CN113519288B - Multi-degree-of-freedom pepper branch automatic cutting device based on path planning - Google Patents
Multi-degree-of-freedom pepper branch automatic cutting device based on path planning Download PDFInfo
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- CN113519288B CN113519288B CN202110797685.7A CN202110797685A CN113519288B CN 113519288 B CN113519288 B CN 113519288B CN 202110797685 A CN202110797685 A CN 202110797685A CN 113519288 B CN113519288 B CN 113519288B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/086—Chain saws
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
Abstract
The invention discloses a multi-degree-of-freedom pepper branch automatic cutting device based on path planning, which comprises a rotary platform mechanism, a motion lifting mechanism, a clamping mechanism, a cutter system and a view identification processing decision system, and is characterized in that: the rotary platform mechanism, the motion lifting mechanism, the clamping mechanism, the cutter system and the view identification processing decision-making system are all arranged on a supporting bottom plate, and a screw hole is reserved on the bottom plate and can be combined with a crawler-type/wheel-type intelligent walking system. The invention relates to the field of agricultural machinery, in particular to an automatic cutting device for pepper branches with multiple degrees of freedom based on path planning. The invention aims to provide a multi-degree-of-freedom pepper branch automatic cutting device based on path planning, which is convenient for automatically scanning road condition barriers and the like of a pepper garden and then realizes automatic path planning for avoiding all the barriers.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a multi-degree-of-freedom pepper branch automatic cutting device based on path planning.
Background
The pepper is an important seasoning food material in China, contains various trace elements such as vitamin C, copper, iron, zinc, manganese, selenium and the like required by a human body, can be used as a medicine in traditional Chinese medicine, has a remarkable curative effect on chronic gastritis, and is popular with people. The green pepper is a special industry in Chongqing city, the planting area is wide, the planting area reaches 7.30 million hectares, and the annual yield is about 43.5 million tons. The pruning and harvesting of the pepper at the present stage at home and abroad are basically manual picking or hand-held mechanical picking. The manual picking mainly hires farmers to use traditional pruning shears or pneumatic/electric shears to carry out manual pruning, wherein the electric pepper picker mainly drives a connecting rod mechanism through a motor to drive a cutting edge to vibrate and break thin pepper branches to achieve the picking purpose, but the manual picking is high in labor intensity and low in efficiency, pepper stabs and injuries exist, and as the contradiction between rural population aging, labor shortage and pepper demand increase is deepened day by day, mechanical intelligent pruning and picking are imperative.
The green pepper grows faster, and a secondary main branch cutting method is generally adopted, so that the green pepper is directly cut at a proper position under the conditions of achieving the net picking rate and ensuring that the original yield is not influenced, and is subsequently matched with proper procedures for treatment. The patent (a gun type pepper picking and pruning device) is a hand-held auxiliary device for cutting off and connecting thin branches, but cannot cut off thick second-level branches and third-level branches; the patent (a prickly ash picking device and prickly ash vision picking robot that constitutes thereof) is a self-propelled intelligent prickly ash picking robot to prickly ash stalk shearing, and except cutting off the twigs, the function that still has the negative pressure to collect is applicable to the prickly ash, can't satisfy the cutting off of the thick branch of green prickly ash.
In the research aspect of the agricultural robot technology, the technologies of transplanting, spraying and the like are relatively mature, but the pruning and harvesting of the pepper also have a great space for improvement. The invention provides a multi-degree-of-freedom pepper branch automatic cutting mode based on visual path planning by combining the development of the current machine vision and image processing technology, and a designed mechanism can be used for medium-term pepper branch trimming and whole-stem harvesting in the harvesting period.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom pepper branch automatic cutting device based on path planning, which is convenient for automatically scanning road condition barriers and the like of a pepper garden and then realizes automatic path planning for avoiding all the barriers.
