CN115316114A - A hydroponic leafy vegetable harvesting robot based on binocular 3D vision positioning - Google Patents

Abstract

The present invention relates to an agricultural robot. The purpose is to provide a hydroponic leafy vegetable harvesting robot based on binocular three-dimensional vision positioning; the robot should be able to accurately locate the hydroponic leafy vegetables in the greenhouse and realize the automatic harvesting operation, so as to improve the hydroponic leafy vegetables. The harvesting process is efficient, and can reduce the leaf damage rate of hydroponic leafy vegetables. It also has the characteristics of large single harvesting capacity, collection and arrangement, which is conducive to the large-scale harvesting of leafy vegetables and subsequent packing. The technical solution is a hydroponic leafy vegetable harvesting robot based on binocular three-dimensional vision positioning, comprising a rack equipped with a walking component and a collection frame and a controller; it is characterized in that: the hydroponic leafy vegetable harvesting robot further comprises a The lifting mechanism of the harvesting platform, which is positioned on the frame and drives the harvesting platform in a forward-backward motion, and the leafy vegetable inclining mechanism, the leafy vegetable harvesting mechanism and the leafy vegetable separation mechanism installed on the harvesting platform.

Description

A hydroponic leaf vegetable harvesting robot based on binocular 3D vision positioning

technical field

The invention relates to an agricultural robot, in particular to a hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning.

Background technique

my country is the country with the largest vegetable production in the world. The annual vegetable production accounts for about 60% of the world's total annual production, and the annual output of leafy vegetables accounts for about 1/3 of the total annual vegetable production. The per capita arable land area in my country is small, so the planting mode of hydroponic leafy vegetables grown in greenhouses without relying on soil has been rapidly developed; And the recovery efficiency is low. As a result, automatic harvesting machinery for hydroponic leaf vegetables came into being. Yet the existing hydroponic leaf vegetables automatic harvesting machinery is still immature, there are some deficiencies more or less.

For example, the shortcomings of the rotary-driven hydroponic leaf vegetable automatic harvesting vehicle described in the application number 202110752529.9 are: 1. The excessive cutting angle of harvesting causes great damage to the outer leaves of the leaf vegetable. 2. The chain structure cannot bear the heavy harvesting claw parts, causing the transportation to shake, and the leafy vegetables are easy to roll down during transportation. 3. The collection method of leafy vegetables falling from a high place greatly damages the leaves of leafy vegetables. 4. The positioning method relying on photoelectric sensors and reflectors is complicated to operate, and the installation of reflectors requires certain training skills, and repositioning is required after replacing the cultivation board.

The shortcomings of the straight-line-driven hydroponic leaf vegetable automatic harvesting vehicle described in the application number 202110498624.0 are: 1. The capacity of the vegetable basket is small, and the transportation is frequent. 2. Leafy vegetables are easy to fall during horizontal transportation, causing leaf damage. 3. The edges of harvesting fingers are relatively sharp, and scratches are easy to be left on the surface of leafy vegetables. 4. The vegetable pushing board driven by the harvesting cylinder has a greater impact on the leaves of the leafy vegetables, and the effect is quite different for different heights of the leafy vegetables, and most of them fall sideways, causing great damage to the leafy vegetables.

Therefore, it is extremely necessary to develop a new generation of hydroponic leaf vegetable harvesting robots with high-speed, low-loss harvesting and convenient positioning.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology, and provide a hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning; Harvesting operations to improve the efficiency of the harvesting process of hydroponic leafy vegetables and reduce the damage rate of hydroponic leafy vegetables. It also has a large single harvesting capacity, collection and arrangement, and is conducive to large-scale harvesting of leafy vegetables and subsequent packing features.

