A rotation recognition harvesting robot device and method

Abstract

The present disclosure relates to the technical field of harvesting robots, and in particular to a rotary recognition harvesting robot device and method. It includes a mounting frame, a walking device, a harvesting device, an identification device and a controller; the harvesting device includes a harvesting track, a harvesting mechanical arm and a picking mechanical arm, the harvesting mechanical arm is installed on the harvesting track and can move on the harvesting track, the harvesting mechanical arm is used to grab the cultivation bag, and the picking mechanical arm is used to pick the crops in the cultivation bag; the identification device is used to collect the position information of the crops; the walking device is used to drive the robot device to move; the controller is electrically connected to the harvesting mechanical arm, the picking mechanical arm, the identification device and the walking device respectively. Through the setting of the harvesting track, the harvesting mechanical arm and the picking mechanical arm in this embodiment, the present disclosure can not only greatly reduce the labor cost, but also avoid the problem of fatigue of the pickers, and can also improve the picking efficiency through mechanization and automation, and finally achieve the purpose of increasing the profit.

Description

Technical Field

[0001] The present disclosure relates to the technical field of harvesting robots, and in particular to a rotation recognition harvesting robot device and method. Background Art

[0002] At present, edible fungi and medicinal materials are usually cultivated in cylindrical cultivation bags. When the crops are ripe, they are still picked manually, which not only requires a lot of labor and wastes costs, but also requires the pickers to bend over constantly, which is also a great consumption for the pickers. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a rotation recognition harvesting robot device and method.

[0004] The present disclosure provides a rotary identification and harvesting robot device, comprising a mounting frame, a walking device, a harvesting device, an identification device and a controller;

[0005] The harvesting device is arranged on one side of the mounting frame, and the harvesting device includes a harvesting track, a harvesting mechanical arm and a picking mechanical arm. The harvesting mechanical arm and the picking mechanical arm are both four-degree-of-freedom mechanical arms. The harvesting mechanical arm is installed on the harvesting track and can move on the harvesting track. The harvesting mechanical arm is used to grab the cultivation bag. The picking mechanical arm is arranged on one side of the harvesting track. After the harvesting mechanical arm grabs the cultivation bag, the picking mechanical arm is used to pick the crops in the cultivation bag.

[0006] There are multiple identification devices, and the identification devices are used to collect location information of crops;

[0007] The walking device is arranged at the bottom of the mounting frame to drive the robot device to move forward;

[0008] The controller is electrically connected to the harvesting mechanical arm, the picking mechanical arm, the identification device and the walking device respectively.

[0009] Optionally, the recovery track is a circular track.

[0010] Optionally, there are multiple harvesting robotic arms.

[0011] Optionally, the material of the front end of the harvesting robot arm and the front end of the picking robot arm are both rubber.

[0012] Optionally, the controller is used to receive images taken by the recognition device, the controller identifies and locates the crops according to the images, and the controller adjusts the path of the walking device and the steering of the harvesting robot arm and the picking robot arm according to the images.

[0013] Optionally, the identification device is a CCD detector.

[0014] Optionally, the recognition device can automatically determine the priority, take the occlusion coefficient of each crop as a decision factor for picking priority sorting, and determine the picking priority order of each crop in the current scene; according to the picking priority order of each crop, the three-dimensional coordinates of each crop are sent to the harvesting robot in turn, driving the robot to perform continuous picking.

[0015] Optionally, the walking device is a plurality of walking wheels symmetrically arranged on opposite sides of the mounting frame, and a guide portion is provided in the circumference of the walking wheel, and the guide portion is used to be accommodated on a walking track so that the walking device can walk along the walking track.

[0016] Optionally, there are two running tracks, the two running tracks are parallel and extend in a straight line, the diameter of the guide portion is smaller than the diameter of the running wheel, and when the running device runs on the running tracks, the upper surface of the running tracks contacts the guide portion.