The invention adopts the following technical scheme to realize the purpose of the invention:
1. the utility model provides a multi freedom pepper branch automatic cutting device based on path planning, includes rotary platform mechanism, motion hoist mechanism, fixture, cutter system and view discernment processing decision-making system, its characterized in that:
the rotary platform mechanism, the motion lifting mechanism, the clamping mechanism, the cutter system and the view identification processing decision-making system are all arranged on a supporting bottom plate, and a screw hole is reserved on the bottom plate and can be combined with a crawler-type/wheel-type intelligent walking system;
the motion lifting mechanism comprises a first screw rod sliding block sleeve and a second screw rod sliding block sleeve, the first screw rod sliding block sleeve and the second screw rod sliding block sleeve form T-shaped connection, and the first screw rod sliding block sleeve and the second screw rod sliding block sleeve have the same structure;
the motion lifting mechanism further comprises a stepping motor, the stepping motor is connected with the lead screw through a coupler, and the lead screw slider is fixedly connected with the stepping motor in a sleeved mode;
the symmetrical sliders in the first screw rod slider set are fixedly connected with a second screw rod slider set respectively, the screw rod is in threaded connection with the second screw rod slider set, the motion lifting mechanism further comprises a second motor, the second screw rod slider set is fixedly connected with the second motor, the second motor is connected with a shaft, the shaft is connected with a first gear, the first gear is connected with a transmission belt, the transmission belt is connected with the screw rod in the second screw rod slider set, the screw rod in the second screw rod slider set is in threaded connection with the clamping mechanism, and the symmetrical sliders in the second screw rod slider set are respectively and fixedly connected with the clamping mechanism;
the rotary platform mechanism is provided with a positioning screw hole and a positioning screw groove, the rotary platform mechanism is tightly and fixedly connected with the motion lifting mechanism through a cross positioning screw, an input shaft of a motor is connected with a worm, the motor I is connected with the rotary platform mechanism, the worm is meshed with a worm gear, the worm gear is fixedly connected with a rotating shaft, the rotating shaft is fixedly connected with a gear II, the gear II is fixed on a bottom plate through a special positioning hole, the bottom plate is connected with the rotary platform mechanism through a tapered roller bearing I, and the rotary platform mechanism is provided with a machine oil injection port and a dustproof shell;
fixture includes sharp module support, linear guide and linear bearing, linear guide passes through linear bearing connects sharp module support, fixture still includes two holding heads, two the parcel adds thick rubber processing, two are done to the holding head inner wall the holding head afterbody is fixed slider two respectively, two the guide rail is connected to slider two, the nested guide rail of linear guide, it equips supporting platform, one to be provided with the screw on the guide rail through eight corner screw connections centre gripping, the holding head lower part links to each other with the spring through a ring hook, the spring links to each other with electric putter, another holding head connection trough pushes away the piece, electric putter's push rod pushes away the head terminal and touches the trough pushes away the piece.
As the further limitation of the technical scheme, the belt groove pushing piece is connected with the cutter system through a screw, the cutter system is a saw blade type cutter with a rotating chain, the highest part of the specific structure of the saw blade type cutter is a high-speed motor, the belt groove pushing piece is connected with the high-speed motor through a screw, the high-speed motor is connected with a connecting shaft through a coupler, the connecting shaft penetrates through a gear piece fixedly connected and fastened circular pressing piece, the gear piece is connected with a cutting chain, the cutting chain is sleeved on a cutter guide plate through a special sliding groove, the upper surface and the lower surface of the cutter guide plate are respectively clamped by a pressing plate, and the coupler is connected with the other clamping head through a conical roller bearing II.
As a further limitation of the technical scheme, the view recognition processing decision-making system is distributed all over the machine, the view recognition binocular camera is laterally suspended, supported by a camera support and transmitted back to an upper computer through a signal transmission line, the upper computer is located at the rear side of the cantilever and is firmly fixed by screws, the upper computer controls a single chip microcomputer through wiring, the single chip microcomputer drives the first motor and the second motor, and the panoramic camera is fixed at the lower side of the clamping mechanism.
As a further limitation of the technical scheme, the upper computer carries out terminal decision by the power supply module and the artificial intelligence recognition development board, and mainly decides intelligent walking, pepper cutting part positioning and path planning, wherein the intelligent walking comprises distance detection and walking stations.
