CN218959505U - Mountain-oriented robot pepper collection system - Google Patents

Abstract

The utility model provides a mountain-oriented robot pepper acquisition system which comprises a trolley, a laser radar, a vision sensor, an acquisition mechanism and a singlechip, wherein the singlechip is arranged in the trolley and is electrically connected with a travelling motor and a solar battery of the trolley, the laser radar, the vision sensor and the acquisition mechanism are arranged on the trolley and are respectively and electrically connected with the singlechip, a solar panel and a pepper collection box are further arranged on the trolley, and the solar panel is electrically connected with a solar storage battery. By arranging the laser radar, a 3D-SLAM map can be constructed, autonomous navigation is realized, and the influence of the intensity of surrounding moving signals is avoided. Through setting up visual sensor, and visual sensor has the function of distinguishing the colour, is grabbed the pole and can grasp ripe hot pepper accurately, solves because the temperature of hot pepper is the same with ambient temperature, the problem that the hot imager is difficult to catch hot pepper according to the heat of hot pepper.

Description

Mountain-oriented robot pepper collection system

Technical Field

The utility model belongs to the field of pepper collection, and particularly relates to a mountain-oriented robot pepper collection system.

Background

The capsicum is used as a crop, is planted in a plurality of areas in China, is convenient to pick in certain areas due to flat terrain, but is picked in certain areas by old people due to uneven terrain and serious population aging. This will increase physical effort for the elderly.

Chinese patent No. 207070630U discloses a special chilli harvesting robot of agricultural, including the drive wheel, install the track around the drive wheel, one side of track is provided with the drive wheel, the top of drive wheel is provided with wireless receiver, one side of wireless receiver is provided with remote controller, one side of remote controller is fixed with signal transmitter, one side of signal transmitter is fixed with the directive wheel, one side of directive wheel is provided with the gearbox, one side of remote controller is provided with the chilli storage case, the top of chilli storage case is fixed with the camera, one side of camera is provided with the pneumatic cylinder, the top of pneumatic cylinder is fixed with big support arm, the top of big support arm is fixed with the connector, the top of connector is fixed with the hydraulic stem, one side of hydraulic stem is provided with flexible depression bar, one side of flexible depression bar is provided with the retriever, one side of retriever is fixed with the manipulator, the top of manipulator is provided with the thermal imaging ware.

This patent has the following problems:

1. the capsicum can be picked only by remote control, and the remote control cannot be realized easily due to poor signals;

2. due to the low temperature of the peppers, even the same temperature as the surrounding environment, the capturing effect of the thermal imager is not ideal.

Disclosure of Invention

In order to solve the problems, the utility model provides a mountain-oriented robot pepper acquisition system, which comprises the following specific schemes:

the utility model provides a robot hot pepper collection system towards mountain region, includes dolly, laser radar, vision sensor, collection mechanism, singlechip, and shown singlechip sets up in the dolly, and is connected with the walking motor and the solar energy battery electricity of dolly, and shown laser radar, vision sensor, collection mechanism set up on the dolly, and be connected with the singlechip electricity respectively, still be provided with solar panel and hot pepper collecting box on the dolly, solar panel with solar energy battery electricity is connected.

Further, the collection mechanism includes horizontal rotating electrical machines, first electric putter, lower armed lever, vertical rotating electrical machines, go up armed lever, second electric putter, urceolus, body of rod, connecting rod, grab the pole, horizontal rotating electrical machines set up in on the dolly, first electric putter with lower armed lever set up in on the horizontal rotating electrical machines, and with horizontal rotating motor shaft swing joint, first electric putter's tip with lower armed lever swing joint, vertical rotating electrical machines set up in lower armed lever one end, and its pivot with go up the armed lever and be connected, go up the armed lever and follow vertical rotating electrical machines's pivot rotates, go up the other end of armed lever and be provided with second electric putter, be provided with the urceolus on the second electric putter, the body of rod set up in the urceolus, the urceolus with grab the pole swing joint, the body of rod passes through the connecting rod with grab pole swing joint, horizontal rotating electrical machines, vertical rotating electrical machines, first electric putter, second electric putter respectively with monolithic electromechanical connection.

