Bionic sensing broccoli selective harvesting claw integrated with clamping and cutting

Abstract

The application discloses a kind of integrated gripping cutting bionic perception broccoli selective harvesting claw, belong to agricultural production technical field.It includes fixed transmission module, perception module, gripping cutting module;Fixed transmission module is installed on the mechanical arm of broccoli selective harvesting robot, drives gripping cutting module to complete the action of hand claw closing cutting and opening and discharging flower ball;Perception module is located in the upper part of gripping cutting module, to facilitate maturity identification, flower ball positioning and fertility perception;The internal spherical space formed by gripping cutting module can envelope various diameters of mature broccoli, under the driving of the same power source, the synchronization of gripping cutting action is realized.The present application adopts the harvesting method similar to artificial identification, positioning, touch, harvesting, designs the gripping cutting synchronous operation structure of the shape of artificial hand claw, uses machine vision and tactile perception and other technical methods, and can realize the selective harvesting operation of end effector to broccoli, with the advantages of intelligentization and stable and efficient.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural production, and relates to a bionic perception broccoli selective harvesting claw with integrated clamping and cutting. BACKGROUND

[0002] Broccoli harvesting operations require a large amount of manpower and resources, and there is an urgent need to develop a broccoli selective harvesting robot. One of the key technologies is an end effector that can efficiently and stably harvest broccoli. According to a certain harvesting method, the broccoli rhizome is cut off, and the flower ball is collected to a designated location. Only with excellent perception ability, stable clamping and cutting structure, and compact shape, can it work effectively in unstructured agricultural environments. CN 202210887823.5 discloses a broccoli end picking device, which drives the clamping plate and the cutter to clamp and cut off the broccoli respectively through a screw mechanism and a connecting rod mechanism. However, the screw mechanism of the above structure has low transmission efficiency, and the rigid structure may cause damage to the flower ball. CN 202210599247.4 discloses a harvesting machine for cutting broccoli, which controls the cutting height by an ultrasonic ranging sensor and rotates the disc cutter by a stepping motor. However, the harvesting method of this mechanism lacks the perception process similar to visual recognition and hand touch of manual work. In view of the problems existing in the existing end effector and harvesting method, it is necessary to provide an intelligent and stable and efficient end effector for selectively harvesting broccoli. SUMMARY

[0003] The purpose of the present application is to overcome the problems existing in the prior art and provide a bionic perception broccoli selective harvesting claw with integrated clamping and cutting. The harvesting method is similar to manual identification, positioning, touching, and harvesting. The clamping and cutting synchronous operation structure is designed in the shape of a hand claw. Machine vision and tactile perception technologies are used to intelligently and efficiently perform the selective harvesting task of broccoli.

[0004] The technical solution adopted by the present application to solve the technical problems is:

[0005] A bionic perception broccoli selective harvesting claw with integrated clamping and cutting, comprising a fixed transmission module, a perception module, and a clamping and cutting module. The fixed transmission module is installed on the mechanical arm of a broccoli selective harvesting robot. The perception module and the clamping and cutting module are installed on the fixed transmission module, and the perception module is located in the upper middle part of the clamping and cutting module.

[0006] The fixed transmission module comprises an arm load connector, a motor connector, a direct current brush motor, a motion guide rail, a reciprocating push rod, a drive arm, a drive connecting plate and a fixed connecting plate; the arm load connector is installed at the end of the mechanical arm, the direct current brush motor is installed at the bottom of the arm load connector through the motor connector, the control end of the reciprocating push rod is connected with the direct current brush motor, and the working end of the reciprocating push rod is connected with the center of the drive connecting plate; a pair of limiting holes are arranged on the two sides of the drive connecting plate, the motion guide rail passes through the limiting holes of the drive connecting plate, and the two ends of the motion guide rail are fixed between the arm load connector and the fixed connecting plate below the drive connecting plate; the reciprocating push rod can drive the drive connecting plate to reciprocate along the motion guide rail between the arm load connector and the fixed connecting plate, and drive the clamping and cutting module to complete the action of closing the gripper for cutting and opening the gripper for discharging the flower ball; the stroke of the reciprocating push rod is 4-6 cm, and the linear speed is 200 mm / s-300 mm / s; a pair of cutting connecting parts are arranged on the left and right side edges of the drive connecting plate, the top and bottom of the drive arm are respectively hinged to the cutting connecting parts of the drive connecting plate and the clamping and cutting module through rotating pin shafts, and a pair of fixed clamping connecting parts are vertically arranged on the front and back side edges of the drive connecting plate.