As a further limitation of the technical scheme, the upper computer is connected with the wireless remote controller through a wireless module.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) the pruning/harvesting operation of the pepper is controlled by a microcomputer, so that road condition barriers and the like of the pepper garden can be automatically scanned, and then automatic path planning for avoiding all the barriers is realized.
(2) After the action system finishes movement according to the related commands, the action system moves to the appropriate position of the pepper branch, the binocular camera scans the type of the pepper branch, the picking and cutting position is judged by using a pre-training model, the path planning of a cutter clamping piece is carried out, the pepper branch is clamped by the clamping piece, the cutter is fed under the clamping piece, the branch clamping piece is cut off to continue clamping, and the branch is transported back to the collecting device. And continuing picking the next branch until the whole plant is picked. The moving system is repeated until the whole pepper garden is picked or the machine is shut down manually.
(3) Through the dynamics sensor of installation on the cutter, can realize intelligent feed back of a knife, but the automatic back of a knife when reaction force diminishes has the extravagant and anti-sticking dead function of reduction energy. At the present stage, a full-automatic intelligent efficient time-saving intelligent pepper picking machine does not exist.
(4) The automatic cutting device is driven by electric power, and uses machine vision to position a target, determines the operation path of the clamping and cutting system based on the path planning method, can replace manpower to finish the efficient automatic cutting operation of pepper branches, thoroughly changes the situations of labor waste, low efficiency and labor shortage in the traditional manual pruning and whole-stem pepper harvesting, and can also be used for pruning other orchard fruit trees.
Drawings
Fig. 1 is a first structural schematic diagram of the present invention.
Fig. 2 is a second structural schematic diagram of the present invention.
Fig. 3 is a side view of an embodiment of the present invention.
Fig. 4 is a top view of an embodiment of the present invention.
Fig. 5 is a rear side view of an embodiment of the present invention.
FIG. 6 is a block diagram of a mechanism for holding a cutting tool in an embodiment of the present invention.
Fig. 7 is a structural view of a cutter mechanism in the embodiment of the present invention.
FIG. 8 is a schematic structural diagram of a rotating platform system according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a circuit of a motion chip control motor in an embodiment of the invention.
FIG. 10 is a flowchart illustrating an exemplary embodiment of the present invention.
FIG. 11 is a schematic view of the mechanism of the present invention.
In the figure: 1. a motion lifting mechanism, 2, a clamping mechanism, 201, a linear module support, 202, a linear guide rail, 203, a linear bearing, 10, a screw rod slide block set I, 11, a screw rod slide block set II, 12, a stepping motor, 12A, a coupling I, 101A, a screw rod, 13, a fixing nut, 102, a steel ball, 103, a special nut, 104, a reverser, 105, a dust remover, 16, a baffle, 17, a slide block guide rail, 18, a slide block I, 12B, a coupling II, 19, a shaft, 20, a gear I, 21, a transmission belt, 50, a rotating platform, 501, a positioning screw hole, 502, a positioning screw groove, 51, a cross positioning screw, 52, a worm, 53, a worm wheel, 54, a rotating shaft, 55, a gear II, 503, a special positioning hole, 56, a bottom plate, 57, a conical roller bearing I, 58, a closing port, 59, a dust-proof shell, 70, a clamping head, 71, and wrapped thickened rubber, 72. the device comprises a second sliding block 73, a guide rail 74, a screw hole 75, an octagonal screw 76, a clamping equipment supporting platform 77, a spring 78, an electric push rod 781, a push rod pushing head 79, a push piece with a groove 80, a 775 high-speed motor 81, a saw blade type cutter 811, a connecting shaft 82, a gear piece 83, a cutting chain 84, a sliding groove 85, a cutter guide plate 812, a fastening circular pressing piece 813, a pressing plate 86, a second conical roller bearing 87, a coupling 150, a view identification binocular camera 151A, a camera support 151B, a signal transmission line 153, an upper computer 154, a single chip microcomputer 155A, a first motor 155B, a second motor 156, a panoramic camera 157, a wireless module 158 and a wireless remote controller.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention.