The technical solution provided by the present invention is: a hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning, including a frame and a controller equipped with a walking assembly and a collection frame; The harvesting robot also includes a harvesting platform lifting mechanism that can be positioned on the frame to move back and forth and drives the harvesting platform, and a leaf vegetable anti-tilt mechanism, a leaf vegetable harvesting mechanism, and a leaf vegetable separation mechanism installed on the harvesting platform;

The leaf vegetable anti-tilt mechanism includes several pairs of anti-tilt baffles arranged in two rows and arranged in pairs front and back, and several pairs of movable anti-tilt baffles arranged in two rows and arranged in pairs front and back; to ensure that each pair of anti-tilt baffles The hydroponic leaf vegetables to be harvested in the middle of the tilting baffles will not fall; the movable anti-tilting baffles are also arranged in a staggered way with the anti-tilting baffles, and can move back and forth, so that all the anti-tilting baffles can be moved forward and backward during operation. The hydroponic leafy vegetables to be harvested are horizontally in the same straight line;

The leafy vegetable separation mechanism includes a separation push beam that can move back and forth on the harvesting platform, a leaf vegetable harvesting mechanism fixed on the separation push beam, and a cylinder that can apply force to the separation push beam in the front and back directions;

The leaf vegetable harvesting mechanism includes a light bionic cylindrical finger beam that is arranged horizontally and can be vertically and movably positioned on a separate moving beam, a three-axis cylinder that vertically drives the light bionic cylindrical finger beam, and arranged horizontally and regularly on the Several pairs of light bionic cylindrical fingers on the beam of light bionic cylindrical fingers.

The running assembly includes a running part storage box arranged at the bottom of the gantry-like support frame, and a servo drive wheel and a V-shaped wheel located at the bottom of the running part storage box and capable of walking along the track.

The collection frame is arranged on the rear side of the frame, and the space in the frame is separated by a cross partition.

The lifting mechanism of the harvesting platform includes two door-shaped frames connected to the two ends of the harvesting platform drive connection crossbeam 0107, the first pneumatic slide table connected to each door-shaped frame through the first linear guide rail, and the first pneumatic slide table connected to the first pneumatic slide. platform harvesting platform beam.

The lifting mechanism of the harvesting platform is connected to the linear module fixed on the top of the gantry-like support frame through the harvesting platform to drive the connecting beam 0107, so as to realize the forward and backward movement on the frame.

The support profiles of the harvesting platform are arranged on the left and right sides of the gantry-like support frame, and two second linear guide rails are respectively arranged on each support profile of the harvest platform along the front and rear directions. The bottoms of the two uprights of the frame are connected.

The several pairs of anti-tilt baffles include several first anti-tilt baffles arranged transversely and spaced apart on the beam of the platform main body and several second anti-tilt baffles arranged laterally and spaced apart on the beam of the anti-tilt baffle. Tilt baffle; the second anti-tilt baffle is also spaced from the first anti-tilt baffle and arranged in pairs one by one, and the gap between the second anti-tilt baffle and the first anti-tilt baffle is directly opposite A cultivation hole on the cultivation board also corresponds to the space between two pairs of light bionic cylindrical short fingers.

The several pairs of movable anti-tilt baffles are horizontally arranged in two rows and are arranged on the square-shaped frame at intervals. Below the gap between the movable anti-tilt baffles is facing a cultivation hole of the cultivation board, and also corresponds to the space between two paired light bionic cylindrical long fingers; The pneumatic slide table is connected, and the slide bar of the second air slide table is installed on the harvesting platform beam.

The separating moving beam is connected with the slider of the third linear guide rail, and the third linear guide rail is horizontally arranged on both sides of the harvesting platform according to the front and rear directions.