[0007] The clamping and cutting module comprises a pair of clamping claws and a pair of cutting claws, the clamping claw is composed of a clamping knuckle, a clamping phalanx, a clamping finger and a flexible tentacle, the end of the clamping finger is connected with the clamping knuckle through a fixed pin shaft, the clamping knuckle close to the outside of the clamping finger is hinged to the clamping connecting part of the drive connecting plate through a rotating pin shaft, the clamping knuckle close to the inside of the clamping finger is hinged to one end of the clamping phalanx through a rotating pin shaft, the other end of the clamping phalanx is hinged to the hinged hole at the end of the longitudinal arm of the fixed connecting plate, and the flexible tentacle is installed on the inside of the clamping finger; the cutting claw is composed of a cutting knuckle, a cutting finger, a cutter base and a cutting knife; the cutting knuckle is installed at the fixed hole at the end of the horizontal arm of the fixed connecting plate, the end of the cutting finger is hinged to the cutting knuckle through a rotating pin shaft, the outside of the cutting finger is hinged to the bottom of the drive arm, the cutter base is fixed on the end of the cutting finger through a bolt, and the cutting knife is installed on the cutting base; the space formed between the pair of clamping fingers and the pair of cutting fingers has a diameter of 12-18 cm for enveloping the broccoli ball, and the clamping claw and the cutting claw realize the synchronization of the clamping and cutting action under the drive of the same power source.

[0008] The perception module is installed at the bottom center position of the fixed connecting plate in the fixed transmission module, and comprises a tactile sensor and a visual sensor; the visual sensor is used for vertically shooting images above the crops, and the tactile sensor is used for acquiring the fruit setting information after contacting the top of the flower ball.

[0009] Preferably, the cutting knives are flat knives, the cutting knife width is 5-10 cm, and the two cutting knives are reversely symmetrically attached on the knife base.

[0010] Preferably, the number of flexible touch hands attached on the inner side of each clamping finger is 3, the clamping finger is processed by light weight and modularization, and the flexible touch hands are in the form of suction cups and are made of silica gel soft material.

[0011] Preferably, the sensing module further comprises a recognition and positioning neural network and a piezoelectric sensing circuit, and is used for recognizing, positioning and sensing the mature broccoli balls in combination with the double sensor information.

[0012] The broccoli selective harvesting claw is characterized in that the claw comprises a clamping and cutting integrated bionic sensing broccoli selective harvesting claw, a claw base, a clamping finger, a cutting finger, a flexible touch hand, a sensing module and a mechanical arm.

[0013] The broccoli selective harvesting claw has the advantages that the claw is intelligent, practical and efficient, adopts the design idea of a bionic claw, the independent push rod moves reciprocally between the double fixed connecting plates to indirectly drive the harvesting claw, the clamping and cutting are synchronized, the end space positioning and the cutting and clamping cooperative operation are adopted to improve the harvesting efficiency, the machine vision and the touch sensing technology are adopted to improve the intelligence and the practicality, and thus the selective harvesting task of the broccoli is intelligently, efficiently and reliably executed. BRIEF DESCRIPTION OF DRAWINGS

[0014] The application will be further described below in combination with the drawings and examples.

[0015] Figure 1 Fig. 1 is a structure schematic view of a clamping and cutting integrated bionic sensing broccoli selective harvesting claw.