Further, rubber protrusions are arranged in the grabbing rods and used for clamping the peppers.

Further, the singlechip is a raspberry group singlechip.

Further, the vision sensor has a color distinguishing function.

The beneficial effects of the utility model are as follows:

1. by arranging the laser radar, a 3D-SLAM map can be constructed, autonomous navigation is realized, and the influence of the intensity of surrounding moving signals is avoided.

2. Through setting up visual sensor, and visual sensor has the function of distinguishing the colour, is grabbed the pole and can grasp ripe hot pepper accurately, solves because the temperature of hot pepper is the same with ambient temperature, the problem that the hot imager is difficult to catch hot pepper according to the heat of hot pepper.

3. Through setting up solar panel, can turn into the electric energy with solar energy, can the energy saving, can guarantee the convenience that the dolly charges in the field again.

4. Through setting up the rubber arch, can avoid grabbing the pole hardness too big, extrude the hot pepper bad.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a mountain-oriented robotic pepper harvesting system for pepper picking;

fig. 2 is a schematic diagram of the overall structure of a mountain-oriented robotic pepper harvesting system after harvesting peppers;

FIG. 3 is an enlarged schematic view of a portion of FIG. 1 at A;

FIG. 4 is an enlarged partial schematic view at B in FIG. 2;

FIG. 5 is a schematic diagram of the electrical connections of the system;

in the figure: 10. a trolley; 11. a solar panel; 12. a chilli collecting box; 20. a laser radar; 21. a visual sensor; 30. a collection mechanism; 31. a horizontal rotating motor; 32. a first electric push rod; 33. a lower arm lever; 34. a vertical rotating electric machine; 35. an upper arm lever; 36. a second electric push rod; 37. an outer cylinder; 38. a rod body; 39. a connecting rod; 391. a grab bar; 392. rubber bumps.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

As shown in fig. 1, fig. 2, fig. 3 and fig. 5, the mountain-oriented robot pepper collection system comprises a trolley 10, a laser radar 20, a visual sensor 21, a collection mechanism 30 and a singlechip, wherein the singlechip is arranged in the trolley 10 and is electrically connected with a travelling motor and a solar storage battery of the trolley 10, the laser radar 20, the visual sensor 21 and the collection mechanism 30 are arranged on the trolley and are respectively electrically connected with the singlechip, a solar panel 11 and a pepper collection box 12 are further arranged on the trolley 10, and the solar panel 11 is electrically connected with the solar storage battery.

As shown in fig. 1, 2, 3 and 5, the collection mechanism 30 includes a horizontal rotating motor 31, a first electric push rod 32, a lower arm 33, a vertical rotating motor 34, an upper arm 35, a second electric push rod 36, an outer cylinder 37, a rod 38, a connecting rod 39 and a holding rod 391, the horizontal rotating motor 31 is disposed on the trolley 10, the first electric push rod 32 and the lower arm 33 are disposed on the horizontal rotating motor 31 and are movably connected with the shaft of the horizontal rotating motor 31, the end of the first electric push rod 32 is movably connected with the lower arm 33, the vertical rotating motor 34 is disposed at one end of the lower arm 33, the rotating shaft of the vertical rotating motor is connected with the upper arm 35, the upper arm 35 can rotate along with the rotating shaft of the vertical rotating motor 34, the other end of the upper arm 35 is provided with the second electric push rod 36, the outer cylinder 37 is disposed on the second electric push rod 36, the rod 38 is disposed in the outer cylinder 37, the outer cylinder 37 is movably connected with the holding rod 391, the rod 38 is movably connected with the holding rod 391 through the connecting rod 39, and the horizontal rotating motor 31, the vertical rotating motor 34, the first electric push rod 32 and the second electric push rod 36 are respectively electrically and electrically connected with the single piece.

As shown in fig. 4, the grip rod 391 is internally provided with rubber projections 392, and the rubber projections 392 are used for sandwiching the pepper.

In the above description, the singlechip is a raspberry group singlechip, and the vision sensor 21 has a color distinguishing function.

