CN210381946U - Intelligent fruit and vegetable picking and sorting robot - Google Patents
Intelligent fruit and vegetable picking and sorting robot Download PDFInfo
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- CN210381946U CN210381946U CN201920262165.4U CN201920262165U CN210381946U CN 210381946 U CN210381946 U CN 210381946U CN 201920262165 U CN201920262165 U CN 201920262165U CN 210381946 U CN210381946 U CN 210381946U
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Abstract
The utility model discloses a sorting intelligent robot is picked to fruit vegetables, including walking elevating system, terminal picking mechanism connects fruit conveying mechanism, conveying letter sorting mechanism, walking elevating system is including removing the base, install the elevating platform on removing the base, terminal picking mechanism installs on the elevating platform, pick fruit vegetables, connect fruit conveying mechanism to install on the elevating platform, catch fruit vegetables and carry to conveying letter sorting mechanism department, conveying letter sorting mechanism installs on the elevating platform surface, include the slope section in proper order, conveying section and letter sorting section, fruit vegetables roll to conveying section through the slope section, and carry to letter sorting section and sort according to fruit vegetables size and maturity. The utility model provides a pair of letter sorting intelligent robot is picked to fruit vegetables not only picks automatically, just sorts it according to fruit vegetables size and maturity in addition when picking, realizes picking the letter sorting and goes on in step.
Description
Technical Field
The utility model relates to an intelligent robot especially relates to a to picking letter sorting intelligent robot of spherical fruit vegetables.
Background
The agricultural robot is an important branch of robot application, due to the limitation of agricultural habits and culture levels formed in China for a long time, the agricultural robot in our country is developed later, along with the continuous emphasis of the country and the vigorous support of relevant policies, the agricultural mechanization in our country is rapidly developed, and the agricultural robot and the intelligent agricultural equipment have the characteristics of high efficiency, high precision, low strength, low energy consumption and environmental friendliness, and show wide application prospects.
At present, domestic agricultural robots mainly comprise vegetable picking robots, fruit sorting robots, grafting robots, agricultural production robots and the like. Currently, the research of agricultural robots in China is still in the initial stage. For example, the fruit picking robot test prototype developed by the Chinese agriculture university and deeply studied. The fruit picking robot has the advantages that research on aspects of fruit identification, fruit stalk position determination and the like is broken through, a fruit picking robot experiment platform is formed, the fruit is identified and positioned by applying an image processing technology, mathematical modeling is performed on conditions of fruit shielding, fruit overlapping and the like, and certain research data and research results are obtained. The picking robot mentioned in the patent 'vegetable and fruit picking robot and control method thereof' (2015104061634) integrates the characteristics of multi-sensors, automatic walking and multiple degrees of freedom of the bionic robot, realizes flexible picking and improves picking efficiency. And the eggplant picking robot developed by China agricultural university measures the distance between the fruit and the mechanical arm by using a visual sensor, when the measured distance is within the range of 27-57 cm, the measurement error can be controlled within +/-18 mm, the robot grabbing success rate reaches 89%, and the average picking time is 37 s each time. The cucumber picking robot developed by the university of China agriculture adopts a binocular vision imaging device, mainly aims at greenhouse environment operation, and achieves accurate positioning of cucumbers by collecting and processing images. The manipulator for finding the fruit also adopts an advanced infrared reflection type photoelectric sensor.
