A robot for efficiently and continuously picking fresh corn

Abstract

The present invention discloses a robot for efficiently and continuously picking fresh corn, comprising a clamping device, a twisting device, a telescopic mechanism, a swing arm device, a rotating platform, a lifting device, a transmission device, a collection box, a crawler chassis, a camera device, and a control system. The camera device captures the image of the corn, the lifting device lifts the clamping device to a position at the same height as the corn, the rotating platform, the swing arm device, and the telescopic mechanism adjust the clamping device to secure the corn, and the twisting device twists and drives the clamping device to harvest the corn; the harvested corn falls onto the hook-type direction adjuster of the transmission device and slowly slides into the collection box through the connected transmission hose. The clamping device continues harvesting until the collection box is full. Compared with traditional harvesting methods, this method not only improves the efficiency of corn harvesting, but also effectively protects the integrity of the corn and saves manpower and material resources.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural engineering, and in particular relates to a robot for continuously picking fresh corn with high efficiency. Background Art

[0002] Corn is one of the three major staple crops and one of the most widely grown crops worldwide. my country has a long history of corn cultivation. In recent years, my country's corn production has continued to increase. Since 2020, my country's annual corn production has averaged approximately 260 million tons, accounting for approximately 23% of global corn production. Corn cultivation in my country is primarily divided into two types: fresh corn and forage corn. Forage corn has a large planting area and less stringent requirements for kernel integrity. Therefore, corn harvesters are widely available on the market, which are advanced machines used to harvest forage corn after it matures. While forage corn harvesting machinery has advanced, fresh corn harvesting still mostly relies on traditional manual harvesting. This is due to several factors: First, fresh corn is cultivated on smaller plots, with individual plantings typically less than one acre, and contract farmers planting at most ten acres. Compared to the large-scale cultivation of forage corn, manual harvesting is sufficient for fresh corn. Second, fresh corn has strict kernel integrity requirements, while forage corn has harder kernels and is ultimately used as feed, so kernel integrity requirements are less stringent and mechanized harvesting can be used. However, fresh corn is different. Its kernels are soft and sticky, and even the slightest force can damage them. Furthermore, fresh corn is intended for human consumption, so kernel integrity is crucial. A careless mechanical harvester can damage the kernels, rendering them unsalable and resulting in losses. Human harvesters, with their extensive experience, can more precisely control the force used to harvest fresh corn, allowing them to harvest more efficiently. Thirdly, more sophisticated fresh corn harvesting machinery is expensive, making it inexpensive. Some domestically produced fresh corn harvesting machinery costs around several hundred thousand yuan, while European and American counterparts can cost as much as one or two million yuan. This is because these harvesting machines are mostly made of flexible materials, which are inherently expensive. Instead of spending hundreds of thousands or even millions on fresh corn harvesting machinery, it's better to hire humans to harvest the fresh corn. Summary of the Invention

[0003] To address the above problems, the present invention proposes a robot for efficiently and continuously picking fresh corn, which includes a clamping device, a twisting device, a telescopic mechanism, a swing arm device, a rotating platform, a lifting device, a transmission device, a collection box, a crawler chassis, a camera device, and a control system.

[0004] The clamping device is used to clamp corn;

[0005] The twisting device is connected to the clamping device, and the clamping device is driven by twisting to pick corn;

[0006] One end of the telescopic mechanism is connected to the twisting device, and the clamping device and the twisting device are adjusted through forward and backward linear telescopic movement;

[0007] The swing arm device is connected to the other end of the telescopic mechanism, and drives the clamping device to adjust its position in the vertical direction by rotating in the vertical direction;

[0008] The lifting device serves as a connecting mechanical part, connecting the upper part and the lower part of the robot. The upper part includes a clamping device, a twisting device, a telescopic mechanism, a swing arm device and a rotating platform, and the lower part includes a collection box, a crawler chassis, and a camera device.

[0009] The rotating platform is arranged on the lifting device, and the position of the horizontal plane of the clamping device is adjusted by rotating in the horizontal direction;

[0010] The transmission device is used to transport the corn picked by the clamping device to the collection box;

[0011] The collecting box is used to collect the harvested corn; the clamping device can continuously harvest the corn until the collecting box is full;

[0012] The camera device is used to capture images of corn in the field and control the robot to move to the optimal position for harvesting corn based on the captured corn images;

[0013] The control system is used to control the entire corn picking process.

[0014] Preferably, the clamping device is a clamp-type structure, and the inner portion that contacts the corn is made of a softer material.

[0015] Preferably, the transmission device includes a hook-shaped direction adjuster, an adjustment area connected to the hook-shaped direction adjuster, and a transmission hose connected to the adjustment area.

