CN214628194U - A Framed Tomato Picking Robot Based on Image Recognition - Google Patents
A Framed Tomato Picking Robot Based on Image Recognition Download PDFInfo
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- CN214628194U CN214628194U CN202120469844.6U CN202120469844U CN214628194U CN 214628194 U CN214628194 U CN 214628194U CN 202120469844 U CN202120469844 U CN 202120469844U CN 214628194 U CN214628194 U CN 214628194U
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 44
- 240000003768 Solanum lycopersicum Species 0.000 title claims description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 210000000078 claw Anatomy 0.000 claims abstract description 31
- 229920002457 flexible plastic Polymers 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 15
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 4
- 241000227653 Lycopersicon Species 0.000 abstract 4
- 230000001066 destructive effect Effects 0.000 abstract 1
- 235000013399 edible fruits Nutrition 0.000 description 13
- 238000003306 harvesting Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 239000004411 aluminium Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 235000012055 fruits and vegetables Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
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- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
本实用新型公开了一种基于图像识别的框架式番茄采摘机器人，包括图像识别模块、采摘机构以及移动机构，所述移动机构包括框架底座，框架底座的底部连接有车轮机构，所述采摘机构包括用于驱动采摘机械手三自由度移动的X轴直线模组、Y轴直线模组、Z轴直线模组，所述采摘机械手包括左手爪和右手爪以及驱动所述左手爪和右手爪相对移动的气缸，所述左手爪和右手爪均为柔性塑胶三角结构。通过图像识别模块的图像识别技术实现番茄的图像处理和精准定位，采摘机械手可通过X轴直线模组、Y轴直线模组、Z轴直线模组的相互配合实现三自由度移动，从而确保了番茄采摘的精确度，左手爪和右手爪均为柔性塑胶三角结构，可以实现番茄的自动无损采摘。
The utility model discloses a frame type tomato picking robot based on image recognition, comprising an image recognition module, a picking mechanism and a moving mechanism. The moving mechanism comprises a frame base, and a wheel mechanism is connected to the bottom of the frame base, and the picking mechanism comprises The X-axis linear module, the Y-axis linear module, and the Z-axis linear module are used to drive the three-degree-of-freedom movement of the picking manipulator. The cylinder, the left hand claw and the right hand claw are all flexible plastic triangular structures. Image processing and precise positioning of tomatoes are realized through the image recognition technology of the image recognition module. The picking manipulator can move in three degrees of freedom through the cooperation of the X-axis linear module, the Y-axis linear module, and the Z-axis linear module, thus ensuring that the The accuracy of tomato picking, the left and right claws are flexible plastic triangular structures, which can realize automatic and non-destructive picking of tomatoes.
Description
Technical Field
The utility model belongs to the technical field of intelligent agricultural machine, concretely relates to frame-type tomato picking robot based on image recognition.
Background
Among the many agricultural operations, the fruit picking task is undoubtedly one of the greater labor intensity. Except for a few varieties which are convenient for realizing mechanical operation and have low requirements on the harvesting quality and the fruit and vegetable quality, most varieties have not been realized mechanically, but are not easy to realize intelligent harvesting operation. The picking and harvesting operation of fruits and vegetables is labor-intensive, time and labor are wasted in the process, and the fruits can be damaged carelessly. The quality of fruit picking operation directly influences the cost of subsequent processing operation and the income of growers.
The tomato cultivation area and the tomato yield in China are rapidly enlarged, the tomatoes must be picked in time after being planted and matured, the tomatoes are high in yield and wide in planting area, and the picking timeliness requirement brings many challenges to picking of fruit growers. At present, the tomato picking is mainly performed by the traditional manual direct hand picking, few people use auxiliary picking equipment, the picking workload is large, and therefore the tomato picking work needs to be automated urgently.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the problem that above-mentioned prior art exists, provide a frame-type tomato picking robot based on image recognition.
In order to achieve the purpose, the utility model adopts the following technical measures:
the utility model provides a frame-type tomato picking robot based on image recognition, includes image recognition module, picking mechanism and moving mechanism, image recognition module, picking mechanism all install moving mechanism is last, moving mechanism includes the frame base, and the bottom of frame base is connected with wheel mechanism, picking mechanism is including being used for driving X axle straight line module, Y axle straight line module, the Z axle straight line module that picking manipulator three degrees of freedom removed, picking manipulator includes left hand claw and right hand claw and drive left hand claw and right hand claw relative movement's cylinder, left hand claw and right hand claw are flexible plastic triangular structure.
Preferably, small through holes are uniformly distributed on the opposite sides of the left paw and the right paw.
