LU503316B1 - Intelligent picking robot for mountain standardized orchards - Google Patents
Intelligent picking robot for mountain standardized orchards Download PDFInfo
- Publication number
- LU503316B1 LU503316B1 LU503316A LU503316A LU503316B1 LU 503316 B1 LU503316 B1 LU 503316B1 LU 503316 A LU503316 A LU 503316A LU 503316 A LU503316 A LU 503316A LU 503316 B1 LU503316 B1 LU 503316B1
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- Prior art keywords
- steering engine
- fixed
- arm assembly
- chassis
- mountain
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- 239000002420 orchard Substances 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000002079 cooperative effect Effects 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 abstract description 27
- 235000013311 vegetables Nutrition 0.000 abstract description 18
- 238000000034 method Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000003306 harvesting Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical field of robots, and discloses an intelligent picking robot for mountain standardized orchards, which comprises a walking mechanism, a grabbing device, a collecting device and a control system. The grabbing device, the collecting device and the control system are all arranged on the walking mechanism; the grabbing device can rotate horizontally on the walking mechanism and realize angle adjustment; identification components of the control system are installed on a chassis of the walking mechanism and the grabbing device; and cooperative actions of the walking mechanism, the grabbing device and the collecting device are controlled by the control system. The robot can identify environmental factors, accurately avoid obstacles in a process of advancing, and observe accurate positions of vegetables and fruits through a camera to realize automatic navigation; through the control system, relative positions of the robot and a mechanical arm are adjusted to correspond to the positions of the vegetables and fruits; the vegetables and fruits can be accurately picked and can be collected and transported; and the robot can be adapted to a complex greenhouse environment and realize automatic and rapid picking of the vegetables and fruits.
Description
INTELLIGENT PICKING ROBOT FOR MOUNTAIN STANDARDIZED ORCHARDS
LU503316
The present invention relates to the technical field of robots, in particular to an intelligent picking robot for picking vegetables and fruits in greenhouses.
In production operation of a greenhouse, harvesting is the most time-consuming and laborious link during the whole production. Labor to be input during fruit harvesting accounts for about 50%-70% of a whole planting process. Quality of picking operation directly affects storage, processing and sales of fruits, which ultimately affects market prices and economic benefits. Fruit harvesting is highly based on time, and is a typical kind of labor-intensive work. Due to complexity of picking environments and operation, the automation degree of fruit picking is still very low.
At present, fruit picking operation in China is basically done manually. In many countries, with the aging of populations and the decrease of agricultural labour force, the labour force is not only high in cost, but also becomes increasingly difficult to obtain; and cost of manually harvesting fruits accounts for as much as 33%-50% of total production cost of the fruits.
Therefore, how to provide a picking robot that can realize automatic navigation and pick fruits accurately is an urgent problem to be solved by those skilled in the art.
In view of this, the present invention aims to provide an intelligent picking robot for mountain standardized orchards, so as to solve at least one of the above technical problems in the prior art to some extent.
In order to achieve the above purpose, the present invention adopts the following technical solution:
An intelligent picking robot for mountain standardized orchards comprises a walking mechanism, a grabbing device, a collecting device and a control system, wherein the grabbing device, the collecting device and the control system are all arranged on the walking mechanism;
The grabbing device comprises a mechanical arm main body, a horizontal adjusting mechanism and a mechanical claw, wherein the horizontal adjusting mechanism is fixed above the walking mechanism; the mechanical arm main body is connected to the horizontal adjusting mechanism; and the mechanical claw is in transmission connection with an end of the mechanical arm main body;
The collecting device is arranged above the walking mechanism and located at one side of the mechanical arm main body;
Identification components of the control system are installed on a chassis of the walking mechanism and the mechanical arm main body; and cooperative actions of the walking mechanism, the mechanical arm main body, the horizontal adjusting mechanism, the mechanical 03316 claw and the collecting device are controlled by the control system.
