CN114931025A - Intelligent picking robot for small vegetables and fruits in greenhouse - Google Patents
Intelligent picking robot for small vegetables and fruits in greenhouse Download PDFInfo
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- CN114931025A CN114931025A CN202210620622.9A CN202210620622A CN114931025A CN 114931025 A CN114931025 A CN 114931025A CN 202210620622 A CN202210620622 A CN 202210620622A CN 114931025 A CN114931025 A CN 114931025A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 45
- 235000013311 vegetables Nutrition 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims description 24
- 210000000078 claw Anatomy 0.000 claims description 24
- 210000000245 forearm Anatomy 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000003306 harvesting Methods 0.000 description 4
- 235000012055 fruits and vegetables Nutrition 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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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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- 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
- A01D46/22—Baskets or bags attachable to the picker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and discloses a small intelligent vegetable and fruit picking robot in a greenhouse, which comprises: the device comprises a travelling mechanism, a gripping device, a collecting device and a control system; the gripping device, the collecting device and the control system are all arranged on the travelling mechanism; the gripping device can horizontally rotate on the travelling mechanism and can realize angle adjustment; the recognition component of the control system is arranged on the chassis of the travelling mechanism and the gripping device, and the control system controls the travelling mechanism, the gripping device and the collecting device to act cooperatively; the robot can identify environmental factors, accurately avoid obstacles in the advancing process, observe the accurate positions of vegetables and fruits through the camera and realize automatic navigation; the relative position of the robot and the mechanical arm is adjusted through the control system, so that the robot corresponds to the position of vegetables and fruits, the vegetables and fruits are picked accurately and collected and carried, the complex greenhouse environment can be adapted, and the automatic quick picking of the vegetables and fruits is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent picking robot for picking vegetables and fruits in a shed.
Background
In the production operation of the greenhouse, harvesting and picking are the most time-consuming and labor-consuming link in the whole production. The labor required to be invested during the fruit harvesting accounts for about 50% -70% of the whole planting process. The quality of the picking operation directly affects the storage, processing and sale of fruits, thereby finally affecting the market price and economic benefit. Fruit harvesting is very time-efficient, is typically labor-intensive, and is still very automated due to the environment of the picking operation and the complexity of the operation.
At present, domestic fruit picking operation is basically finished manually. With the aging of population and the reduction of agricultural labor in many countries, labor is not only high in cost but also is not easy to obtain, and the cost required for manually harvesting fruits accounts for 33% -50% of the whole production cost of the fruits.
Therefore, how to provide a picking robot capable of realizing automatic navigation and accurately picking fruits is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a small intelligent vegetable and fruit picking robot in a greenhouse, so as to solve at least one of the above technical problems in the prior art to some extent.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a small-size vegetables and fruits intelligence picking robot in canopy room, includes: the device comprises a travelling mechanism, a gripping device, a collecting device and a control system; the gripping device, the collecting device and the control system are all arranged on the travelling mechanism;
the gripping device comprises a mechanical arm main body, a horizontal adjusting mechanism and a mechanical claw, wherein the horizontal adjusting mechanism is fixed above the walking mechanism, the mechanical arm main body is connected to the horizontal adjusting mechanism, and the mechanical claw is in transmission connection with the end part of the mechanical arm main body;
the collecting device is arranged above the travelling mechanism and is positioned on one side of the mechanical arm main body;
and the recognition component of the control system is arranged on a chassis of the travelling mechanism and the mechanical arm main body, and the control system controls the cooperative action of the travelling mechanism, the mechanical arm main body, the horizontal adjusting mechanism, the mechanical claw and the collecting device.