Preferably, the left paw is fixedly connected with the guide rail of the cylinder through a left paw connecting piece, and the right paw is connected with the piston of the cylinder through a right paw connecting piece.
Preferably, the X-axis linear modules are arranged in two groups and are parallelly installed on two sides of the top of the frame base, the Z-axis linear modules are connected to X-axis sliders of each X-axis linear module, the Z-axis sliders of the two Z-axis linear modules are connected through the Y-axis linear module, and the picking manipulator is connected to the Y-axis sliders of the Y-axis linear modules.
Preferably, the image recognition module comprises a binocular depth camera, the binocular depth camera is installed on a support frame, the support frame is connected with a frame base through support columns, and two sides of each support column are connected with support aluminum frames.
Preferably, the image recognition module is electrically connected with a PLC controller, and the PLC controller is electrically connected with the picking mechanism.
Preferably, the PLC controller is connected to a control box through a terminal block and a fuse.
Preferably, the frame base comprises a lower frame, a supporting frame is connected to the upper end of the lower frame, an upper frame is connected to the supporting frame, and a triangular supporting block is connected to the side surface of the supporting frame.
Preferably, an X-axis synchronizing shaft is connected between the two X-axis linear modules and is connected with an X-axis stepping motor through an X-axis coupler.
Preferably, a Z-axis synchronizing shaft is connected between the two Z-axis linear modules and is connected with a Z-axis stepping motor through a Z-axis coupling.
The beneficial effects of utility model reside in that:
compared with the prior art, the utility model discloses a frame-type tomato picking robot based on image recognition's simple structure, precision are high, realize the image processing and the accurate location of tomato through image recognition module's image recognition technology, the mutual cooperation of picking manipulator accessible X axle straight line module, Y axle straight line module, Z axle straight line module realizes three degrees of freedom and removes to the accuracy of tomato harvesting has been ensured, left hand claw and right hand claw are flexible plastic triangular structure, can realize the automatic harmless harvesting of tomato.
Drawings
Fig. 1 is a schematic structural diagram of a frame-type tomato picking robot based on image recognition;
fig. 2 is a schematic structural diagram of a frame-type tomato picking robot based on image recognition according to the present invention;
fig. 3 is a front view of a frame-type tomato picking robot based on image recognition according to the present invention;
fig. 4 is a structural diagram of a control box of the frame-type tomato picking robot based on image recognition of the present invention;
fig. 5 is a connection diagram of a picking manipulator of the frame-type tomato picking robot based on image recognition.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, 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 work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting 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.
As shown in fig. 1-5, a frame-type tomato picking robot based on image recognition comprises an image recognition module 4, picking mechanisms and a moving mechanism, wherein the image recognition module 4 and the picking mechanisms are both mounted on the moving mechanism, the moving mechanism comprises a frame base 2, a wheel mechanism 1 is connected to the bottom of the frame base 2, the wheel mechanism 1 comprises wheels 102 and a universal wheel connecting frame 101 connected with the wheels 102 in a shaft mode, one end of the universal wheel connecting frame 101 is connected with the frame base 2, the bottom of the frame base 2 is connected with at least four groups of wheel mechanisms 1, and the transfer and movement of equipment can be realized through the wheel mechanisms 1. In more detail, the moving mechanism may preferably be a remote control car.
The picking mechanism comprises X-axis linear modules 8, Y-axis linear modules 12 and Z-axis linear modules 16 which are used for driving a picking manipulator 5 to move in three degrees of freedom, in the embodiment, the X-axis linear modules 8 are arranged in two groups and are parallelly installed on two sides of the top of the frame base 2, the Z-axis linear modules 16 are connected to X-axis sliding blocks 9 of the X-axis linear modules 8, Z-axis sliding blocks 17 of the two Z-axis linear modules 16 are connected through the Y-axis linear modules 12, and the picking manipulator 5 is connected to Y-axis sliding blocks 13 of the Y-axis linear modules 12.
The X-axis linear module 8, the Y-axis linear module 12 and the Z-axis linear module 16 are preferably synchronous belt type linear modules, two ends of the X-axis linear module 8, the Y-axis linear module 12 and the Z-axis linear module 16 are provided with limit switches, in order to ensure the synchronous movement of the sliding blocks on the two X-axis linear modules 8 and the Z-axis linear module 16, the synchronous driving wheels on the two X-axis linear modules 8 are connected through an X-axis synchronous shaft, the synchronous driving wheels of the Z-axis linear modules 16 are connected through a Z-axis synchronous shaft, the X-axis synchronous shaft is connected with an X-axis stepping motor 6 through an X-axis coupler 7, X-axis sliders 9 on the two X-axis linear modules 8 are driven by the X-axis stepping motor 6 to realize synchronous movement, the Z-axis synchronous shaft is connected with a Z-axis stepping motor 14 through a Z-axis coupler 15, and Z-axis sliders 17 on the two Z-axis linear modules 16 are driven by the Z-axis stepping motor 14 to realize synchronous movement.