[0016] More preferably, the hook-shaped direction adjuster includes a straighter inclined surface and a more curved surface, the straighter inclined surface is aligned with the position where the corn falls after the clamping device releases the jaws, and the more curved surface serves as a buffer surface to prevent the corn from sliding out.

[0017] Specifically, the adjustment area adjusts the posture of the corn so that the corn enters the transmission hose straightly.

[0018] Preferably, the collection box includes two areas, a buffer area and a collection area. The buffer area is arranged below the outlet of the transmission hose of the transmission device and is inclined at a certain angle toward the collection area to ensure that the corn can roll smoothly into the collection area.

[0019] More preferably, the angle is 15°.

[0020] More preferably, the buffer zone is made of flexible material.

[0021] Preferably, the lifting range of the lifting device is within 50 cm.

[0022] Specifically, after the robot reaches the optimal position for harvesting corn, the rotating platform is responsible for rotating in the horizontal direction to adjust the position, and the swing arm device is responsible for rotating in the vertical direction to adjust the position. After the rotating platform and the swing arm device are adjusted, if there is still a deviation between the clamping device and the corn, further adjustment is made through the telescopic mechanism to ensure that the clamping device can clamp the corn.

[0023] The beneficial effects of the present invention are as follows: The present invention's robot for efficient and continuous harvesting of fresh corn represents a significant technological breakthrough. First, the robot is compact and portable, capable of operating in fields of several acres. Second, the entire harvesting process is identical to manual harvesting, simulating the force exerted by humans to control kernel breakage to less than 5%, significantly reducing kernel breakage. Third, the present invention's robot utilizes flexible materials only in key harvesting areas (the gripping device, the transfer hose, and the collection box). Other less expensive materials are used in areas not in contact with the fresh corn, making the present invention's robot relatively inexpensive and cost-effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 (a) and (b) are schematic diagrams of the overall structure of the harvesting robot of the present invention;

[0025] Figure 2 (a) and (b) are schematic diagrams of the clamping device of the present invention in operation;

[0026] Figure 3 (a) is a schematic diagram of the telescopic mechanism of the present invention, (b) is a schematic diagram of the core device of the telescopic mechanism - the telescopic robotic arm; (c) is a schematic diagram of the device that provides power to the twisting device 2; (d) is a schematic diagram of the connection between the telescopic arm and the power providing device.

[0027] Figure 4 (a)-(d) are schematic diagrams of the transmission device of the present invention; Figure 4 (a) is the overall schematic diagram of the transmission device. Figure 4 (b) Schematic diagram of the configuration direction adjuster, Figure 4 (c) is a cross-sectional view of the configuration direction adjuster, Figure 4 (d) is a schematic diagram of the buffer zone;

[0028] Figure 5 (a) and (b) are schematic diagrams of the flexible material at the outlet of the transmission hose in the collection box of the present invention;

[0029] Figure 6 This is a functional diagram of the control panel of the present invention. DETAILED DESCRIPTION

[0030] The embodiments are described in detail below with reference to the accompanying drawings.

[0031] A high-efficiency and continuous fresh corn harvesting robot, the overall structure is as follows Figure 1 As shown, it mainly includes: a clamping device 1, a twisting device 2, a telescopic mechanism 3, a swing arm device 4, a rotating platform 5, a lifting device 6, a transmission device 7, a collection box 8, a crawler chassis 9, a camera device 10 and a control system.

[0032] The clamping device 1 is a clamp-type structure as a whole. Figure 2 As shown, the inner portion of the clamping device 1 that contacts the corn is made of a soft material, such as rubber. The advantage of this design is that during corn harvesting, the inner surface of the clamping device, which contacts and squeezes the corn, protects the corn kernels from damage. Furthermore, the friction between the clamping device 1 and the twisting device 2 is increased, preventing the cobs from falling easily, thus ensuring the integrity of the corn harvest. A servo motor is installed at the sleeve connection between the clamping device 1 and the twisting device 2. A key-like device is located on the inner end of the servo motor, which controls the downward, horizontal, and upward positions of the clamping device 1. Furthermore, a sensor is installed at the key-like device between the clamping device 1 and the twisting device 2. The sensor senses the signal, allowing the clamping device 1 to clamp the corn and then slowly close its jaws (the jaws are closed only when clamping the corn; otherwise, they remain open). After the clamping device 1 has clamped the corn, the sensor sends a signal to the twisting device 2, causing it to gently twist, releasing the corn intact.