The working principle of the utility model is that,

the method comprises the steps that surrounding terrains are scanned through a laser radar, a 3D-SLAM map is built and uploaded to a single chip microcomputer, the colors of peppers are distinguished through a visual sensor, the specific positions of mature peppers are obtained and uploaded to the single chip microcomputer, the single chip microcomputer drives a travelling motor of a trolley according to the 3D-SLAM map, the trolley is moved to a position close to the peppers, the single chip microcomputer controls a horizontal rotating motor and a vertical rotating motor to rotate, a first electric push rod moves a grabbing rod to the position of the mature peppers, a second electric push rod is controlled to work, a rod body contracts, the grabbing rod is used for grabbing peppers, the peppers are located between rubber protrusions, the visual sensor uploads the peppers to the single chip microcomputer through visual information picked, the single chip microcomputer then controls the horizontal rotating motor and the vertical rotating motor to rotate, the first electric push rod moves the peppers to the upper portion of a pepper collecting box, the single chip microcomputer controls the second electric push rod body to stretch, and then the grabbing rod is expanded, and the peppers fall into the pepper collecting box.

In the above, by arranging the laser radar, the 3D-SLAM map can be constructed, autonomous navigation is realized, and the influence of the intensity of surrounding moving signals is avoided. Through setting up visual sensor, and visual sensor has the function of distinguishing the colour, is grabbed the pole and can grasp ripe hot pepper accurately, solves because the temperature of hot pepper is the same with ambient temperature, the problem that the hot imager is difficult to catch hot pepper according to the heat of hot pepper. Through setting up solar panel, can turn into the electric energy with solar energy, can the energy saving, can guarantee the convenience that the dolly charges in the field again. Through setting up the rubber arch, can avoid grabbing the pole hardness too big, extrude the hot pepper bad.

In addition, the trolley adopts a track walking mode, and the track walking and steering belong to the prior art, so the utility model is not specifically described in the section.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (5)

1. Mountain land-oriented robot pepper acquisition system, its characterized in that: including dolly (10), laser radar (20), vision sensor (21), collection mechanism (30), singlechip, shown singlechip sets up in dolly (10), and is connected with the walking motor and the solar battery electricity of dolly (10), and shown laser radar (20), vision sensor (21), collection mechanism (30) set up on the dolly, and are connected with the singlechip electricity respectively, still be provided with solar panel (11) and chilli collecting box (12) on dolly (10), solar panel (11) with solar battery electricity is connected.

2. The mountain oriented robotic pepper collection system as claimed in claim 1, wherein: the collecting mechanism (30) comprises a horizontal rotating motor (31), a first electric push rod (32), a lower arm rod (34), an upper arm rod (35), a second electric push rod (36), an outer cylinder (37), a rod body (38), a connecting rod (39) and a grab rod (391), wherein the horizontal rotating motor (31) is arranged on the trolley (10), the first electric push rod (32) and the lower arm rod (31) are arranged on the horizontal rotating motor (31) in a shaft movable mode, the end portion of the first electric push rod (32) is movably connected with the lower arm rod (33), the rotating shaft of the vertical rotating motor (34) is connected with one end of the lower arm rod (33), the upper arm rod (35) can rotate along with the rotating shaft of the vertical rotating motor (34), the other end of the upper arm rod (35) is provided with a second electric push rod (36), the second electric push rod (36) is arranged on the grab rod (37) in a shaft movable mode, and the rod body (37) is movably connected with the outer cylinder (37) through the connecting rod (391), the horizontal rotating motor (31), the vertical rotating motor (34), the first electric push rod (32) and the second electric push rod (36) are respectively and electrically connected with the single chip.

3. The mountain oriented robotic pepper collection system as claimed in claim 2, wherein: the inside of the grabbing rod (391) is provided with a rubber bulge (392), and the rubber bulge (392) is used for clamping the pepper.

4. A mountain oriented robotic pepper acquisition system as claimed in claim 3, characterized in that: the singlechip is a raspberry group singlechip.

5. The mountain oriented robotic pepper collection system as claimed in claim 4, wherein: the vision sensor (21) has a color distinguishing function.

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