[0016] Figure 2is a close-up view of the opening and discharging of the flower ball of the bionic perception broccoli selective harvesting claw with integrated clamping and cutting;

[0017] Figure 3 is a working state diagram of the clamping and cutting of the bionic perception broccoli selective harvesting claw with integrated clamping and cutting;

[0018] Figure 4 is a close-up view of the clamping claw;

[0019] Figure 5 is a close-up view of the cutting claw;

[0020] In the figure: 1 mechanical arm, 2 arm load connecting piece, 3 motor connecting piece, 4 DC brush motor, 5 motion guide rail, 6 reciprocating push rod, 7 drive small arm, 8 drive connecting plate, 9 clamping finger joint, 10 clamping finger, 11 fixed connecting plate, 12 tactile sensor, 13 visual sensor, 14 clamping phalanx, 15 cutting finger joint, 16 cutting finger, 17 cutter base, 18 cutting knife, 19 flexible tentacle, 20 mature broccoli ball. DETAILED DESCRIPTION

[0021] The application will be further described below in conjunction with the drawings and examples.

[0022] As Figure 1 shown, a broccoli selective harvesting robot profiling end effector includes a fixed transmission module, a perception module, and a clamping and cutting module. The fixed transmission module is installed on the mechanical arm 1 of the broccoli selective harvesting robot, and can realize accurate positioning of broccoli 20 with different postures and different balling heights. The perception module is installed on the upper part of the clamping and cutting module, forming an eye-on-hand structure, which facilitates maturity recognition, flower ball positioning, and firmness perception. The clamping and cutting module is installed on the fixed transmission module and is driven by the fixed transmission module to realize clamping and cutting functions. The internal spherical space formed between the clamping claw and the cutting claw of the clamping and cutting module can envelope mature broccoli of various diameters, and the clamping claw and the cutting claw are driven by the same power source to realize synchronous clamping and cutting actions.

[0023] As Figures 2-3As shown, the fixed transmission module is installed on the multi-freedom mechanical arm of the broccoli selective harvesting robot, and the fixed transmission module comprises an arm-mounted connector 2, a motor connector 3, a DC brush motor 4, a motion guide rail 5, a reciprocating push rod 6, a driving arm 7, a driving connecting plate 8, and a fixed connecting plate 11. The motor connector 3, the DC brush motor 4, the reciprocating push rod 6, a tactile sensor 12 and a visual sensor 13 of the sensing module constitute a positioning and motion central axis. The arm-mounted connector 2 is installed at the end of the mechanical arm 1, the DC brush motor 4 is installed at the bottom of the arm-mounted connector 2 through the motor connector 3, the control end of the reciprocating push rod 6 is connected to the DC brush motor 4, and the working end of the reciprocating push rod 6 is connected to the center of the driving connecting plate 8. A pair of limiting holes are arranged on the two sides of the driving connecting plate 8, and two motion guide rails 5 pass through the limiting holes of the driving connecting plate 8. The two ends of the motion guide rails 5 are fixed on the arm-mounted connector 2 and the fixed connecting plate 11 located below the driving connecting plate 8 through bolts. The reciprocating push rod 6 can drive the driving connecting plate 8 to move up and down along the motion guide rail 5 under the drive of the DC brush motor 4, and a reciprocating motion area is formed between the arm-mounted connector 2 and the fixed connecting plate 11, so that the driving and clamping cutting module completes the actions of closing the gripper and cutting and opening the gripper to unload the flower balls. The stroke of the reciprocating push rod 6 is 4-6 cm, and the linear speed is 200 mm / s-300 mm / s.

[0024] In an embodiment of the present application, a pair of cutting connecting parts for connecting the driving arms 7 are arranged on the left and right side edges of the driving connecting plate 8. Each two driving arms 7 form a group, and one end of the two groups of driving arms 7 is connected to the cutting connecting parts of the driving connecting plate 8 through rotating pin shafts, and the other end of the two groups of driving arms 7 is hingedly connected to the cutting fingers 16 in the clamping and cutting module through rotating pin shafts. A pair of fixed clamping connecting parts are vertically arranged on the front and rear side edges of the driving connecting plate.