In addition, the synchronous driving wheel of the Y-axis linear module 12 is connected with a Y-axis driving shaft, and the Y-axis driving shaft is connected with a Y-axis stepping motor 10 through a Y-axis coupler 11.
The picking manipulator 5 comprises a left hand claw 53, a right hand claw 54 and a cylinder 51 for driving the left hand claw 53 and the right hand claw 54 to move relatively, in this embodiment, the cylinder 51 is a rodless cylinder, and both the left hand claw 53 and the right hand claw 54 are of flexible plastic triangular structures. Preferably, the left paw 53 and the right paw 54 are made of soft PP materials, small through holes are uniformly distributed on the opposite sides of the left paw 53 and the right paw 54, and the damage to the tomatoes in the picking process can be reduced by adopting the left paw 53 and the right paw 54 which are of flexible structures because the tomatoes are softer and have thinner skins.
In more detail, the air cylinder 51 is connected to one side of the Y-axis slide block 13, the left hand claw 53 is fixedly connected to a guide rail of the air cylinder 51 through a left hand claw connecting piece 52, the right hand claw 54 is connected to a piston of the air cylinder 51 through a right hand claw connecting piece 55, and the distance between the left hand claw 53 and the right hand claw 54 can be adjusted by adjusting the pressure of an air source introduced into the air cylinder 51, so that the clamping force during picking of tomatoes is adjusted.
In more detail, in the present embodiment, in order to ensure the stability of the device structure, the frame base 2 includes a lower frame 24, a supporting frame 22 is vertically connected to an upper end of the lower frame 24, an upper frame 21 is connected to the supporting frame 22, a triangular supporting block 23 is connected to a side surface of the supporting frame 22, and frame corner positions of the lower frame 24 and the upper frame 21 are connected and supported by the two supporting frames 22.
During operation, the tomato picking robot has the following working procedures:
s1: an operator controls the robot to move to a position where the fruits are to be picked under the operation of the wheel mechanism 1;
s2: the image recognition module 4 recognizes the fruit target, the image recognition module 4 transmits the collected picture to the upper controller, and the upper controller judges whether the ripe tomato position exists or not through the image recognition technology;
s3: the moving mechanism drives the picking manipulator 5 to approach the fruit, the upper controller sends an instruction to the PLC 32 through a serial port according to the calculated fruit coordinate by obtaining the position information of the ripe fruit, the PLC 32 drives the X-axis linear module 8, the Y-axis linear module 12 and the Z-axis linear module 16 to move to the position near the fruit under the combined motion together, so that the picking manipulator 5 is prepared for picking the fruit, the X-axis linear module 8, the Y-axis linear module 12 and the Z-axis linear module 16 are connected with a high-speed pulse port of the PLC 32, and during the motion, the PLC 32 can simultaneously drive the X-axis linear module 8, the Y-axis linear module 12 and the Z-axis linear module 16 to move simultaneously to accelerate the picking speed;
s4: the picking manipulator 5 picks the fruits in sequence, and the air cylinder 51 drives the left paw 53 and the right paw 54 to clamp the ripe fruits.
The utility model discloses a frame-type tomato picking robot based on image recognition's simple structure, precision are high, realize the image processing and the accurate location of tomato through image recognition module's image recognition technology, the three degree of freedom removal are realized in mutually supporting of picking manipulator accessible X axle straight line module, Y axle straight line module, Z axle straight line module to the accuracy of tomato harvesting has been ensured, left hand claw and right hand claw are flexible plastic triangular structure, can realize the automatic harmless harvesting of tomato.
The foregoing is a more detailed description of the invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments disclosed herein. To those skilled in the art to which the utility model belongs, a plurality of simple deductions or replacements can be made without departing from the concept of the utility model, and all the deductions or replacements should be regarded as belonging to the protection scope of the utility model.
Claims (10)
1. The utility model provides a frame-type tomato picking robot based on image recognition, includes image recognition module (4), picking mechanism and moving mechanism, image recognition module (4), picking mechanism all install moving mechanism is last, its characterized in that, moving mechanism includes frame base (2), and the bottom of frame base (2) is connected with wheel mechanism (1), picking mechanism is including X axle straight line module (8), Y axle straight line module (12), the Z axle straight line module (16) that are used for driving picking manipulator (5) three degrees of freedom to remove, picking manipulator (5) are including left hand claw (53) and right hand claw (54) and drive cylinder (51) of left hand claw (53) and right hand claw (54) relative movement, left hand claw (53) and right hand claw (54) are flexible plastic triangular structure.
