CN215301624U

CN215301624U - Novel day lily picking robot system

Info

Publication number: CN215301624U
Application number: CN202023311378.3U
Authority: CN
Inventors: 魏舒怡; 马浩哲; 张秀霞; 储金全; 杨来龙; 孙昭; 郝健; 肖其容; 李晓英; 邢东源
Original assignee: North Minzu University
Current assignee: North Minzu University
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-12-28
Anticipated expiration: 2030-12-31

Abstract

The utility model relates to a novel daylily picking robot system which comprises a moving platform, a controller, a picking module and a power module, wherein the moving platform comprises a frame, wheels, a power assembly, a navigation module and a collecting frame, and the power assembly and the navigation module are respectively connected with the controller; the picking module comprises a mechanical arm arranged on the frame and a clamping mechanism arranged on the mechanical arm, two binocular cameras are arranged on the mechanical arm, and the mechanical arm and the binocular cameras are respectively connected with the controller; the clamping mechanism comprises a clamp and two clamping pieces, the clamp comprises clamping arms symmetrically arranged on the clamp, the clamping pieces are respectively arranged on the clamping arms, the inner side surfaces, corresponding to each other, of the clamping pieces are respectively in an arc shape, and the clamp is used for driving the clamping pieces to open/close; the power supply module is used for supplying power to an electric device on the mobile platform; the system has longer endurance time, saves electric energy, is not easy to damage the daylily in the picking process, and is convenient for remote monitoring and management.

Description

Novel day lily picking robot system

Technical Field

The utility model relates to the technical field of automatic picking robots, in particular to a novel day lily picking robot system.

Background

The daylily has the advantages of good quality, delicious taste, high nutrition, large planting scale and high yield, plays an important role in agricultural industrial structure, is one of the main economic income of farmers, and is a promising industry for leading the farmers to become rich. And with the discovery that the day lily has the function of preventing senile dementia, the number of people for middle-aged and elderly people to eat increases, so the planting scale of the day lily becomes larger and larger later. However, the day lily picking is completely carried out manually at present, so that the labor intensity is high, the efficiency is low, the rural labor force is more and more in short supply along with the gradual shift of the rural labor force to the second and third production industries and towns, the day lily planting area is increased year by year and the large-scale production is developed, and the requirement on the mechanized production of day lily picking is more and more strong; meanwhile, as the picked daylily has the characteristic of freshness and tenderness, the hand turning times are less and better for keeping good quality, and the daylily can be packaged after being picked. The daylily mechanical picking effectively solves the problem that daylily picking personnel hurt bodies due to being soaked by dew, obviously improves the labor condition of the daylily picking personnel, reduces the labor intensity, and has obvious economic benefit and social benefit.

In order to improve picking efficiency and reduce labor cost, a robot for picking day lily has been started to automatically pick day lily in the prior art, for example, a robot for picking day lily disclosed in chinese patent CN 209314338U can automatically pick day lily under the guidance of a navigation walking system, however, the existing day lily picking robot has some disadvantages, for example, the existing day lily picking robot is usually powered by a rechargeable battery, and the time for powering the rechargeable battery is short, so that the robot for picking day lily cannot work for a long time, which is not beneficial to improving picking efficiency; moreover, in the existing day lily picking robot, a bare blade is arranged on a mechanical arm finger for contacting day lily, so that day lily (including day lily plants, fruits and buds) is very easy to damage, and in addition, the existing day lily picking robot also has the problems of inaccurate navigation, incapability of realizing remote monitoring and management and the like, and needs to be solved urgently.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art, provides a picking robot system which is compact in structure and reasonable in design, has longer endurance time, saves more electric energy, is not easy to damage day lily in the picking process, is convenient for remote monitoring and management, and can effectively overcome the defects in the prior art.

The technical scheme adopted by the utility model is as follows:

in order to solve the problem that a robot for picking daylily utilizes a blade to pick the daylily in the prior art, so that the daylily is very easy to be damaged in the picking process, the novel daylily picking robot system is provided, and comprises a mobile platform, a controller, a picking module and a power supply module, wherein,

the mobile platform comprises a frame, wheels arranged at the bottom of the frame, a power assembly for driving the wheels, a navigation module arranged on the frame and a collection frame arranged on the frame, wherein the power assembly and the navigation module are respectively connected with the controller;

the picking module comprises a mechanical arm arranged on the frame and a clamping mechanism arranged at the end part of the mechanical arm, the mechanical arm at least has the degree of freedom for driving the clamping mechanism to rotate and turn over by a set angle, two binocular cameras are arranged on the mechanical arm, and the mechanical arm and the binocular cameras are respectively connected with the controller;

the clamping mechanism comprises a clamp and two clamping pieces, the clamp comprises clamping arms which are symmetrically arranged, the clamping pieces are respectively arranged at the end parts of the clamping arms and are mutually vertical to the clamping arms, the inner side surfaces, corresponding to each other, of the clamping pieces are respectively in an arc shape, and the clamp is connected with the controller and is used for driving the clamping pieces to open/close under the control of the controller;