[0017] A harvesting method, using the above-mentioned rotation recognition harvesting robot device, comprises the following steps:

[0018] S10: The harvesting robot is started, and the recognition device collects the surrounding environment image and transmits it to the controller. The controller determines that the location of the crops is the picking area, drives the walking device to reach the picking area, and then the walking device stops;

[0019] S20: After arriving at the picking area, the recognition device collects crop images, performs picking priority decisions based on the occlusion coefficients of each crop, and sends the three-dimensional coordinates of each crop to the harvesting robot in turn:

[0020] S30: According to the picking priority of the crops, the walking device starts to move so that the harvesting robot approaches the crops with the highest priority;

[0021] S40: the harvesting mechanical arm starts to work and rotates on the circular harvesting track, and then the harvesting mechanical arm grabs the cultivation bag where the crop is located;

[0022] S50: The recognition device works again, collects the image of the crop on the harvesting robot arm and transmits it to the controller. When it is determined that the crop moves to the shortest straight-line distance with the picking robot arm, the picking robot arm works to pick the crop;

[0023] S60: The harvesting robot arm continues to rotate, and the controller places the cultivation bag on it to the initial position;

[0024] S70: Control the walking device to move to the next crop according to the crop picking priority, and repeat steps S40-S60;

[0025] S80: After the recognition device confirms that there are no crops in the current field of view, the walking device is controlled to continue moving to the next picking area, and steps S10-S70 are repeated.

[0026] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0027] The present disclosure provides a rotating recognition and harvesting robot device. After the recognition device recognizes and determines the picking area of ​​the crops, the controller controls the walking device to move to the picking area. Then the recognition device recognizes and determines the crops to be picked again. The controller controls the walking device to move to the vicinity of the crops to be picked again. Then the harvesting robot arm starts to work and grabs the cultivation bag where the crops to be picked are located. The harvesting robot arm then carries the cultivation bag and moves on the harvesting track until the recognition device recognizes that the cultivation bag has reached the position closest to the picking robot arm. At this time, the harvesting robot arm stops moving, and the picking robot arm starts to work to pick the crops on the cultivation bag to complete the picking of the crops.

[0028] Through the arrangement of the harvesting track, the harvesting robot arm and the picking robot arm in this embodiment, the present invention can automatically harvest crops grown in cultivation bags such as mushrooms and medicinal materials, which can not only greatly reduce labor costs, but also avoid problems such as fatigue of pickers caused by manual picking, and can also improve the picking efficiency through mechanization and automation, ultimately achieving the goal of increasing profits. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] Figure 1 It is an overall schematic diagram of the rotation recognition harvesting robot device described in an embodiment of the present disclosure.

[0032] Among them, 1. mounting frame; 2. walking device; 21. walking wheel; 22. guide part; 3. harvesting device; 31. harvesting track; 32. harvesting mechanical arm; 33. picking mechanical arm; 4. identification device; 5. controller; 6. crops; 7. walking track. DETAILED DESCRIPTION

[0033] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0034] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0035] The present disclosure provides a rotation recognition harvesting robot device, such as Figure 1 As shown, it includes a mounting frame 1, a walking device 2, a harvesting device 3, an identification device 4 and a controller 5. In this embodiment, as Figure 1 As shown, the mounting frame 1 includes a horizontal truss and a vertical truss, and the harvesting device 3 is arranged on one side of the mounting frame 1, that is, the harvesting device 3 is arranged on one side of the vertical truss. The harvesting device 3 includes a harvesting track 31, a harvesting mechanical arm 32 and a picking mechanical arm 33. The harvesting mechanical arm 32 and the picking mechanical arm 33 are both four-degree-of-freedom mechanical arms. The four-degree-of-freedom setting enables the harvesting mechanical arm 32 and the picking mechanical arm 33 to move to various different directions. Moreover, the harvesting mechanical arm 32 is installed on the harvesting track 31 and can move on the harvesting track 31. The harvesting mechanical arm 32 is used to grab the cultivation bag. The picking mechanical arm 33 is arranged on one side of the harvesting track 31. After the harvesting mechanical arm 32 grabs the cultivation bag, the picking mechanical arm 33 is used to pick the crops 6 in the cultivation bag. The number of the identification devices 4 is multiple, and the identification device 4 is used to collect the position information of the crops 6. The walking device 2 is arranged at the bottom of the mounting frame 1 to drive the robot device to move. The controller 5 is electrically connected to the harvesting robot arm 32 , the picking robot arm 33 , the identification device 4 and the walking device 2 respectively.

