CN211020054U - Fruit and vegetable picking device - Google Patents

Abstract

The utility model relates to an agricultural picking robot field provides a device is picked to fruit vegetables, be connected and can drive the moving mechanism that mounting platform removed including mounting platform and with mounting platform, wherein, the last linking arm that can remove and stretch out and draw back for mounting platform of installing of mounting platform to the free end of linking arm is provided with picking mechanism. An object of the utility model is to provide a fruit vegetables pick device to at least, realize picking the fruit vegetables through mechanical device.

Description

Fruit and vegetable picking device

Technical Field

The utility model relates to a robot field is picked to the agricultural, especially relates to a device is picked to fruit vegetables.

Background

China is a big country for fruit and vegetable production, various kinds of fruits and vegetables are various, and the fruits are rich in nutrition. However, in the fruit and vegetable picking, the picking work is basically performed manually. With the urbanization process and the aging of population in China, the phenomenon of rural labor shortage is becoming more and more obvious, and for large-scale planters, if the large-area fruits and vegetables are picked completely by manual picking, the labor cost is too high, so that the problems to be solved urgently at the present stage are formed.

SUMMERY OF THE UTILITY MODEL

To the defect that exists among the prior art, the utility model aims to provide a device is picked to fruit vegetables to at least, realize picking the fruit vegetables through mechanical device.

According to the utility model discloses an embodiment provides a device is picked to fruit vegetables, be connected and can drive the moving mechanism that mounting platform removed including mounting platform and with mounting platform, wherein, the last linking arm that can remove and stretch out and draw back for mounting platform of installing of mounting platform to the free end of linking arm is provided with picking mechanism.

According to the utility model discloses an embodiment, picking mechanism is including installing cutting knife and the manipulator at the free end of linking arm.

According to the utility model discloses an embodiment, moving mechanism is including installing the motor drive on mounting platform and by the crawler of motor drive operation.

According to the utility model discloses an embodiment, moving mechanism is still including installing the industrial computer on mounting platform, and wherein, motor driver passes through motion controller and is connected with the industrial computer electricity.

According to the utility model discloses an embodiment, moving mechanism is still including installing first camera, radar and the navigation equipment on mounting platform, and wherein, first camera, radar and navigation equipment are connected with the industrial computer electricity respectively.

According to the utility model discloses an embodiment, along fruit vegetables picking device's head and the tail direction, first camera, radar and navigation equipment set up the front portion at mounting platform.

According to the utility model discloses an embodiment, this fruit vegetables harvesting device still holds the district including the fruit vegetables that are located mounting platform's afterbody, and wherein, picking mechanism immigration or shift out fruit vegetables hold the district.

According to the utility model discloses an embodiment, this fruit vegetables pick device is still including installing the central processing unit on mounting platform, and wherein, industrial computer, linking arm and picking mechanism all are connected with the central processing unit electricity.

According to the utility model discloses an embodiment, this fruit vegetables pick device is still including being located the image acquisition equipment on the mounting platform, and wherein, image acquisition equipment is connected with the central processing unit electricity.

According to the utility model discloses an embodiment, image acquisition equipment includes: the second camera is installed on the installation platform, and the close-range positioning camera and the light source are installed on the connecting arm, wherein the second camera, the close-range positioning camera and the light source are all electrically connected with the central processing unit.

The beneficial effects of the utility model reside in that:

the embodiment of the utility model provides an among the fruit vegetables harvesting device, set up the moving mechanism that can remove and be provided with mounting platform on moving mechanism to moving mechanism can drive mounting platform and remove. Furthermore, a connecting arm and a picking mechanism are arranged on the mounting platform, and the connecting arm can move and stretch relative to the mounting platform so as to move to a position where fruits and vegetables are to be picked. Then picking the fruits and vegetables to be picked by the picking mechanism, and transporting the picked fruits and vegetables away by the fruit and vegetable picking device. Therefore, the picking of fruits and vegetables can be realized through the mechanical device, the overhigh labor cost is avoided, and the labor consumption is reduced.