The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
The following description of the exemplary embodiments refers to the accompanying drawings. The same reference numbers in different drawings identify the same or similar elements. The following detailed description does not limit the invention. Rather, the scope of the invention is defined by the appended claims. For simplicity, the following embodiments are described with respect to the terminology and structure of the present system, however, the embodiments to be described next are not limited to this system but may be applied to any other system that may be applied.
As shown in fig. 1 to 11, the present invention includes a rotary platform mechanism 50, a motion lifting mechanism 1, a clamping mechanism 2, a tool system and a view recognition processing decision system, and is characterized in that:
the rotary platform mechanism 50, the motion lifting mechanism 1, the clamping mechanism 2, the cutter system and the view recognition processing decision-making system are all arranged on a supporting bottom plate, and a screw hole is reserved on the bottom plate and can be combined with a crawler-type/wheel-type intelligent walking system;
the motion lifting mechanism 1 comprises a first screw rod sliding block sleeve 10 and a second screw rod sliding block sleeve 11, the first screw rod sliding block sleeve 10 and the second screw rod sliding block sleeve 11 form T-shaped connection, and the first screw rod sliding block sleeve 10 and the second screw rod sliding block sleeve 11 have the same structure;
the screw rod sliding block set 10 comprises a screw rod screw 101A, a fixing nut 13 is arranged on the screw rod screw 101A, a steel ball 102 is arranged in the fixing nut 13, an reverser 104 is arranged on the screw rod screw 101A, a dust-proof device 105 is arranged on the reverser 104, the screw rod sliding block set 10 further comprises symmetrical baffles 16, symmetrical sliding block guide rails 17 are respectively and fixedly connected with the corresponding baffles 16 through special nuts 103, sliding blocks 18 are respectively embedded on the symmetrical sliding block guide rails 17, the movement lifting mechanism 1 further comprises a stepping motor 12, the stepping motor 12 is connected with the screw rod screw 101A through a coupling I12A, and the screw rod sliding block set 10 is fixedly connected with the stepping motor 12;
the screw rod sliding block suit 10 is provided with symmetrical first sliding blocks 18 which are fixedly connected with a second screw rod sliding block suit 11 respectively, the screw rod screw 101A is in threaded connection with the second screw rod sliding block suit 11, the movement lifting mechanism 1 further comprises a second motor 155B, the second screw rod sliding block suit 11 is fixedly connected with the second motor 155B, the second motor 155B is connected with a shaft 19, the shaft 19 is connected with a first gear 20, the first gear 20 is connected with a transmission belt 21, the transmission belt 21 is connected with a screw rod screw 101A in the second screw rod sliding block suit 11, the screw rod screw 101A in the second screw rod sliding block suit 11 is in threaded connection with the clamping mechanism 2, and the symmetrical first sliding blocks 18 in the second screw rod sliding block suit 11 are respectively and fixedly connected with the clamping mechanism 2;
the rotary platform mechanism 50 is provided with a positioning screw hole 501 and a positioning screw groove 502, the rotary platform mechanism 50 is tightly and fixedly connected with the motion lifting mechanism 1 through a cross positioning screw 51, a first motor 155A input shaft is connected with a worm 52, the first motor 155A is connected with the rotary platform mechanism 50, the worm 52 is meshed with a worm wheel 53, the worm wheel 53 is fixedly connected with a rotating shaft 54, the rotating shaft 54 is fixedly connected with a second gear 55, the second gear 55 is fixed on a bottom plate 56 through a special positioning hole 503, the bottom plate 56 is connected with the rotary platform mechanism 50 through a first tapered roller bearing 57, and the rotary platform mechanism 50 is provided with an engine oil injection port 58 and a dust-proof shell 59;
The grooved pushing piece 79 is connected with a cutter system through a screw, the cutter system is a saw blade type cutter 81 with a rotating chain, the top of the specific structure of the saw blade type cutter 81 is a 775 high-speed motor 80, the grooved pushing piece 79 is connected with the 775 high-speed motor 80 through a screw, the 775 high-speed motor 80 is connected with a connecting shaft 811 through a coupler 87, the connecting shaft 811 penetrates through a gear piece 82 to be fixedly connected with a fastening circular pressing sheet 812, the gear piece 82 is connected with a cutting chain 83, the cutting chain 83 is sleeved on a cutter guide plate 85 through a special sliding groove 84, the upper surface and the lower surface of the cutter guide plate 85 are respectively clamped by a pressing sheet 813, and the coupler 87 is connected with the other clamping head 70 through a conical roller bearing II 86.
