box close to the collecting hole;
the buffer device comprises air cylinders, motors and rollers, wherein the two groups of air cylinders are respectively vertically arranged inside the collecting box, the motors are respectively arranged at the tops of the air cylinders, the rollers are respectively connected between rotating shafts of the motors in each group, and one ends of the two rollers are respectively positioned at the lower edge of the collecting hole.
Further, the distance between the two rollers is gradually increased from the position close to the collecting groove, and the inside of the collecting box is divided into a plurality of parts according to the distance between the rollers.
Furthermore, a strut is arranged at the top of the sliding table, a cross rod is arranged at the top of the strut, motors are arranged at two ends of the cross rod, and gears in an annular shape are sleeved outside the motors; the lower surface of the picking plate is provided with an I-shaped chute along the length direction, and a tooth groove meshed with the gear is arranged in the chute.
Furthermore, a pushing handle is arranged on the side surface of the control bedplate, and a supporting inclined rod is arranged between the control bedplate and the supporting rod.
Further, a protective shell is arranged outside the cutting knife.
Further, the collecting box is hinged with a transparent visible door.
Compared with the prior art, the invention has the following remarkable advantages:
the invention provides a greenhouse melon picking robot based on multiple sensors, which solves the problem that greenhouse melons cannot be picked mechanically, completes melon picking work through coordination of a color sensor, a position sensor, an ethylene concentration sensor, a quality sensor, a contact sensor and an obstacle avoidance sensor, and cuts off vines by a cutting knife after the melons are fixed by a mechanical arm clamping jaw. And guarantee that the melon slowly falls into the collecting box, do not cause the damage. The application provides a greenhouse melon picking robot based on multisensor adopts the cooperation of multiple sensor, forms automatic or manual formula picking robot, has greatly reduced paying out of manpower.
Drawings
FIG. 1 is a schematic structural diagram of a greenhouse melon picking robot based on multiple sensors, provided by an embodiment of the invention;
FIG. 2 is a structural diagram of a collecting box of a greenhouse melon picking robot based on multiple sensors, which is provided by the embodiment of the invention;
FIG. 3 is a structural diagram of a buffer device of a greenhouse melon picking robot based on multiple sensors, which is provided by the embodiment of the invention;
FIG. 4 is a connection structure diagram of a picking plate of a greenhouse melon picking robot based on multiple sensors, provided by an embodiment of the invention;
FIG. 5 is a connection structure diagram of a sliding table of a greenhouse melon picking robot based on multiple sensors, provided by an embodiment of the invention;
FIG. 6 is an I-shaped chute diagram of a greenhouse melon picking robot based on multiple sensors, provided by the embodiment of the invention;
fig. 7 is a structure diagram of a cutting knife of a greenhouse melon picking robot based on multiple sensors, provided by an embodiment of the invention.
Description of reference numerals: 1-driving wheel, 2-supporting rod, 3-control bedplate, 4-picking plate, 5-first telescopic rod, 6-mechanical arm clamping jaw, 7-sliding table, 8-second telescopic rod, 9-cutting knife, 10-collecting tank, 11-collecting tank, 12-driven wheel, 13-hollow tube, 14-pushing handle, 15-supporting inclined rod, 16-protective shell, 701-support column, 702-cross rod, 703-gear, 1101-buffer device, 1102-air cylinder, 1103-motor and 1104-roller.