[0036] In the above embodiment, after the recognition device 4 identifies and determines the picking area of ​​the crops 6, the controller 5 controls the walking device 2 to move to the picking area, and then the recognition device 4 identifies and determines the crops 6 to be picked again, and the controller 5 controls the walking device 2 to move to the vicinity of the crops 6 to be picked again, and then the harvesting robot arm 32 starts to work, grabs the cultivation bag where the crops 6 to be picked are located, and the harvesting robot arm 32 then carries the cultivation bag and moves on the harvesting track 31 until the recognition device 4 recognizes that the cultivation bag has reached the position closest to the picking robot arm 33. At this time, the harvesting robot arm 32 stops moving, and the picking robot arm 33 starts working to pick the crops 6 on the cultivation bag to complete the picking of the crops 6.

[0037] Through the arrangement of the harvesting track 31, the harvesting robot arm 32 and the picking robot arm 33 in this embodiment, the present invention can automatically harvest crops 6 grown in cultivation bags such as mushrooms and medicinal materials, which can not only greatly reduce labor costs, but also avoid problems such as fatigue of pickers caused by manual picking, and can also improve picking efficiency through mechanization and automation, ultimately achieving the purpose of increasing profits.

[0038] In this embodiment, the harvesting track 31 is a circular track. The harvesting track 31 is arranged at one end of the mounting frame 1 away from the walking device 2 and is placed vertically. The harvesting mechanical arm 32 can move along the circular direction on the harvesting track 31, and the picking mechanical arm 33 is arranged on the inner upper side of the harvesting track 31. The harvesting track 31 is arranged in a circular shape, which can facilitate the movement of the harvesting mechanical arm 32. Compared with harvesting tracks 31 of other shapes, the harvesting mechanical arm 32 can smoothly turn, accelerate or decelerate at various positions of the harvesting track 31, and there will be no problem of difficulty in continuing to move after reaching the turning point.

[0039] Furthermore, the number of harvesting mechanical arms 32 is multiple, and multiple harvesting mechanical arms 32 can move on the harvesting track 31 at the same time. For example, the number of harvesting mechanical arms 32 can be set to two, and the identification device 4 and the controller 5 can select two crops 6 suitable for picking. The two harvesting mechanical arms 32 pick the two crops 6 respectively, and then cooperate with the picking manipulator to complete the picking of the two crops 6 at the same time, thereby improving the working efficiency of the harvesting robot. Of course, the harvesting mechanical arms 32 in this embodiment do not need to be limited to a specific number, and one or more are both possible. The specific number can be determined according to the upper limit of the operation of the controller 5 and the identification device 4.

[0040] In order to prevent the harvesting robot from damaging the crops 6, the front end of the harvesting mechanical arm 32 and the front end of the picking mechanical arm 33 are made of rubber. When grabbing the cultivation bag and picking the crops 6, the front end of the harvesting mechanical arm 32 and the front end of the picking mechanical arm 33 will not cause hard damage to the crops 6 due to the elasticity of rubber itself.

[0041] Specifically, as for the recognition device 4 and the controller 5, as mentioned above, the controller 5 is connected to the recognition device 4 in communication, and the controller 5 is also installed on the mounting frame 1. The controller 5 is used to receive the image captured by the recognition device 4, and the controller 5 identifies and locates the crop 6 according to the image, and the controller 5 adjusts the path of the walking device 2 and the steering of the harvesting mechanical arm 32 and the picking mechanical arm 33 according to the image. That is, in this embodiment, the recognition device 4 plays a role in the entire harvesting process of the harvesting robot, first, determining the walking path during the walking process of the walking device 2, second, determining the position information of the cultivation bag during the grabbing process of the harvesting mechanical arm 32, and third, determining the position information of the crop 6 in the cultivation bag during the picking process of the picking mechanical arm 33, and finally completing the picking process of the crop 6.

[0042] Furthermore, the recognition device 4 is a CCD detector. The CCD detector has a powerful self-scanning function, good image clarity, can capture images at any time, supports multiple merged pixel modes, and innovative readout technology can fully reduce noise, achieve a higher sensitivity and conversion effect, and make the image have an extremely high signal-to-noise ratio. Compared with traditional cameras, the CCD detector has the advantages of small size, high reliability, high sensitivity, resistance to strong light, vibration, magnetic field, small distortion, long life, clear image, and easy operation.