a collecting pipe is arranged below the mechanical arm, one end of the collecting pipe is positioned at a position set below the clamping mechanism, and the other end of the collecting pipe is communicated with the collecting frame;

the power module is used for supplying power to the electric device on the mobile platform. In the scheme, the mechanical arm is arranged, the clamping mechanism is arranged on the mechanical arm, the mechanical arm can drive the clamping mechanism to move according to a planned path under the control of the controller and can accurately move to a preset position, the clamping arms can oppositely move under the drive of clamping power under the control of the controller, the clamping pieces can be close to each other and clamp day lily (particularly, the position for clamping day lily buds and flower stalks), the inner side surfaces of the clamping pieces are in an arc shape, the two clamping pieces can be better matched with the shapes of the day lily buds and flower stalks, the clamping pieces are better attached to the clamped day lily, and after the day lily is clamped by the clamping pieces, the mechanical arm can drive the clamping mechanism to rotate by a set angle under the control of the controller, so that the day lily buds and flower stalks are damaged or even directly disconnected, meanwhile, the mechanical arm can drive the daylily flowers to turn over by a set angle under the control of the controller, usually by the set angle of upward turning, so that upward pulling force is applied to the daylily flowers, flower buds of the daylily flowers can easily separate from flower stalks, and the purpose of successfully picking the daylily flowers is achieved; the day lily picking mode is a mode of simulating a human hand to pick day lily, so that the picking mode is extremely similar to a manual picking mode, the day lily can be picked conveniently and efficiently, the regeneration of the day lily can be effectively protected, and the problem that the day lily is easy to damage existing in the existing picking robot can be effectively solved.

For the size of more accurate control clamping-force, it is further still including pressure sensor, pressure sensor set up in the medial surface of clamping piece, and pressure sensor with the controller links to each other for detect clamping-force, and transmit the controller, when clamping-force equals the threshold value that sets for, controller control clamping-force stops to continue to increase the power of output. In this scheme, through setting up pressure sensor, can carry out accurate monitoring to the centre gripping dynamics, both can avoid the extrusion to destroy the plant, the reproducibility of protection day lily can be applicable to the day lily of different thicknesses again, and the commonality is better.

For simplifying the structure, prevent that the action of line interference arm, it is preferred, what binocular camera adopted is binocular cloud platform wireless network camera, the controller be connected with the wireless module of binocular cloud platform wireless network camera looks adaptation. So as to realize wireless communication, need not the wiring, be favorable to simplifying the structure, prevent that the action of circuit interference arm.

Preferably, the wireless module is a Wifi module, a 4G module or a 5G module.

In order to solve the problems of short working time and low picking efficiency of a robot for picking daylily in the prior art, the power module comprises a solar module, the solar module comprises a solar cell panel arranged on the frame and a storage battery arranged on the frame, the solar cell panel is connected with the storage battery, the solar cell panel and the storage battery are respectively connected with the controller, the solar cell panel is used for converting solar energy into electric energy and storing the electric energy in the storage battery, and the storage battery is used for supplying power. Because the maturity season of day lily is in summer, has sufficient illumination, is particularly suitable for using photovoltaic power generation to utilize light energy to come to supply power to each electrical apparatus, so in this scheme, through setting up solar module, utilize solar cell panel to convert solar energy into the electric energy and store in the battery, and utilize the battery to supply power to each electrical apparatus, both do benefit to the extension time of endurance, more practice thrift the electric energy moreover, can reach energy saving and emission reduction's effect.

Furthermore, the electric bicycle further comprises a rechargeable battery, wherein the rechargeable battery is arranged on the bicycle frame, is connected with the controller and is used for supplying power under the control of the controller. That is, in this scheme, rechargeable battery and solar module can cooperate the use, when the illumination is sufficient, can utilize solar module power supply alone, when the solar module power supply can not satisfy the demand, recycle rechargeable battery power supply to can effectively prolong the time of endurance.

In order to solve the problem that the robot for picking daylily is inconvenient to remotely monitor and manage in the prior art, the robot for picking daylily further comprises a cloud platform, and the controller is communicated with the cloud platform through a 4G module or a 5G module. In the scheme, the cloud platform is arranged, so that the controller of each mobile platform can communicate with the cloud platform through the 4G module or the 5G module; on the one hand, a user can monitor the working state of the picking robot system through a cloud platform remote monitoring or machine allocation system, remotely control under special conditions, process image data of images acquired during picking target identification and positioning and flexibly allocate adjacent areas when a mobile platform is absent. When a fault occurs in the moving process of the mobile platform, the fault can be transmitted to the cloud platform through the 4G module or the 5G module in real time and stored in a fault state table of the database; in some special cases, such as insufficient power, when the planned route deviates, the mobile platform can be manually controlled; on the other hand, a large number of samples of mature daylily are stored in the cloud platform database, and when the target picking is carried out, the cloud platform processes image data transmitted from the binocular camera to complete recognition of the daylily and accurate positioning of a picking position; when a large area uses the robot system, the cloud platform can be conveniently used for unified management, if a mobile platform in one small area fails or a necessary mobile platform is lacked, scheduling can be completed from idle mobile platforms in other areas, and resources are saved.