The view recognition processing decision-making system is distributed all over the machine, the view recognition binocular camera 150 is laterally suspended, supported through a camera support 151A and transmitted back to an upper computer 153 through a signal transmission line 151B, the upper computer 153 is located on the rear side of a cantilever and fixedly fixed through a screw, the upper computer 153 controls a single chip microcomputer 154 through wiring, the single chip microcomputer 154 drives a first motor 155A and a second motor 155B, and a panoramic camera 156 is fixed on the lower side of the clamping mechanism 2.
The upper computer 153 is used for carrying out terminal decision by a power supply module and an artificial intelligence recognition development board, and mainly used for carrying out intelligent walking, pepper cutting part positioning and path planning, wherein the intelligent walking comprises distance detection and walking stations.
The upper computer 153 is connected with a wireless remote controller through a wireless module 157.
The binocular camera 150 is used for local scanning and recognition.
The picking control system comprises a vision recognition positioning system (the binocular camera is used for positioning) and a picking execution control module, the vision recognition positioning system is respectively connected with binocular camera ranging sensors, the binocular camera is used for local scanning and recognition, the ranging sensors are used for ranging of the positions of the peppers to be picked, after the information is obtained, a special target training data set is established, and a target detection method based on a YOLOv4 convolutional neural network is adopted for training and testing the data set. The method comprises the steps of preliminarily acquiring an initial space position and a branch position of pepper fruits by using pepper images and pepper branch distribution models acquired by an image acquisition system, calibrating parameters of a binocular vision system camera and a binocular vision three-dimensional reconstruction method, and identifying a correct cutting position by adding the previous training of the existing machine vision. And the processing chip performs logic operation, performs prop path planning and outputs a corresponding instruction to control the clamping mechanism and the cutter to work.
The vision recognition positioning system calculates a planning walking path and transmits the planning walking path to a walking execution control module (most walking systems can be adapted in a modularized mode).
The walking execution control module is connected with the walking system, and the scanned specific information (binocular or panorama) is transmitted back to the industrial control upper computer through the signal transmission line.
The upper computer 156 is connected with a wireless remote controller 158 through a wireless module 157.
The working process of the invention is as follows:
(1) starting up:
after the machine is started, man-machine interaction is carried out through wireless intelligent display, and the multi-freedom-degree pepper branch automatic cutting device based on path planning firstly enters a self-checking program. The machine is moved to a pepper garden by manual control, intelligent picking is started, the panoramic camera 156 scans conditions (obstacles, distance positions of pepper trees and the like) of the pepper garden in advance, the central processing chip performs path planning and the like, and sends instructions to control the rotation of a motor of the walking system, control the differential steering of the left and right crawler belts, avoid obstacles and the like and move to a proper position in front of the pepper trees.
(2) And (4) normal operation:
the device automatically moves to the front of the pepper tree, the binocular camera 150 is powered on, the binocular camera 150 on the side of the cantilever scans the shape of the pepper tree, and the cutting and clamping positions are judged by using a model calibrated in advance and an established empirical equation. The industrial personal computer processor sends out a corresponding data instruction, the corresponding data instruction is converted into the step number of the stepping motor 12 through the driving plate, and the motor II 155B and the motor I155A rotate to enable the clamping piece to reach the corresponding position. Then the electric push rod 78 is electrified, the pepper branches are clamped by the pepper clamping piece, after the cutting, the cutting and the cutting are carried out, the central processing unit continuously sends out instructions, the movement form of the central processing unit is the same as that of the three motors, and the pepper branches are clamped and cut off and then placed back to the storage container which is designed in advance. And (4) continuously moving, clamping and cutting by systems such as rotary telescopic system and the like until the whole plant of pepper is harvested completely. The mobile system moves the next prickly ash plant continuously and circularly back and forth.