[0043] In this embodiment, the recognition device 4 can automatically determine the priority, take the occlusion coefficient of each crop 6 as the decision factor for picking priority, and determine the picking priority order of each crop 6 in the current scene; according to the picking priority order of each crop 6, the three-dimensional coordinates of each crop 6 are sent to the harvesting robot in turn, and the robot is driven to perform continuous picking. The setting of the priority can give the harvesting robot a setting of the harvesting order, and taking the occlusion coefficient as the decision factor, the crop 6 closest to the harvesting robot can be harvested first, so as to avoid the robot from destroying the crop 6 near the robot and the harvested crop 6 when picking the crop 6 far away. In addition, in other embodiments, the maturity of the crop 6 can also be used as the decision factor of the picking priority. When the maturity of the crop 6 is different, the color of the crop 6 is different. The picture taken by the recognition device 4 is distinguished by the controller 5. When the robot takes the maturity of the crop 6 as the decision factor of the picking priority, it can only harvest the crop 6 with a maturity above a certain threshold, and avoid picking immature crops 6.

[0044] In this embodiment, the walking device 2 is a plurality of walking wheels 21 symmetrically arranged on opposite sides of the mounting frame 1. A guide portion 22 is provided in the circumference of the walking wheel 21. The guide portion 22 is used to be accommodated on the walking track 7 so that the walking device 2 can walk along the walking track 7. Figure 1 As shown, a plurality of running wheels 21 can be symmetrically arranged on both sides so that the harvesting robot can stably move on the running track 7 during the harvesting process.

[0045] Specifically speaking of the walking track 7, in this embodiment, there are two walking tracks 7, which are parallel and extend in a straight line. The diameter of the guide portion 22 is smaller than the diameter of the walking wheel 21. When the walking device 2 runs on the walking track 7, the upper surface of the walking track 7 contacts the guide portion 22. In addition, the walking track 7 of this embodiment is a suspended walking track 7, and the harvesting robot moves on the suspended walking track 7. In order to move smoothly on the suspended walking track 7, the walking track 7 and the walking device 2 in this embodiment should be adaptively sized, or the walking device 2 in this embodiment can be provided with a guide wheel below the walking wheel 21, and the guide wheel is provided in coordination with the walking wheel 21, and the walking track 7 is passed through it, so that the picking robot can run smoothly.

[0046] The present disclosure also provides a harvesting method, which uses the above-mentioned rotation recognition harvesting robot device, comprising the following steps:

[0047] S10: The harvesting robot is started, the recognition device 4 collects the surrounding environment image and transmits it to the controller 5, the controller 5 determines that the location of the crop 6 is the picking area, drives the walking device 2 to reach the picking area, and then the walking device 2 stops;

[0048] S20: After arriving at the picking area, the recognition device 4 collects images of the crops 6, performs picking priority decisions according to the occlusion coefficients of the crops 6, and sends the three-dimensional coordinates of the crops 6 to the harvesting robot in turn:

[0049] S30: According to the picking priority of the crops 6, the walking device 2 starts to move so that the harvesting robot approaches the crops 6 with the highest priority;

[0050] S40: the harvesting mechanical arm 32 starts to work and rotates on the circular harvesting track 31, and then the harvesting mechanical arm 32 grabs the cultivation bag where the crop 6 is located;

[0051] S50: the recognition device 4 works again, collects the image of the crop 6 on the harvesting robot arm 32 and transmits it to the controller 5. When it is determined that the crop 6 moves to the shortest straight-line distance with the picking robot arm 33, the picking robot arm 33 works to pick the crop 6;

[0052] S60: The harvesting mechanical arm 32 continues to rotate, and the controller 5 places the cultivation bag thereon to the initial position;

[0053] S70: According to the picking priority of the crop 6, control the walking device 2 to move to the next crop 6, and repeat steps S40-S60;

[0054] S80: After the recognition device 4 confirms that there is no crop 6 in the current field of view, it controls the walking device 2 to continue moving to the next picking area, and repeats steps S10-S70.