Preferably, the cloud platform comprises a cloud server. So that the cloud server can be used for data calculation and processing.

In order to solve the problem that the existing daylily picking robot is inaccurate in navigation, preferably, the navigation module is a Beidou navigation module which comprises a Beidou satellite navigation chip, and the Beidou satellite navigation chip is connected with the controller and used for positioning and path planning. Namely, in the scheme, the Beidou satellite navigation chip is used for positioning and path planning, so that the position of the mobile platform can be accurately positioned and the path planning can be carried out, the current position of the mobile platform can be fed back to the controller, the cloud platform and the client connected with the cloud platform in real time, the position of the mobile platform can be automatically corrected, and the position of the mobile platform can be corrected remotely when the mobile platform deviates from a route; compared with the existing GPS navigation and positioning system, the Beidou navigation module has no position drift problem, so that the advancing efficiency of the mobile platform is not influenced, and the picking efficiency is favorably improved.

Preferably, the clamp is a mechanical arm or a pneumatic clamping jaw or an electric clamping jaw. So that the opening and closing functions are realized at the controller of the controller.

Preferably, the mechanical arm comprises a base which is rotatably arranged on the frame, a first steering engine which is connected with the base and is used for driving the base to rotate, a shoulder joint, an elbow joint, a wrist joint, a second steering engine, a third steering engine, a fourth steering engine and a fifth steering engine which are rotatably arranged on the base, wherein,

the second steering engine is fixed on the base, and an output shaft of the second steering engine is connected with the shoulder joint;

the third steering engine is fixed to the shoulder joint, one end of the elbow joint is fixed to an output shaft of the third steering engine, and the binocular camera is mounted on the elbow joint;

one end of the wrist joint is rotatably arranged on the elbow joint and is connected with an output shaft of the fourth steering engine, and the fourth steering engine is fixed on the elbow joint;

the fifth steering engine is fixed to the wrist joint, and the clamp is fixed to an output shaft of the fifth steering engine;

the first steering engine, the third steering engine, the fourth steering engine and the fifth steering engine are respectively connected with the controller, and the first steering engine is used for driving the base to rotate relative to the frame by a set angle in a horizontal plane under the control of the controller; the second steering engine is used for driving the shoulder joint to rotate relative to the base by a set angle in a vertical plane under the control of the controller; the third steering engine is used for driving the elbow joint to rotate around the central axis of the output shaft of the third steering engine by a set angle relative to the shoulder joint under the control of the controller; the fourth steering engine is used for driving the wrist joint to rotate for a set angle relative to the elbow joint in a vertical plane under the control of the controller; and the fifth steering engine is used for driving the clamp to rotate around the central axis of the output shaft of the fifth steering engine by a set angle under the control of the controller. The space degree of freedom of the arm that this scheme provided is greater than 3, not only satisfies anchor clamps to each demand of picking the position, moreover after anchor clamps centre gripping day lily, the controller can rotate the angle of setting for through fifth steering wheel drive anchor clamps, also can upwards rotate the angle of setting for through fourth steering wheel drive anchor clamps and wrist joint simultaneously to can effectively separate day lily, reach the purpose of high-efficient, not damaged separation.

In order to convey the picked daylily conveniently, the collecting pipe comprises a first pipe section and a second pipe section connected with the first pipe section, the first pipe section is a hard pipe, the second pipe section is a hose, the first pipe section is fixed on the shoulder joint through a connecting piece, and one end of the second pipe section is restrained on the frame and communicated with the collecting frame. The collecting pipe can not only follow the action of the mechanical arm, but also keep the communicating state with the collecting frame.

To facilitate receipt of the picked daylily, further, one end of the first tube section is configured with a trumpet-like structure. The area of the inlet of the first pipe section is increased, so that the clamped day lily can be smoothly put into the collecting pipe by the clamp.

For being applicable to the complicated ground environment in summer farmland, preferably, the bottom of frame is provided with three pairs of wheels respectively, and one of them wheel is as preceding wheel, and two pairs of wheels are as the rear wheel in addition, and two rear wheels of frame same side pass through the track and connect as an organic whole. In this scheme promptly, the preceding wheel of frame is the single wheel commonly used, can guarantee quick the turning to, and the rear wheel of frame is the athey wheel, and the trafficability characteristic is better, ensures that mobile platform can not influenced by some small-size barriers when the field walking to can adapt to complicated ground environment, in addition, adopt such design, still be favorable to mobile platform's the more steady that traveles.