Preferably, in the intelligent picking robot for small vegetables and fruits in the greenhouse, the walking mechanism comprises a chassis, a rotary joint support, a rotary joint, wheels, a connecting rod, a transmission rod, the steering engine and a traveling motor;
two rotary joint supports are symmetrically fixed on two sides of the front of the bottom of the chassis, the opposite sides of the two rotary joint supports are connected through a rotating shaft, a joint connecting end of each rotary joint support is rotatably connected with a rotary joint, adjusting ends of the two rotary joints are in transmission connection through a connecting rod, wheels are respectively fixed on wheel connecting ends, the steering engine is fixed on the bottom of the frame, and an output shaft of the steering engine is in transmission connection with the connecting rod through a transmission rod to control the front wheels to swing;
a pair of traveling motors is symmetrically fixed behind the bottom of the chassis, and an output shaft of each traveling motor is connected with a wheel to provide power for the chassis.
Preferably, in the intelligent picking robot for small vegetables and fruits in a greenhouse, the mechanical arm main body comprises a large arm assembly, a small arm assembly, a large arm steering engine and a small arm steering engine; the large arm assembly and the small arm assembly are hinge four-bar mechanisms, the fixed end of the large arm assembly is fixed to the adjusting portion of the horizontal adjusting mechanism through a mounting seat, a large arm steering engine is fixed to one side of the mounting seat and drives the large arm assembly to change angles, the small arm assembly is hinged to the large arm assembly and drives the small arm assembly to move, the mechanical claw is mounted at the adjusting end of the small arm assembly, and the small arm steering engine is fixed to one side of the mounting seat and can drive the small arm assembly and the large arm assembly to drive the mechanical claw to move synchronously.
Preferably, in the intelligent picking robot for small vegetables and fruits in a greenhouse, the horizontal adjusting mechanism comprises a holder and a holder steering engine, the holder steering engine is fixed on the chassis, the holder is fixed on an output shaft of the holder steering engine, and the mounting seat is fixed on the holder.
Preferably, in the intelligent picking robot for small vegetables and fruits in the greenhouse, the mechanical claw comprises a fixed base, a first claw, a second claw and a claw steering engine;
the fixing base is fixed the regulation end of forearm subassembly, the outside of fixing base is equipped with horizontal installation board, jack catch one with the link of jack catch two is in through the axis of rotation connection on the horizontal installation board, and the link passes through the teeth of a cogwheel meshing, the jack catch steering wheel is connected with one of them axis of rotation, the drive jack catch one with the action is snatched in the execution of jack catch two.
Preferably, in the intelligent picking robot for small vegetables and fruits in the greenhouse, the collecting device comprises a box body, a transmission connecting rod mechanism, a connecting rod steering engine, a bottom connecting rod and an electric push rod;
the box is open-top's collecting box, and one side is bottom articulated opening plate, the connecting rod steering wheel sets up the outer wall of box, its output shaft penetrates in the box, the one end of transmission link mechanism is fixed with the output shaft of connecting rod steering wheel, the other end with the opening plate is articulated, the one end of even sill bar with the bottom one end of box is articulated, and the other end is fixed on the chassis, electric putter articulate bottom half with on the chassis, with even the sill bar is relative, drive electric putter can drive the box slope is unloaded.
Preferably, in foretell small-size vegetables and fruits intelligence in canopy room picking robot, control system includes controller, battery, laser radar and camera, laser radar the battery with the controller is all fixed on the chassis, the camera is fixed on the fixing base, the controller respectively with laser radar the camera the motor of marcing turn to the steering wheel the main boom steering wheel, the forearm steering wheel the cloud platform steering wheel, the jack catch steering wheel, the connecting rod steering wheel with electric putter signal connection, the battery is the power supply of above mechanism.
Preferably, in the intelligent picking robot for small vegetables and fruits in the greenhouse, the large arm assembly is 0 degree in the vertical state, and the rotation range of the large arm assembly is-90 degrees; the small arm component is 0 degree in the horizontal state, and the rotation range is 0-60 degrees.