Preferably, in the intelligent picking robot for mountain standardized orchards, the walking mechanism comprises the chassis, rotary joint brackets, rotary joints, wheels, a connecting rod, atransmission rod, a steering engine and advancing motors;
The two rotary joint brackets are symmetrically fixed on two sides in front of the bottom of the chassis; opposite sides of the two rotary joint brackets are connected by a rotating shaft; a joint connecting end of each rotary joint bracket is rotatably connected to the rotary joint; adjusting ends of the two rotary joints are in transmission connection by the connecting rod; the wheels are respectively fixed at wheel connecting ends; the steering engine is fixed at the bottom of a frame; and an output shaft thereof is in transmission connection with the connecting rod through the transmission rod to control the front wheels to swing;
A pair of advancing motors are symmetrically fixed behind the bottom of the chassis; and an output shaft of each advancing motor is connected to the wheel to provide power for the chassis.
Preferably, in the intelligent picking robot for mountain standardized orchards, the mechanical arm main body comprises a big arm assembly, a small arm assembly, a big arm steering engine and a small arm steering engine, wherein the big arm assembly and the small arm assembly are both hinged four-bar linkage mechanisms; a fixed end of the big arm assembly is fixed on an adjusting part of the horizontal adjusting mechanism through a mounting seat; the big arm steering engine is fixed on one side of the mounting seat to drive the big arm assembly to change an angle; the small arm assembly is in hinged transmission with the big arm assembly; the mechanical claw is installed at an adjusting end of the small arm assembly; and the small arm steering engine is fixed on one side of the mounting seat and can actuate the small arm assembly and the big arm assembly to drive the mechanical claw to make synchronous actions.
Preferably, in the intelligent picking robot for mountain standardized orchards, the horizontal adjusting mechanism comprises a tripod head and a tripod head steering engine, wherein the tripod head steering engine is fixed on the chassis; the tripod head is fixed on an output shaft of the tripod head steering engine; and the mounting seat is fixed on the tripod head.
Preferably, in the intelligent picking robot for mountain standardized orchards, the mechanical claw comprises a fixed seat, a first clamping claw, a second clamping claw and a clamping claw steering engine;
The fixed seat is fixed at the adjusting end of the small arm assembly; a horizontal mounting plate is arranged at the outer side of the fixed seat; connecting ends of the first clamping claw and the second clamping claw are connected to the horizontal mounting plate through rotating shafts; the connecting ends are meshed through gear teeth; and the clamping claw steering engine is connected to one of the rotating shafts to drive the first clamping claw and the second clamping claw to perform a grabbing action.
Preferably, in the intelligent picking robot for mountain standardized orchards, the collecting 03316 device comprises a box body, a transmission linkage mechanism, a linkage steering engine, a bottom connecting rod and an electric push rod.
The box body is a collecting box with an open top, with one side being an opening and closing plate hinged at the bottom; the linkage steering engine is arranged on the outer wall of the box body, with an output shaft thereof penetrating into the box body; one end of the transmission linkage mechanism is fixed with the output shaft of the linkage steering engine; the other end is hinged with the opening and closing plate; one end of the bottom connecting rod is hinged with the bottom end of the box body; the other end is fixed on the chassis; the electric push rod is hinged on the bottom of the box body and the chassis, and is opposite to the bottom connecting rod; and by actuating the electric push rod, the box body can be driven to realize discharging obliquely.
Preferably, in the intelligent picking robot for mountain standardized orchards, the control system comprises a controller, a battery, a laser radar and a camera, wherein the laser radar, the battery and the controller are all fixed on the chassis; the camera is fixed on the fixed seat; the controller is respectively connected to the laser radar, the camera, the advancing motors, the steering engine, the big arm steering engine, the small arm steering engine, the tripod head steering engine, the clamping claw steering engine, the linkage steering engine and the electric push rod by electric signals; and the battery supplies power for the above mechanisms.
Preferably, in the intelligent picking robot for mountain standardized orchards, the big arm assembly is 0° in a vertical state, with a rotation range of -90-90°; and the small arm assembly is 0° in a horizontal state, with a rotation range of 0-60°.
According to the technical solution, compared with the prior art, the intelligent picking robot for mountain standardized orchards disclosed and provided by the present invention mainly has the following advantages and effects:
The robot can identify environmental factors, accurately avoid obstacles in a process of advancing, and observe accurate positions of vegetables and fruits through the camera to realize automatic navigation;
Through the control system, relative positions of the robot and the mechanical arm are adjusted to correspond to the positions of the vegetables and fruits; the vegetables and fruits can be accurately picked and can be collected and transported; and the robot can be adapted to a complex greenhouse environment and realize automatic and rapid picking of the vegetables and fruits.