Compared with the prior art, the novel daylily picking robot system provided by the utility model is more reasonable in design, longer in endurance time, more capable of saving electric energy, less prone to damage daylily in the picking process, convenient for remote monitoring and management, and capable of effectively solving the defects in the prior art.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a general flow diagram of the present system.

Fig. 2 is a flow chart of a method for picking daylily by using the system.

Fig. 3 is a schematic structural diagram of a picking robot system according to an embodiment of the present invention.

Fig. 4 is a front view of fig. 3.

Fig. 5 is a second schematic structural diagram of a picking robot system according to an embodiment of the present invention.

Fig. 6 is a partial schematic view of fig. 5.

Fig. 7 is a schematic structural diagram of a fixture in a picking robot system provided in an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of another fixture in the picking robot system provided in the embodiment of the present invention.

Description of the drawings

Moving platform 100, frame 101, wheels 102, crawler belt 103, collecting frame 104, electric box 105,

Mechanical arm 200, base 201, second steering engine 202, shoulder joint 203, third steering engine 204, elbow joint 205, fourth steering engine 206, wrist joint 207, fifth steering engine 208, output shaft 209, connecting piece 210, first pipe section 212 and second pipe section 213

Gripper 300, gripper arm 301, jaws 302, arc 303, mechanical or electric jaws 304, pneumatic jaws 305, cylinder 306

A binocular camera 401,

A solar panel 501.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1-8, the present embodiment provides a daylily picking robot system, which includes a mobile platform 100, a controller, a picking module and a power module, wherein,

as shown in fig. 3-8, the mobile platform 100 includes a frame 101, wheels 102 disposed at the bottom of the frame 101, a power assembly for driving the wheels 102, a navigation module mounted on the frame 101, and a collection frame 104 disposed on the frame 101, where the power assembly and the navigation module are respectively connected to the controller; preferably, as shown in fig. 3-8, three pairs of wheels 102 are respectively disposed at the bottom of the frame 101, wherein one pair of wheels 102 is used as a front wheel 102, so as to ensure rapid steering; the other two pairs of wheels 102 are used as rear wheels 102, and the two rear wheels 102 on the same side of the frame 101 are connected into a whole through the crawler belt 103, as shown in fig. 3-8, the trafficability is better, the mobile platform 100 is ensured not to be influenced by small obstacles when walking in the field, and the mobile platform can adapt to complex ground environments, and in addition, the design is favorable for the mobile platform 100 to run more stably; the powertrain may be an existing powertrain and will not be illustrated herein.

As shown in fig. 3-8, in the present embodiment, the picking module comprises a mechanical arm 200 disposed on the frame 101, a gripping mechanism mounted at the end of the mechanical arm 200, the mechanical arm 200 has at least a degree of freedom for driving the gripping mechanism to rotate and turn by a set angle, and the mechanical arm 200 is used for driving the gripping mechanism to move to a desired position; two binocular cameras 401 are mounted on the mechanical arm 200, the mechanical arm 200 and the binocular cameras 401 are respectively connected with the controller, the binocular cameras 401 are used for collecting images and sending the images to the controller or a cloud platform connected with the controller, so that whether the daylily is mature or not, whether the daylily can be picked or not and the specific range of the daylily are analyzed by using an image processing technology, and the action path of the mechanical arm 200 can be automatically planned;

in this embodiment, the clamping mechanism includes a clamp 300 and two clamping pieces 302, the clamp 300 includes clamping arms 301 symmetrically disposed, the clamping pieces 302 are respectively disposed at the ends of the clamping arms 301 and perpendicular to the clamping arms 301, as shown in fig. 7 and 8, inner side surfaces of the clamping pieces 302 corresponding to each other are respectively configured as arcs 303, and the clamp 300 is connected to the controller for driving the clamping pieces 302 to open/close under the control of the controller;

as shown in fig. 3 to 8, in the present embodiment, a collection tube is disposed below the mechanical arm 200, one end of the collection tube is located at a position set below the clamping mechanism, and the other end of the collection tube is communicated with the collection frame 104;

the power module is used for supplying power to the electric devices on the mobile platform 100, for example, the power module is respectively connected with the power assembly, the navigation module, the mechanical arm 200, the clamp 300 and the like for supplying power.

In this embodiment, by arranging the mechanical arm 200 and arranging the clamping mechanism on the mechanical arm 200, the mechanical arm 200 can drive the clamping mechanism to move along a planned path under the control of the controller and can precisely move to a predetermined position, and under the control of the controller, the clamping arms 301 can move oppositely under the drive of the clamping power, so that the clamping pieces 302 can approach each other and clamp day lily (specifically, the position for clamping day lily buds and flower stalks), and the inner side surfaces of the clamping pieces 302 are configured into the arc-shaped pieces 303, so that the two clamping pieces 302 can better adapt to the shapes of the day lily buds and flower stalks, so that the clamping pieces 302 are better attached to the clamped day lily, and after the day lily is clamped by the clamping pieces 302, the mechanical arm 200 can drive the clamping mechanism to rotate by a set angle under the control of the controller, so that the day lily buds and flower stalks are damaged or even directly disconnected, meanwhile, the mechanical arm 200 can be driven to turn over a set angle under the control of the controller, usually the set angle of upward turning, so as to apply upward pulling force to the day lily flower, so that flower buds of the day lily can be easily separated from flower stalks, and the purpose of successfully picking the day lily is achieved; the day lily picking mode is a mode of simulating a human hand to pick day lily, so that the picking mode is extremely similar to a manual picking mode, the day lily can be picked conveniently and efficiently, the regeneration of the day lily can be effectively protected, and the problem that the day lily is easy to damage existing in the existing picking robot can be effectively solved.