Beneficial effects of the present invention:

The hydroponic leafy vegetable harvesting robot provided by the present invention can accurately locate the cultivation hole through an industrial camera, cooperate with the feedback of the servo system of the walking part, and accurately harvest and position the leafy vegetable from multiple directions and angles; the leafy vegetable harvesting mechanism The large-tolerance light bionic cylindrical finger used has a smaller contact area with the leafy vegetables, has the ability to adjust the tolerance, is easier to pull off, and causes less damage to the leafy vegetables. The anti-tilt baffle structure used in the leaf vegetable anti-tilt mechanism relies on the gravity of the leaf vegetable itself to limit the posture of the leaf vegetable, effectively preventing the leaf vegetable from falling during the translation process; and the mechanism itself does not clamp the leaf vegetable in any way. Compared with the clamping mechanism for leafy vegetables, it is not only simple in structure, but also hardly causes any damage to the leaves of leafy vegetables; , it is not necessary to directly apply the clamping mechanism to the leafy vegetables on the cultivation board, further reducing the damage; at the same time, this mechanism can also organize the leafy vegetables to the same plane, which is convenient for the precise and low-loss harvesting of "one vegetable, one grid" in the collection frame. The collection box adopts the capacity design of "one vegetable, one grid", which is designed for high-economical hydroponic leaf vegetables with high water content and fragile leaves that affect the appearance; conventional hydroponic leaf vegetables can use a unified collection box, which is more efficient. The collection system is flexible for different varieties of aquatic leafy vegetables. The robot is fully automated and highly modernized, focusing on the low-loss harvesting of hydroponic leafy vegetables.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention.

Fig. 2 is a schematic diagram of the front view structure of the present invention.

Fig. 3 is a three-dimensional structural schematic diagram of the rack in the present invention.

Fig. 4 is a front structural schematic view of the rack in the present invention.

Fig. 5 is one of the three-dimensional structural schematic diagrams (position 1) of the harvesting platform in the present invention.

Fig. 6 is the second (position 1) perspective view of the three-dimensional structure of the harvesting platform in the present invention.

Fig. 7 is a left view structural schematic diagram (position 1) of the harvesting platform in the present invention.

Fig. 8 is a schematic diagram of the three-dimensional structure of the crossbeam of the harvesting platform in the present invention.

Fig. 9 is a three-dimensional structural schematic diagram of the leaf vegetable anti-tilting mechanism of the present invention.

Fig. 10 is the third (position 2) schematic diagram of the three-dimensional structure of the harvesting platform in the present invention.

Fig. 11 is the second (position two) left view structural schematic diagram of the harvesting platform in the present invention.

Fig. 12 is the fourth (position three) schematic diagram of the three-dimensional structure of the harvesting platform in the present invention.

Fig. 13 is a schematic diagram of a cultivation board and a walking track in the present invention.

Reference signs:

01—Frame, 0101—Accommodating box for running parts, 0102—Servo drive wheel, 0103—V-shaped wheel, 0104—Like gantry support frame, 0105—Collection frame, 0106—Linear module, 0107—Drive connection of harvesting platform Beam, 0108—depth camera, 0109—support profile of harvesting platform, 02—lifting mechanism of harvesting platform, 0201—door frame, 0202—the first linear guide rail, 0203—the first pneumatic sliding table connector, 0204— The first pneumatic slide table, 0205—the first slider connector, 0206—the second slider connector, 0207—the second linear guide rail, 03—the leaf vegetable anti-tilt mechanism, 0301—the harvesting platform beam, 0302—the first Anti-tilt baffle, 0303—anti-tilt baffle mounting beam, 0304—second anti-tilt baffle, 0305—square frame, 0306—second sliding table fixing bracket, 0307—second pneumatic sliding table, 0308—first Two pneumatic sliding table connectors, 0309—movable anti-tilt baffle, 0310—second mouth frame connector, 0311—industrial camera, 04—leaf vegetable separation mechanism, 0401—cylinder mounting column, 0402—cylinder mounting bracket Plate, 0403—Cylinder, 0404—Third linear guide rail, 0405—Third slider connector C, 0406—Separation push beam, 0407—Cylinder end connector, 05—Leaf vegetable harvesting mechanism, 0501—Light bionic cylindrical finger Beam, 0502—first three-axis cylinder connector, 0503—second three-axis cylinder connector, 0504—three-axis cylinder, 0505—guiding column, 0506—guiding round shaft connecting piece, 0507—guiding round shaft, 0508—straight line Bearing, 0509—light bionic cylindrical finger mounting plate, 0510—locking ring, 0511—light bionic cylindrical long finger, 0512—light bionic cylindrical short finger.