To more clearly describe the technical solutions in the embodiments of the present invention or in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be simply presented below. Apparently, the drawings in the following description are merely embodiments of the present invention, and for those ordinary skilled in the art, other 03316 drawings can also be obtained according to these drawings without contributing creative labour.
Fig. 1 is a structural schematic diagram of the present invention;
Fig. 2 is a structural schematic diagram of a chassis in the present invention;
Fig. 3 is a structural schematic diagram of a steering part in a walking mechanism of the present invention;
Fig. 4 is a structural schematic diagram of a rotating structure bracket in the present invention;
Fig. 5 is a structural schematic diagram of a grabbing device in the present invention; and
Fig. 6 is a structural schematic diagram of a collecting device in the present invention.
Technical solutions in the embodiments of the present invention are described clearly and fully below in combination with the drawings in the embodiments of the present invention.
Apparently, the described embodiments are merely part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those ordinary skilled in the art without contributing creative labour will belong to the protection scope of the present invention.
It should be understood in the description of the present invention that terms such as “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, etc. indicate direction or position relationships shown based on the drawings, and are only intended to facilitate the description of the present invention and simplify the description rather than to indicate or imply that the indicated device or element must have a specific direction or constructed and operated in a specific direction, and therefore, shall not be understood as a limitation to the present invention.
In the present invention, unless otherwise specifically regulated and defined, terms such as “installation”, “connected”, “connecting”, “fixation” and the like shall be understood in broad sense, and for example, may refer to fixed connection or detachable connection or integral connection, may refer to mechanical connection or electrical connection, and may refer to direct connection or indirect connection through an intermediate medium or inner communication of two elements or interaction relationship of two elements. For those ordinary skilled in the art, the specific meanings of the above terms in the present invention may be understood according to concrete conditions.
Fig. 1 shows an intelligent picking robot for mountain standardized orchards, comprising: a walking mechanism 1, a grabbing device 2, a collecting device 3 and a control system. The grabbing device 2, the collecting device 3 and the control system are all arranged on the walking mechanism 1;
The grabbing device 2 comprises a mechanical arm main body 20, a horizontal adjusting mechanism 21 and a mechanical claw 22; the horizontal adjusting mechanism 21 is fixed above the walking mechanism 1; the mechanical arm main body 20 is connected to the horizontal 03316 adjusting mechanism 21; and the mechanical claw 22 is in transmission connection with an end of the mechanical arm main body 20;
The collecting device 3 is arranged above the walking mechanism 1 and located at one side 5 of the mechanical arm main body 20;
Identification components of the control system are installed on a chassis 10 of the walking mechanism 1 and the mechanical arm main body 20; and cooperative actions of the walking mechanism 1, the mechanical arm main body 20, the horizontal adjusting mechanism 21, the mechanical claw 22 and the collecting device 3 are controlled by the control system.
Referring to Figs. 2-4, the walking mechanism 1 comprises the chassis 10, rotary joint brackets 11, rotary joints 12, wheels 13, a connecting rod 14, a transmission rod 15, a steering engine 16 and advancing motors 17;
The two rotary joint brackets 11 are fixed in front of the bottom of the chassis 10 by a connecting part on the top; axle holes are arranged in opposite sides thereof; the two rotary joint brackets are connected by penetration of a rotating shaft 18; a joint connecting end of each rotary joint bracket 11 is the U-shaped connecting part; the middle of each L-shaped rotary joint 12 is rotatably connected by a hinge pin; adjusting ends of the two rotary joints 12 are in transmission connection by the connecting rod 14 to form a parallelogram-shaped hinged four-bar linkage mechanism; the wheels 13 are respectively fixed at wheel connecting ends; the steering engine 16 is fixed at the bottom of a frame; and an output shaft thereof is in transmission connection with the connecting rod 14 through the transmission rod 15 to control the front wheels 13 to swing;
A pair of advancing motors 17 are symmetrically fixed behind the bottom of the chassis 10; and an output shaft of each advancing motor 17 is connected to the wheel 13 to provide power for the chassis 10.