Furthermore, as the picking mechanism comprises the cutting knife and the mechanical arm which are arranged at the free end of the connecting arm, when fruits and vegetables such as tomatoes are picked, the grabbing and picking of the single tomatoes can be completed through the mechanical arm; and the cutting knife finishes the cutting of the cutting points of the tomato cluster fruit stalks so as to realize the cutting and picking of the tomato clusters.

Additionally, the utility model discloses an in the embodiment, moving mechanism is still including installing first camera, radar and the navigation head on mounting platform to first camera, radar and navigation head are connected with the industrial computer electricity respectively. Therefore, the equipment can acquire information around the device and transmit the information to the industrial personal computer to realize map building, navigation and path planning.

Further, the image acquisition device positioned on the mounting platform is electrically connected with the central processing unit. And the image acquisition equipment comprises a second camera arranged on the mounting platform, a close-range positioning camera and a light source arranged on the connecting arm. In this way, the image capture device captures image information of fruits and vegetables such as tomato fruits and transmits the captured image information of the tomatoes to the central processing unit. And the central processing unit identifies the tomatoes and determines the picking points of the tomato strings at the same time by using the trained models. Meanwhile, the central processing unit controls the connecting arm and the picking mechanism to complete grabbing and picking of the single tomato fruits and cutting and picking of the tomato cluster fruits, and the picked single tomatoes and the picked tomato clusters are placed in the fruit and vegetable containing area to complete one-time picking of the tomatoes. Therefore, convenience and precision of automatic picking of tomato fruits are achieved, and accurate and efficient application effects are achieved to the maximum extent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a fruit and vegetable picking device according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a fruit identification and positioning method according to an embodiment of the present invention.

Fig. 3 is a schematic circuit connection diagram of the fruit and vegetable picking device according to an embodiment of the present invention.

Reference numerals:

10: a fruit and vegetable picking device; 12: mounting a platform; 101: a first camera; 102: a radar; 103: a navigation device; 104: an industrial personal computer; 105: a motion controller; 106: a motor driver; 107: a crawler mechanism; 108: a second camera; 109: a close-range positioning camera; 110: a light source; 111: a central processing unit; 112: a connecting arm; 113: a manipulator; 114: a cutting knife; 115: a containing frame; 201. 202, 203, 204: and (4) carrying out the steps.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, unless otherwise specified, "plurality", and "plural" mean two or more, and "several", and "several groups" mean one or more.

Referring now to fig. 1-3, the fruit and vegetable picking apparatus and associated methods of the present invention will be described in detail.

As shown in fig. 1, an embodiment of the present invention provides a fruit and vegetable picking device 10. Specifically, the fruit and vegetable picking device 10 may generally include a mounting platform 12 and a moving mechanism, wherein the moving mechanism is connected to the mounting platform 12 and can move the mounting platform. As further shown in fig. 1, a connecting arm 112 is mounted on the mounting platform 12 for movement and telescoping relative to the mounting platform 12, and a picker mechanism is provided at a free end of the connecting arm 112.

As can be seen from the above description, in the fruit and vegetable picking device 10 provided by the embodiment of the present invention, the movable mechanism is provided and the mounting platform 12 is provided on the movable mechanism, so that the movable mechanism can drive the mounting platform 12 to move. Further, a connecting arm 112 and a picking mechanism are arranged on the mounting platform 12, and the connecting arm 112 can move and stretch relative to the mounting platform 12 so as to move to a position where fruits and vegetables are to be picked. Then picking the fruits and vegetables to be picked by the picking mechanism, and transporting the picked fruits and vegetables away by the fruit and vegetable picking device. Therefore, the picking of fruits and vegetables can be realized through the mechanical device, the overhigh labor cost is avoided, and the labor consumption is reduced.

As further shown in fig. 1, in one embodiment of the present invention, the picking mechanism may include a robot 113 mounted at the free end of the connecting arm 112 and a cutting knife 114. Therefore, when picking fruits and vegetables such as tomatoes, grabbing and picking of the single tomatoes can be completed by the mechanical arm 113; and the cutting knife 114 finishes the cutting of the cutting points of the stems of the tomato clusters so as to realize the cutting and picking of the tomato clusters.

