CN113547528A

CN113547528A - A fruit picking robot

Info

Publication number: CN113547528A
Application number: CN202110734884.3A
Authority: CN
Inventors: 张仁朝; 郑瑩; 张相田; 郭翰星; 揭俊; 朱颖琳
Original assignee: Guangzhou Railway Polytechnic
Current assignee: Guangzhou Railway Polytechnic
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2021-10-26

Abstract

The invention discloses a fruit picking robot, comprising an electric vehicle body, a camera, a controller, a mechanical arm and a mechanical claw. On the car body, the mechanical claw is installed on the driving end of the mechanical arm, the electric car body, the camera, the mechanical arm and the mechanical claw are all electrically connected to the controller, and the mechanical arm is used to drive the mechanical claw to pick fruit , and place the harvested fruit in the truck body, the camera is used to identify the orientation of the fruit and the maturity of the fruit, so the camera can be used to image and identify the surrounding of the electric vehicle body and identify the surrounding fruits and fruits. The maturity of the fruit, after the maturity of the fruit meets the requirements, the controller will control the electric car body, the mechanical arm and the mechanical claw to coordinate and cooperate to pick the fruit. It has a high degree of automation, saves time and effort, and has high safety and high efficiency.

Description

Fruit picking robot

Technical Field

The invention belongs to the field of robots, and particularly relates to a fruit picking robot.

Background

At present, the agriculture is not completely intelligentized, and most growers adopt a manual hiring mode to pick fruits and screen the fruits generally. The labor cost of the current society is higher, the ripeness degree of picked fruits is different when picking, the picking efficiency is not high, and people can not work for a long time.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a fruit picking robot which has high intelligent degree and can pick fruits by itself.

In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a fruit picking robot, includes electronic automobile body, camera, controller, arm and gripper, the car hopper has on the electronic automobile body, camera, arm and controller are all installed on the electronic automobile body, the gripper is installed the drive end of arm, electronic automobile body, camera, arm and gripper all with the controller electricity is connected, the arm is used for driving the gripper is plucked the fruit to place the fruit of plucking in the car hopper, the camera is used for discerning the position of formation discernment fruit and the maturity of fruit.

The beneficial effects of the above technical scheme are that: so usable camera carries out the maturity that images discernment and discernment peripheral fruit and fruit around the electric motor car body, after the maturity of fruit reaches the requirement, can be by controller control electric automobile body, arm and gripper coordination in order to pluck fruit, put the fruit after will plucking simultaneously in the car hopper, its degree of automation is high, labour saving and time saving, and the security is high, and is efficient simultaneously.

In the technical scheme, the electric vehicle body is a four-wheel omnidirectional mobile platform or a crawler-type mobile platform.

The beneficial effects of the above technical scheme are that: the fruit tree crossing device is simple in structure, flexible to move, good in obstacle crossing capability and suitable for crossing in fruit trees and forests.

According to the technical scheme, the mechanical claws and the mechanical arms are arranged in a plurality and correspond to one another one by one, the mechanical arms are arranged on the electric vehicle body at intervals, each mechanical claw is arranged at the driving end of the corresponding mechanical arm, and the mechanical arms and the mechanical claws are electrically connected with the controller.

The beneficial effects of the above technical scheme are that: so can pick simultaneously by a plurality of gripper and arm to improve picking efficiency.

In the technical scheme, the inside of the car hopper is provided with the partition plates so as to divide the inside groove of the car hopper into a plurality of compartments which are distributed at intervals and have open upper ends, and fruits are contained in the compartments.

The beneficial effects of the above technical scheme are that: the structure is simple, so that the picked fruit can be put into the compartment.

The remote controller is characterized by further comprising a communication module, the communication module is mounted on the electric vehicle body and electrically connected with the controller, and the communication module is in communication connection with the remote controller.

The beneficial effects of the above technical scheme are that: thus, remote control operation can be carried out through the remote controller.

In the technical scheme, a weighing element is arranged at the inner bottom of each compartment and is electrically connected with the controller.