According to the technical scheme, compared with the prior art, the invention discloses a small intelligent vegetable and fruit picking robot in a greenhouse, which has the main advantages and effects that:
the robot can identify environmental factors, accurately avoid obstacles in the advancing process, observe the accurate positions of vegetables and fruits through the camera and realize automatic navigation;
the relative position of the robot and the mechanical arm is adjusted through the control system, so that the robot corresponds to the position of vegetables and fruits, the vegetables and fruits are picked accurately and collected and carried, the complex greenhouse environment can be adapted, and the automatic quick picking of the vegetables and fruits is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a base pan according to the present invention;
FIG. 3 is a schematic structural view of a steering portion of the traveling mechanism according to the present invention;
FIG. 4 is a schematic view of a rotating structural support according to the present invention;
FIG. 5 is a schematic view of the grasping apparatus according to the present invention;
FIG. 6 is a schematic view of the structure of the collecting device of the present invention.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, the invention provides a small intelligent picking robot for vegetables and fruits in a greenhouse, comprising: the device comprises a travelling mechanism 1, a gripping device 2, a collecting device 3 and a control system; the gripping device 2, the collecting device 3 and the control system are all arranged on the travelling mechanism 1;
the gripping device 2 comprises a mechanical arm main body 20, a horizontal adjusting mechanism 21 and a mechanical claw 22, wherein the horizontal adjusting mechanism 21 is fixed above the travelling mechanism 1, the mechanical arm main body 20 is connected to the horizontal adjusting mechanism 21, and the mechanical claw 22 is in transmission connection with the end part of the mechanical arm main body 20;
the collecting device 3 is arranged above the travelling mechanism 1 and is positioned at one side of the mechanical arm main body 20;
the recognition components of the control system are mounted on the chassis 10 of the traveling mechanism 1 and the robot main body 20, and the control system controls the cooperative operation of the traveling mechanism 1, the robot main body 20, the leveling mechanism 21, the gripper 22, and the collecting device 3.
Referring to fig. 2-4, the traveling mechanism 1 includes a chassis 10, a rotary joint bracket 11, a rotary joint 12, wheels 13, a connecting rod 14, a transmission rod 15, a steering gear 16 and a traveling motor 17;
the two rotary joint supports 11 are fixed in front of the bottom of the chassis 10 through a connecting part at the top, shaft holes are formed in the opposite sides of the rotary joint supports, the rotary joint supports are connected in a penetrating mode through a rotating shaft 18, a joint connecting end of each rotary joint support 11 is a U-shaped connecting part, the middle of each L-shaped rotary joint 12 is connected in a rotating mode through a pin shaft, adjusting ends of the two rotary joints 12 are connected through a connecting rod 14 in a transmission mode to form a parallelogram hinge four-bar mechanism, wheels 13 are fixed to the wheel connecting ends respectively, a steering engine 16 is fixed to the bottom of the frame, an output shaft of the steering engine is connected with the connecting rod 14 in a transmission mode through a transmission rod 15, and front wheels 13 are controlled to swing;
a pair of traveling motors 17 are symmetrically fixed at the rear part of the bottom of the chassis 10, and an output shaft of each traveling motor 17 is connected with a wheel 13 to provide power for the chassis 10.
Referring to fig. 5, the robot arm main body 20 includes a large arm assembly 200, a small arm assembly 201, a large arm steering engine 202, and a small arm steering engine 203; the large arm assembly 200 and the small arm assembly 201 are both hinge four-bar mechanisms, the mounting seat is a U-shaped frame, the bottom of the mounting seat is fixed on a horizontal adjusting mechanism, the large arm assembly 200 is of a parallelogram structure, the fixed end of the large arm assembly is rotatably connected to the inner side of the mounting seat through a rotating shaft, the adjusting end extends to form a supporting part, a large arm steering engine 202 is fixed on one side of the mounting seat 204, the output shaft of the large arm steering engine is connected with the rotating shaft and can change the angle of the large arm assembly, the small arm assembly 201 is a bent four-bar mechanism, a first connecting bar is hinged with the mounting seat and adjusted through a small arm steering engine, a second connecting bar is hinged on one bar wall of the large arm assembly, the fourth connecting bar is simultaneously hinged with a third connecting bar and the supporting part of the large arm assembly to drive the first connecting bar to rotate, the second connecting bar plays a role of a lever, the third connecting bar is pulled to enable the fourth connecting bar to rotate around the supporting part for angle adjustment, and the gripper 22 is installed at the end part of the fourth connecting bar, synchronized motion with the forearm assembly.