(3) Shutdown and closing:
the wireless intelligent control display is used for carrying out human-computer interaction to shut down and close, the central processing unit is provided with a set of program set in advance, a set instruction is output, the moving system is subjected to machine zeroing, the moving system is connected with the GPS navigation system, the moving system automatically returns to a set stop point, and finally the machine is shut down and powered off.
The embodiment reduces the labor intensity of pepper farmers, improves the economic benefit of pepper gardens, has simple and full automation structure, is easy to operate and control by pepper farmers, can realize modular assembly, has low manufacturing cost and is easy to realize batch production. The mechanical arm type pepper harvester can be used for picking peppers fully automatically, and can be widely applied and popularized.
Reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the subject matter disclosed. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that this description is not intended to limit the invention. On the contrary, the exemplary embodiments are intended to cover alternatives, modifications and equivalents, which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the detailed description of the exemplary embodiments, numerous specific details are set forth in order to provide a thorough understanding of the claimed invention. However, it will be understood by those skilled in the art that various embodiments may be practiced without these specific details.
Although the features and elements of the exemplary embodiments are described in the embodiments in particular combinations, each feature or element can be used alone without the other features and elements of the embodiments or in combinations with or without other features and elements disclosed herein.
This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements to the structural elements recited in the literal languages of the claims.
Claims (5)
1. The utility model provides a multi freedom pepper branch automatic cutting device based on path planning, includes rotary platform mechanism (50), motion hoist mechanism (1), fixture (2), cutter system and view discernment processing decision-making system, its characterized in that:
the rotary platform mechanism (50), the motion lifting mechanism (1), the clamping mechanism (2), the cutter system and the view identification processing decision-making system are all arranged on a supporting bottom plate, screw holes are reserved on the bottom plate, and the rotary platform mechanism, the motion lifting mechanism, the clamping mechanism and the view identification processing decision-making system can be combined with a crawler-type/wheel-type intelligent walking system;
the motion lifting mechanism (1) comprises a screw rod sliding block sleeve I (10) and a screw rod sliding block sleeve II (11), the screw rod sliding block sleeve I (10) and the screw rod sliding block sleeve II (11) form T-shaped connection, and the screw rod sliding block sleeve I (10) and the screw rod sliding block sleeve II (11) are identical in structure;
the first screw rod sliding block sleeve (10) comprises a screw rod (101A), a fixing nut (13) is arranged on the screw rod (101A), a steel ball (102) is arranged in the fixed nut (13), a reverser (104) is arranged on the screw rod screw (101A), the reverser (104) is provided with a dust protector (105), the screw rod sliding block is sleeved with the first screw rod sliding block (10) and also comprises symmetrical baffles (16), the symmetrical slide block guide rails (17) are respectively fixedly connected with the corresponding baffle plates (16) through special nuts (103), the symmetrical slide block guide rails (17) are respectively embedded with a first slide block (18), the motion lifting mechanism (1) also comprises a stepping motor (12), the stepping motor (12) is connected with the screw rod (101A) through a first coupling (12A), the screw rod sliding block is sleeved with a first screw rod (10) and fixedly connected with the stepping motor (12);
the first screw rod sliding blocks (18) which are symmetrical in the first screw rod sliding block sleeve (10) are respectively and fixedly connected with a second screw rod sliding block sleeve (11), the screw rod (101A) is in threaded connection with the screw rod sliding block sleeve II (11), the motion lifting mechanism (1) further comprises a motor II (155B), the screw rod sliding block sleeve II (11) is fixedly connected with the motor II (155B), the motor II (155B) is connected with the shaft (19), the shaft (19) is connected with a first gear (20), the first gear (20) is connected with a transmission belt (21), the transmission belt (21) is connected with a screw rod (101A) in the screw rod sliding block sleeve II (11), the screw rod (101A) in the screw rod sliding block sleeve II (11) is connected with the clamping mechanism (2) in a threaded manner, the symmetrical first sliding blocks (18) in the second screw rod sliding block sleeve (11) are respectively and fixedly connected with the clamping mechanism (2);
