CN215011703U - Rose picking robot - Google Patents
Rose picking robot Download PDFInfo
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- CN215011703U CN215011703U CN202120579692.5U CN202120579692U CN215011703U CN 215011703 U CN215011703 U CN 215011703U CN 202120579692 U CN202120579692 U CN 202120579692U CN 215011703 U CN215011703 U CN 215011703U
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Abstract
The utility model provides a rose picking robot, the rotary base through actuating mechanism is connected with track running gear's chassis, AI automatic identification system is located actuating mechanism one side and is connected with the chassis, track running gear, actuating mechanism and AI automatic identification system are connected with control system, shoot the rose through AI automatic identification system, control system handles analysis and discernment to the photo, and send the instruction and carry out the spatial position of gyration or every single move adjustment picking robot hand for actuating mechanism, the shearing piece of picking robot hand open and shut the end carries out the centre gripping and cuts the rose flower. The utility model overcomes former rose relies on the manual work to pick inefficiency, easy stinging hand, and the secretion causes the problem that the flower bud pollutes easily, has simple structure, picks efficiently, can not hinder the hand, avoids picking in-process calyx secretion and is infected with the flower and causes the pollution, and degree of automation is high, easy operation convenient characteristics.
Description
Technical Field
The utility model belongs to the technical field of automatic mechanical equipment, a rose picking robot is related to.
Background
In the field of mechanical automation, mechanical equipment with various purposes is involved, and the method has a remarkable effect on improving productivity. In the planting industry, the planting of fresh flowers involves more types, wherein the rose flower cultivation is involved, and the rose flower cultivation is popular with consumers due to the bright flowers and various colors, and is also used for deep processing of some tea leaves, so that the economic industry of large-area planting is formed. The rose is a shrub of rosa of rosaceae in plant taxonomy, the diameter of the rod of the rose is full of thorns, the manual picking mode adopted at present is low in efficiency, the hand is easy to stab, secondly, in the picking process, secretion on the calyx at the rear end of the bud adheres to the hand, and the bud of the tea making raw material which cannot be cleaned in the processing process is easy to cause pollution.
Disclosure of Invention
The utility model aims to solve the technical problem that a rose picking robot is provided, moreover, the steam generator is simple in structure, the rotating base who adopts actuating mechanism is connected with track running gear's chassis, AI automatic identification system is located actuating mechanism one side and is connected with the chassis, track running gear, actuating mechanism and AI automatic identification system are connected with control system, AI automatic identification system shoots the rose, control system handles analysis and discernment to the photo, and send instruction carries out the spatial position of gyration or every single move adjustment picking robot hand for actuating mechanism, the shearing piece of picking robot hand opening and shutting end carries out the centre gripping and cuts the rose, picking efficiency is high, can not hinder the hand, avoid picking in-process calyx secretion and being infected with the flower and cause the pollution, degree of automation is high, and easy operation is convenient.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a rose picking robot comprises a crawler walking mechanism, an actuating mechanism, an AI automatic identification system and a control system; the rotary base of the executing mechanism is connected with a chassis of the crawler walking mechanism, the AI automatic identification system is positioned at one side of the executing mechanism and is connected with the chassis, and the crawler walking mechanism, the executing mechanism and the AI automatic identification system are connected with the control system; when the AI automatic identification system identifies, the actuating mechanism correspondingly rotates or pitches.
The actuating mechanism comprises a rotary arm connected with the rotary base and a pitching arm connected with the rotary arm, and the tail end actuating device is connected with the pitching arm.
The rotary base comprises three annular plates which are connected with the plurality of support rods and distributed at intervals, the rotary disc is matched with the annular plates, and the base steering engine is connected with the rotary disc.
And a rotary steering engine at the lower end of the rotary arm is connected with a rotary disk of the rotary base.
And the pitching steering engines arranged at the two ends of the pitching arm are respectively connected with the rotating arm and the support plate of the tail end executing device.
The tail end executing device comprises a rotary steering engine connected with the supporting plate and a picking manipulator connected with the rotary steering engine, and the opening and closing ends of the picking manipulator are provided with mutually symmetrical shearing sheets.
The AI automatic identification system is a camera, and the shot picture is transmitted to the image processing library of the control system and positioned by a visual algorithm.
The control system is a microcomputer and carries an AI artificial intelligence identification system and a GPS positioning system.