Referring to Fig. 5, the mechanical arm main body 20 comprises a big arm assembly 200, a small arm assembly 201, a big arm steering engine 202 and a small arm steering engine 203; the big arm assembly 200 and the small arm assembly 201 are both hinged four-bar linkage mechanisms; a mounting seat is a U-shaped frame; the bottom is fixed on the horizontal adjusting mechanism; the big arm assembly 200 is of a parallelogram structure; a fixed end thereof is rotatably connected to the inner side of the mounting seat through a rotating shaft; an adjusting end extends to form a supporting part; the big arm steering engine 202 is fixed on one side of the mounting seat 204; an output shaft thereof is connected to the rotating shaft, so that an angle of the big arm assembly can be changed; the small arm assembly 201 is a four-bar linkage mechanism in a bent state; a first connecting rod is hinged with the mounting seat and adjusted by the small arm steering engine; a second connecting rod is hinged with a rod wall of the big arm assembly; a fourth connecting rod is hinged with a third connecting rod and the supporting part of the big arm assembly at the same time; when the first connecting rod is driven to rotate, the second connecting rod acts as a lever; the third connecting rod is pulled to adjust the angle of the fourth connecting rod around the supporting part; and the mechanical claw 22 is installed at he 503316 end of the fourth connecting rod and acts synchronously with the small arm assembly.
In order to further optimize the above technical solution, the horizontal adjusting mechanism 21 comprises a tripod head 210 and a tripod head steering engine 211; the tripod head steering engine 211 is fixed on the chassis 10; the tripod head 210 is fixed on an output shaft of the tripod head steering engine 211; and the mounting seat 204 is fixed on the tripod head 210.
In order to further optimize the above technical solution, the mechanical claw 22 comprises a fixed seat 220, a first clamping claw 221, a second clamping claw 222 and a clamping claw steering engine 223;
The fixed seat 220 is of a plate-like structure arranged longitudinally, and is vertically fixed at the adjusting end of the small arm assembly 201; a horizontal mounting plate is arranged at the outer side of the fixed seat 220; connecting ends of the first clamping claw 221 and the second clamping claw 222 are connected to the horizontal mounting plate through rotating shafts; the connecting ends are meshed through gear teeth; and the clamping claw steering engine 223 is connected to one of the rotating shafts to drive the first clamping claw 221 and the second clamping claw 222 to perform a grabbing action.
Referring to Fig. 6, the collecting device 3 comprises a box body 30, a transmission linkage mechanism 31, a linkage steering engine 32, a bottom connecting rod 33 and an electric push rod 34;
The box body 30 is a collecting box with an open top, with one end wall plate being an opening and closing plate 300 hinged at the bottom; one side wall plate of the opening and closing plate is provided with a through hole; the linkage steering engine 32 is arranged on the outer wall of the box body 30, with an output shaft thereof penetrating into the box body 30 via the through hole; the transmission linkage mechanism 31 is a double-bar linkage mechanism hinged at the middle; one end thereof is fixed with the output shaft of the linkage steering engine 32; the other end is hinged with a plate surface of the opening and closing plate 300 through a hinged seat; one end of the bottom connecting rod 33 is hinged with the bottom end of the box body 30 by a hinged seat; the other end is fixed on the chassis 10; two ends of the electric push rod 34 are hinged on the bottom of the box body 30 and the chassis 10 by hinged seats respectively, and are opposite to the bottom connecting rod 33; and by actuating the electric push rod 34, the box body 30 can be driven to realize discharging obliquely.
In order to further optimize the above technical solution, the control system comprises a controller, a battery, a laser radar and a camera 4, the laser radar, the battery and the controller are all fixed on the chassis 10; the camera 4 is fixed on the fixed seat 220; the controller is respectively connected to the laser radar, the camera 4, the advancing motors 17, the steering engine 16, the big arm steering engine 202, the small arm steering engine 203, the tripod head steering engine 211, the clamping claw steering engine 223, the linkage steering engine 32 and the electric push rod 34 by electric signals; and the battery supplies power for the above 03316 mechanisms.