The present invention will be further described below in conjunction with the accompanying drawings.

For the convenience of description, this article adopts the X, Y, and Z coordinate system, as shown in Figure 1; the front and back are the Y direction, the left and right are the X direction, and the vertical is the Z direction.

The hydroponic leafy vegetable harvesting robot provided by the present invention includes 01 frame, 02 harvesting platform lifting mechanism, 03 leafy vegetable anti-tilting mechanism, 04 leafy vegetable separation mechanism and 05 leafy vegetable harvesting mechanism.

Referring to Fig. 1, Fig. 2, Fig. 13; The harvesting platform is positioned on the frame, and the harvesting platform can move along the Y direction, and is positioned below the crossbeam of the class gantry-type frame and above the cultivation plate (also movably positioned over two parallel cylindrical rails). The lifting mechanism of the harvesting platform is arranged on both sides of the harvesting platform. The leaf vegetable anti-tilting mechanism is arranged above the harvesting platform. The leaf vegetable separation mechanism is arranged above the harvesting platform, and its position is on the same plane as the leaf vegetable anti-tilt mechanism. The leaf vegetable harvesting mechanism is arranged below the harvesting platform, and its position is on the lower side of the leaf vegetable anti-tilt platform and above the cultivation plate.

See Fig. 3 and Fig. 4; the frame is used for the overall walking of the robot, the placement of the collecting frame, the overall identification and positioning of the leaves and vegetables, and providing support for the harvesting platform; Wheel 0103, gantry-like support frame 0104, collection frame 0105, linear module 0106, harvesting platform drive connection beam 0107, depth camera 0108, harvesting platform support profile 0109. Among them, the running parts storage box is set at the bottom of both sides of the gantry-like support frame, and its interior contains brake devices, power supply equipment and control calculation units (not shown in the figure), and the servo drive wheels and V-shaped wheels are arranged in front and back. The side runners accommodate the bottom of the box, which is in contact with the cylindrical rails. A total of eight collection boxes are arranged behind the frame, and there are cross partitions inside to block them. A single partition space can accommodate one high-economic and fragile hydroponic leaf vegetable. The placement plate at the bottom of the collection frame has a limited The protrusion (not shown in the figure) prevents the collection frame from shaking when the robot starts, stops and moves. The linear module (linear transmission device; purchased parts) is horizontally installed in the middle of the top of the gantry-like support frame 0104 along the Y direction, and its linear module sliding table is driven by the harvesting platform to connect the crossbeam 0107 and the harvesting platform to lift The beams of the gate-shaped frame in the mechanism are connected to provide driving force for the movement of the harvesting platform in the Y direction. The supporting profiles of the harvesting platform are respectively installed on both sides of the gantry-like support frame along the Y direction to provide the main support for the harvesting platform inside the frame. The depth camera is installed on the front of the gantry-like support frame, which can identify the species of hydroponic leafy vegetables, the overall position and the working area.

See Figure 5 and Figure 7; the harvesting platform lifting mechanism is used to control the displacement of the harvesting platform along the Y direction and the Z direction; the mechanism includes a door frame 0201, a first linear guide rail 0202, a first pneumatic slide Connector 0203, first pneumatic slide table 0204, first slider connector 0205, second slider connector 0206, second linear guide rail 0207; the door-shaped frame is composed of a beam and two columns, as The remaining parts of the lifting mechanism of the harvesting platform provide support; two first linear guide rails are installed vertically on both sides of the door-shaped frame respectively, and the sliders of the two first linear guide rails are respectively connected by the first sliders The parts are connected to the harvesting platform crossbeam (see Fig. 8, connection point 0301.1), so that the harvesting platform can move up and down along the first linear guide rail; The slider fixing frame is connected to the two columns of the door-shaped frame through the first air slide connector 0203, and the front side of the slider faces inward through the connector (vertical to the paper surface and inward direction in Figure 7) and The crossbeams of the harvesting platform are connected, and when the slide table starts, it can drive the harvesting platform to move up and down in the Z direction; the second linear guide rail is horizontally fixed on the support profiles 0109 of the harvesting platform on both sides along the front and rear directions, and the second linear guide rail The slide block is connected to the bottom of the two columns of the door-shaped frame through the second slide block connector, and is used to provide guidance and component support for the displacement (ie front and rear displacement) of the main body of the harvesting platform along the Y direction.