A rose picking robot comprises a crawler walking mechanism, an actuating mechanism, an AI automatic identification system and a control system; the rotary base of the executing mechanism is connected with a chassis of the crawler walking mechanism, the AI automatic identification system is positioned at one side of the executing mechanism and is connected with the chassis, and the crawler walking mechanism, the executing mechanism and the AI automatic identification system are connected with the control system; when the AI automatic identification system identifies, the actuating mechanism correspondingly rotates or pitches. Simple structure, the rotary base through actuating mechanism is connected with track running gear's chassis, AI automatic identification system is located actuating mechanism one side and is connected with the chassis, track running gear, actuating mechanism and AI automatic identification system are connected with control system, shoot the rose through AI automatic identification system, control system handles analysis and discernment to the photo, and send the instruction and carry out the space position of gyration or every single move adjustment picking robot hand for actuating mechanism, the shearing piece of picking robot hand opening and shutting end carries out the centre gripping and cuts the rose flower, picking efficiency is high, can not injure the hand, avoid picking in-process calyx secretion and be infected with the flower and cause the pollution, degree of automation is high, easy operation is convenient.
In a preferred scheme, the actuating mechanism comprises a rotary arm connected with the rotary base and a pitching arm connected with the rotary arm, and the end effector is connected with the pitching arm. Simple structure, during the use, actuating mechanism is used for carrying out gyration, downward sloping or upwards lifts upward and faces upward the action, adjusts the spatial position of picking machine hand, makes it can accurate catch the position of rose flower.
In the preferred scheme, the rotary base comprises three annular plates which are connected with a plurality of supporting rods and distributed at intervals, the rotary disc is matched with the annular plates, and the base steering engine is connected with the rotary disc. Simple structure, during the use, the rotatory gyration arm that drives of base steering wheel drive gyration dish is rotatory.
In a preferable scheme, a rotary steering engine at the lower end of the rotary arm is connected with a rotary disk of the rotary base. Simple structure, during the use, the gyration steering wheel drive gyration arm is rotatory to drive the every single move arm rotation.
In a preferable scheme, the pitching steering engines arranged at two ends of the pitching arm are respectively connected with the rotating arm and the support plate of the tail end executing device. The structure is simple, and when the device is used, the pitching steering engine positioned between the pitching arm and the rotating arm drives the pitching arm to rotate around the upper end of the rotating disc in the lateral direction; and a pitching steering engine positioned between the pitching arm and the tail end executing device drives the tail end executing device to rotate laterally.
In the preferred scheme, the tail end executing device comprises a rotary steering engine connected with the support plate and a picking manipulator connected with the rotary steering engine, and the opening and closing ends of the picking manipulator are provided with mutually symmetrical shearing sheets. Simple structure, during the installation, the extension board is connected with every single move steering wheel and rotatory steering wheel, and rotatory steering wheel is connected with picking machine hand, and rotatory steering wheel drive picking machine hand is rotatory.
In a preferred scheme, the AI automatic recognition system is a camera, and the shot pictures are transmitted to the image processing library of the control system and positioned by a visual algorithm. Simple structure, during the use, AI automatic identification system carries out the image shooting to the rose to the photo of will shooing is transmitted for control system, and control system fixes a position the rose flower that needs to be picked according to AI visual algorithm.
In a preferred scheme, the control system is a microcomputer and carries an AI artificial intelligence identification system and a GPS positioning system. When the robot is used, the control system sends various instructions to the robot, the robot stores the received instruction information and sends instructions to each tail end to operate the robot, so that the crawler travelling mechanism moves according to a specified route, and the robot is matched with the carried AI artificial intelligence recognition system and the GPS positioning system to form a picking task according to a specified program.
The utility model provides a rose picking robot, it includes track running gear, actuating mechanism, AI automatic identification system and control system, the rotary base through actuating mechanism is connected with track running gear's chassis, AI automatic identification system is located actuating mechanism one side and is connected with the chassis, track running gear, actuating mechanism and AI automatic identification system and control system headtotail, shoot the rose through AI automatic identification system, control system handles analysis and discernment to the photo, and send the instruction and carry out the spatial position of gyration or every single move adjustment picking robot hand for actuating mechanism, the shearing piece of picking robot hand open and shut the end carries out the centre gripping and cuts rose flower. The utility model overcomes former rose relies on the manual work to pick inefficiency, easy stinging hand, and the secretion causes the problem that the flower bud pollutes easily, has simple structure, picks efficiently, can not hinder the hand, avoids picking in-process calyx secretion and is infected with the flower and causes the pollution, and degree of automation is high, easy operation convenient characteristics.