The beneficial effects of the above technical scheme are that: therefore, the weight of the fruit contained in each compartment can be known in time through the remote controller.

The electric vehicle further comprises an alarm arranged on the electric vehicle body, and the alarm is electrically connected with the controller.

The beneficial effects of the above technical scheme are that: thus, the alarm will give an alarm when the fruit in any one compartment is full to reach the set weight.

In the technical scheme, the alarm is provided with a plurality of alarms, and the alarms are in one-to-one correspondence with the compartments, and are in a plurality of correspondence with the controller.

The beneficial effects of the above technical scheme are that: therefore, the alarm can be sent out through the corresponding alarm after the water in any one compartment reaches the set weight.

In the technical scheme, the middle part of the bottom of each compartment is provided with a fruit discharge hole which vertically penetrates through the electric vehicle body, and a valve plate which can be opened or closed is arranged at the fruit discharge hole.

The beneficial effects of the above technical scheme are that: this allows the fruit to be discharged one by one directly from the bottom of the compartment.

Still include the driving piece among the above-mentioned technical scheme, the valve plate slidable mounting be in the bottom of electric automobile body, the driving piece is installed the bottom of electric automobile body, and its drive end with the valve plate transmission is connected, the driving piece is used for driving the valve plate slides to with let out the fruit hole and open or close.

The beneficial effects of the above technical scheme are that: the device has simple structure and high automation degree.

Drawings

FIG. 1 is a schematic structural diagram of a fruit picking robot according to an embodiment of the present invention;

FIG. 2 is an electrical connection diagram of an electricity utilization module of the fruit picking robot according to the embodiment of the invention;

FIG. 3 is a view of the compartment, valve plate and drive member in an embodiment of the invention.

In the figure: 1 electric vehicle body, 11 car hopper, 12 partition boards, 13 compartments, 131 fruit discharge holes, 132 valve plates, 133 driving parts, 14 weighing elements, 2 cameras, 3 controllers, 4 mechanical arms, 5 mechanical claws, 6 communication modules, 7 remote controllers and 8 alarms.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

Example 1

As shown in fig. 1, the embodiment provides a fruit picking robot, which includes an electric vehicle body 1, a camera 2, a controller 3, a mechanical arm 4 and a mechanical claw 5, wherein the electric vehicle body 1 is provided with a hopper 11, the camera 2, the mechanical arm 4 and the controller 3 are all mounted on the electric vehicle body 1, the mechanical claw 5 is mounted at a driving end of the mechanical arm 4, the electric vehicle body 1, the camera 2, the mechanical arm 4 and the mechanical claw 5 are all electrically connected to the controller 3, the mechanical arm 4 is used for driving the mechanical claw 5 to pick up fruits and place the picked fruits in the hopper 11, the camera 2 is used for identifying the orientation of the fruits and the ripeness of the fruits, so that the camera can be used for performing imaging identification around the electric vehicle body and identifying the ripeness of the fruits and the ripeness of the fruits at the periphery, after the ripeness of the fruits meets the requirement, can be by controller control electric automobile body, arm and gripper coordination in order to plucking fruit, put the fruit after will plucking simultaneously in the car hopper, its degree of automation is high, labour saving and time saving, and the security is high, and is efficient simultaneously.

In the above technical scheme, the electric vehicle body 1 is a four-wheel omnidirectional moving platform or a crawler-type moving platform (which belong to the prior art and are not described herein), has a simple structure, is flexible to move, has good obstacle crossing capability, and is suitable for crossing in fruit trees and forests, wherein the controller is preferably a PLC controller and is electrically connected with a vehicle-mounted power supply of the electric vehicle body, and each electric mechanism in the embodiment can be powered by the vehicle-mounted power supply of the electric vehicle body.

According to the technical scheme, the mechanical claws 5 and the mechanical arms 4 are provided with a plurality of parts, the mechanical claws 5 correspond to the mechanical arms 4 one by one, the mechanical arms 4 are arranged on the electric vehicle body 1 at intervals, each mechanical claw 5 is arranged at the driving end of the corresponding mechanical arm 4, the mechanical arms 4 and the mechanical claws 5 are electrically connected with the controller 3, and therefore the mechanical claws and the mechanical arms can be picked simultaneously, and the picking efficiency is improved.