Referring to Fig. 8, Fig. 9, Fig. 10, Fig. 13; the leafy vegetable anti-tilt mechanism is used to limit the posture of the leafy vegetable and adjust the relative position of the leafy vegetable falling. Due to the hole design of the hydroponic leaf vegetable cultivation board, the cultivation holes of the front and rear rows are staggered to meet the needs of lighting the leaf vegetables. For the convenience of harvesting, it is necessary to adjust every two rows of hydroponic vegetables into one row arranged in a straight line (referred to as "reorganization"). The present invention designs a leaf vegetable anti-tilting mechanism.

The mechanism includes the harvesting platform beam 0301, the first anti-tilt baffle 0302, the anti-tilt baffle installation beam 0303, the second anti-tilt baffle 0304, the square frame 0305, the second sliding table fixing bracket 0306, the second pneumatic Sliding table 0307, second pneumatic sliding table connecting piece 0308, movable anti-tilt baffle 0309, mouth-shaped frame connecting piece 0310, industrial camera 0311. The horizontal arrangement of the harvesting platform crossbeam (as shown in Figure 8) provides the main support for the harvesting platform (an anti-tilt baffle is also installed on the harvesting platform crossbeam to install the crossbeam 0303); several described first anti-tilt baffles Arranged in sequence at fixed intervals along the X direction (arranged in a row horizontally) on the side of the crossbeam of the harvesting platform, and several second anti-tilt baffles are arranged in sequence at fixed intervals along the X direction (arranged in a row horizontally) on the anti-tilt baffle to install the crossbeam 0303 side; each first anti-tilt baffle is arranged correspondingly to a second anti-tilt baffle (arranged in pairs front and rear), and after installation, the space between each pair is facing the cultivation hole of the cultivation plate below (at the same time It also corresponds to the space between two light bionic cylindrical short fingers 0512); the distance between the two baffles and the installation height can be adjusted, which can be adapted to the diameter and height of different leaf vegetable varieties; the function of the anti-tilt baffle It is to limit the dumping of the leafy vegetables along the Y direction during the transportation process, and cooperate with the follow-up mechanism to realize the arrangement and separation of the leafy vegetables. The square-shaped frame 0305 is horizontally arranged and movably positioned on the harvesting platform crossbeam, and the sides of the opposite two frame bars are installed parallel to each other with a number of movable anti-tilt baffles. Spacing distance between roll stops; each moveable roll stop on one frame bar is paired with a corresponding moveable roll stop on the other frame bar, each moveable roll stop The position is between two first anti-tilt baffles or between two second anti-tilt baffles; and the space between the pair of two movable anti-tilt baffles is directly facing the bottom of the cultivation plate A cultivation hole (corresponding to the space between two light bionic cylindrical long fingers 0511); the word-shaped frame can be displaced along the Y direction under the drive of the driving source, so that the movable anti-tilt baffle can move forward to Be on the same straight line with the first anti-tilt baffle or with the second anti-tilt baffle (during work, the upper half of the rear drainage leafy vegetables to be harvested can be bent to between the hydroponic leafy vegetables of the previous row between), that is, the whole row of leafy vegetables to be harvested is on the same straight line. The connecting piece 0310 is connected with the square frame, the slide bar of the second air slide is installed on the second slide fixing bracket 0306 through the second air slide connecting piece 0308, and the bottom ends of the two sides of the second slide fixing bracket are It is fixedly installed on the beam of the harvesting platform.