Drawings
The invention will be further explained with reference to the following figures and examples:
fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a side view of fig. 2.
Fig. 4 is a schematic top view of fig. 3.
Fig. 5 is a schematic structural view of the picking robot of the present invention.
In the figure: the automatic picking machine comprises a crawler walking mechanism 1, a chassis 11, an executing mechanism 2, a rotary base 21, a rotary disc 211, a base steering gear 212, a rotary arm 22, a rotary steering gear 221, a pitching arm 23, a pitching steering gear 231, a tail end executing device 24, a support plate 241, a rotary steering gear 242, a picking manipulator 243, a shear slice 244 and an AI automatic identification system 3.
Detailed Description
As shown in fig. 1 to 5, a rose picking robot comprises a crawler 1, an actuator 2, an AI automatic identification system 3 and a control system; the rotary base 21 of the executing mechanism 2 is connected with the chassis 11 of the crawler walking mechanism 1, the AI automatic identification system 3 is positioned at one side of the executing mechanism 2 and connected with the chassis 11, and the crawler walking mechanism 1, the executing mechanism 2 and the AI automatic identification system 3 are connected with the control system; when the AI automatic recognition system 3 recognizes, the actuator 2 is rotated or tilted accordingly. Simple structure, the rotary base 21 through actuating mechanism 2 is connected with the chassis 11 of track running gear 1, AI automatic identification system 3 is located actuating mechanism 2 one side and is connected with chassis 11, track running gear 1, actuating mechanism 2 and AI automatic identification system 3 are connected with control system, shoot the rose through AI automatic identification system 3, control system handles analysis and discernment to the photo, and send the instruction and carry out the space position of gyration or every single move adjustment picking manipulator 243 for actuating mechanism 2, the shearing piece 244 of picking manipulator 243 opening and shutting end carries out the centre gripping and cuts the rose flower, it is efficient to pick, can not hinder the hand, avoid picking in-process calyx secretion to be infected with the flower and cause the pollution, degree of automation is high, easy operation is convenient.
Preferably, the control system is remote background control, and the crawler walking mechanism 1, the executing mechanism 2 and the AI automatic identification system 3 are remotely controlled.
Preferably, a solar panel is arranged on the chassis 11 or a charging power supply is arranged on the lower side of the chassis 11 to supply power to the crawler 1, the actuating mechanism 2 and the AI automatic identification system 3.
Preferably, the driving motor of the crawler 1 is provided with a high-low battery magnetic Hall encoder, so that space is reserved for developing more functions in the later period.
Preferably, the crawler track 1 is of type TK 50.
In a preferred scheme, the actuating mechanism 2 comprises a rotary arm 22 connected with the rotary base 21 and a pitching arm 23 connected with the rotary arm 22, and an end effector 24 is connected with the pitching arm 23. Simple structure, during the use, actuating mechanism 2 is used for carrying out gyration, downward sloping or upwards rise and lean on the action, adjusts the spatial position of picking machine hand 243, makes it can accurate catch the position of rose flower.
In a preferable scheme, the rotating base 21 comprises three annular plates which are connected with a plurality of supporting rods and distributed at intervals, the rotating disc 211 is matched with the annular plates, and the base steering engine 212 is connected with the rotating disc 211. Simple structure, during the use, base steering wheel 212 drive gyration dish 211 is rotatory to drive the gyration arm 22 rotatory.
In a preferable scheme, a rotary steering engine 221 at the lower end of the rotary arm 22 is connected with a rotary disk 211 of the rotary base 21. Simple structure, when using, gyration steering wheel 221 drives gyration arm 22 rotatory drive pitch arm 23 rotatory.
Preferably, the base steering engine 212 and the swivel steering engine 221 are model numbers LDX-218.
In a preferred embodiment, the pitch steering gears 231 disposed at two ends of the pitch arm 23 are respectively connected to the pivot arm 22 and the support plate 241 of the end effector 24. The structure is simple, when in use, the pitching steering engine 231 positioned between the pitching arm 23 and the rotating arm 22 drives the pitching arm 23 to rotate around the upper end of the rotating disc 211 in the lateral direction; a pitch actuator 231 located between the pitch arm 23 and the end effector 24 drives the end effector 24 in a lateral rotation.