Although fruits and vegetables robots in China have been initially researched, the popularization degree is not high, and most orchards and vegetable orchards still adopt a human management mode for the following reasons: 1. the fruit and vegetable management has seasonal differences on the demands of human hands, the demands of the human hands are high, the demands of the human hands are concentrated on fruit and vegetable picking seasons, the functions of robots in the current market are single (only picking functions are realized, and sorting needs to be carried out on special sorting equipment), the demands of orchards cannot be met, the precision of the current picking and sorting equipment is low, for example, kiwi fruits are taken as an example, the orchard fruits can enter a mature period at the same time and must be picked in time, otherwise, the orchard fruits are over-mature and are not easy to store, and can be pecked by birds and the like. The labor cost investment in picking during this period is high. In addition, in the aspect, the kiwi fruits are sold from picking, and the kiwi fruits are sorted for convenient storage, transportation and sale, and the traditional sorting is carried out by people and machines according to the size, so that the ripeness of the kiwi fruits cannot be distinguished. When the over-ripe kiwi fruits are not sold in time and are stored together with other kiwi fruits, the over-ripe kiwi fruits can secrete ether and can ripen other kiwi fruits, so that the storage period is shortened. If the kiwi fruits are not sold in time, the kiwi fruits can rot in a large area, and the loss is disastrous.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's defect, provide a fruit vegetables pick letter sorting intelligent robot, not only pick automatically, just sort it according to fruit vegetables size and maturity in addition when picking, realize picking the letter sorting and go on in step.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a letter sorting intelligent robot is picked to fruit vegetables, includes walking elevating system, and terminal picking mechanism connects fruit conveying mechanism, conveying letter sorting mechanism and induction control system, wherein:
the walking lifting mechanism comprises a movable base and a lifting platform arranged on the movable base;
the tail end picking mechanism is arranged on the lifting platform and comprises a plurality of sections of mechanical arms, a front end mechanical claw and a shearing mechanism arranged on the mechanical claw, the mechanical arms are moved to the positions of the fruits and the vegetables, the mechanical claws are used for grabbing the fruits and the vegetables, and the shearing mechanism is used for cutting off fruit stems;
the fruit receiving and conveying mechanism is arranged on the lifting platform and comprises a fruit receiving net bag and a fruit conveying pipe communicated with the bottom of the net bag, and fruits and vegetables picked by the mechanical claws are conveyed into the fruit receiving net bag and fall from the fruit conveying pipe;
the conveying and sorting mechanism is arranged on the surface of the lifting platform and sequentially comprises a slope section, a conveying section and a sorting section, the slope section is located at the starting end of the conveying section and comprises an inclined bottom plate and two side baffles, the starting position of the slope section is located right below the fruit conveying pipe, the conveying section comprises a driving roller, a driven roller and a conveying belt, the sorting section is located at the tail end of the conveying section and comprises a support, a steering valve arranged at the top of the support and a sorting plate arranged on the steering valve, a plurality of fruit and vegetable frames are placed on a moving base opposite to the tail end of the sorting plate side by side, fruits and vegetables dropped from the fruit conveying pipe roll down to the conveying section through the slope section and are conveyed to the sorting section, and the sorting section selects corresponding fruit and vegetable frames to be discharged according;
the induction control system comprises a controller, a plurality of infrared sensors, a gravity sensor and a visual sensor, wherein the infrared sensors are connected with the controller, the infrared sensors are arranged on the baffles on two sides of the slope section side by side to sense the distance between the infrared sensors on the baffles on the fruit and the two sides, the lower surface of the conveyor belt is installed by the gravity sensor to sense the gravity value of the fruit and the vegetable above the conveyor belt, and the visual sensor is installed on a mechanical claw to acquire the position of the fruit.
Preferably, the running mechanism is of a roller type or a crawler type.
Preferably, the lifting platform is an X-shaped lifting platform, and the lifting is controlled by an electric cylinder.
Preferably, the diameter of the fruit conveying pipe is larger than that of one fruit and vegetable and smaller than that of two fruit and vegetable.
Preferably, the sorting plate comprises a horizontal section and an inclined section, the horizontal section is fixed with the steering valve, and the inclined section inclines downwards for 15-20 degrees.
Preferably, the two sides of the sorting plate are bent to form second baffles.
Compared with the prior art, the utility model discloses a letter sorting intelligent robot is picked to fruit vegetables has following beneficial effect:
the lifting platform can be automatically adjusted according to the height of fruits on the tree, and the multi-section mechanical arm is matched to realize the distance adjustment of the picking distance, so that the picking range is increased;
the net bag is matched with the fruit conveying pipe to convey picked fruits and vegetables, the net bag can buffer the fruits and vegetables, damage to the surfaces of the fruits and vegetables caused by collision is avoided, the diameter of the fruit conveying pipe is controlled to ensure that only one fruit and vegetable can fall off at a time, and the accuracy of subsequent size and weight detection is ensured;
set up conveying sorting device on the elevating platform, utilize the infrared sensor cooperation controller that sets up on the slope section to acquire fruit vegetables size, utilize gravity sensor to acquire fruit vegetables weight value, its maturity is calculated according to fruit vegetables weight and size to the while controller, sorts according to fruit vegetables size and maturity, selects the fruit vegetables frame that corresponds through the three-way valve of rear end, realizes picking letter sorting integration operation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the end picker mechanism of the present invention;
FIG. 3 is a schematic view of the fruit receiving and conveying mechanism of the present invention;
fig. 4 is a schematic view of the conveying and sorting mechanism of the present invention;
figure 5 is the top view of the utility model letter sorting section.