See Figure 12; the leafy vegetable separation mechanism is used to separate the leafy vegetables, so that the leafy vegetables fall downwards with relatively hard roots. This method is a low-loss collection method, and the specific function is to extract the bionic fingers from under the anti-tilt baffle ; The mechanism includes a cylinder mounting column 0401, a cylinder mounting plate 0402, a cylinder 0403, a third linear guide rail 0404, a third slider connector 0405, a separation push beam 0406, and a cylinder end connector 0407; the cylinder is arranged horizontally, and the cylinder The bottom is installed on the cylinder installation column through the cylinder mounting bracket, and the cylinder installation column is installed in the front middle part of the harvesting platform crossbeam, and the cylinder rod front end of the cylinder is connected to the middle part of the separating push beam 0406 through the cylinder end connector 0407; The separation and pushing beam is arranged horizontally along the X direction, and the third linear guide rail 0404 is installed on both sides of the harvesting platform beam, and its slider is connected with the two ends of the separation and pushing beam through the third slider connector. The function of the above components is to make The detached push beam can be displaced along the Y direction.

Refer to Fig. 12 and Fig. 13; the leaf vegetable harvesting mechanism is used for lifting and harvesting of leaf vegetables; the mechanism includes a light bionic cylindrical finger crossbeam 0501, a first three-axis cylinder connector 0502, a second three-axis cylinder connection 0503, three-axis cylinder 0504, guide column 0505, guide shaft connector 0506, guide shaft 0507, linear bearing 0508, light bionic cylindrical finger mounting plate 0509, locking ring 0510, light bionic cylindrical long finger 0511, light bionic Cylindrical short fingers 0512; four pairs of the light bionic cylindrical long fingers and light bionic short cylindrical fingers are arranged at a certain distance along the X direction; each finger is installed on the light bionic cylindrical finger beam through a locking ring and a light bionic cylindrical finger mounting plate on (see Figure 6). There are four cultivation holes arranged in two rows in a staggered manner on the cultivation board. The two cultivation boards have a total of eight cultivation holes. Hydroponic leaf vegetables are cultivated in the cultivation holes, and each pair of light bionic cylindrical fingers corresponds to the cultivation board. The position of the cultivation hole on the top. Light bionic cylindrical long fingers and light bionic cylindrical short fingers are arranged parallel to each other, two pairs of light bionic cylindrical long fingers and two pairs of light bionic cylindrical short fingers are also spaced apart and arranged in a staggered manner, and the distance between each pair of fingers is The space is directly facing a cultivation hole below; since each finger is fixed on the light bionic cylindrical finger crossbeam by bolts and corresponding pressure plates, the fixed position of the fingers can be adjusted by turning the bolts so that the distance between the two fingers Adjustable to adapt to different diameters of leafy roots; also makes each finger adjustable in length along the Y direction, with a large tolerance to adapt to visual positioning and positioning errors of the servo system; light bionic cylindrical fingers are lighter in weight and better in rigidity. And the contact area is smaller and smoother. The three-axis cylinder is arranged vertically, and is connected with the separated moving beam through the second three-axis cylinder connecting piece and fixed in the middle; the first three-axis cylinder connecting piece 0502 is installed at the bottom of the three-axis cylinder and connected with the light bionic cylinder The middle part of the finger beam 0501 is connected, and the guide column connector 0506 is installed on the left and right ends of the light bionic cylindrical finger beam; 0507 is vertically arranged, its lower end is inserted into the guide column connector and fixed with bolts, and the upper end is positioned inside the guide column through a linear bearing so that it can be displaced up and down; the function of the above components is to make the light bionic cylindrical finger beam displace along the Z direction.

