Rose picking robot

Abstract

The invention discloses a rose picking robot and belongs to the field of agricultural automatic picking equipment. The device is composed of a crawler, a collecting device, a picking device, an unmanned aerial vehicle and an autonomous endurance device. According to the device, an unmanned aerial vehicle is used for collecting rose data and driving a picking mechanism to pick roses, an end effector on the picking mechanism is a cutting container with eight adjustable cutting blades, opening and closing of the cutting blades are controlled through a motor to achieve swallowing of the roses and cutting of pedicels, a draught fan is installed on a crawler, and the unmanned aerial vehicle drives the picking mechanism to pick the roses. According to the rose cutting unmanned aerial vehicle, the rotating blades in the draught fan are driven by the motor to rotate, the blades rotate to generate airflow, roses in the cutting container are sucked into the storage box on the crawler, the load of the unmanned aerial vehicle is reduced in the process, and the cruising ability of the unmanned aerial vehicle is improved; the unmanned aerial vehicle can automatically return to be charged when the electric quantity is insufficient, and the crash risk caused by electric quantity exhaustion is reduced.

Description

Technical Field

[0001] The invention relates to a rose picking robot, in particular to a rose picking robot based on the collaborative operation of an unmanned aerial vehicle and a crawler vehicle, and belongs to the field of agricultural automated picking equipment. Background Art

[0002] Rose is a deciduous shrub belonging to the Rosaceae family of the order Rosaceae. Its flowers are rich in vitamin C, antioxidants and polyphenol compounds, and have many functions such as improving endocrine disorders, anti-wrinkle and beauty. Its flowers have a strong aroma and can be used to make rose tea, rose cakes, rose wine, and extract rose essential oil.

[0003] With the expansion of rose planting area, rose picking requires a lot of manpower, especially in large-scale rose gardens. Manual picking is inefficient and people need to bend and straighten constantly, which can easily cause great damage to the body of the pickers. In recent years, my country has been actively researching and developing rose picking equipment. Among them, the rose picking robot using drones equipped with picking manipulators is a hot topic of research, but there are also some problems. For example, drones equipped with picking manipulators consume a lot of electricity when working, and the storage of picked roses increases the weight of the drone, making the drone's endurance very small. The staff needs to frequently replace the battery of the drone, which increases the operating cost. Therefore, a new type of rose picking robot is urgently needed. Summary of the invention

[0004] Aiming at the problems of low endurance of unmanned aerial vehicles and storage of picked roses, the present invention provides a rose picking robot.