In order to control the magnitude of the clamping force more accurately, in a further scheme, the system further comprises a pressure sensor, the pressure sensor can be arranged on the inner side surface of the clamping piece 302, the pressure sensor is connected with the controller and used for detecting the clamping force and transmitting the clamping force to the controller, and when the clamping force is equal to a set threshold value, the controller controls the clamping power to stop increasing the output power continuously; through setting up pressure sensor, can carry out accurate monitoring to the centre gripping dynamics, both can avoid the extrusion to destroy the plant, protect the reproducibility of day lily, can be applicable to the day lily of different thicknesses again, the commonality is better.

In order to facilitate remote monitoring and management of picking daylily, the system also comprises a cloud platform, and the controller is in wireless communication with the cloud platform through the 4G module or the 5G module; preferably, the cloud platform comprises a cloud server so as to calculate and process data by using the cloud server; that is, in this embodiment, the cloud platform, the controller and the binocular camera 401 may be matched with each other, wherein the binocular camera 401 is matched with the cloud platform, and may perform image acquisition and identification, as shown in fig. 3-8, the binocular camera 401 may be connected with the controller via an image acquisition card, so as to perform accurate identification and accurate positioning on an acquisition target, and by collecting a large number of samples of mature daylily, an image database of daylily may be established on the cloud platform, and a standard value (i.e., system calibration) is established, and in the process of traveling of the mobile platform 100, plants on a motion path may be identified, the type of daylily is determined, and when the image of daylily is acquired by the binocular camera 401, comparison is performed, and whether the daylily is mature at the current position is identified; after the recognition work is finished, picking is carried out, a binocular camera 401 and a cloud platform are used for carrying out space point reconstruction, straight line and quadratic curve reconstruction and full-pixel three-dimensional reconstruction on the day lily to be picked, then a least square method is used for solving three-dimensional coordinate values of the day lily, the position where the day lily buds are flush with flower stalks is determined, and the position is positioned as a picking position, so that a subsequent controller can control the mechanical arm 200 to move;

in addition, in this embodiment, by setting the cloud platform, the controller of each mobile platform 100 can communicate with the cloud platform through the 4G module or the 5G module; on the one hand, the user can monitor the working state of the picking robot system through the cloud platform remote monitoring or the machine allocation system, remotely control the picking robot system under special conditions, process image data of the collected images during the picking target identification and positioning and flexibly allocate the picking robot system when the mobile platform 100 is absent in the adjacent area. When a fault occurs in the moving process of the mobile platform 100, the fault can be transmitted to the cloud platform through the 4G module or the 5G module in real time and stored in a fault state table of the database; in special cases, such as when the power is insufficient and the route deviates from the planned route, the mobile platform 100 can be manually controlled; on the other hand, a large number of samples of mature daylily are stored in the cloud platform database, and when the target picking is carried out, the cloud platform processes image data transmitted from the binocular camera 401 to complete recognition of the daylily and accurate positioning of a picking position; when a large area uses the robot system, the cloud platform can be conveniently used for unified management, if a mobile platform 100 in one small area fails or a necessary mobile platform 100 is lacked, scheduling can be completed from the idle mobile platforms 100 in other areas, and resources are saved.

In order to simplify the structure and prevent the line from interfering with the motion of the mechanical arm 200, preferably, in this embodiment, the binocular camera 401 may preferentially adopt a binocular pan-tilt wireless network camera, and the controller is connected with a wireless module adapted to the binocular pan-tilt wireless network camera, so that wireless communication can be achieved between the two, wiring is not needed, the structure is simplified, and the line is prevented from interfering with the motion of the mechanical arm 200; preferably, the wireless module may preferably adopt a common wireless communication module such as a Wifi module, a 4G module, or a 5G module.

For solving the problem that the existing daylily picking robot has inaccurate navigation, in the embodiment, the navigation module can preferentially adopt a Beidou navigation module which comprises a Beidou satellite navigation chip, and the Beidou satellite navigation chip is connected with the controller and used for positioning and path planning. That is, in the embodiment, the Beidou satellite navigation chip is used for positioning and path planning, so that not only can the position of the mobile platform 100 be accurately positioned and the path planning be performed, but also the current position of the mobile platform 100 can be fed back to the controller, the cloud platform and the client connected with the cloud platform in real time, the position of the mobile platform 100 can be automatically corrected, and the position of the mobile platform 100 can be corrected remotely when the route deviates; compared with the existing GPS navigation and positioning system, the Beidou navigation module has no position drift problem, so that the advancing efficiency of the mobile platform 100 is not influenced, and the picking efficiency is favorably improved.