Detailed Description
The technical solutions of the embodiments of the present invention are clearly and completely described below with reference to the drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
For ease of understanding and explanation, and with reference to fig. 1-7, the present invention provides a multi-sensor based greenhouse melon picking robot comprising: the picking machine comprises a driving system, a picking system, a collecting system and a control system;
the driving system comprises a driving wheel 1 driven by a steering engine, the width of the driving wheel 1 is set according to the actual situation of the greenhouse, picking work can be carried out between different rows, supporting rods 2 are arranged on two sides of the driving wheel 1, a control bedplate 3 is fixedly arranged at the tops of the two supporting rods 2, and the control system is embedded in the control bedplate 3;
the picking system comprises picking plates 4 extending along the running and stopping directions of the driving wheels 1, the picking plates 4 are fixed between the two supporting rods 2, the front ends of the two sides of the picking plates 4 are respectively fixed with first telescopic rods 5, the end parts, departing from the picking plates 4, of the two first telescopic rods 5 are respectively provided with a mechanical arm clamping jaw 6, and the mechanical arm of the mechanical arm clamping jaw 6 adopts a three-degree-of-freedom mechanical arm or a six-degree-of-freedom mechanical arm and is used for flexibly clamping melons; two sliding tables 7 are slidably mounted on the lower surface of the picking plate 4 in parallel along the length direction, second telescopic rods 8 are respectively mounted on the surfaces of the two sliding tables 7, which are opposite to each other, and cutting knives 9 are mounted at the end parts, which are opposite to the picking plate 4, of the second telescopic rods 8 through driving motors and used for cutting vines of melons; the length difference between the first telescopic rod 5 and the second telescopic rod 8 is fixed, the length variation of the first telescopic rod and the second telescopic rod is also consistent, and the position of the cutting knife 9 can be ensured to be positioned outside the mechanical arm clamping jaw 6.
The collecting system is including installing pick collecting vat 10 of board 4 below, the width of collecting vat 10 is greater than two the outer interval between the arm clamping jaw 6 guarantees that the fruit can freely fall into in the collecting vat 10, soft material is adopted to the tank bottom of collecting vat 10, prevents to break. The distance between the collection trough 10 and the robot arm gripper 6 is not more than 30 cm. The collecting groove 10 is communicated with a collecting box 11, the bottom surface of the collecting groove 10 is gradually reduced along the direction close to the collecting box 11, so that fruits can slide down along a slope structure, a driven wheel 12 is arranged below the collecting box 11, and the collecting box 11 is connected with the control bedplate 3 through a hollow pipe 13;
the control system is electrically connected with the steering engine, the first telescopic rod 5, the mechanical arm clamping jaw 6, the second telescopic rod 8 and the driving motor, a color sensor and a position sensor are installed at the center of the clamping jaw and used for judging the position of the melon, firstly, the color sensor is taught to enable the color sensor to recognize the color of the mature melon, the color sensor sends back information of the melon to the control system after recognizing the information of the melon, the position sensor acquires the position between the color sensor and the target melon and sends the information to the control system for analysis, and the control system controls the mechanical arm clamping jaw 6, the first telescopic rod 5 and the second telescopic rod 8 to operate according to the position of the melon to enable the mechanical arm clamping jaw 6, the first telescopic rod 5 and the second telescopic rod 8 to cooperate to pick; the ethylene concentration sensor and the quality sensor are arranged inside the collecting box 11 and are used for judging the maturity of collected melons and the weight of the collected melons, when the quality of the melons exceeds a preset value, the robot stops picking, picked melons are sent back, and normal operation of follow-up work is guaranteed. When the ethylene concentration sensor detects that the ethylene concentration in the collection box 11 exceeds the standard, the robot stops picking and sends the picked ethylene back to ensure that the ripening condition cannot be formed; a contact sensor is arranged on the top surface in the collection box 11 and used for judging whether the collected melons are filled in the collection box 11 or not, if so, the robot stops picking and sends the picked melons back; an obstacle avoidance sensor is arranged at the front end of the collecting tank 10 and used for exploring a path and preventing the robot from being impacted; the color sensor, the position sensor, the ethylene concentration sensor, the quality sensor, the contact sensor and the obstacle avoidance sensor are all electrically connected with the control system, a touch display screen is arranged on the surface of the control bedplate 3 and electrically connected with the control system, and the touch display screen is used for inputting and outputting information.