the rotary platform mechanism (50) is provided with a positioning screw hole (501) and a positioning screw groove (502), the rotary platform mechanism (50) is tightly and fixedly connected with the motion lifting mechanism (1) through a cross positioning screw (51), an input shaft of a first motor (155A) is connected with a worm (52), the first motor (155A) is connected with the rotary platform mechanism (50), the worm (52) is meshed with a worm wheel (53), the worm wheel (53) is fixedly connected with a rotating shaft (54), the rotating shaft (54) is fixedly connected with a second gear (55), the second gear (55) is fixed on a bottom plate (56) through a special positioning hole (503), the bottom plate (56) is connected with the rotary platform mechanism (50) through a first conical roller bearing (57), and the rotary platform mechanism (50) is provided with an engine oil gate (58) and a dustproof shell (59);
the clamping mechanism (2) comprises a linear module support (201), a linear guide rail (202) and a linear bearing (203), the linear guide rail (202) is connected with the linear module support (201) through the linear bearing (203), the clamping mechanism (2) further comprises two clamping heads (70), the inner walls of the clamping heads (70) are wrapped by thickened rubber (71) for treatment, the tail parts of the clamping heads (70) are respectively provided with two fixed sliding blocks (72), the two sliding blocks (72) are connected with a guide rail (73), the linear guide rail (202) is provided with a nested guide rail (73), a screw hole (74) is formed in the guide rail (73) and is connected with a clamping equipment supporting platform (76) through an octagonal screw (75), one lower part of the clamping head (70) is connected with a spring (77) through a circular ring hook, and the spring (77) is connected with an electric push rod (78), the other clamping head (70) is connected with a push piece (79) with a groove, and the terminal end of a push rod push head (781) of the electric push rod (78) touches the push piece (79) with the groove.
2. The path planning-based multi-degree-of-freedom pepper branch automatic cutting device as claimed in claim 1, wherein: the grooved pusher (79) is connected by means of screws to a cutter system in the form of a saw blade type cutter (81) with a rotating chain, the top of the specific structure of the saw blade type cutter (81) is 775 high-speed motor (80), the grooved pushing piece (79) is connected with the 775 high-speed motor (80) through a screw, the 775 high-speed motor (80) is connected with the connecting shaft (811) through a coupling (87), the connecting shaft (811) penetrates through the gear piece (82) to be fixedly connected with and fastened with the circular pressing piece (812), the gear piece (82) is connected with a cutting chain (83), the cutting chain (83) is sleeved on a cutter guide plate (85) through a special sliding groove (84), the upper surface and the lower surface of the cutter guide plate (85) are respectively clamped by a pressing plate (813), and the coupling (87) is connected with the other clamping head (70) through a tapered roller bearing II (86).
3. The path planning-based multi-degree-of-freedom pepper branch automatic cutting device as claimed in claim 1, wherein: the view recognition processing decision-making system is distributed all over the machine, the view recognition binocular camera (150) is laterally suspended, supported through a camera support (151A) and transmitted back to an upper computer (153) through a signal transmission line (151B), the upper computer (153) is located on the rear side of a cantilever and firmly fixed through screws, the upper computer (153) controls a single chip microcomputer (154) through wiring, the single chip microcomputer (154) drives a first motor (155A) and a second motor (155B), and a panoramic camera (156) is fixed on the lower side of a clamping mechanism (2).
4. The path planning-based multi-degree-of-freedom pepper branch automatic cutting device as claimed in claim 3, wherein: the upper computer (153) is used for carrying out terminal decision by a power supply module and an artificial intelligence recognition development board, and mainly used for carrying out intelligent walking, pepper cutting part positioning and path planning, wherein the intelligent walking comprises distance detection and walking stations.
5. The path planning-based multi-degree-of-freedom pepper branch automatic cutting device as claimed in claim 4, wherein: the upper computer (153) is connected with a wireless remote controller (158) through a wireless module (157).
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