In a further scheme, the power module comprises a solar module, the solar module comprises a solar panel 501 mounted on the frame 101 and a storage battery mounted on the frame 101, the solar panel 501 is connected with the storage battery, and the storage battery is respectively connected with the power assembly, the navigation module, the mechanical arm 200, the clamp 300 and the like and used for supplying power; the solar cell panel 501 and the storage battery are respectively connected with the controller, and the solar cell panel 501 is used for converting solar energy into electric energy and storing the electric energy in the storage battery; the number of the solar panels 501 may be determined according to actual requirements, for example, as shown in fig. 3 to 8, four solar panels 501 are mounted on the frame 101; because the maturity season of day lily is in summer, has sufficient illumination, is particularly suitable for using photovoltaic power generation to utilize light energy to come to supply power to each electrical apparatus, so in this scheme, through setting up solar module, utilize solar cell panel 501 to convert solar energy into electric energy and store in the battery, and utilize the battery to supply power to each electrical apparatus, both do benefit to the extension time of endurance, more practice thrift the electric energy moreover, can reach energy saving and emission reduction's effect.

In a further scheme, the system further comprises a standby rechargeable battery, wherein the rechargeable battery is arranged on the frame 101, is connected with the controller and is used for supplying power under the control of the controller; that is, in this embodiment, the rechargeable battery and the solar module can be used in cooperation, when the illumination is sufficient, the solar module can be used for supplying power, and when the solar module cannot meet the requirement for supplying power, the rechargeable battery is used for supplying power, so that the cruising time can be effectively prolonged; it can be understood that a control switch is further required, the control switch is connected to the controller, the control switch is respectively connected to the storage battery, the rechargeable battery and each electrical appliance, the controller can control the storage battery to be independently communicated with each electrical appliance through the control switch, or the rechargeable battery is communicated with each electrical appliance, and the control switch can be an existing control switch, which is not illustrated here.

In this embodiment, the electrical devices such as the controller, the navigation module, the storage battery and/or the rechargeable battery, and the control switch may be installed in an electrical box 105, and the electrical box 105 is fixed to the frame 101.

The robot arm 200 may adopt a robot arm 200 with multiple degrees of freedom commonly used in the prior art, so that the robot arm 200 has various embodiments, as shown in fig. 3-8, preferably, the robot arm 200 includes a base 201 rotatably mounted on the frame 101, a first steering engine connected to the base 201 and driving the base 201 to rotate, a shoulder joint 203 rotatably mounted on the base 201, an elbow joint 205, a wrist joint 207, a second steering engine 202, a third steering engine 204, a fourth steering engine 206 and a fifth steering engine 208, wherein,

as shown in fig. 3 to 8, the second steering engine 202 is fixed to the base 201, and an output shaft 209 of the second steering engine 202 is connected to the shoulder joint 203;

as shown in fig. 3 to 8, the third steering engine 204 is fixed to the shoulder joint 203, one end of the elbow joint 205 is fixed to an output shaft 209 of the third steering engine 204, and the binocular camera 401 is mounted on the elbow joint 205;

as shown in fig. 3 to 8, one end of the wrist joint 207 is rotatably mounted on the elbow joint 205 and connected to an output shaft 209 of the fourth steering engine 206, and the fourth steering engine 206 is fixed to the elbow joint 205;

as shown in fig. 3 to 8, the fifth steering engine 208 is fixed to the wrist joint 207, and the clamp 300 is fixed to an output shaft 209 of the fifth steering engine 208;

in this embodiment, the first steering engine, the second steering engine 202, the third steering engine 204, the fourth steering engine 206, and the fifth steering engine 208 are respectively connected to the controller, the first steering engine is configured to drive the base 201 to rotate by a set angle in a horizontal plane relative to the frame 101 under the control of the controller, so as to adjust the orientation of the clamping mechanism, generally, the base 201 may rotate by 180 degrees in the horizontal plane relative to the frame 101, for example, the base 201 may rotate within a range of-90 degrees and 90 degrees, so that the clamping mechanism may pick up daylily around the mobile platform 100 under the action of the mechanical arm 200;

the second steering engine 202 is used for driving the shoulder joint 203 to rotate in a vertical plane relative to the base 201 under the control of the controller so as to adjust the height of the clamping mechanism, and the clamping mechanism can clamp daylily at different heights;

the third steering engine 204 is used for driving the elbow joint 205 to rotate around the central axis of the output shaft 209 of the third steering engine 204 by a set angle relative to the shoulder joint 203 under the control of the controller, so that the clamping direction of the clamping mechanism can be adjusted, and the clamping mechanism can be assisted to pick daylily;