In one embodiment, the moving mechanism may include a motor drive 106 mounted on the mounting platform 12, and a track mechanism 107 driven by the motor drive 106. And in an alternative embodiment, the moving mechanism may further include an industrial personal computer 104 mounted on the mounting platform 12, and the motor driver 106 is electrically connected to the industrial personal computer 104 through a motion controller 105. Through the arrangement mode, the industrial personal computer 104 can control the motion controller 105 to execute the command according to the command, and then the motion controller 105 controls the motor driver 106 to drive the crawler belt mechanism 107 to act, so that the fruit and vegetable picking device 10 can move. It should be understood, of course, that the track mechanism 107 is only one embodiment of the moving mechanism, and in alternative embodiments, the movement of the fruit and vegetable picking device 10 may be realized by other structures, such as a wheel structure, etc., and the present invention is not limited thereto.

With continued reference to fig. 1, in one embodiment of the present invention, the movement mechanism may further include a first camera 101, a radar 102, and a navigation device 103 mounted on the mounting platform 12. Specifically, the first camera 101, the radar 102, and the navigation device 103 may be electrically connected to the industrial personal computer 104, respectively. Therefore, the equipment can acquire information around the device and transmit the information to the industrial personal computer to realize map building, navigation and path planning. In one embodiment, the navigation device 103 may be a GNSS (global navigation satellite system); in other embodiments, other navigation devices may be used. Further, the radar 102 may be a lidar in alternative embodiments; in other embodiments, other types of radar may be used. The present invention is not limited to any of the above specific devices.

As shown in fig. 1, in an embodiment of the present invention, the first camera 101, the radar 102 and the navigation device 103 may be disposed in front of the mounting platform 12 along the fore-and-aft direction of the fruit and vegetable picking device 10 (in other words, the front-and-back direction when the fruit and vegetable picking device 10 moves forward). In response, the fruit and vegetable holding area of the fruit and vegetable picking apparatus 10 may be located at the rear of the mounting platform 12 and the picking mechanism may be moved into or out of the fruit and vegetable holding area. In this way, the picked fruits and vegetables can be moved by the picking mechanism to the fruit and vegetable holding area for temporary holding. In the embodiment shown in fig. 1, the fruit and vegetable holding area may be an area surrounded by the holding frame 115; in other embodiments, the fruit and vegetable holding area may also be an area defined by a carrying basket or the like.

With continued reference to fig. 1, in one embodiment of the present invention, the fruit and vegetable picking apparatus 10 may further include a central processing unit 111 mounted on the mounting platform 12. Specifically, the industrial personal computer 104, the connecting arm 112, and the picking mechanism may all be electrically connected to the central processing unit 111. The specific processing procedure of the central processing unit 111 will be described in more detail below.

Furthermore, the fruit and vegetable picking device 10 of the present invention may further include an image collecting device located on the mounting platform 12 and electrically connected to the central processing unit 111. In one embodiment, the image capture device may include a second camera 108 (e.g., a binocular camera) mounted on the mounting platform 12, and a close-range positioning camera 109 and light source 110 for auxiliary lighting mounted on a connecting arm 112. The second camera 108, the close-range positioning camera 109, and the light source 110, as described above, may all be electrically connected to the central processing unit 111.

Thus, in the embodiment of the present invention, the image capturing device can capture the image information of the fruits and vegetables such as the tomato fruits, and transmit the captured image information of the tomato fruits to the central processing unit 111. The central processing unit 111 identifies the tomatoes and determines the picking points of the tomato strings by using the trained models. Meanwhile, the central processing unit 111 controls the connecting arm 112 and the picking mechanism to complete grabbing picking of single tomatoes and cutting picking of the fruits of the tomato strings, and the picked single tomatoes and the picked tomato strings are placed in a fruit and vegetable containing area to complete picking of the tomatoes at one time. Therefore, convenience and precision of automatic picking of tomato fruits are achieved, and accurate and efficient application effects are achieved to the maximum extent.