Preferably, pitch actuator 231 is model LDX-227.
In a preferred scheme, the end effector 24 comprises a rotary steering engine 242 connected with the support plate 241 and a picking robot 243 connected with the rotary steering engine 242, wherein the opening and closing ends of the picking robot 243 are provided with mutually symmetrical shearing sheets 244. Simple structure, during the installation, extension board 241 is connected with every single move steering wheel 231 and rotatory steering wheel 242, and rotatory steering wheel 242 is connected with picking machine hand 243, and rotatory steering wheel 242 drive picking machine hand 243 is rotatory.
Preferably, the rotary steering engine 242 is of the type LFD-06.
Preferably, the opening and closing end of the picking robot 243 opens the calyx-connected stem holding the rear end of the flower bud to cut it.
Preferably, when the picking robot 243 shears, the shearing piece 244 at the front end of the picking robot is slightly inclined upwards, and when the rose is sheared, the rose slides down along the shearing piece 244 into the clamping space at the rear end of the two shearing pieces 244, so as to prevent the rose from falling. Later with the rose flower transfer to accomodate the basket in, this process can not cause secretion and bud contact, avoids being infected with the secretion.
Preferably, the picking robot hand 243 has a function that mimics the action of a human hand, preferably a pick gripper type material picking hand.
In a preferred scheme, the AI automatic recognition system 3 is a camera, and transmits the shot picture to the control system image processing library for positioning by a visual algorithm. Simple structure, during the use, AI automatic identification system 3 carries out the image shooting to the rose to the photo of will shooing is transmitted for control system, and control system fixes a position the rose flower that needs to be picked according to AI visual algorithm.
Preferably, the AI automatic recognition system 3 is responsible for taking a photograph by a camera hv3808, which is a sensing type of COMS, 30 ten thousand dynamic pixels, 480P, 30PFS high definition delayed images, and sending the taken photograph to the control system with a minimum of 0.1 LUX.
In a preferred scheme, the control system is a microcomputer and carries an AI artificial intelligence identification system and a GPS positioning system. When the robot is used, the control system sends various instructions to the robot, the robot stores the received instruction information and sends instructions to each tail end to operate, so that the crawler walking mechanism 1 moves according to a specified route, and the robot is matched with a mounted AI artificial intelligence recognition system and a GPS positioning system to form a picking task according to a specified program.
Preferably, the control system is a Raspberry Pi microcomputer, and an Open Source CV image processing library is configured in the Raspberry Pi microcomputer.
Preferably, the AI artificial intelligence recognition system recognizes the line shape, the circle shape, or the sphere shape or other shapes according to the color of the object, regardless of the shape of the object.
When the rose picking robot is installed and used, the rotary base 21 of the executing mechanism 2 is connected with the chassis 11 of the track walking mechanism 1, the AI automatic identification system 3 is located on one side of the executing mechanism 2 and connected with the chassis 11, the track walking mechanism 1, the executing mechanism 2 and the AI automatic identification system 3 are connected with the control system, the AI automatic identification system 3 takes pictures of roses, the control system processes, analyzes and identifies the pictures and sends instructions to the executing mechanism 2 to execute rotation or pitching adjustment of the spatial position of the picking robot arm 243, the cutting piece 244 at the opening and closing end of the picking robot arm 243 clamps and cuts the roses, the picking efficiency is high, the hands cannot be injured, the phenomenon that the roses are polluted due to the fact that the roses are stained with calyx secretion in the picking process is avoided, the automation degree is high, and the operation is simple and convenient.
When the rose picking machine is used, the executing mechanism 2 is used for executing rotation, downward inclination or upward elevation actions, and adjusting the spatial position of the picking robot 243 to enable the picking robot to accurately capture the position of the rose.
When the device is used, the base steering engine 212 drives the rotary disc 211 to rotate so as to drive the rotary arm 22 to rotate.
When the device is used, the rotary steering engine 221 drives the rotary arm 22 to rotate so as to drive the pitching arm 23 to rotate.
When the device is used, the pitching steering engine 231 positioned between the pitching arm 23 and the rotating arm 22 drives the pitching arm 23 to rotate around the upper end of the rotating disc 211 laterally; a pitch actuator 231 located between the pitch arm 23 and the end effector 24 drives the end effector 24 in a lateral rotation.