2. An image recognition based frame tomato picking robot as claimed in claim 1, characterized by small through holes on opposite sides of the left gripper (53) and right gripper (54).
3. An image recognition based frame tomato picking robot as claimed in claim 1, characterized in that the left gripper (53) is fixedly connected with the guide rail of the cylinder (51) through a left gripper connection (52), and the right gripper (54) is connected with the piston of the cylinder (51) through a right gripper connection (55).
4. A frame type tomato picking robot based on image recognition as claimed in claim 1, characterized in that there are two sets of X-axis linear modules (8) installed in parallel on both sides of the top of the frame base (2), the Z-axis linear module (16) is connected to the X-axis slide (9) of each X-axis linear module (8), the Z-axis slides (17) of the two Z-axis linear modules (16) are connected through the Y-axis linear module (12), and the picking manipulator (5) is connected to the Y-axis slide (13) of the Y-axis linear module (12).
5. A frame-type tomato picking robot based on image recognition as claimed in claim 1, characterized in that the image recognition module (4) comprises a binocular depth camera (44), the binocular depth camera (44) is mounted on a support frame (42), the support frame (42) is connected with the frame base (2) through a support column (41), and a support aluminum frame (43) is connected with both sides of the support column (41).
6. A frame-type tomato picking robot based on image recognition as claimed in claim 1, characterized in that the image recognition module (4) is electrically connected with a PLC controller (32), the PLC controller (32) is electrically connected with the picking mechanism.
7. A frame-type tomato picking robot based on image recognition as claimed in claim 6, characterized in that the PLC controller (32) is connected with a control electrical box (31) through a terminal wiring board (33) and a fuse (34).
8. A frame tomato picking robot based on image recognition as claimed in claim 1, characterized in that the frame base (2) comprises a lower frame (24), a supporting frame (22) is connected to the upper end of the lower frame (24), an upper frame (21) is connected to the supporting frame (22), and a triangular supporting block (23) is connected to the side of the supporting frame (22).
9. A frame type tomato picking robot based on image recognition as claimed in claim 4, characterized in that an X-axis synchronous shaft is connected between the two X-axis linear modules (8), and the X-axis synchronous shaft is connected with an X-axis stepping motor (6) through an X-axis coupler (7).
10. A frame type tomato picking robot based on image recognition as claimed in claim 4, characterized in that a Z-axis synchronous shaft is connected between the two Z-axis linear modules (16), and the Z-axis synchronous shaft is connected with a Z-axis stepping motor (14) through a Z-axis coupler (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120469844.6U CN214628194U (en) | 2021-03-04 | 2021-03-04 | A Framed Tomato Picking Robot Based on Image Recognition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120469844.6U CN214628194U (en) | 2021-03-04 | 2021-03-04 | A Framed Tomato Picking Robot Based on Image Recognition |
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| Publication Number | Publication Date |
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| CN214628194U true CN214628194U (en) | 2021-11-09 |
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| CN202120469844.6U Expired - Fee Related CN214628194U (en) | 2021-03-04 | 2021-03-04 | A Framed Tomato Picking Robot Based on Image Recognition |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114731840A (en) * | 2022-04-07 | 2022-07-12 | 仲恺农业工程学院 | Double robotic arm tea picking robot based on machine vision |
| CN115067154A (en) * | 2022-06-21 | 2022-09-20 | 广州大学 | Mushroom is irrigated and is picked categorised integrative robot |
| CN115067077A (en) * | 2022-07-01 | 2022-09-20 | 苏州书农科技有限公司 | Picking robot |
| DE102023113950A1 (en) | 2023-05-26 | 2024-11-28 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | harvesting device |
-
2021
- 2021-03-04 CN CN202120469844.6U patent/CN214628194U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114731840A (en) * | 2022-04-07 | 2022-07-12 | 仲恺农业工程学院 | Double robotic arm tea picking robot based on machine vision |
| CN114731840B (en) * | 2022-04-07 | 2022-12-27 | 仲恺农业工程学院 | Double-mechanical-arm tea picking robot based on machine vision |
| CN115067154A (en) * | 2022-06-21 | 2022-09-20 | 广州大学 | Mushroom is irrigated and is picked categorised integrative robot |
| CN115067077A (en) * | 2022-07-01 | 2022-09-20 | 苏州书农科技有限公司 | Picking robot |
| DE102023113950A1 (en) | 2023-05-26 | 2024-11-28 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | harvesting device |
| WO2024245503A1 (en) | 2023-05-26 | 2024-12-05 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Harvesting device |
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Granted publication date: 20211109 |