In order to further optimize the above technical solution, the horizontal adjustment mechanism 21 includes a pan-tilt 210 and a pan-tilt steering engine 211, the pan-tilt steering engine 211 is fixed on the chassis 10, the pan-tilt 210 is fixed on an output shaft of the pan-tilt steering engine 211, and the mounting base 204 is fixed on the pan-tilt 210.
In order to further optimize the technical scheme, the mechanical claw 22 comprises a fixed seat 220, a first claw 221, a second claw 222 and a claw steering engine 223;
the fixing seat 220 is a longitudinally arranged plate-shaped structure and is vertically fixed at the adjusting end of the small arm component 201, a horizontal mounting plate is arranged on the outer side of the fixing seat 220, the connecting end of the first jaw 221 and the second jaw 222 is connected to the horizontal mounting plate through a rotating shaft, the connecting end is meshed through gear teeth, the jaw steering engine 223 is connected with one rotating shaft, and the first jaw 221 and the second jaw 222 are driven to execute grabbing actions.
Referring to fig. 6, the collecting device 3 includes a box 30, a transmission link mechanism 31, a link steering gear 32, a bottom connecting rod 33 and an electric push rod 34;
In order to further optimize the technical scheme, the control system comprises a controller, a battery, a laser radar and a camera 4, the laser radar, the battery and the controller are all fixed on the chassis 10, the camera 4 is fixed on the fixing seat 220, the controller is in electric signal connection with the laser radar, the camera 4, the traveling motor 17, the steering engine 16, the large arm steering engine 202, the small arm steering engine 203, the holder steering engine 211, the jaw steering engine 223, the connecting rod steering engine 32 and the electric push rod 34 respectively, and the battery supplies power for the mechanisms.
In order to further optimize the technical scheme, the large arm assembly 200 is in a vertical state of 0 degree, and the rotation range is-90 degrees; the small arm assembly 201 is 0 ° in the horizontal state, and the rotation range thereof is 0 to 60 °.
In order to further optimize the technical scheme, the laser radar in the device uses the SLAM laser radar navigation technology. The laser radar is used for constructing the map of the greenhouse, so that the greenhouse can walk linearly between ridges and turn at fixed points, and the trolley can accurately pick vegetables and fruits in the ridge traveling process through the camera on the mechanical arm.
In order to further optimize the technical scheme, the controller adopts a jetson nano controller,
specifically, the use principle of the invention is as follows:
the jetson controller carries out all-around scanning ranging detection on the surrounding environment through a laser radar to obtain current greenhouse ridge channel information, when the robot is started, the laser radar scans the current environment, after the environment detection is finished, the jetson nano controller starts a traveling motor to drive a traveling mechanism to move forward, a mechanical arm body of the robot faces to one side of a plant, when the camera detects vegetables and fruits, the jetson nano controller controls the traveling motor to stop, a camera of the robot positions the fruits through a visual recognition algorithm, the chassis of the robot is adjusted to move forward and backward, so that the fruits and the vegetables can be picked up in the working range of the mechanical arm body, then the jetson nano controller controls a large arm steering engine to rotate to extend the large arm body forward, the camera continues to judge the central position of the fruits and the vegetables at the moment, the chassis is further adjusted to move forward and backward, when the fruits and the vegetables are positioned at the central point of an image transmitted by the camera, the jetson nano controller controls the small arm steering engine to drive the small arm to extend forwards, after the mechanical claw reaches a grabbing position, the jetson controller controls the mechanical claw steering engine to grab, after grabbing is completed, whether the work is completed or not is judged by the camera, if the grabbing of fruits and vegetables is completed, the robot rotates the horizontal adjusting mechanism, the fruits and vegetables are placed in a rear collecting device to be stored, then the robot continues to walk and carries out next picking work, if picking is not completed, the jetson nano controller finely adjusts the angle of the large arm steering engine and the small arm steering engine to adjust steering engine angle errors caused by multiple times of work, and then the picking work is carried out again.