[0005] The present invention is realized through the following technical scheme: a rose picking robot, which is composed of a crawler vehicle, a collecting device, a picking device, an unmanned aerial vehicle and an autonomous endurance device. The collecting device and the autonomous endurance device are installed on the crawler vehicle, and the picking device is connected to the bottom of the unmanned aerial vehicle through a slewing mechanism. The unmanned aerial vehicle and the collecting device are connected through a flower conveying hose. The crawler vehicle comprises a crawler, four rollers, a supporting platform, a first servo motor and a second servo motor. The four rollers are respectively installed at the front and rear positions on both sides of the supporting platform, wherein the first servo motor is connected to the front roller on the left side of the supporting platform, and the second servo motor is connected to the rear roller on the right side of the supporting platform. The crawler is meshed with the rollers, and the motor drives the rollers to rotate so that the crawler vehicle can move flexibly, which is more convenient than directly using the rollers to move. The crawler has a larger contact area, can disperse gravity, and provide stronger traction. The picking device includes a third servo motor, a fourth servo motor, a fifth servo motor, a motor bracket, a slewing mechanism, a first joint, a second joint and an end effector. The third servo motor controls the rotation of the slewing mechanism. The fourth servo motor is connected to the first joint through the motor bracket. The first joint and the second joint are connected through the fifth servo motor. At the same time, the fifth servo motor drives the second joint to move. The end effector is connected to the second joint through a bolt. The first joint and the second joint move under the drive of the three motors to adjust the position of the end effector. The end effector includes a flower feeding hole, a cutting container, a cutting blade and a pressure sensor. The end effector is a device with eight adjustable The cutting container of the cutting blade is controlled by the third servo motor to open and close the cutting blade to swallow the roses and cut the flower stems. A pressure sensor is installed inside the cutting container to confirm whether the cutting action is successful. In addition, a flower delivery hole is provided at the upper end of the cutting container. The cut roses are transported from this hole to the storage box on the crawler vehicle under the action of the suction of the fan. The collecting device includes a flower delivery hose, a sixth servo motor, a fan and a storage box. The fan is fixed to the side of the storage box and connected to the sixth servo motor. The sixth servo motor drives the rotating blades inside the fan to rotate. The rotation of the blades generates airflow, which sucks the roses in the cutting container into the storage box on the crawler vehicle. This process reduces the weight of the drone and increases the endurance of the drone. The UAV includes four propellers, solar panels, wings and frames. The propellers are installed on the wings of the UAV. The propellers generate lift by rotating. The solar panels are installed on the wings. Under good lighting conditions, they can replace the battery pack for power supply to increase the endurance of the UAV. The wings are installed on the frame. The UAV is also equipped with a binocular vision camera and a GPS positioning system, which can identify and locate roses. The autonomous endurance device includes a box cover, a battery, a box body, a heating wire and a solar panel. The solar panel is placed outside the box body. The solar panel can convert solar energy into electrical energy to heat the heating wire. The inner wall of the box body is installed with a heating wire. The heating wire obtains electricity from the solar panel and generates heat, thereby increasing the temperature inside the box body.To avoid the problem of low power conversion efficiency of batteries in cold weather, batteries are placed inside the box for charging the drone, and a box cover is placed on top of the box to block wind and rain, preventing rainwater from flowing into the box and affecting the battery's power generation.

[0006] The benefit of the invention is that the present invention greatly improves the efficiency of rose picking by carrying out picking operations with a drone equipped with a picking device. The drone can quickly cover a large area of ​​rose gardens and accurately pick roses by driving the end effector to move by a motor, thereby shortening the picking time. The drone is not only equipped with a binocular camera that can accurately identify and locate roses, but also has a solar panel that can replace batteries to power the drone under sunny conditions, thereby improving the drone's endurance. The end effector is a cutting container with eight adjustable cutting blades, which controls the opening and closing of the cutting blades to achieve the swallowing of roses and the cutting of flower stems. A pressure sensor is provided inside the cutting container to confirm whether the cutting action is successful. The cut roses are passed through The air is sucked into the storage box on the tracked vehicle through the fan. The collection and picking device not only solves the rose storage problem, but also reduces the weight of the drone and improves the drone's endurance. The tracked vehicle is equipped with an autonomous endurance device. The drone can automatically return to charge when the battery is low, reducing the risk of crashing due to power exhaustion. The device is equipped with solar panels and heating wires, which can convert solar energy into electricity for the heating wires to generate electricity, avoiding the problem of low battery energy conversion efficiency when the temperature is low, and improving the battery's power supply efficiency. This device uses the drone to recognize the image of roses and drive the picking device to pick the roses at the same time. The tracked vehicle moves freely in complex terrain to collect the picked roses and power the drone. The coordinated operation of the two significantly improves the efficiency of rose picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a structural schematic diagram of the present invention, Figure 2 for Figure 1 A partial enlarged view of the blower part. Figure 3 for Figure 1 The structure diagram of the UAV. Figure 4 for Figure 1 Structural diagram of the medium tracked vehicle. Figure 5 for Figure 1 Structural diagram of the picking device. Figure 6 Schematic diagram of the structure of the end effector.