the fourth steering engine 206 is used for driving the wrist joint 207 to rotate relative to the elbow joint 205 by a set angle in a vertical plane under the control of the controller, for example, the wrist joint can rotate within a range of-90 degrees and 90 degrees in the vertical plane, so that the height of the clamping mechanism can be adjusted, and the clamping mechanism can be matched with a collecting pipe, and picked daylily can be conveniently put in;

the fifth steering engine 208 is used for driving the clamp 300 to rotate around the central axis of the output shaft 209 of the fifth steering engine 208 by a set angle under the control of the controller, so that the clamping position of the clamping mechanism can be locally finely adjusted, the clamping mechanism can be driven to rotate by the set angle, and the rotation range can be 360 degrees, so that day lily can be picked smoothly by using torsion; the space degree of freedom of the mechanical arm 200 provided by the embodiment is greater than 3, the requirements of the clamp 300 for each picking position are met, after the clamp 300 clamps the daylily, the controller can drive the clamp 300 to rotate by the set angle through the fifth steering engine 208, and meanwhile, the clamp 300 and the wrist joint 207 can be driven by the fourth steering engine 206 to rotate upwards by the set angle, so that the daylily can be effectively separated, and the purposes of high efficiency and no damage separation are achieved.

In order to reduce the weight and ensure the rigidity of the mechanical arm 200 to meet the bearing force requirement, the shoulder joint 203 and the elbow joint 205 are preferably in a double-arm structure, as shown in fig. 3 to 8.

The clamp 300 has various embodiments, and preferably, the clamp 300 can be a mechanical arm 200, a pneumatic clamping jaw 305, an electric clamping jaw or the like, so as to realize opening and closing functions under the control of a controller; as an example, the clamp 300 is a conventional manipulator or electric clamping jaw 304, as shown in fig. 7 and 8, and as another example, the clamp 300 may also be a pneumatic clamping jaw 305, as shown in fig. 8, the pneumatic clamping jaw 305 includes a cylinder 306 fixed to the output shaft 209 of the fifth steering engine 208 and clamping arms 301 disposed on both sides of the cylinder 306, the cylinder 306 is connected to a controller, the clamping pieces 302 are disposed at the ends of the clamping arms 301, and the pneumatic clamping jaw 305 may be in SMC pneumatic finger series.

In order to facilitate the delivery of the picked daylily, in this embodiment, as shown in fig. 3-6, the collection pipe includes a first pipe section 212 and a second pipe section 213 connected to the first pipe section 212, the first pipe section 212 is a hard pipe, the second pipe section 213 is a soft pipe, the first pipe section 212 is fixed to the shoulder joint 203 through a connector 210, and one end of the second pipe section 213 is constrained to the frame 101 and is communicated with the collection frame 104; the collection tube can follow the action of the mechanical arm 200 and can also keep a communication state with the collection frame 104.

In order to receive the picked day lily, in a further scheme, one end of the first pipe section 212 may be configured to be in a horn-shaped structure, which is beneficial to increase the area of the inlet of the first pipe section 212, so that the clamp 300 is more beneficial to smoothly put the picked day lily into the collecting pipe.

As shown in fig. 1, the overall flow chart of the system is that a solar module is used for providing electric energy for the whole system, a power assembly and a beidou navigation chip are jointly responsible for advancing of the mobile platform 100, advancing is carried out according to a route planned by the beidou navigation chip, day lily on the route is identified, and compared with image data of a cloud platform, whether picking is possible is judged; if the picking can not be carried out, the picking machine continues to move along the path; if the daylily can be picked, picking operation is carried out, image information is collected by the binocular camera 401 and transmitted to the cloud platform for three-dimensional reconstruction, the three-dimensional coordinates are calculated by using a least square method, the three-dimensional coordinates of the optimal collection position are determined, then the controller controls the mechanical arm 200 to pick, whether the picking of the stop position of the mobile platform 100 is finished or not is judged, if not, the binocular recognition picking is continued, if yes, whether the end point of the path is reached or not is judged, if the end point is not reached, the picking is continued, and if the end point is reached, the picking is finished, and the daylily is returned to the collection region (namely, the region for unloading daylily).

Specifically, as shown in fig. 2, the method for picking daylily by using the system may include the following steps:

1. starting: a client connected with the cloud platform sends a starting instruction, the starting instruction is transmitted to the controller through the 4G module or the 5G module, the solar module provides electric energy, and the controller starts the mobile platform 100 to start working;

2. identification and localization of targets: the mobile platform 100 travels according to a path set by the beidou navigation module and travels from the collecting area to the picking area (namely the planting area of the day lily), and in the process, the picking target is identified and positioned by using the binocular camera 401, and the identification and positioning method comprises the following steps: the method comprises the steps that two binocular cameras 401 collect image information of picked fruits (namely daylily), the image information is compared with data in a cloud platform database to judge whether the fruits are ripe or not, the images collected by the binocular cameras 401 are used for carrying out image recognition by combining principles of three-dimensional reconstruction, a least square method and the like, and the positions of daylily buds aligned with flower stalks are determined, so that the optimal picking position data of the ripe daylily are accurately positioned;