The fruit and vegetable picking device 10 of the present invention will be described in more detail with reference to the following embodiments. It should be understood that the following is only one embodiment of the present invention and should not be construed as limiting the invention in any way. Furthermore, in the following examples, tomato plucking is described as an example; it should be understood that the device 10 and associated methods may be used in any other suitable fruit and vegetable picking process without departing from the scope of the present invention.

As shown in fig. 1, it shows the fruit and vegetable picking device based on binocular vision depth feature analysis provided by one embodiment of the utility model. The binocular camera is used as the second camera 108, and is connected to the central processing unit 111, and transmits the acquired tomato image information to the central processing unit 111 for searching and recognizing the tomato target and performing primary spatial positioning on the tomato target. Then, the close-range positioning camera 109 and the auxiliary light source 110 are connected to the central processing unit 111, and the obtained close-range image information of the tomato is transmitted to the central processing unit 111 for determining the accurate position of the tomato.

A picking robot arm used as the connecting arm 112 is connected to the central control unit 111, and an end effector composed of a robot arm 113 and a cutting blade 114 is connected to the central processing unit 111. As described above, the robot 113 completes the grabbing and picking of the individual tomatoes; the cutting knife 114 completes the cutting of the stem of the tomato fruit cluster to achieve the picking of the individual tomatoes and the tomato fruit cluster.

The utility model discloses an among the specific control process, the fruit that is arranged in central control unit 111 discerns positioning system and realizes monomer tomato discernment and tomato cluster discernment based on degree of depth learning network. In particular, the specific steps are shown in the embodiment as shown in fig. 2.

As shown in fig. 2, in step 201, 20000 pictures of tomato fruits in greenhouses and fields are obtained, then the clusters of tomatoes and individual tomatoes are labeled, and finally the labeled samples are divided into training sets and test sets according to a 4:1 ratio.

Next, in step 202, improving a Deep L ab model, namely improving a Deep L ab model by utilizing an inclusion module in a GoogleNet model to achieve the purposes of reducing the network complexity and simultaneously having the capability of extracting features, judging the pixel type by adopting a conditional random field, and optimizing the fine granularity of the segmentation edge information to obtain a more accurate tomato segmentation result.

Then, in step 203, the model is trained with a training set and the test set is used to verify the accuracy of the trained model for use in a tomato picking apparatus when the recognition accuracy is above 95%.

Finally, in step 204, determining an interested area of the fruit stem according to the centroid of the fruit string and the outline boundary of the fruit string, extracting the skeleton of the fruit stem by adopting a fast parallel refinement algorithm, detecting by utilizing a Harris algorithm to obtain the angular point of the skeleton of the fruit stem between the first fruit branching point of the fruit string and the main trunk of the plant, and calculating to obtain the position information of the picking point. Thus, the process of fruit identification and positioning is completed.

In the above process, it should be understood that the Deep L ab model is a widely-used semantic segmentation network proposed by Google (Google), however, the parameters of the original model are huge, 512 convolution kernels are used in conv4 and conv5 convolution layers, the number of parameters of each layer is about 236 ten thousand, and the huge number of parameters makes the operation process of the network in training complicated and slow.

Therefore, the utility model discloses choose for use the core structure part inclusion module in the GoogleNet network to optimize Deep L ab model network structure in order to reach and reduce the network complexity specifically, stack together the convolution layer and the pooling layer of not unidimensional, increase the width of network, replace the convolution of 5 × 5 in the original inclusion module with the 3 × 3 convolution of linking together, further promote the ability of extracting the characteristic, reduce the complexity.

According to the method, the conv5 convolutional layer in the Deep L ab network is modified by using the improved inclusion module, the characteristic diagram output by the Pooling4 is connected to the improved inclusion module, the output processed by the improved inclusion module is connected to the ASPP module, the number of parameters of the part is reduced from about 708 ten thousand to about 104 thousand to less than 15% of the part of the original network after the improvement, so that the improvement can be obviously seen that the number of the parameters is greatly reduced on the basis of excellent characteristic extraction capability, and the performance of the network in training is effectively improved.