In order to further optimize the above technical solution, the big arm assembly 200 is 0° in a vertical state, with a rotation range of -90-90°; and the small arm assembly 201 is 0° in a horizontal state, with a rotation range of 0-60°.
In order to further optimize the above technical solution, SLAM laser radar navigation technology is used in the laser radar in the device. À map of a greenhouse can be constructed by the laser radar, which can realize straight walking and fixed-point turning between ridges. Through the camera on the mechanical arm, a cart can accurately pick vegetables and fruits while advancing on a ridge path.
In order to further optimize the technical solution, a jetson nano controller is adopted as the controller.
Specifically, a use principle of the present invention is as follows:
The jetson nano controller performs omni-directional scanning and ranging detection on a surrounding environment by the laser radar to obtain current information of the greenhouse ridge path. After the robot is started, the laser radar scans the current environment. After the environmental detection is completed, the jetson nano controller starts the advancing motors to drive the walking mechanism to advance. At this time, the mechanical arm main body of the robot faces a plant side. When the camera detects the vegetables and fruits, the jetson nano controller controls the advancing motors to stop; the camera of the robot locates the fruits by a visual recognition algorithm; the chassis of the robot is adjusted to advance or retreat, so that the vegetables and fruits can be picked in a working range of the mechanical arm main body; then, the jetson nano controller controls the big arm steering engine to rotate to extend the big arm assembly forward; at this time, the camera continues to determine a centre position of the vegetables and fruits; the chassis is further adjusted to advance or retreat; when the vegetables and fruits are located at the centre point of an image transmitted by the camera, the jetson nano controller controls the small arm steering engine to drive a small arm to extend forward; when the mechanical claw reaches the grabbing position, the jetson nano controller controls the mechanical claw steering engine to make grabbing work; when grabbing is completed, the camera judges whether the work is completed; if the vegetables and fruits are grabbed, the robot rotates the horizontal adjusting mechanism and places the vegetables and fruits in the rear collecting device for storage; then the robot continues to walk for next picking work; if the picking is not completed, the jetson nano controller will make fine angle adjustment of the big arm steering engine and the small arm steering engine to adjust an angle error of the steering engine caused by many times of work; and then the picking work will be done again.
When the robot is about to enter a corner of map information transmitted by the laser radar, the jetson nano controller starts to plan a turning path according to a pre-set program; and then the jetson nano controller controls the steering engine to turn left or right. When the picking work in the whole greenhouse is completed, the robot is at a pre-set end position; the advancing motors 1331 6 stop rotating; and the cart stops walking. The jetson nano controls rotation of the linkage steering engine in the collecting device; the opening and closing plate is opened by the transmission linkage mechanism; then the electric push rod is started to jack up one end of the box body to form inclination of the box body, so that the vegetables and fruits in the box body can be poured out; when pouring of the vegetables and fruits is finished, the electric push rod will be reset; the linkage steering engine rotates to close the opening and closing plate; and the work is finished.
The jetson nano controller can be expanded with a remote controller. In case of control by the remote controller, the big arm and small arm, as well as advancing, retreating and turning of the robot can by operated within the scope of the greenhouse. When the greenhouse environment is complex and has high requirements for environmental modelling, remote operations can be performed by the remote controller.
Each embodiment in the description is described in a progressive way. The difference of each embodiment from each other is the focus of explanation. The same and similar parts among all of the embodiments can be referred to each other. For the device disclosed by the embodiments, because the device corresponds to a method disclosed by the embodiments, the device is simply described. Refer to the description of the method part for the related part.
The above description of the disclosed embodiments enables those skilled in the art to realize or use the present invention. Many modifications made to these embodiments will be apparent to those skilled in the art. General principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An intelligent picking robot for mountain standardized orchards, comprising a walking mechanism (1), a grabbing device (2), a collecting device (3) and a control system, wherein — the grabbing device (2), the collecting device (3) and the control system are all arranged on the walking mechanism (1); — the grabbing device (2) comprises a mechanical arm main body (20), a horizontal adjusting mechanism (21) and a mechanical claw (22), wherein — the horizontal adjusting mechanism (21) is fixed above the walking mechanism (1); — the mechanical arm main body (20) is connected to the horizontal adjusting mechanism (21); and — the mechanical claw (22) is in transmission connection with an end of the mechanical arm main body (20); — the collecting device (3) is arranged above the walking mechanism (1) and located at one side of the mechanical arm main body (20); — identification components of the control system are installed on a chassis (10) of the walking mechanism (1) and the mechanical arm main body (20); and — cooperative actions of the walking mechanism (1), the mechanical arm main body (20), the horizontal adjusting mechanism (21), the mechanical claw (22) and the collecting device (3) are controlled by the control system.