Referring to fig. 2-3, the greenhouse melon picking robot based on multiple sensors, provided by embodiment 1 of the present invention, is characterized in that a collecting hole is formed on the surface of the collecting box 11, the collecting hole is communicated with the collecting box 10, a buffering device 1101 is arranged inside the collecting box 11 and close to the collecting hole, and the buffering device 1101 is used to ensure that the melons do not fall into the collecting box 11, but form a slope and roll down slowly;
the buffering device 1101 comprises air cylinders 1102, motors 1103 and rollers 1104, wherein the two groups of air cylinders 1102 are respectively vertically arranged inside the collecting box 11, the motors 1103 are respectively arranged at the tops of the air cylinders 1102, the rollers 1104 are respectively connected between rotating shafts of the motors 1103 in each group, and one ends of the two rollers 1104 are respectively located at the lower edge of the collecting hole. The two rollers 1104 rotate oppositely, so that rotation of the melons can be assisted, and the melons are prevented from being clamped, and subsequent work is prevented from being disturbed.
The distance between the two rollers 1104 gradually increases from a position close to the collecting tank 10, and the inside of the collecting tank 11 is divided into several parts according to the change of the distance between the rollers 1104. Different sized melons may fall at different locations between the two drums 1104 for collecting different sized melons. The melons with small volume and mass can fall into the collecting box 11 in advance, the melons with large volume and mass can fall into the collecting box 11 in a delayed mode, the melons are collected at different dividing positions of the collecting box 11 according to the volume and the mass, and the purpose of classifying the melons according to the mass and the volume is achieved.
Referring to fig. 4 to 6, the greenhouse melon picking robot based on multiple sensors according to embodiment 2 of the present invention is characterized in that a support 701 is disposed on the top of the sliding table 7, a cross bar 702 is mounted on the top of the support 701, two ends of the cross bar 702 are both provided with motors, and the outside of each motor is sleeved with a ring-shaped gear 703; the lower surface of the picking plate 4 is provided with an I-shaped chute along the length direction, and a tooth groove meshed with the gear 703 is arranged in the chute. The motor drives the gear 703 to roll in the sliding groove, so as to form the displacement of the cutting knife 9.
The greenhouse melon picking robot based on the multiple sensors is characterized in that a pushing handle 14 is arranged on the side surface of the control bedplate 3, when picking conditions are complex, a steering engine can be closed, the robot is manually controlled to move forwards, and a supporting inclined rod 15 is arranged between the control bedplate 3 and the supporting rod 2, so that the control bedplate 3 is more stable.
Referring to fig. 7, a protective shell 16 is arranged outside the cutting knife 9, and only the position close to the mechanical arm clamping jaw 6 is reserved to expose the blade, so that safety is ensured. The collecting box 11 is hinged with a transparent visual door, so that personnel can know the situation in the collecting box 11 conveniently.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (7)
1. The utility model provides a greenhouse melon picking robot based on multisensor which characterized in that includes: the picking machine comprises a driving system, a picking system, a collecting system and a control system;
the driving system comprises a driving wheel (1) driven by a steering engine, supporting rods (2) are arranged on two sides of the driving wheel (1), a control bedplate (3) is fixedly arranged at the tops of the two supporting rods (2), and the control system is embedded and arranged in the control bedplate (3);
the picking system comprises picking plates (4) extending along the running and stopping directions of the driving wheels (1), the picking plates (4) are fixed between the two supporting rods (2), the front ends of the two sides of each picking plate (4) are respectively fixed with a first telescopic rod (5), and mechanical arm clamping jaws (6) are arranged at the end parts, deviating from the picking plates (4), of the two first telescopic rods (5) and used for clamping melons; two sliding tables (7) are slidably mounted on the lower surface of the picking plate (4) in parallel along the length direction, second telescopic rods (8) are respectively mounted on the surfaces of the two sliding tables (7) which are deviated from each other, and cutting knives (9) are mounted at the end parts, deviating from the picking plate (4), of the second telescopic rods (8) through driving motors and used for cutting vines of melons;