In the present invention, the working position signals of each mechanism and assembly are transmitted to the controller (single-chip microcomputer control mainboard; omitted in the figure) by several sensors, proximity switches, depth cameras, industrial cameras and encoders, and then the controller controls each The working sequence and action stroke of the mechanism and components are controlled separately; these are conventional control techniques, and will not be described in detail in this article.

The present invention is also equipped with an air source (preferably an air compressor; omitted in the figure) used in communication with each pneumatic component (such as a cylinder).

Operation process of the present invention comprises the steps:

Step 1. The whole device is in the starting position (as shown in Figures 1 and 2), including that the harvesting platform is located at the front end of the frame, and the first pneumatic slide in the lifting mechanism of the harvesting platform lowers the harvesting platform to the bottom At the end, the second pneumatic sliding table in the leaf vegetable anti-tilt mechanism is in the original position, that is, the anti-tilt baffle is in a staggered state, the cylinder in the leaf vegetable separation mechanism is in the retracted position, and the three-axis cylinder in the leaf vegetable harvesting mechanism is in the extended position. Out state, that is, the light bionic cylindrical finger support is in the lowered state, and the state of the harvesting platform is shown in Figures 5, 6, and 7;

Step 2. The staff clicks the start button, and the robot moves forward along the cylindrical track (moving in the Y direction). The wide-angle depth camera identifies the type and planting area of the leafy vegetables, builds a 3D point cloud model, and roughly estimates the scope of the operation for harvesting Operation task configuration, the industrial camera located under the beam of the harvesting platform accurately identifies the position of the cultivation hole, and helps the robot to cross over those holes that have not been planted to prevent empty grabbing, and the servo system in the moving part compensates for the position , when the first drainage leafy vegetable is detected, the moving part calculates the deceleration in advance, so that the light bionic cylindrical finger stays precisely on the root of the first drainage leafy vegetable (the two light bionic cylindrical fingers of each pair diverge at each Both sides of the roots of hydroponic leafy vegetables);

Step 3. The three-axis cylinder drives the light bionic cylindrical finger and the hydroponic leaf vegetables it holds to move upward quickly, so that the hydroponic leaf vegetables can be located between the two anti-tilt baffles; the second pneumatic sliding table drives the movable stop The movement of the tilting baffle (movement in the Y direction) makes all the hydroponic leaf vegetables in the anti-tilt baffle arranged in the same horizontal row; The root is higher than the upper edge of the collection frame, the linear module drives the harvesting platform to move backwards, and locates the position where the first row of collection frame grids is located (four rows in total), and then the cylinder drives the light bionic cylindrical fingers to pull out backwards, hydroponics The leafy vegetables stay in place due to the anti-tilt baffle, and there is no light bionic cylindrical finger support below, so they fall into the partition space with the root facing downward;

Step 4: The cylinder retracts, the second pneumatic sliding table returns to its original position, and the linear module drives the harvesting platform to move forward and return to its original position. When the harvesting platform is at the front, the three-axis cylinder extends, and the first pneumatic sliding table Descending, each mechanism is at the initial position, then the moving parts start to continue moving forward, and repeat steps 2 to 4 when the next drained leafy vegetable is detected;

Step 5. When the collection box (four rows) is full of leaves and vegetables, the robot returns to its original position, the staff presses the pause button, and the staff completes the handling of the collection box and replaces the new collection box. When it is ready, The worker resets and pauses, and the robot completes steps 2 to 5;

Step 6. The machine vision system measures the approximate working area. When the hydroponic leaf vegetables in the working area are harvested, the robot returns to its original position and sends out a prompt. The staff then turns off the power of the machine to complete the harvesting operation.