3. picking of a target: according to the optimal picking position data, the client sends a control instruction to the controller through the cloud platform and the 4G module or the 5G module, so that the mechanical arm 200 operates to the optimal picking position by fingers, the clamp 300 is used for clamping the positions of the flower buds and the flower stalks of the day lily, then the clamp 300 is driven to rotate clockwise by a set angle, and then the clamp 300 is driven to rotate upwards by the set angle, so that the day lily can be picked off at a certain torque;

4. collecting targets: after picking, the controller controls the mechanical arm 200 to act, so that the clamp 300 acts right above the collecting pipe, the clamp 300 is opened, and the day lily falls freely and falls into the collecting pipe.

5. The controller controls the mechanical arm 200 to rotate (specifically, the base 201 to rotate) so as to acquire whether mature daylily exists around the stop position of the mobile platform 100 by using the binocular camera 401, and the specific identification and positioning method is the same as that in the step 2;

6. circularly executing the step 2 to the step 5 so as to pick up the day lily around the stop position of the mobile platform 100;

7. the mobile platform 100 continues to move forwards according to the path set by the Beidou navigation module, and circularly executes the step 2 to the step 6;

8. stopping: when the mobile platform 100 determines that the end point of the planned path is reached, the single picking is finished, and the mobile platform 100 returns to the collecting area (namely, the area for unloading the daylily) according to the path planned by the Beidou navigation module.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.

Claims

1. A novel robot system for picking daylily is characterized by comprising a mobile platform, a controller, a picking module and a power supply module, wherein,

the power module is used for supplying power to the electric device on the mobile platform.

2. The novel daylily picking robot system as claimed in claim 1, further comprising a pressure sensor, wherein the pressure sensor is arranged on the inner side surface of the clamping piece, the pressure sensor is connected with the controller and used for detecting clamping force and transmitting the clamping force to the controller, and when the clamping force is equal to a set threshold value, the controller controls the clamping power to stop continuously increasing the output power.

3. The novel day lily picking robot system as claimed in claim 1, wherein the binocular camera is a binocular holder wireless network camera, and the controller is connected with a wireless module adapted to the binocular holder wireless network camera.

4. The novel daylily picking robot system of claim 1, wherein the power module comprises a solar module, the solar module comprises a solar panel mounted on the frame and a storage battery mounted on the frame, the solar panel is connected with the storage battery, the solar panel and the storage battery are respectively connected with the controller, the solar panel is used for converting solar energy into electric energy and storing the electric energy in the storage battery, and the storage battery is used for supplying power.

5. The novel daylily picking robot system as claimed in claim 4, further comprising a rechargeable battery, wherein the rechargeable battery is arranged on the frame and connected with the controller for supplying power under the control of the controller.

6. The novel daylily picking robot system of claim 1, further comprising a cloud platform, wherein the controller is in communication with the cloud platform through a 4G module or a 5G module.

7. The novel daylily picking robot system of claim 1, wherein the navigation module is a Beidou navigation module, the Beidou navigation module comprises a Beidou satellite navigation chip, and the Beidou satellite navigation chip is connected with the controller and used for positioning and path planning.

8. A novel day lily picking robot system according to claim 1, characterized in that the gripper is a mechanical arm or a pneumatic or electric gripper.

9. The novel day lily picking robot system as claimed in any one of claims 1-8, wherein the mechanical arm comprises a base rotatably mounted on the frame, a first steering engine connected with the base and used for driving the base to rotate, a shoulder joint, an elbow joint, a wrist joint, a second steering engine, a third steering engine, a fourth steering engine and a fifth steering engine rotatably mounted on the base, wherein,

the first steering engine, the third steering engine, the fourth steering engine and the fifth steering engine are respectively connected with the controller, and the first steering engine is used for driving the base to rotate relative to the frame by a set angle in a horizontal plane under the control of the controller; the second steering engine is used for driving the shoulder joint to rotate relative to the base by a set angle in a vertical plane under the control of the controller; the third steering engine is used for driving the elbow joint to rotate around the central axis of the output shaft of the third steering engine by a set angle relative to the shoulder joint under the control of the controller; the fourth steering engine is used for driving the wrist joint to rotate for a set angle relative to the elbow joint in a vertical plane under the control of the controller; and the fifth steering engine is used for driving the clamp to rotate around the central axis of the output shaft of the fifth steering engine by a set angle under the control of the controller.

10. The novel day lily picking robot system as claimed in claim 9, wherein the collecting pipe comprises a first pipe section and a second pipe section connected with the first pipe section, the first pipe section is a hard pipe, the second pipe section is a flexible pipe, the first pipe section is fixed on the shoulder joint through a connecting piece, and one end of the second pipe section is constrained on the frame and is communicated with the collecting frame.