When the robot is about to enter a turning position of map information transmitted by a laser radar, a jetson nano controller starts planning a turning path according to a preset program, then the jetson nano controller controls a steering engine to turn left or right, after picking work of the whole shed room is completed, a traveling motor of the robot stops rotating at a preset end position, a trolley stops walking, the jetson nano controls a connecting rod steering engine in a collecting device to rotate, an opening plate is opened through a transmission connecting rod mechanism, an electric push rod is started afterwards, one end of a box body is jacked up to form box body inclination, so that vegetables and fruits in the box body are poured out, after the fruit and vegetable pouring work is finished, the electric push rod returns to the original position, the opening plate is closed through rotation of the connecting rod steering engine, and the work is finished.
The jetsonnano controller can extend a remote controller, when the controller is controlled by the remote controller, the big arm and the small arm of the robot and the forward and backward turning can be controlled within a greenhouse range, the greenhouse environment is complex, and when the requirement on environment modeling is high, the remote controller can be used for remotely controlling
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a small-size vegetables and fruits intelligence picking robot in canopy room which characterized in that includes: the device comprises a travelling mechanism (1), a gripping device (2), a collecting device (3) and a control system; the gripping device (2), the collecting device (3) and the control system are all arranged on the travelling mechanism (1);
the grabbing device (2) comprises a mechanical arm main body (20), a horizontal adjusting mechanism (21) and a mechanical claw (22), the horizontal adjusting mechanism (21) is fixed above the travelling mechanism (1), the mechanical arm main body (20) is connected to the horizontal adjusting mechanism (21), and the mechanical claw (22) is in transmission connection with the end part of the mechanical arm main body (20);
the collecting device (3) is arranged above the travelling mechanism (1) and is positioned on one side of the mechanical arm main body (20);
and the identification part of the control system is arranged on a chassis (10) of the travelling mechanism (1) and the mechanical arm main body (20), and the control system controls the travelling mechanism (1), the mechanical arm main body (20), the horizontal adjusting mechanism (21), the mechanical claw (22) and the collecting device (3) to cooperatively act.
2. The greenhouse small-sized intelligent vegetable and fruit picking robot as claimed in claim 1, wherein the walking mechanism (1) comprises a chassis (10), a rotary joint support (11), a rotary joint (12), wheels (13), a connecting rod (14), a transmission rod (15), the steering engine (16) and a traveling motor (17);
the two sides in front of the bottom of the chassis (10) are symmetrically fixed with two rotary joint supports (11), the opposite sides of the two rotary joint supports (11) are connected through a rotating shaft (18), the joint connecting end of each rotary joint support (11) is rotatably connected with a rotary joint (12), the adjusting ends of the two rotary joints (12) are in transmission connection through a connecting rod (14), the wheel connecting ends are respectively fixed with wheels (13), the steering engine (16) is fixed at the bottom of the frame, the output shaft of the steering engine is in transmission connection with the connecting rod (14) through a transmission rod (15), and the front wheels (13) are controlled to swing;
a pair of traveling motors (17) is symmetrically fixed to the rear of the bottom of the chassis (10), and an output shaft of each traveling motor (17) is connected with a wheel (13) to provide power for the chassis (10).