Claims (9)

1. A hydroponic leafy vegetable harvesting robot based on binocular three-dimensional vision positioning, comprising a frame (01) and a controller equipped with a walking assembly and a collection frame (0105); it is characterized in that: the hydroponic leafy vegetable harvester The harvesting robot also includes a harvesting platform lifting mechanism (02) that can be positioned on the frame and drives the harvesting platform, and a leaf vegetable anti-tilt mechanism (03) installed on the harvesting platform, a leaf vegetable harvesting mechanism ( 05), leaf vegetable separation mechanism (04); The leaf vegetable anti-tilt mechanism includes several pairs of anti-tilt baffles arranged in two rows and arranged in pairs front and back, and several pairs of movable anti-tilt baffles (0309) arranged in two rows and arranged in pairs front and back; to ensure The hydroponic leafy vegetables to be harvested in the middle of each pair of anti-tilt baffles will not fall over; the movable anti-tilt baffles are also arranged horizontally and staggeredly with the pair of anti-tilt baffles, and can move back and forth to make all anti-tilt baffles The hydroponic leaf vegetables to be harvested in the plate are horizontally in the same straight line; The leaf vegetable separation mechanism includes a separation push beam (0406) that can move back and forth on the harvesting platform, a leaf vegetable harvesting mechanism fixed on the separation push beam, and a cylinder that can apply force to the separation push beam in the front and rear direction (0403); The leaf vegetable harvesting mechanism includes a light bionic cylindrical finger crossbeam (0501) that is arranged horizontally and can be vertically and movably positioned on a separate moving crossbeam, a three-axis cylinder (0504) that vertically drives the light bionic cylindrical finger crossbeam, and Several pairs of light bionic cylindrical fingers are arranged horizontally and regularly on the beam of light bionic cylindrical fingers. 2. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 1, characterized in that: the walking assembly includes a walking part accommodation box ( 0101) and a servo drive wheel (0102) and a V-shaped wheel (0103) that are located at the bottom of the running part storage box and can walk along the track. 3. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 2, characterized in that: the collection frame is arranged on the rear side of the frame, and the space inside the frame is separated by a cross partition. 4. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 3, characterized in that: the harvesting platform lifting mechanism includes two connecting beams (0107) two ends connected to the harvesting platform drive connection beam (0107). A door-shaped frame (0201), a first pneumatic sliding table (0204) connecting each door-shaped frame through a first linear guide rail (0202), and a harvesting platform crossbeam (0301) connecting the first air sliding table. 5. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 4, characterized in that: the harvesting platform lifting mechanism is connected and fixed on the gantry-like platform through the harvesting platform to drive the connecting beam (0107). The linear module (0106) on top of the support frame enables forward and backward movement on the frame. 6. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 5, characterized in that: the harvesting platform support profiles (0109) are arranged on the left and right sides of the gantry-like support frame, two The second linear guide rail (0207) is respectively arranged on each harvesting platform supporting profile along the front and rear direction, and the slide block of the second linear guide rail is then connected with the bottoms of the two columns of the door-shaped frame. 7. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 6, characterized in that: said several pairs of anti-tilt baffles include horizontally arranged and spaced distances arranged on the harvesting platform crossbeam ( Several first anti-tilt baffles (0302) on the anti-tilt baffle (0301) and several second anti-tilt baffles (0304) arranged laterally and at intervals on the anti-tilt baffle installation beam (0303); the second anti-tilt baffles The tilting baffle is also spaced from the first anti-tilting baffle and arranged in pairs one by one, and the gap between the second anti-tilting baffle and the first anti-tilting baffle is directly facing a cultivation hole of the cultivation plate. Also corresponds to the space between two pairs of lightweight bionic cylindrical short fingers (0512). 8. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 7, characterized in that: said several pairs of movable anti-tilt baffles are horizontally arranged in two rows and arranged at the mouth On the font frame (0305), two rows of movable anti-tilt baffles are spaced apart from each other and arranged in pairs one by one. The hole is also corresponding to the space between two paired light bionic cylindrical long fingers (0511); On the beam of the harvesting platform. 9. The hydroponic leaf vegetable harvesting robot based on binocular three-dimensional vision positioning according to claim 8, characterized in that: the separating and moving beam is connected with the slider of the third linear guide rail (0404), and the third linear guide rail Then, they are horizontally arranged in the front-to-back direction and installed on both sides of the harvesting platform.

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