2. The intelligent picking robot for mountain standardized orchards according to claim 1, wherein the walking mechanism (1) comprises the chassis (10), rotary joint brackets (11), rotary joints (12), wheels (13), a connecting rod (14), a transmission rod (15), a steering engine (16) and advancing motors (17), wherein — the two rotary joint brackets (11) are symmetrically fixed on two sides in front of the bottom of the chassis (10); — opposite sides of the two rotary joint brackets (11) are connected by a rotating shaft (18); — a joint connecting end of each rotary joint bracket (11) is rotatably connected to the rotary joint (12); — adjusting ends of the two rotary joints (12) are in transmission connection by the connecting rod (14); — the wheels (13) are respectively fixed at wheel connecting ends; — the steering engine (16) is fixed at the bottom of a frame; — an output shaft thereof is in transmission connection with the connecting rod (14) through the transmission rod (15) to control the front wheels (13) to swing;
— a pair of advancing motors (17) are symmetrically fixed behind the bottom of the chassis 503316 (10); and — an output shaft of each advancing motor (17) is connected to the wheel (13) to provide power for the chassis (10).
3. The intelligent picking robot for mountain standardized orchards according to claim 2, wherein the mechanical arm main body (20) comprises a big arm assembly (200), a small arm assembly (201), a big arm steering engine (202) and a small arm steering engine (203), wherein — the big arm assembly (200) and the small arm assembly (201) are both hinged four-bar linkage mechanisms; — a fixed end of the big arm assembly (200) is fixed on an adjusting part of the horizontal adjusting mechanism (21) through a mounting seat (204): — the big arm steering engine (202) is fixed on one side of the mounting seat (204) to drive the big arm assembly to change an angle: — the small arm assembly (201) is in hinged transmission with the big arm assembly (200); — the mechanical claw (22) is installed at an adjusting end of the small arm assembly (201): and — the small arm steering engine (203) is fixed on one side of the mounting seat (204) and can actuate the small arm assembly (201) and the big arm assembly (200) to drive the mechanical claw (22) to make synchronous actions.
4. The intelligent picking robot for mountain standardized orchards according to claim 3, wherein the horizontal adjusting mechanism (21) comprises a tripod head (210) and a tripod head steering engine (211), wherein — the tripod head steering engine (211) is fixed on the chassis (10); — the tripod head (210) is fixed on an output shaft of the tripod head steering engine (211); and — the mounting seat (204) is fixed on the tripod head (210).
5. The intelligent picking robot for mountain standardized orchards according to claim 4, wherein the mechanical claw (22) comprises a fixed seat (220), a first clamping claw (221), a second clamping claw (222) and a clamping claw steering engine (223), wherein — the fixed seat (220) is fixed at the adjusting end of the small arm assembly (201); — a horizontal mounting plate is arranged at the outer side of the fixed seat (220); — connecting ends of the first clamping claw (221) and the second clamping claw (222) are connected to the horizontal mounting plate through rotating shafts;
— the connecting ends are meshed through gear teeth; and LU503316 — the clamping claw steering engine (223) is connected to one of the rotating shafts to drive the first clamping claw (221) and the second clamping claw (222) to perform a grabbing action.
6. The intelligent picking robot for mountain standardized orchards according to claim 5, wherein the collecting device (3) comprises a box body (30), a transmission linkage mechanism (31), a linkage steering engine (32), a bottom connecting rod (33) and an electric push rod (34), wherein — the box body (30) is a collecting box with an open top, with one side being an opening and closing plate (300) hinged at the bottom; — the linkage steering engine (32) is arranged on the outer wall of the box body (30), with an output shaft thereof penetrating into the box body (30); — one end of the transmission linkage mechanism (31) is fixed with the output shaft of the linkage steering engine (32), and the other end is hinged with the opening and closing plate (300); — one end of the bottom connecting rod (33) is hinged with the bottom end of the box body (30), the other end being fixed on the chassis (10); — the electric push rod (34) is hinged on the bottom of the box body (30) and the chassis (10), and is opposite to the bottom connecting rod (33); and — by actuating the electric push rod (34), the box body (30) can be driven to realize discharging obliquely.