During installation, the support plate 241 is connected with the pitching steering engine 231 and the rotating steering engine 242, the rotating steering engine 242 is connected with the picking manipulator 243, and the rotating steering engine 242 drives the picking manipulator 243 to rotate.
When the automatic picking device is used, the AI automatic recognition system 3 carries out image shooting on roses and transmits shot pictures to the control system, and the control system positions the roses needing to be picked according to an AI visual algorithm.
When the robot is used, the control system sends various instructions to the robot, the robot stores the received instruction information and sends instructions to each tail end to operate, so that the crawler walking mechanism 1 moves according to a specified route, and the robot is matched with a mounted AI artificial intelligence recognition system and a GPS positioning system to form a picking task according to a specified program.
The above embodiments are merely preferred technical solutions of the present invention, and should not be considered as limitations of the present invention, and the features in the embodiments and the examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be defined by the claims and the technical solutions described in the claims, including the technical features of the equivalent alternatives as the protection scope. Namely, equivalent alterations and modifications within the scope of the invention are also within the scope of the invention.
Claims (8)
1. The utility model provides a rose picking robot, characterized by: the automatic identification device comprises a crawler walking mechanism (1), an actuating mechanism (2), an AI automatic identification system (3) and a control system; a rotary base (21) of the executing mechanism (2) is connected with a chassis (11) of the crawler belt walking mechanism (1), an AI automatic identification system (3) is positioned on one side of the executing mechanism (2) and connected with the chassis (11), and the crawler belt walking mechanism (1), the executing mechanism (2) and the AI automatic identification system (3) are connected with a control system; when the AI automatic identification system (3) identifies, the actuating mechanism (2) correspondingly rotates or tilts.
2. The rose picking robot according to claim 1, wherein: the actuating mechanism (2) comprises a rotary arm (22) connected with the rotary base (21) and a pitching arm (23) connected with the rotary arm (22), and the end actuating device (24) is connected with the pitching arm (23).
3. The rose picking robot according to claim 2, wherein: the rotary base (21) comprises three annular plates which are connected with a plurality of support rods and distributed at intervals, the rotary disc (211) is matched with the annular plates, and the base steering engine (212) is connected with the rotary disc (211).
4. The rose picking robot according to claim 2, wherein: and a rotary steering engine (221) at the lower end of the rotary arm (22) is connected with a rotary disc (211) of the rotary base (21).
5. The rose picking robot according to claim 2, wherein: and pitch steering engines (231) arranged at two ends of the pitch arm (23) are respectively connected with the rotary arm (22) and a support plate (241) of the tail end executing device (24).
6. The rose picking robot according to claim 2, wherein: the tail end executing device (24) comprises a rotary steering engine (242) connected with the support plate (241) and a picking manipulator (243) connected with the rotary steering engine (242), and the opening and closing ends of the picking manipulator (243) are provided with mutually symmetrical shearing sheets (244).
7. The rose picking robot according to claim 1, wherein: the AI automatic identification system (3) is a camera, and the shot pictures are transmitted to the image processing library of the control system and positioned by a visual algorithm.
8. The rose picking robot according to claim 1, wherein: the control system is a microcomputer and carries an AI artificial intelligence identification system and a GPS positioning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120579692.5U CN215011703U (en) | 2021-03-22 | 2021-03-22 | Rose picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120579692.5U CN215011703U (en) | 2021-03-22 | 2021-03-22 | Rose picking robot |
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| Publication Number | Publication Date |
|---|---|
| CN215011703U true CN215011703U (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120579692.5U Active CN215011703U (en) | 2021-03-22 | 2021-03-22 | Rose picking robot |
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| CN (1) | CN215011703U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115413487A (en) * | 2022-10-10 | 2022-12-02 | 浙江理工大学 | Hangzhou white chrysanthemum picking and collecting integrated picker and Hangzhou white chrysanthemum picking method thereof |
-
2021
- 2021-03-22 CN CN202120579692.5U patent/CN215011703U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115413487A (en) * | 2022-10-10 | 2022-12-02 | 浙江理工大学 | Hangzhou white chrysanthemum picking and collecting integrated picker and Hangzhou white chrysanthemum picking method thereof |
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