the collecting system comprises a collecting tank (10) arranged below the picking plate (4), the collecting tank (10) is communicated with a collecting box (11), the bottom surface of the collecting tank (10) gradually lowers along the direction close to the collecting box (11), a driven wheel (12) is arranged below the collecting box (11), and the collecting box (11) is connected with the control bedplate (3) through a hollow pipe (13);
the control system is electrically connected with the steering engine, the first telescopic rod (5), the mechanical arm clamping jaw (6), the second telescopic rod (8) and the driving motor, and a color sensor and a position sensor are mounted at the center of the clamping jaw and used for judging the position of the melon; an ethylene concentration sensor and a quality sensor are arranged in the collecting box (11) and are used for judging the maturity degree of the collected melons and the weight of the collected melons, and distinguishing and collecting the melons according to the maturity degree and the weight of the melons; a contact sensor is arranged on the top surface inside the collecting box (11) and used for judging whether the collected melons fill the collecting box (11) or not; an obstacle avoidance sensor is arranged at the front end of the collecting tank (10) and used for exploring a path and preventing the robot from being impacted; the color sensor, the position sensor, the ethylene concentration sensor, the quality sensor, the contact sensor and the obstacle avoidance sensor are all electrically connected with the control system, a touch display screen is arranged on the surface of the control bedplate (3), and the touch display screen is electrically connected with the control system.
2. A multi-sensor-based greenhouse melon picking robot as claimed in claim 1, wherein the collection box (11) is provided with collection holes on the surface, the collection holes are communicated with the collection groove (10), and the interior of the collection box (11) is provided with a buffer device (1101) at the position close to the collection holes;
the buffer device (1101) comprises air cylinders (1102), motors (1103) and rollers (1104), wherein the two sets of air cylinders (1102) are respectively and vertically arranged inside the collecting box (11), the motors (1103) are respectively installed at the tops of the air cylinders (1102), the rollers (1104) are respectively connected between rotating shafts of the motors (1103) of each set, and one ends of the two rollers (1104) are respectively located at the lower edge of the collecting hole.
3. A multi-sensor based greenhouse melon picking robot as claimed in claim 2, characterized in that the distance between two of said rollers (1104) increases from the position close to the collecting tank (10), the inside of the collecting tank (11) is divided into several parts according to the distance of the rollers (1104).
4. A greenhouse melon picking robot based on multiple sensors as claimed in claim 1, wherein the sliding table (7) is provided with a support column (701) on the top, a cross bar (702) is mounted on the top of the support column (701), both ends of the cross bar (702) are provided with motors, and the motors are sleeved with a gear (703) in a ring shape; the lower surface of the picking plate (4) is provided with an I-shaped chute along the length direction, and a tooth groove meshed with the gear (703) is arranged in the chute.
5. A multi-sensor-based greenhouse melon picking robot as claimed in claim 1, characterized in that the side surface of the control bedplate (3) is provided with a pushing handle (14), and a supporting diagonal rod (15) is installed between the control bedplate (3) and the supporting rod (2).
6. A multi-sensor based greenhouse melon picking robot as claimed in claim 1, characterized in that the cutting knife (9) is externally provided with a protective shell (16).
7. A multi-sensor based greenhouse melon picking robot as claimed in claim 1, characterized in that the collection box (11) is hinged with a transparent visual door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110075910.6A CN112894753A (en) | 2021-01-20 | 2021-01-20 | Greenhouse melon picking robot based on multiple sensors |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110075910.6A CN112894753A (en) | 2021-01-20 | 2021-01-20 | Greenhouse melon picking robot based on multiple sensors |
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| CN112894753A true CN112894753A (en) | 2021-06-04 |
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| CN202110075910.6A Pending CN112894753A (en) | 2021-01-20 | 2021-01-20 | Greenhouse melon picking robot based on multiple sensors |
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