[0033] Telescopic mechanism 3, such as Figure 3 As shown in (a), it is mainly composed of a retractable robotic arm and a servo motor, and the servo motor is the drive of the mechanism. Figure 3 (b) is tightly assembled with the servo motor. It also features a speed reducer and a mounting bracket for the twisting mechanism. Driven by the servo motor, the telescopic mechanism 3 telescopes back and forth in a linear motion. This allows for adjustment of the clamping mechanism 1 and twisting mechanism 2 to facilitate corn harvesting. After harvesting, the telescopic arm retracts to facilitate corn transport and the next harvest. Figure 3 In (a), the left part is connected to the swing arm device 4 through the thread of the transmission shaft, and the right part is connected to the torsion device 2 through the thread. Figure 3 (c) and (d) are multiple screw and nut connections, where Figure 3 (c) shows a device for providing power to the twisting device 2. Figure 3(d) is a schematic diagram of the connection between the retractable robotic arm and the power supply device.

[0034] The lifting device 6 is made of aluminum alloy and serves as a connecting mechanical part for the upper and lower parts of the robot in the present invention. Among them, the clamping device 1, the twisting device 2, the telescopic mechanism 3, the swing arm device 4, and the rotating platform 5 are the upper part of the robot of the present invention; the collecting box 8, the crawler chassis 9, and the camera device 10 are the lower part of the robot of the present invention. The lifting range of the lifting device 6 is within 50cm and generally does not rise to 50cm. Generally, the height of corn is 1.45m-1.65m. If the lifting device 6 is raised by about 15cm, the drooping state of the clamping device 1 can be 1.35m from the ground. If it is raised by about 35cm, the rising state of the clamping device 1 can be 1.75m from the ground, that is, the jaw height range of the clamping device 1 is 1.35m-1.75m. The effect of accurately harvesting corn can be achieved by adjusting the height.

[0035] The rotating platform 5 is mounted on a lifting mechanism 6 and can rotate horizontally, thereby adjusting the horizontal position of the clamping device 1. The swing arm 4 is connected to the telescopic mechanism 3 and can rotate vertically, thereby driving the clamping device 1 to adjust its vertical position. After adjusting the rotating platform 5 and the swing arm 4, the position of the clamping device 1 can be further adjusted by extending and retracting the telescopic mechanism 3 to ensure that the clamping device 1 can grasp the corn.

[0036] The design of the transmission device 7 and the collection box 8 is an important innovation of the present invention, and its purpose is to achieve continuous harvesting of corn to improve the harvesting efficiency. Figure 4 and 5 As shown. After the clamping device 1 grasps the corn, the twisting device 2, telescoping mechanism 3, and other mechanical components work together to gently drop the corn onto the hook-shaped direction adjuster below. The hook-shaped direction adjuster is made of PE material. Its straighter, inclined surface is aligned with the position where the corn will fall after the clamping device 1 releases its jaws. Once dropped, the corn rolls down the inclined surface. The more curved side acts as a buffer surface, preventing the corn from slipping out of the device and causing collection failure. The end of the direction adjuster is connected to an aluminum alloy adjustment area. This area allows the corn to enter straight into the PE transfer hose connected to the end of the adjuster. It then slowly slides through the transfer hose into the connected collection box 8 for temporary collection.

[0037] The collection box 8 is divided into two areas: a buffer zone and a collection zone. The buffer zone is located below the outlet of the conveyor hose of the conveyor device 7. Made of a flexible rubber material, the buffer zone cushions the corn as it slides out of the conveyor hose, protecting the integrity of the corn kernels. This flexible material is tilted toward the collection zone at a specific angle, preferably 15°, to ensure the corn rolls smoothly into the collection zone.

[0038] The gripping device 1 continuously harvests corn, continuously feeding it into the collection box 8. Once the collection box 8 is full, the robot stops harvesting and transfers the corn from the collection box 8 to another container, such as a woven bag. The purpose of continuous harvesting is to reduce the number of harvesting cycles, shorten harvesting time, and improve harvesting efficiency.

[0039] A camera mount is installed at the waist of the robot, and a camera device 10 is installed on the platform of the camera mount, which can capture images of corn in the field and control the robot to move to the best position for harvesting corn based on the captured corn images.

[0040] In order to meet the needs of field operations, the chassis of the robot is equipped with tracks to form a track chassis 9, which can enable the robot to move stably on the soil slope.

[0041] The control system includes a PLC controller, power supply, motor driver and control panel. The PLC controller is connected to the motor driver and control panel respectively; the power supply is connected to the control system and the drive motor. The control panel contains a power button, an emergency stop button and a display screen. Figure 6 In one example of the present invention, the display screen parameters are: screen size 10.4 inches, external dimensions 283*225.2*50.1, opening dimensions 272*218, thickness 50.1, resolution 1024*768, screen ratio 4:3, mounting holes 100*100 and 75*75. The display screen displays the robot's operating status, work progress, and the quality of corn collected in the collection bin.