3. The greenhouse small-sized intelligent vegetable and fruit picking robot as claimed in claim 2, wherein the mechanical arm main body (20) comprises a large arm assembly (200), a small arm assembly (201), a large arm steering engine (202) and a small arm steering engine (203); big arm component (200) with forearm subassembly (201) is hinge four-bar linkage, the stiff end of big arm component (200) is fixed through mount pad (204) in the regulation portion of horizontal adjustment mechanism (21), big arm steering wheel (202) are fixed one side of mount pad (204), the drive big arm component carry out the angle change, forearm subassembly (201) with big arm component (200) articulated transmission, gripper (22) are installed the regulation end of forearm subassembly (201), forearm steering wheel (203) are fixed one side of mount pad (204), can drive forearm subassembly (201) and big arm component (200) and drive gripper (22) and carry out the synchronization action.
4. The intelligent picking robot for small vegetables and fruits in a greenhouse as claimed in claim 3, wherein the horizontal adjusting mechanism (21) comprises a holder (210) and a holder steering engine (211), the holder steering engine (211) is fixed on the chassis (10), the holder (210) is fixed on an output shaft of the holder steering engine (211), and the mounting seat (204) is fixed on the holder (210).
5. The greenhouse small-sized intelligent vegetable and fruit picking robot as claimed in claim 4, wherein the mechanical claw (22) comprises a fixed base (220), a first claw (221), a second claw (222) and a claw steering engine (223);
fixing base (220) are fixed the regulation end of forearm subassembly (201), the outside of fixing base (220) is equipped with horizontal installation board, jack catch one (221) with the link of jack catch two (222) passes through the axis of rotation and connects on the horizontal installation board, and the link passes through the meshing of the teeth of a cogwheel, jack catch steering wheel (223) are connected with one of them axis of rotation, drive jack catch one (221) with the action is snatched in jack catch two (222) execution.
6. The intelligent picking robot for small vegetables and fruits in a greenhouse as claimed in claim 5, wherein the collecting device (3) comprises a box body (30), a transmission link mechanism (31), a link steering engine (32), a bottom connecting rod (33) and an electric push rod (34);
the box (30) are open-top collection boxes, one side of each box is an opening-closing plate (300) with the hinged bottom, a connecting rod steering engine (32) is arranged on the outer wall of the box (30), an output shaft of each connecting rod steering engine penetrates into the box (30), one end of a transmission connecting rod mechanism (31) is fixed to an output shaft of the corresponding connecting rod steering engine (32), the other end of the transmission connecting rod mechanism is hinged to the opening-closing plate (300), one end of a connecting bottom rod (33) is hinged to one end of the bottom of the box (30), the other end of the connecting bottom rod is fixed to the chassis (10), an electric push rod (34) is hinged to the bottom of the box (30) and the chassis (10), the connecting bottom rod (33) is opposite to the bottom rod, and the electric push rod (34) is driven to obliquely unload the box (30).
7. The intelligent picking robot for small vegetables and fruits in greenhouse as claimed in claim 6, wherein the control system comprises a controller, a battery, a laser radar and a camera (4), the laser radar, the battery and the controller are all fixed on the chassis (10), the camera (4) is fixed on the fixing base (220), the controller is in electrical signal connection with the laser radar, the camera (4), the traveling motor (17), the steering engine (16), the large arm steering engine (202), the small arm steering engine (203), the pan-tilt steering engine (211), the jaw steering engine (223), the connecting rod steering engine (32) and the electric push rod (34), and the battery supplies power for the above mechanisms.