[0025] In an embodiment of the present application, the fixed connecting plate 11 is a cross structure, and each of the front and rear longitudinal arm ends is provided with a hinged hole, and each of the left and right transverse arm ends is provided with a pair of fixed holes.

[0026] The clamping and cutting module comprises a clamping finger joint 9, a clamping finger 10, a clamping phalanx 14, a cutting finger joint 15, a cutting finger 16, a cutter base 17, a cutting knife 18, and a flexible feeler 19.

[0027] The clamping finger joint 9, the clamping finger 10, the clamping phalanx 14, and the flexible feeler 19 constitute a clamping gripper. Figure 4As shown, the end of the clamping finger 10 is connected with the clamping knuckle 9 through a fixed pin shaft, and is hinged with the clamping connecting part of the driving connecting plate 8 through a rotating pin shaft near the clamping knuckle 9 on the outer side of the clamping finger 10, and is hinged with one end of the clamping phalanx 14 through a rotating pin shaft near the clamping knuckle 9 on the inner side of the clamping finger 10, and the other end of the clamping phalanx 14 is hinged with the hinged hole of the end of the longitudinal arm of the fixed connecting plate 11, that is, the clamping connecting part of the driving connecting plate 8 forms a hinged structure with the outer side of the clamping knuckle 9, and the end of the longitudinal arm of the fixed connecting plate 11, the clamping phalanx 14 and the inner side of the clamping knuckle 9 each form a hinged structure, when the driving connecting plate 8 rises, the clamping connecting part of the driving connecting plate 8 pulls up the outer side of the clamping knuckle 9, and the clamping claws are opened outward, and conversely, when the driving connecting plate 8 descends, the clamping claws are closed inward. In addition, the flexible tentacle 19 is installed on the inner side of the clamping finger 10.

[0028] The cutting knuckle 15, the cutting finger 16, the cutter base 17 and the cutting knife 18 form a cutting claw, as shown in the figure Figure 5 As shown, the cutting knuckle 15 is installed on the fixed hole of the end of the horizontal arm of the fixed connecting plate 11 through a bolt, the end of the cutting finger 16 is hinged with the cutting knuckle 15 through a rotating pin shaft, and the outer side of the cutting finger 16 is hinged with the bottom of the driving small arm 7; the cutting base 17 is fixed on the cutting finger 16 through a bolt, and the cutting knife 18 is installed on the cutting base 17, and the cutting edges of the two cutting claws at the ends are opposite to each other; when the driving connecting plate 8 rises, the clamping connecting part of the driving connecting plate 8 pulls up the outer side of the cutting finger 16, and the cutting claws are opened outward, and conversely, when the driving connecting plate 8 descends, the cutting claws are closed inward.

[0029] The clamping finger 10 and the cutting finger 16 are both curved finger shapes and are curved inward, and the internal spherical space formed between the two clamping fingers and the two cutting fingers has a diameter of 12-18 cm, and the clamping finger and the cutting finger realize the synchronization of the clamping and cutting actions under the driving of the same power source.

[0030] In a specific embodiment of the present application, the clamping finger 10 is provided with three flexible tentacles of soft silica gel material, and the suction disc-shaped flexible tentacles are arranged at equal intervals on the inner side of the clamping finger, and the clamping finger adopts lightweight modular processing. The cutting knife is a flat knife, the width of the cutting knife is 5-10 cm, and two blades are symmetrically and oppositely installed on the cutter base, which can realize stable and fast cutting of the stem part of broccoli; the DC brush motor meets the requirements of cutting force and speed of cutting the stem part of broccoli, and the control of the two can be automatically realized through the matching program of the robot operating system.

[0031] As shown in the figure Figure 5The perception module is shown to be installed at the bottom center position of the fixed connecting plate 11, and forms an eye-in-hand structure with the clamping and cutting module; the perception module includes a tactile sensor 12 and a visual sensor 13, the visual sensor vertically shoots an image directly above the crops, the tactile sensor contacts the top of the flower ball, and then the mechanical arm is pressed down by 0.5 cm, the firmness information of the flower ball is obtained by recording the change of the resistance, the perception module is internally provided with an identification and positioning neural network and a piezoelectric sensing circuit, and the mature broccoli balls are identified and positioned in combination with the information of the visual and tactile sensors, wherein the identification and positioning neural network and the piezoelectric sensing circuit can be realized according to the prior art, and will not be described here.