Further referring to fig. 3, fig. 3 shows a schematic circuit connection diagram of the fruit and vegetable picking device according to an embodiment of the present invention. Specifically, as shown in fig. 3, the autonomous mobile platform may sense information around the device, and complete navigation, obstacle avoidance, and path planning, and is connected to the central processing unit 111; the image capturing device is connected to the central processing unit 111, and transmits the acquired tomato image information to the central processing unit 111 for searching and recognizing the tomato target and performing primary spatial positioning (by the second camera 108, i.e., a binocular camera) and secondary precise positioning (by the close-range positioning camera 109 and the light source 110 for auxiliary illumination) on the tomato position. The picking robot is connected to an end effector, both of which are connected to a central processing unit 111. The central processing unit 111 controls the mechanical arm to send the end effector to a designated position, and controls the end effector to complete grabbing and picking of the individual tomatoes and cutting and picking of the tomato fruit strings. Alternatively, the power management system provides power to the entire system.

According to the above technical scheme, the utility model discloses a device and method are picked to fruit vegetables, realized being converted into the basis that machinery was picked by artifical picking, can also further carry out more optimization, first, through first camera 101, radar 102 and navigation apparatus (GNSS)103 collection device information on every side, with information transmission to industrial computer 104, can realize establishing the map, navigation and path planning, secondly, image acquisition equipment gathers the image information of tomato fruit, the tomato image information transmission that will gather to central processing unit 111, central processing unit 111 utilizes the improvement Deep L ab model that trains, the discernment tomato confirms simultaneously that the tomato cluster picks the point, furtherly, central processing unit 111 can control linking arm 112 and end effector and accomplish grabbing of monomer tomato fruit and pick and the cutting of tomato cluster fruit and pick, and put the monomer tomato that will pick and the tomato cluster in splendid attire frame 115, accomplish the picking of a tomato.

Therefore, convenience and precision of automatic picking of fruits and vegetables such as tomato fruits can be improved, accurate and efficient application effects are achieved to the maximum extent, and support is provided for well automatic picking of the fruits and vegetables.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. A fruit and vegetable picking device is characterized by comprising an installation platform and a moving mechanism which is connected with the installation platform and can drive the installation platform to move,

the picking device comprises a mounting platform, a picking mechanism and a picking mechanism, wherein the mounting platform is provided with a connecting arm which can move and stretch relative to the mounting platform, and the free end of the connecting arm is provided with the picking mechanism.

2. The fruit and vegetable picking apparatus of claim 1, wherein the picking mechanism includes a cutting knife and a manipulator mounted at a free end of the connecting arm.

3. The device as claimed in claim 1, wherein the moving mechanism comprises a motor drive mounted on the mounting platform and a track mechanism driven by the motor drive.

4. The fruit and vegetable picking device of claim 3, wherein the moving mechanism further comprises an industrial personal computer mounted on the mounting platform, wherein the motor driver is electrically connected with the industrial personal computer through a motion controller.

5. The fruit and vegetable picking device according to claim 4, wherein the moving mechanism further comprises a first camera, a radar and a navigation device which are mounted on the mounting platform, wherein the first camera, the radar and the navigation device are respectively electrically connected with the industrial personal computer.

6. The fruit and vegetable picking device of claim 5, wherein the first camera, the radar and the navigation apparatus are disposed forward of the mounting platform in an end-to-end direction of the fruit and vegetable picking device.

7. The fruit and vegetable harvesting apparatus of claim 6, further comprising a fruit and vegetable containment area located at the rear of the mounting platform, wherein the harvesting mechanism is movable into and out of the fruit and vegetable containment area.

8. The fruit and vegetable picking device of claim 4, further comprising a central processing unit mounted on the mounting platform, wherein the industrial personal computer, the connecting arm and the picking mechanism are all electrically connected to the central processing unit.

9. The fruit and vegetable picking device of claim 8, further comprising an image acquisition device located on the mounting platform, wherein the image acquisition device is electrically connected to the central processing unit.

10. The fruit and vegetable picking device according to claim 9, wherein the image acquisition equipment comprises: the second camera is installed on the installation platform, and the close-range positioning camera and the light source are installed on the connecting arm, wherein the second camera, the close-range positioning camera and the light source are all electrically connected with the central processing unit.

Images