Detailed Description
The technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention.
As shown in fig. 1-5, the utility model discloses a sorting intelligent robot is picked to fruit vegetables mainly realizes picking the intelligence of ball class fruit vegetables, for example apple in the fruit, kiwi fruit, oranges and the like, tomato in the vegetables realizes the automatic harvesting to these fruit vegetables, then sorts according to its size and maturity. The specific structure comprises a walking lifting mechanism, a tail end picking mechanism, a fruit receiving and conveying mechanism, a conveying and sorting mechanism and an induction control system, and specifically comprises:
the walking lifting mechanism comprises a movable base 1 and a lifting platform 2 installed on the movable base, the movable base is provided with multiple structural forms, if flat ground is in a roller type, wheels are driven by a motor to rotate, the base is moved, a crawler-type structure can be adopted for the ground with small potholes, a mechanical leg structure can be adopted for the ground with large potholes, and the specific structure can refer to the prior art. The picking height value can be improved by using the lifting platform, the picking distance range is enlarged, the X-shaped lifting platform is preferably selected by the lifting platform and lifted through the electric cylinder controller, and the electric cylinder is connected with the induction control system and controlled by the main controller in the induction control system.
The tail end picking mechanism is directly arranged on the lifting platform and comprises a plurality of sections of mechanical arms 3, a front end mechanical claw 4 and a shearing mechanism 5 arranged on the mechanical claw, the mechanical arms are moved to the positions of fruits and vegetables through the plurality of sections of mechanical arms, the mechanical claws are used for grabbing the fruits and vegetables, and the shearing mechanism is used for cutting off fruit stems;
connect fruit conveying mechanism to install on the elevating platform, including mount 6, install the fruit string bag 7 that connects on the mount, defeated fruit pipe 8 with string bag bottom intercommunication, wherein connect the fruit string bag to be the rope net structure, a defeated fruit for bearing gripper and picking, the rope net structure can cushion the fruit vegetables, remove the damage that the striking led to the fact to the fruit vegetables from, defeated fruit pipe's effect is in carrying the fruit vegetables in the string bag back end letter sorting mechanism, defeated fruit pipe's diameter sets to be less than two fruit vegetables diameters, be greater than a fruit vegetables diameter, can ensure to pass through a fruit vegetables at every turn, defeated fruit pipe can adopt the straight tube, also can adopt the bellows to adjust direction of delivery.
The conveying and sorting mechanism is arranged on the surface of a lifting platform and comprises a support frame, a slope section 9, a conveying section 10 and a sorting section 11 which are sequentially arranged on the support frame 14, wherein the slope section comprises an inclined bottom plate 12 and two side baffles 13, the initial position of the slope section is positioned under a fruit conveying pipe, the baffles on the two sides can prevent dropped fruits and vegetables from rolling off from the side edges, the conveying section comprises a driving roller 15, a driven roller 16 and a conveying belt 17, the driving roller is driven by a motor, the conveying belt conveys the fruits and vegetables dropped in the slope section to the sorting section, the sorting section comprises a bracket 18, a steering valve 19 arranged at the top of the bracket, a sorting plate 20 arranged on the steering valve, the sorting plate comprises a horizontal section 21 and an inclined section 22, the horizontal section is fixed with the steering valve, the inclined section inclines downwards by 15-20 degrees, meanwhile, the two sides of the sorting plate are bent upwards to form a second baffle 23, and a plurality of frames, the three-way valve is provided with a plurality of rotating angles, and the sorting plate at each angle corresponds to one fruit and vegetable frame, so that the sorting of fruits and vegetables with different sizes or maturity is realized.
The induction control system comprises a controller 25, a plurality of infrared sensors 26 connected with the controller, a gravity sensor 27 and a vision sensor 28, wherein the controller is fixed on the supporting frame 14, the infrared sensors are arranged on the baffles on two sides of the slope section side by side to sense the distance between the infrared sensors on the fruits and the vegetables and the baffles on two sides, the gravity sensor is arranged on the lower surface of the conveying belt to sense the gravity value of the fruits and the vegetables above the conveying belt, and the vision sensor is arranged on a mechanical claw to acquire the position information of the fruits.