[0055] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0056] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotation recognition harvesting robot device, characterized in that: It comprises a mounting frame (1), a walking device (2), a harvesting device (3), an identification device (4) and a controller (5); The harvesting device (3) is arranged on one side of the mounting frame (1), and comprises a harvesting track (31), a harvesting mechanical arm (32) and a picking mechanical arm (33). The harvesting mechanical arm (32) and the picking mechanical arm (33) are both four-degree-of-freedom mechanical arms. The harvesting mechanical arm (32) is installed on the harvesting track (31) and can move on the harvesting track (31). The harvesting mechanical arm (32) is used to grab a cultivation bag. The picking mechanical arm (33) is arranged on one side of the harvesting track (31). After the harvesting mechanical arm (32) grabs the cultivation bag, the picking mechanical arm (33) is used to pick the crops (6) in the cultivation bag. The number of the identification devices (4) is plural, and the identification devices (4) are used to collect location information of the crops (6); The walking device (2) is arranged at the bottom of the mounting frame (1) to drive the harvesting robot device to move forward; The controller (5) is electrically connected to the harvesting mechanical arm (32), the picking mechanical arm (33), the identification device (4) and the walking device (2) respectively; The harvesting track (31) is a circular track. The harvesting track (31) is arranged at one end of the mounting frame (1) away from the walking device (2) and is placed vertically. The harvesting mechanical arm (32) can move along the circular direction on the harvesting track (31); the number of the harvesting mechanical arms (32) is multiple.

2. The rotation recognition harvesting robot device according to claim 1, characterized in that: The material of the front end of the harvesting mechanical arm (32) and the front end of the picking mechanical arm (33) are both rubber.

3. The rotation recognition harvesting robot device according to claim 1, characterized in that: The controller (5) is used to receive the image taken by the identification device (4), the controller (5) identifies and locates the crop (6) according to the image, and the controller (5) adjusts the path of the walking device (2) and the steering of the harvesting mechanical arm (32) and the picking mechanical arm (33) according to the image.

4. The rotation recognition harvesting robot device according to claim 1, characterized in that: The identification device (4) is a CCD detector.

5. The rotation recognition harvesting robot device according to claim 1, characterized in that: The identification device (4) is capable of automatically determining the priority, using the occlusion coefficient of each crop (6) as a decision factor for picking priority sorting, and determining the picking priority order of each crop (6) in the current scene; according to the picking priority order of each crop (6), the three-dimensional coordinates of each crop (6) are sent to the harvesting robot in turn, driving the robot to perform continuous picking.

6. The rotation recognition harvesting robot device according to claim 1, characterized in that: The walking device (2) is a plurality of walking wheels (21) symmetrically arranged on opposite sides of the mounting frame (1), and a guide portion (22) is provided in the circumference of the walking wheel (21). The guide portion (22) is used to be accommodated on a walking track (7) so that the walking device (2) can walk along the walking track (7).

7. The rotation recognition harvesting robot device according to claim 6, characterized in that: The number of the walking rails (7) is two, the two walking rails (7) are parallel and extend in a straight line, the diameter of the guide portion (22) is smaller than the diameter of the walking wheel (21), and when the walking device (2) runs on the walking rails (7), the upper surface of the walking rails (7) contacts the guide portion (22).

8. A harvesting method, using the rotation recognition harvesting robot device according to any one of claims 1 to 7, characterized in that: The following steps are involved: S10: The harvesting robot is started, the recognition device (4) collects an image of the surrounding environment and transmits it to the controller (5), the controller (5) determines that the location of the crop (6) is a picking area, drives the walking device (2) to reach the picking area, and then the walking device (2) stops; S20: After arriving at the picking area, the recognition device (4) collects images of the crops (6), performs picking priority decisions based on the occlusion coefficients of the crops (6), and sends the three-dimensional coordinates of the crops (6) to the harvesting robot in sequence: S30: According to the picking priority of the crops (6), the walking device (2) starts to move so that the harvesting robot approaches the crops (6) with the highest priority; S40: the harvesting mechanical arm (32) starts to work and rotates on the circular harvesting track (31), and then the harvesting mechanical arm (32) grabs the cultivation bag where the crop (6) is located; S50: the recognition device (4) works again, collects the image of the crop (6) on the harvesting mechanical arm (32) and transmits it to the controller (5), and when it is determined that the crop (6) moves to the shortest straight-line distance with the picking mechanical arm (33), the picking mechanical arm (33) works to pick the crop (6); S60: the harvesting mechanical arm (32) continues to rotate, and the controller (5) places the cultivation bag on it to the initial position; S70: According to the picking priority of the crop (6), control the walking device (2) to move to the next crop (6), and repeat steps S40-S60; S80: After the recognition device (4) confirms that there are no crops (6) in the current field of view, it controls the walking device (2) to continue moving to the next picking area, and repeats steps S10-S70.

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