[0008] In the figure, 1, crawler vehicle, 101, roller, 102, crawler, 103, support platform, 104, first servo motor, 105, second servo motor, 2, collecting device, 201, storage box, 202, fan, 203, sixth servo motor, 3, picking device, 301, rotating mechanism, 302, motor frame, 303, fourth servo motor, 304, first joint, 305, fifth servo motor, 306, second joint, 30 7. The third servo motor; 4. UAV; 401. Propeller; 402. Solar panel; 403. UAV wing; 404. UAV frame; 405. Binocular camera; 5. End effector; 501. Flower delivery hole; 502. Cutting container; 503. Cutting blade; 504. Pressure sensor; 6. Autonomous endurance device; 601. Box cover; 602. Box body; 603. Solar panel; 604. Heating wire; 7. Flower delivery hose. DETAILED DESCRIPTION

[0009] A rose picking robot is composed of a crawler vehicle 1, a collecting device 2, a picking device 3, an unmanned aerial vehicle 4, and an autonomous endurance device 6. The collecting device 2 and the autonomous endurance device 6 are installed on the crawler vehicle 1, the picking device 3 is connected to the bottom of the unmanned aerial vehicle 4 through a rotating mechanism 301, and the unmanned aerial vehicle 4 is connected to the collecting device 2 through a flower conveying hose 7. The crawler vehicle includes a crawler 102, four rollers 101, a supporting platform 103, a first servo motor 104 and a second servo motor 105. The four rollers 101 are respectively installed at the front and rear positions on both sides of the supporting platform 103, wherein the first servo motor 104 is connected to the front roller 101 on the left side of the supporting platform 103, and the second servo motor 105 is connected to the rear roller 101 on the right side of the supporting platform 103. The picking device 3 is connected to the square roller 101, and the crawler 102 is meshed with the roller 101. The picking device 3 includes a first joint 304, a rotating mechanism 301, a fourth servo motor 303, a fifth servo motor 305, a second joint 306, a third servo motor 307, a motor frame 302 and an end effector 5. The third servo motor 307 controls the rotation of the rotating mechanism 301. The fourth servo motor 303 is connected to the first joint 304 through the motor bracket 302. The first joint 304 and the second joint 306 are connected through the fifth servo motor 305. At the same time, the fifth servo motor 305 drives the second joint 306 to move. The end effector 5 is connected to the second joint 306 through bolts. The end effector 5 is a one with eight movable The cutting container 502 of the adjusting cutting blade 503 is controlled by the third servo motor 307 to open and close the cutting blade 503 to swallow the rose and cut the flower stem. A pressure sensor 504 is installed inside the cutting container 502 to confirm whether the cutting of the rose is completed. The upper end of the cutting container 502 is provided with a flower delivery hole 501, and the flower delivery hole 501 is connected to one end of the flower delivery hose 7. The collecting device 2 includes a storage box 201, a fan 203, a sixth servo motor 202, and a flower delivery hose 7. One end of the flower delivery hose 7 is connected to the fan 203, and the other end is connected to the flower delivery hole 501 above the end effector 5. The fan 203 is fixed to the side of the storage box 201 and connected to the sixth servo motor 202 to drive the fan 20 3, the rotating blades inside rotate, the UAV 4 includes four bolt propellers 401, a solar panel 402, a UAV wing 403 and a UAV frame 404, the propeller 401 is installed on the UAV wing 403, the wing is provided with a solar panel 402, the wing 403 is installed on the frame 404, the UAV 4 is also equipped with a binocular camera 405 and a GPS positioning system, the autonomous endurance device 6 includes a box cover 601, a box body 602, a heating wire 604, a battery 605, and a solar panel 603, the heating wire 604 is installed on the inner wall of the box body 602, the battery 605 is installed inside the box body, the solar panel 603 is installed outside the box body 602, and the box cover 601 is placed above the box body 602.

[0010] Working principle of the rose picking robot: The drone flies to the rose garden area and collects rose images through the binocular vision camera 405, identifies and locates the roses to be picked, and according to the recognition results, the fourth servo motor 303 and the fifth servo motor 305 drive the end effector 5 to the designated picking position. After reaching the designated position, the third servo motor 307 controls the cutting blade 503 on the end effector 5 to open and swallow the rose into the cutting container 502, and then the cutting blade 503 closes to cut off the rose stem, and the pressure sensor 504 in the cutting container 502 senses whether it has been After the roses are cut, they are transported from the flower delivery hole 501 to the storage box 201 on the crawler 1 through the flower delivery hose 7 under the suction of the fan 203. When the power of the drone 4 is depleted, the drone 4 can be powered by the autonomous endurance device 6 installed on the crawler 1. Part of the power of the autonomous endurance device 6 comes from the battery 605, and the other part comes from the solar panel 603 outside the box 602. The inner wall of the box 602 of the autonomous endurance device 6 is equipped with a heating wire 604, and the power generated by the solar panel 603 can heat the heating wire 604. In this process, the drone 4 and the crawler 1 work together, the drone 4 completes the picking of roses, and the crawler 1 realizes the collection of roses and the power supply to the drone 4.