8. The greenhouse small-sized intelligent vegetable and fruit picking robot as claimed in claim 7, wherein the large arm assembly (200) is 0 ° in a vertical state, and the rotation range is-90 °; the small arm component (201) is 0 degree in the horizontal state, and the rotation range is 0-60 degrees.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210620622.9A CN114931025A (en) | 2022-06-01 | 2022-06-01 | Intelligent picking robot for small vegetables and fruits in greenhouse |
| PCT/CN2022/136897 WO2023231354A1 (en) | 2022-06-01 | 2022-12-06 | Intelligent picking robot for standardized orchards in mountain regions |
| LU503316A LU503316B1 (en) | 2022-06-01 | 2022-12-06 | Intelligent picking robot for mountain standardized orchards |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210620622.9A CN114931025A (en) | 2022-06-01 | 2022-06-01 | Intelligent picking robot for small vegetables and fruits in greenhouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114931025A true CN114931025A (en) | 2022-08-23 |
Family
ID=82866440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210620622.9A Withdrawn CN114931025A (en) | 2022-06-01 | 2022-06-01 | Intelligent picking robot for small vegetables and fruits in greenhouse |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN114931025A (en) |
| LU (1) | LU503316B1 (en) |
| WO (1) | WO2023231354A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116584310A (en) * | 2023-06-07 | 2023-08-15 | 农业农村部南京农业机械化研究所 | Black fungus picking device |
| WO2023231354A1 (en) * | 2022-06-01 | 2023-12-07 | 重庆文理学院 | Intelligent picking robot for standardized orchards in mountain regions |
| EP4378292A1 (en) * | 2022-11-29 | 2024-06-05 | Continental Autonomous Mobility Germany GmbH | Automated control system and method for operating a multi-functional equipment, and multi-functional equipment thereof |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117256314B (en) * | 2023-11-20 | 2024-04-12 | 山东寿光蔬菜种业集团有限公司 | Automatic fruit collecting device and method for stringed tomatoes |
| CN118542150B (en) * | 2024-07-30 | 2024-10-11 | 寿光恒蔬无疆农业发展集团有限公司 | Eggplant fruit and vegetable robot with picking, walking and automatic loading and unloading functions |
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| CN209435828U (en) * | 2018-10-29 | 2019-09-27 | 杭州市乔司职业高级中学 | Self-service pineapple picks collecting cart |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| US20210045290A1 (en) * | 2018-03-28 | 2021-02-18 | Honda Motor Co., Ltd. | Fruit and vegetable harvesting device |
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| JP7214612B2 (en) * | 2019-12-02 | 2023-01-30 | 株式会社クボタ | agricultural robot |
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| CN114931025A (en) * | 2022-06-01 | 2022-08-23 | 重庆文理学院 | Intelligent picking robot for small vegetables and fruits in greenhouse |
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2022
- 2022-06-01 CN CN202210620622.9A patent/CN114931025A/en not_active Withdrawn
- 2022-12-06 LU LU503316A patent/LU503316B1/en active IP Right Grant
- 2022-12-06 WO PCT/CN2022/136897 patent/WO2023231354A1/en unknown
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| US20210045290A1 (en) * | 2018-03-28 | 2021-02-18 | Honda Motor Co., Ltd. | Fruit and vegetable harvesting device |
| CN209435828U (en) * | 2018-10-29 | 2019-09-27 | 杭州市乔司职业高级中学 | Self-service pineapple picks collecting cart |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN114303643A (en) * | 2021-06-07 | 2022-04-12 | 淮阴工学院 | Automatic grabbing system based on machine vision recognition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023231354A1 (en) * | 2022-06-01 | 2023-12-07 | 重庆文理学院 | Intelligent picking robot for standardized orchards in mountain regions |
| EP4378292A1 (en) * | 2022-11-29 | 2024-06-05 | Continental Autonomous Mobility Germany GmbH | Automated control system and method for operating a multi-functional equipment, and multi-functional equipment thereof |
| EP4378293A1 (en) * | 2022-11-29 | 2024-06-05 | Continental Autonomous Mobility Germany GmbH | Automated control system and method for operating a multi-functional equipment, and multi-functional equipment thereof |
| CN116584310A (en) * | 2023-06-07 | 2023-08-15 | 农业农村部南京农业机械化研究所 | Black fungus picking device |
| CN116584310B (en) * | 2023-06-07 | 2024-01-19 | 农业农村部南京农业机械化研究所 | Black fungus picking device |
Also Published As
| Publication number | Publication date |
|---|---|
| LU503316B1 (en) | 2023-12-12 |
| WO2023231354A1 (en) | 2023-12-07 |
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