[0032] The working process of the above-mentioned bionic perception broccoli selective harvesting claw is as follows: the visual sensor of the perception module vertically shoots above the flower ball, preliminarily identifies and positions the maturity categories of all the flower balls in the visual field, the mechanical arm carries the harvesting claw to the top of the flower ball, the tactile sensor of the perception module further judges the maturity category of the flower ball through the piezoelectric signal after contact, if it is a truly mature harvestable category, the direct current brush motor is forward rotated, the reciprocating push rod is extended, the driving connecting plate is driven to move downward, the cutting finger and the clamping finger are further driven to close by the driving small arm and the clamping finger joint, the flexible tentacle clamps the flower ball without damage, and the cutting knife simultaneously completes the cutting of the broccoli stem; the spherical space formed by the two clamping fingers and the two cutting fingers can envelope the broccoli, and stably move to the collection area, when the direct current brush motor is reversely rotated, the reciprocating push rod is retracted, the driving connecting plate is driven to move upward, and the cutting finger and the clamping finger are further driven to open by the driving small arm and the clamping finger joint.

[0033] The above-mentioned bionic perception broccoli selective harvesting claw with the functions of clamping and cutting is used, a harvesting method similar to manual identification, positioning, touching and harvesting is adopted, a clamping and cutting synchronous operation structure with a shape similar to a hand claw is designed, machine vision and tactile perception technologies are used, and finally the intelligent and efficient selective harvesting of broccoli is realized.

[0034] The above-mentioned is only the specific embodiment of the present application, so that those skilled in the art can understand or implement the present application. Various modifications of these embodiments will be apparent to those skilled in the art, and the general principles defined in the present application can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown in the present application, but will conform to the widest scope consistent with the principles and novel features of the present application.