In the above technical solution, the mechanical arm 4 is a multi-degree-of-freedom mechanical arm, which has high flexibility and a wide moving range, wherein the mechanical arm may be similar to the mechanical arm disclosed in CN 207139805U.

In the above technical solution, the gripper 5 is a three-jaw gripper, which has a simple structure and can grip fruits and prevent the fruits from falling off, wherein the gripper can be a gripper disclosed in CN 202292762U.

In the above technical scheme, a partition plate 12 is arranged in the car hopper 11 to divide an inner groove of the car hopper 11 into a plurality of compartments 13 which are distributed horizontally at intervals and have open upper ends, and the compartments 13 are used for containing fruits. Preferably, the fruit box can be directly placed in the compartment, the mechanical arm 4 drives the mechanical claw 5 to pick fruits and place the picked fruits in the fruit box, the fruit box is simple in structure, so that the fruits can be picked and boxed, the work efficiency is further improved, and meanwhile, the fruits can be conveniently transported in the later period.

Further preferably, the number of the compartments is consistent with the number of the mechanical arms and corresponds to the mechanical arms one by one, and picked fruits are placed into the corresponding compartments by each mechanical arm and the mechanical claws arranged on the mechanical arm.

Example 2

As shown in fig. 2, the difference from embodiment 1 is that the above technical solution further includes a communication module 6, where the communication module 6 is installed on the electric vehicle body 1 and electrically connected to the controller 3, and the communication module 6 is used for being in communication connection with a remote controller 7, so that remote control operation can be performed through the remote controller, where the communication module may be a remote control signal receiver.

Every among the above-mentioned technical scheme the interior bottom of compartment 13 is equipped with weighing element 14, weighing element 14 with controller 3 electricity is connected, so can in time know the weight of containing fruit in every compartment through the remote controller, weighing element can include weighing sensor and layer board, layer board horizontal installation bottom in the compartment, just weighing sensor installs between compartment bottom and the layer board, the fruit of picking is piled up on the layer board to weigh fruit by the weighing sensor inductor, weighing sensor with controller 3 electricity is connected.

Still including installing in among the above-mentioned technical scheme alarm 8 on the electric automobile body 1, alarm 8 with controller 3 electricity is connected, and like this the alarm can send out the police dispatch newspaper after arbitrary one fruit case is filled with to reaching the settlement weight.

In the technical scheme, the alarm 8 is provided with a plurality of alarms, and is a plurality of the alarm 8 is in one-to-one correspondence with the compartments 13, and is a plurality of the alarm 8 is all in one connection with the controller 3, so that the alarm can be given out through the corresponding alarm after the fruit reaches the set weight in any one of the compartments, and the audible and visual alarm is preferred by the alarm.

In this embodiment, after the fruit in each compartment is loaded to a certain weight, the operation of the corresponding mechanical arm and mechanical claw is stopped.

Example 3

The difference from embodiment 1 is that, as shown in fig. 3, a fruit discharge hole 131 penetrating the electric vehicle body up and down is provided in the middle of the bottom of each of the compartments 13, and a valve plate 132 capable of opening or closing the fruit discharge hole 131 is provided at the bottom of the compartment, so that the fruits can be discharged one by one directly from the bottom of the compartment. Preferably, the interior bottom of compartment is sunken downwards, just it sets up to let out the fruit hole the lowest of compartment bottom level is so be convenient for fruit let out one by one through letting out the fruit hole.

Still include driving piece 133 among the above-mentioned technical scheme, valve plate 132 slidable mounting is in the bottom of electric automobile body 1, driving piece 133 is installed the bottom of electric automobile body 1, and its drive end with valve plate 132 transmission is connected, driving piece 133 is used for the drive valve plate 132 slide to with it opens or closes to let out fruit hole 131, its simple structure, and degree of automation is high, wherein, the preferred flexible electric jar that is of driving piece, the lower extreme of basin to electric automobile body is put into to the clearance between accessible electric automobile body chassis and the ground when sluicing the fruit to with let out the fruit hole and align, then open the valve plate and can let out the fruit to the basin in, at this moment the driving piece can be connected with the controller electricity.