[0042] During harvesting, press the power button on the robot's control panel to turn on the display screen and the camera device 10. After the robot is started, it will control the movement of the crawler chassis 9 according to the path set by the Beidou system in the machine. The camera device 10 automatically captures images and identifies corn. Then, the sensor in the control system detects the infrared signal emitted by the corn. After receiving the signal, the control circuit works, and the servo motor performs the operation to control the operation of the lifting device 6, the swing arm device 4, the rotating platform 5, the telescopic mechanism 3, etc. After that, the device in the telescopic mechanism 3 that provides power for the twisting device 2 ( Figure 3(c) shows) will provide power to the twisting device 2, and the sensor device located between the twisting device 2 and the clamping device 1 will receive the power instruction. According to the memory of image recognition, the jaws of the clamping device 1 are used to clamp the corn and slowly close until the sensor device detects the pressure of the corn on the inner wall of the jaws, indicating that the clamped corn is in a clamped state. The corn is then twisted for collection, and the jaws are opened above the collection device 7 to collect the corn. This is the entire corn harvesting process. The camera device 10 continuously captures images until the collection box is full of corn. After the collection box is full of corn, the robot stops working and returns along the set path. At this time, it is necessary to manually open the collection box of the robot and pour the corn in the collection box into the container brought previously, then close the collection box and press the power button again. The robot will perform the next set of operations until the field operation is completed.

[0043] The entire process of the robot harvesting corn will be displayed on the display screen. If any abnormality is found, the robot can be paused by remote control or by pressing the emergency stop button on the robot's control panel.

[0044] This embodiment is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A robot for efficiently and continuously picking fresh corn, comprising a clamping device, a twisting device, a telescopic mechanism, a swing arm device, a rotating platform, a lifting device, a transmission device, a collection box, a crawler chassis, a camera device, and a control system; characterized by: The clamping device is used to clamp corn; The twisting device is connected to the clamping device, and the clamping device is driven by twisting to pick corn; One end of the telescopic mechanism is connected to the twisting device, and the clamping device and the twisting device are adjusted through forward and backward linear telescopic movement; The swing arm device is connected to the other end of the telescopic mechanism, and drives the clamping device to adjust its position in the vertical direction by rotating in the vertical direction; The lifting device serves as a connecting mechanical part, connecting the upper part and the lower part of the robot. The upper part includes a clamping device, a twisting device, a telescopic mechanism, a swing arm device and a rotating platform, and the lower part includes a collection box, a crawler chassis, and a camera device. The rotating platform is arranged on the lifting device, and the position of the horizontal plane of the clamping device is adjusted by rotating in the horizontal direction; The transmission device is used to transport the corn picked by the clamping device to the collection box; the transmission device includes a hook-shaped direction adjuster, an adjustment area connected to the hook-shaped direction adjuster, and a transmission hose connected to the adjustment area; the hook-shaped direction adjuster includes a relatively straight inclined surface and a relatively curved surface, the relatively straight inclined surface is aligned with the position where the corn falls after the clamping device releases its jaws, and the relatively curved surface serves as a buffer surface to prevent the corn from sliding out; The collecting box is used to collect the harvested corn; the clamping device can continuously harvest the corn until the collecting box is full; The camera device is used to capture images of corn in the field and control the robot to move to the optimal position for harvesting corn based on the captured corn images; The control system is used to control the entire corn picking process.

2. The robot for high-efficiency continuous harvesting of fresh corn according to claim 1, characterized in that: The clamping device is a clamp-type structure, and the inner portion that contacts the corn is made of a softer material.

3. The robot for high-efficiency continuous harvesting of fresh corn according to claim 1, characterized in that: The adjustment area adjusts the posture of the corn so that the corn enters the transmission hose straightly.

4. The robot for high-efficiency continuous harvesting of fresh corn according to claim 1, characterized in that: The collection box includes two areas: a buffer area and a collection area. The buffer area is arranged below the outlet of the transmission hose of the transmission device and is inclined at a certain angle toward the collection area to ensure that the corn can roll smoothly into the collection area.

5. The robot for high-efficiency continuous harvesting of fresh corn according to claim 4, characterized in that: The angle is 15°.

6. The robot for efficiently and continuously picking fresh corn according to claim 4, characterized in that: The buffer zone is made of flexible material.

7. The robot for high-efficiency continuous harvesting of fresh corn according to claim 1, characterized in that: The lifting range of the lifting device is within 50 cm.

8. The robot for high-efficiency continuous harvesting of fresh corn according to claim 1, characterized in that: After the robot reaches the optimal position for harvesting corn, the rotating platform is responsible for rotating in the horizontal direction to adjust the position, and the swing arm device is responsible for rotating in the vertical direction to adjust the position. After the rotating platform and the swing arm device are adjusted, if there is still a deviation between the clamping device and the corn, further adjustment is made through the telescopic mechanism to ensure that the clamping device can clamp the corn.

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