Claims

1. A biomimetic sensor-based selective harvesting claw for broccoli, characterized in that, It includes a fixed transmission module, a sensing module, and a clamping and cutting module; the fixed transmission module is installed on the robotic arm of the broccoli selective harvesting robot, and the sensing module and the clamping and cutting module are installed on the fixed transmission module, with the sensing module located in the upper middle part of the clamping and cutting module; The fixed transmission module includes an arm-mounted connector (2), a motor connector (3), a DC brushed motor (4), a motion guide rail (5), a reciprocating push rod (6), a drive arm (7), a drive connection plate (8), and a fixed connection plate (11). The arm-mounted connector (2) is installed at the end of the robotic arm (1). The DC brushed motor (4) is installed at the bottom of the arm-mounted connector (2) through the motor connector (3). The control end of the reciprocating push rod (6) is connected to the DC brushed motor (4), and the working end of the reciprocating push rod (6) is connected to the center of the drive connection plate (8). The drive connection plate (8) has a pair of limiting holes on both sides. The motion guide rail (5) passes through the limiting holes of the drive connection plate (8), and the two ends of the motion guide rail (5) are fixed between the arm-mounted connector (2) and the fixed connection plate (11) located below the drive connection plate (8). The reciprocating push rod (6) can drive the drive connecting plate (8) to reciprocate along the motion guide rail (5) between the arm-mounted connecting member (2) and the fixed connecting plate (11), and drive the clamping and cutting module to complete the action of closing the claw for cutting and opening to unload the flower ball; the stroke of the reciprocating push rod (6) is 4-6cm, and the linear speed is 200mm / s-300mm / s; a pair of cutting connecting parts are provided on the left and right sides of the drive connecting plate (8), and the top and bottom of the drive arm (7) are respectively hinged to the cutting connecting parts of the drive connecting plate (8) and the clamping and cutting module through rotating pins; a pair of fixed clamping connecting parts are provided vertically downward on the front and rear sides of the drive connecting plate; the fixed connecting plate (11) is a cross structure, with a hinge hole at the end of each of its front and rear longitudinal arms, and a pair of fixed holes at the end of each of its left and right transverse arms; The clamping and cutting module includes a pair of clamping claws and a pair of cutting claws. The clamping claws consist of clamping knuckles (9), clamping phalanges (14), clamping fingers (10), and flexible tentacles (19). The end of the clamping finger (10) is connected to the clamping knuckles (9) via a fixed pin. The clamping knuckles (9) near the outside of the clamping finger (10) are hinged to the clamping connection part of the drive connecting plate (8) via a rotating pin. The clamping knuckles (9) near the inside of the clamping finger (10) are hinged to one end of the clamping phalanges (14) via a rotating pin. The other end of the clamping phalanges (14) is hinged to the hinge hole at the end of the longitudinal arm of the fixed connecting plate (11). The flexible tentacles (19) are mounted on the clamping fingers (10). The inner side; the cutting claw consists of a cutting finger joint (15), a cutting finger (16), a tool base (17), and a cutting blade (18); the cutting finger joint (15) is installed at the fixing hole at the end of the horizontal arm of the fixed connecting plate (11), the inner side of the end of the cutting finger (16) is hinged to the cutting finger joint (15) by a rotating pin, the outer side of the cutting finger (16) is hinged to the bottom of the driving arm (7), the tool base (17) is fixed to the end of the cutting finger by bolts, and the cutting blade is installed on the cutting base; the diameter of the space formed by the pair of clamping fingers and the pair of cutting fingers that encloses the broccoli ball is 12-18cm, and the clamping claw and the cutting claw realize the synchronous clamping and cutting action under the drive of the same power source; The sensing module is installed at the bottom center of the fixed connecting plate (11) in the fixed transmission module, and includes a tactile sensor (12) and a visual sensor (13). The visual sensor is used to take a vertical image directly above the crop, and the tactile sensor is used to obtain the firmness information after touching the top of the flower ball.

2. The biomimetic sensing selective broccoli harvesting claw integrating clamping and cutting as described in claim 1, characterized in that, The cutting blade (18) is a flat blade with a width of 5-10cm. The blades of the two cutting blades are symmetrically mounted on the tool base in opposite directions.

3. The biomimetic sensing selective broccoli harvesting claw integrating clamping and cutting as described in claim 1, characterized in that, Each gripping finger has three flexible tentacles installed on its inner side. The gripping fingers are lightweight and modular, and the flexible tentacles are suction cup-shaped and made of soft silicone material.

4. The biomimetic sensing selective broccoli harvesting claw integrating clamping and cutting as described in claim 1, characterized in that, The sensing module also incorporates a recognition and positioning neural network and a piezoelectric sensing circuit, which, combined with information from the two sensors, are used to identify, locate, and sense mature broccoli heads.

5. The harvesting method of the biomimetic sensing selective broccoli harvesting claw integrating clamping and cutting as described in claim 1, characterized in that, include: A vision sensor based on the perception module takes a vertical image above the broccoli head, initially identifying the maturity category of all heads within the field of view and locating the spatial position of mature broccoli heads. The robotic arm, carrying the harvesting claw, moves until the tactile sensor of the perception module moves to the top of the head and presses down 0.5cm. The maturity category of the head is determined by the piezoelectric signal after contact. If the head is not truly mature after tactile verification, the robotic arm, carrying the harvesting claw, leaves the current head and moves to the next head. If it is a mature head, the DC brushed motor rotates forward, the reciprocating push rod extends, driving the drive connecting plate downward, driving the cutting and gripping fingers to close. The flexible tentacles grip the head without damage, while the cutting blade simultaneously cuts the broccoli head stem and moves the harvested head to the collection area. Afterward, the DC brushed motor rotates in reverse, the reciprocating push rod retracts, driving the drive connecting plate upward, driving the cutting and gripping fingers to open and unload the head.

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