On the basis of the robot structure, a gravity sensor can be further installed on the movable base at the bottom of the fruit and vegetable frame and connected with the controller, the weight value of fruits in the fruit and vegetable frame is detected, the gravity critical value prestored in the controller is compared, once the picking mechanism stops picking after the gravity critical value is controlled, the movable base moves to the ridge to carry out manual work or cooperate with other unloading robots to unload the fruits, after the empty fruit and vegetable frame is replaced, the movable base moves to the last picking position to continue picking and sorting operations.
The following explains the working principle of the intelligent robot in detail: the movable base moves to a fruit tree to be picked to be delivered, the mechanical arm is lifted, the position and the maturity of fruits on the fruit tree are removed after a vision sensor at the front section is utilized (the position can be known by the aid of the vision sensor and a vision analyzer, the known technology is achieved, acquired image information is transmitted to the controller, the distance between the fruits and the mechanical claw is calculated, then the lifting height of the lifter is adjusted, the mechanical arm is controlled to move to the positions of the fruits, the fruits are grabbed by the mechanical claw and cut into fruit stems by the aid of the shearing mechanism, and the mechanical arm is retracted to send the fruits into the fruit receiving net bag;
the fruits fall to the inclined section along the fruit conveying pipe and roll downwards, infrared sensors of baffles on two sides sense the distance between the fruits and the sensors while rolling, detection data are sent to a controller, the controller performs fruit diameter calculation according to the distance data, each pair of infrared sensors calculate to obtain a fruit diameter value D = L-a t/2-b/2, wherein L is the distance between the two side plates, a is the light speed of the infrared sensor on one side of the baffle, b is the light speed of the infrared sensor on the other side of the baffle, t is the time for the light to be emitted to touch the fruit reflection and return receiver, and then the infrared measurement data are averaged to obtain the diameter of the fruits (namely the size of the fruits);
the fruits fall to a conveying section along an inclined section, a weight value of the fruits is obtained through a gravity sensor, then the weight value is transmitted back to a controller, the controller calculates according to the weight value and the diameters of the fruits to obtain a fruit maturity R = G/C, wherein G represents the weight of the fruits, C represents the volume of the fruits, the fruit maturity is obtained through diameter calculation, then a maturity coefficient of each fruit is calculated through a fuzzy PID analysis system and is compared with a preset maturity critical value in the controller, if the maturity coefficient exceeds the critical value, the fruit and vegetable frame is placed independently, if the maturity coefficient does not exceed the critical value, the circumference size of the fruit and vegetable frame is judged to be compared with the size prestored in the controller, if the maturity coefficient exceeds the prestored size, the fruit and vegetable frame is placed in a fruit and vegetable frame, if the maturity coefficient exceeds the prestored size, the fruit and vegetable frame is placed in another fruit and vegetable frame, a specific fruit and vegetable frame is selected to be adjusted, the fruit and vegetable frame is rotated by 60 degrees to the right and 60 degrees to the left, and different positions correspond to different fruit and vegetable frames.
The technical contents and features of the present invention have been disclosed as above, however, those skilled in the art can still make various substitutions and modifications based on the teaching and disclosure of the present invention without departing from the spirit of the present invention, therefore, the protection scope of the present invention should not be limited to the contents disclosed in the embodiments, but should include various substitutions and modifications without departing from the present invention, and should be covered by the claims of the present patent application.