7. The intelligent picking robot for mountain standardized orchards according to claim 6, wherein the control system comprises a controller, a battery, a laser radar and a camera (4), wherein — the laser radar, the battery and the controller are all fixed on the chassis (10); — the camera (4) is fixed on the fixed seat (220); — the controller is respectively connected to the laser radar, the camera (4), the advancing motors (17), the steering engine (16), the big arm steering engine (202), the small arm steering engine (203), the tripod head steering engine (211), the clamping claw steering engine (223), the linkage steering engine (32) and the electric push rod (34) by electric signals; and — the battery supplies power for the above mechanisms.
8. The intelligent picking robot for mountain standardized orchards according to claim 7, wherein — the big arm assembly (200) is 0° in a vertical state, with a rotation range of -90-90°; and — the small arm assembly (201) is 0° in a horizontal state, with a rotation range of 0-60°.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210620622.9A CN114931025A (en) | 2022-06-01 | 2022-06-01 | Intelligent picking robot for small vegetables and fruits in greenhouse |
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| Publication Number | Publication Date |
|---|---|
| LU503316B1 true LU503316B1 (en) | 2023-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU503316A LU503316B1 (en) | 2022-06-01 | 2022-12-06 | Intelligent picking robot for mountain standardized orchards |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN114931025A (en) |
| LU (1) | LU503316B1 (en) |
| WO (1) | WO2023231354A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114931025A (en) * | 2022-06-01 | 2022-08-23 | 重庆文理学院 | Intelligent picking robot for small vegetables and fruits in greenhouse |
| EP4378292A1 (en) * | 2022-11-29 | 2024-06-05 | Continental Autonomous Mobility Germany GmbH | Automated control system and method for operating a multi-functional equipment, and multi-functional equipment thereof |
| CN116584310B (en) * | 2023-06-07 | 2024-01-19 | 农业农村部南京农业机械化研究所 | Black fungus picking device |
| CN117256314B (en) * | 2023-11-20 | 2024-04-12 | 山东寿光蔬菜种业集团有限公司 | Automatic fruit collecting device and method for stringed tomatoes |
| CN118542150B (en) * | 2024-07-30 | 2024-10-11 | 寿光恒蔬无疆农业发展集团有限公司 | Eggplant fruit and vegetable robot with picking, walking and automatic loading and unloading functions |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6912656B2 (en) * | 2018-03-28 | 2021-08-04 | 本田技研工業株式会社 | Fruit vegetable harvester |
| CN209435828U (en) * | 2018-10-29 | 2019-09-27 | 杭州市乔司职业高级中学 | Self-service pineapple picks collecting cart |
| JP7214612B2 (en) * | 2019-12-02 | 2023-01-30 | 株式会社クボタ | agricultural robot |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN114303643A (en) * | 2021-06-07 | 2022-04-12 | 淮阴工学院 | Automatic grabbing system based on machine vision recognition |
| CN113940197A (en) * | 2021-10-12 | 2022-01-18 | 重庆军万农业科技有限公司 | Fruit and vegetable picking robot |
| CN114475857B (en) * | 2021-12-23 | 2022-12-20 | 山东科技大学 | AGV trolley based on electric flat car and control method |
| CN114931025A (en) * | 2022-06-01 | 2022-08-23 | 重庆文理学院 | Intelligent picking robot for small vegetables and fruits in greenhouse |
-
2022
- 2022-06-01 CN CN202210620622.9A patent/CN114931025A/en not_active Withdrawn
- 2022-12-06 WO PCT/CN2022/136897 patent/WO2023231354A1/en unknown
- 2022-12-06 LU LU503316A patent/LU503316B1/en active IP Right Grant
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| CN114931025A (en) | 2022-08-23 |
| WO2023231354A1 (en) | 2023-12-07 |
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Effective date: 20231212 |