[0011] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A rose picking robot, which is composed of a crawler vehicle, a collecting device, a picking device, a drone and an autonomous endurance device, and is characterized by: The collecting device and the autonomous endurance device are installed on the crawler vehicle, the picking device is connected to the bottom of the drone through a slewing mechanism, the drone and the collecting device are connected through a flower conveying hose, the crawler vehicle comprises a crawler, four rollers, a supporting platform, a first servo motor and a second servo motor, the four rollers are respectively installed at the front and rear positions on both sides of the supporting platform, wherein the first servo motor is connected to the front roller on the left side of the supporting platform, the second servo motor is connected to the rear roller on the right side of the supporting platform, the crawler is meshed with the rollers, the motor drives the rollers to rotate so that the crawler vehicle can move flexibly, compared with directly using the rollers to move, the crawler has more The large contact area can disperse gravity and provide stronger traction. The picking device includes a third servo motor, a fourth servo motor, a fifth servo motor, a motor bracket, a slewing mechanism, a first joint, a second joint and an end effector. The third servo motor controls the rotation of the slewing mechanism. The fourth servo motor is connected to the first joint through the motor bracket. The first joint and the second joint are connected through the fifth servo motor. At the same time, the fifth servo motor drives the second joint to move. The end effector is connected to the second joint through bolts. The first joint and the second joint move under the drive of the three motors to adjust the position of the end effector.

2. A rose picking robot as claimed in claim 1, characterized in that: The end effector comprises a flower delivery hole, a cutting container, a cutting blade and a pressure sensor. The end effector is a cutting container with eight adjustable cutting blades. The opening and closing of the cutting blades are controlled by a third servo motor to achieve the swallowing of roses and the cutting of flower stems. A pressure sensor is installed inside the cutting container to confirm whether the cutting action is successful. In addition, a flower delivery hole is provided at the upper end of the cutting container. The flower delivery hole is connected to one end of a flower delivery hose. The cut roses are transported from this hole to a storage box on the crawler vehicle under the action of the suction force of the fan.

3. The rose picking robot according to claim 1, characterized in that: The autonomous endurance device includes a box cover, a box body, a heating wire, a battery and a solar panel. The solar panel is installed on the outside of the box body, and can convert solar energy into electrical energy to heat the heating wire. The inner wall of the box body is installed with a heating wire. The heating wire generates heat through the electrical energy obtained by the solar panel, thereby raising the temperature inside the box body and avoiding the problem of low electrical energy conversion efficiency of the battery in cold weather. A battery is placed inside the box body for charging the drone. A box cover is placed above the box body, and the box cover can block wind and rain to prevent rainwater from flowing into the box body and affecting the power generation of the battery.

4. The rose picking robot according to claim 1, characterized in that: The collecting device includes a flower conveying hose, a sixth servo motor, a fan and a storage box. One end of the flower conveying hose is connected to the flower conveying hole above the end effector, and the other end is connected to the fan. The fan is fixed to the side of the storage box and connected to the sixth servo motor to drive the rotating blades inside the fan to rotate. The rotation of the blades generates airflow, which sucks the roses in the cutting container into the storage box on the crawler vehicle. This process reduces the weight of the drone and increases the endurance of the drone.

5. The rose picking robot according to claim 1, characterized in that: The UAV comprises four propellers, a battery pack, a solar panel, a wing and a frame. The propeller is mounted on the wing and generates lift by rotating. The solar panel is mounted on the wing and can replace the battery pack for power supply under good lighting conditions to increase the endurance of the UAV. The wing is mounted on the frame. The UAV is also equipped with a binocular vision camera and a GPS positioning system, which can identify and locate roses.

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