Claims (6)
1. The utility model provides a letter sorting intelligent robot is picked to fruit vegetables which characterized in that: including walking elevating system, end picking mechanism, connect fruit conveying mechanism, conveying letter sorting mechanism and induction control system, wherein:
the walking lifting mechanism comprises a movable base and a lifting platform arranged on the movable base;
the tail end picking mechanism is arranged on the lifting platform and comprises a plurality of sections of mechanical arms, a front end mechanical claw and a shearing mechanism arranged on the mechanical claw, the mechanical arms are moved to the positions of the fruits and the vegetables, the mechanical claws are used for grabbing the fruits and the vegetables, and the shearing mechanism is used for cutting off fruit stems;
the fruit receiving and conveying mechanism is arranged on the lifting platform and comprises a fruit receiving net bag and a fruit conveying pipe communicated with the bottom of the net bag, and fruits and vegetables picked by the mechanical claws are conveyed into the fruit receiving net bag and fall from the fruit conveying pipe;
the conveying and sorting mechanism is arranged on the surface of the lifting platform and sequentially comprises a slope section, a conveying section and a sorting section, the slope section is located at the starting end of the conveying section and comprises an inclined bottom plate and two side baffles, the starting position of the slope section is located right below the fruit conveying pipe, the conveying section comprises a driving roller, a driven roller and a conveying belt, the sorting section is located at the tail end of the conveying section and comprises a support, a steering valve arranged at the top of the support and a sorting plate arranged on the steering valve, a plurality of fruit and vegetable frames are placed on a moving base opposite to the tail end of the sorting plate side by side, fruits and vegetables dropped from the fruit conveying pipe roll down to the conveying section through the slope section and are conveyed to the sorting section, and the sorting section selects corresponding fruit and vegetable frames to be discharged according;
the induction control system comprises a controller, a plurality of infrared sensors connected with the controller, a gravity sensor and a vision sensor, wherein the infrared sensors are arranged on baffles on two sides of a slope section side by side to sense the rolling distance of fruits and vegetables, the gravity sensor is arranged on the lower surface of a conveyor belt to sense the gravity value of the fruits and vegetables above the conveyor belt, and the vision sensor is arranged on a mechanical claw to acquire the positions of the fruits.
2. The intelligent fruit and vegetable picking and sorting robot according to claim 1, wherein: the movable base is of a roller type or a crawler type.
3. The intelligent fruit and vegetable picking and sorting robot according to claim 1, wherein: the lifting platform is an X-shaped lifting platform and is controlled to lift by an electric cylinder.
4. The intelligent fruit and vegetable picking and sorting robot according to claim 1, wherein: the diameter of the fruit conveying pipe is larger than that of one fruit and vegetable and smaller than that of two fruit and vegetable.
5. The intelligent fruit and vegetable picking and sorting robot according to claim 1, wherein: the sorting plate comprises a horizontal section and an inclined section, the horizontal section is fixed with the steering valve, and the inclined section inclines downwards 25-30 degrees.
6. The intelligent fruit and vegetable picking and sorting robot according to claim 5, wherein: and two sides of the sorting plate are bent to form second baffles.
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| CN201920262165.4U CN210381946U (en) | 2019-03-01 | 2019-03-01 | Intelligent fruit and vegetable picking and sorting robot |
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| CN201920262165.4U CN210381946U (en) | 2019-03-01 | 2019-03-01 | Intelligent fruit and vegetable picking and sorting robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109618670A (en) * | 2019-03-01 | 2019-04-16 | 南通理工学院 | Intelligent fruit and vegetable picking and sorting robot |
| CN111567214A (en) * | 2020-06-19 | 2020-08-25 | 山东农业大学 | Full-automatic tomato automatic picking and transporting integrated robot and use method |
| CN111937580A (en) * | 2020-07-31 | 2020-11-17 | 广东省现代农业装备研究所 | Tomato string fuzzy picking device and picking method thereof |
| CN112492975A (en) * | 2020-12-16 | 2021-03-16 | 何东光 | Unmanned full-automatic tea picking, weeding and fertilizing integrated machine |
| CN112772147A (en) * | 2021-01-26 | 2021-05-11 | 攀枝花学院 | Fruit picking and sorting all-in-one machine |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
-
2019
- 2019-03-01 CN CN201920262165.4U patent/CN210381946U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109618670A (en) * | 2019-03-01 | 2019-04-16 | 南通理工学院 | Intelligent fruit and vegetable picking and sorting robot |
| CN109618670B (en) * | 2019-03-01 | 2024-02-06 | 南通理工学院 | Intelligent robot for picking and sorting fruits and vegetables |
| CN111567214A (en) * | 2020-06-19 | 2020-08-25 | 山东农业大学 | Full-automatic tomato automatic picking and transporting integrated robot and use method |
| CN111937580A (en) * | 2020-07-31 | 2020-11-17 | 广东省现代农业装备研究所 | Tomato string fuzzy picking device and picking method thereof |
| CN112492975A (en) * | 2020-12-16 | 2021-03-16 | 何东光 | Unmanned full-automatic tea picking, weeding and fertilizing integrated machine |
| CN112772147A (en) * | 2021-01-26 | 2021-05-11 | 攀枝花学院 | Fruit picking and sorting all-in-one machine |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
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