The camera in each of the above embodiments is a CCD camera, and the technology for analyzing the ripeness by shooting the color of the fruit based on the CCD camera belongs to the prior art, such as the content disclosed in paragraph [0027] of the specification in patent document No. CN211275549U, while the related technology for identifying the orientation of the fruit by imaging is disclosed in patent document No. CN108271531B, and therefore is not described herein again.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A fruit picking robot, characterized in that it comprises an electric vehicle body (1), a camera head (2), a controller (3), a mechanical arm (4) and a mechanical claw (5), and the electric vehicle body (1) There is a car body (11) on the upper body, the camera (2), the mechanical arm (4) and the controller (3) are all installed on the electric car body (1), and the mechanical claw (5) is installed on the The driving end of the mechanical arm (4), the electric vehicle body (1), the camera (2), the mechanical arm (4) and the mechanical claw (5) are all electrically connected to the controller (3), the mechanical arm (4) used to drive the mechanical claw (5) to pick fruit, and place the picked fruit in the truck body (11), and the camera (2) is used to identify the orientation of the fruit and the position of the fruit. maturity.

2 . The fruit picking robot according to claim 1 , wherein the electric vehicle body ( 1 ) is a four-wheel omnidirectional mobile platform or a crawler-type mobile platform. 3 .

3. The fruit picking robot according to claim 1, wherein a plurality of the mechanical claws (5) and the mechanical arms (4) are provided, and the mechanical claws (5) and a plurality of the mechanical arms are provided (4) One-to-one correspondence, a plurality of the mechanical arms (4) are installed on the electric vehicle body (1) at intervals, and each of the mechanical grippers (5) is respectively installed on the corresponding mechanical arm (4) At the driving end of the device, a plurality of the mechanical arms (4) and a plurality of the mechanical claws (5) are electrically connected to the controller (3).

4. The fruit picking robot according to any one of claims 1-3, characterized in that, a partition plate (12) is provided in the body (11) to divide the inner groove of the body (11) into multiple There are compartments (13) distributed at horizontal intervals and open at the upper end, and the compartments (13) are used for storing fruits.

5. The fruit picking robot according to claim 4, characterized in that, further comprising a communication module (6), the communication module (6) being mounted on the electric vehicle body (1), and communicating with the controller ( 3) Electrical connection, the communication module (6) is used for communication connection with the remote controller (7).

6. The fruit picking robot according to claim 5, characterized in that, a weighing element (14) is provided at the inner bottom of each of the compartments (13), and the weighing element (14) is connected to the controller. (3) Electrical connection.

7. The fruit picking robot according to claim 6, characterized in that it further comprises an alarm device (8) installed on the electric vehicle body (1), the alarm device (8) and the controller (3) ) electrical connection.

8 . The fruit picking robot according to claim 7 , wherein a plurality of the alarm devices ( 8 ) are provided, and a plurality of the alarm devices ( 8 ) are connected with a plurality of the compartments ( 13 ) one by one. 9 . Correspondingly, a plurality of the alarm devices (8) are all electrically connected to the controller (3).

9 . The fruit picking robot according to claim 4 , wherein a fruit drain hole ( 131 ) that penetrates the electric vehicle body up and down is provided in the middle of the bottom of each of the compartments ( 13 ), and in the drain hole ( 131 ) The fruit hole (131) is provided with a valve plate (132) which can be opened or closed.

10 . The fruit picking robot according to claim 9 , further comprising a driving member ( 133 ), the valve plate ( 132 ) is slidably mounted on the bottom of the electric vehicle body ( 1 ), and the driving member ( 10 . 133) is installed on the bottom of the electric vehicle body (1), and the driving end thereof is drivingly connected with the valve plate (132), and the driving member (133) is used to drive the valve plate (132) to slide to The fruit drain hole (131) is opened or closed.