A field honeysuckle automatic picking robot with adjustable wheelbase and height

Abstract

The present invention discloses an automatic field honeysuckle picking robot with adjustable wheelbase and height. The robot comprises a vehicle body, a wheel assembly, a variable pitch drive device, a millimeter-wave radar, a two-degree-of-freedom linear module, a picking manipulator, a collection box, a depth camera, and a microcomputer. Two wheel assemblies are symmetrically mounted at the front and rear ends of the vehicle body. A variable pitch drive device is provided between the two wheel assemblies at the front end of the vehicle body and between the two wheel assemblies at the rear end of the vehicle body. The two-degree-of-freedom linear module is mounted at the lower end of the vehicle body. The picking manipulator is mounted on the two-degree-of-freedom linear module and is driven by the two-degree-of-freedom linear module to move along the Z and Y axes. A collection box is mounted at the lower end of the vehicle body in the front and rear directions of the picking manipulator. The millimeter-wave radar is mounted on the vehicle body, and the depth camera is mounted at the lower end of the vehicle body. The present invention is applicable to different planting row spacings and different picking heights, and can realize automatic identification and picking of honeysuckle, thereby improving production efficiency and reducing labor intensity.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural robots, in particular to an automatic field honeysuckle picking robot with adjustable wheelbase and height. Background Art

[0002] Honeysuckle (Lonicerajaponica) is an important herb that is widely used in the production of traditional Chinese medicine. In recent years, the harvesting process of honeysuckle still relies on traditional manual methods, which leads to the problem of high labor intensity. Although the cultivation technology of honeysuckle is relatively mature, a lot of manual labor is still required in the honeysuckle harvesting process. At present, the picking of honeysuckle usually requires manual picking of flowers and collecting them. This process is time-consuming and labor-intensive, which limits the large-scale production of honeysuckle. To solve this problem, it is possible to consider using computer vision technology to identify and locate the flowers of honeysuckle, and then develop an automatic picking device to realize automated honeysuckle picking and collection.

[0003] By integrating flower recognition and positioning algorithms with a picking mechanism into an automated picking robot, honeysuckle picking efficiency can be significantly improved, labor intensity can be reduced, and the honeysuckle production process can be accelerated. Furthermore, to accommodate the varying row spacing requirements for honeysuckle planting, a mechanism with adjustable wheel spacing and picking height can be designed, increasing the robot's applicability.

[0004] In summary, designing a honeysuckle picking robot with automatic identification and picking functions can play an important role in the production of honeysuckle, improve production efficiency, reduce labor intensity, and promote the development of the honeysuckle industry. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic field honeysuckle picking robot with adjustable wheelbase and height to solve the problems existing in the above-mentioned prior art. The robot is suitable for different honeysuckle planting row spacings and different picking heights, can realize automatic identification and picking of honeysuckle, improve production efficiency and reduce labor intensity.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a field honeysuckle automatic picking robot with adjustable wheelbase and height, comprising a vehicle body, a wheel assembly, a variable pitch drive device, a millimeter wave radar, a two-degree-of-freedom linear module, a picking manipulator, a collection box, a depth camera, and a microcomputer;

[0008] The two wheel assemblies are symmetrically installed at the front and rear ends of the vehicle body, and the wheel assembly includes an upper fixed plate, a lower fixed plate, a deflection plate, a wheel steering drive device, a telescopic frame and an electric drive wheel. The upper fixed plate is fixed to the vehicle body, the inner and outer ends of the upper fixed plate are respectively hingedly connected to the upper ends of the two deflection plates, and the lower ends of the two deflection plates are respectively hinged to the inner and outer ends of the lower fixed plate. The wheel steering drive device includes a steering motor, a steering reducer, a universal joint, a universal telescopic shaft and a connecting plate. The steering motor is connected to the steering reducer, the output shaft of the steering reducer is connected to the upper end of the universal joint sleeve through a cross universal joint, the upper end of the universal telescopic shaft is slidably connected in the universal joint sleeve, the lower end of the universal telescopic shaft is connected to the connecting column on the connecting plate through a cross universal joint, the connecting plate is rotatably connected to the lower fixed plate, the upper end of the telescopic frame is fixed to the lower end of the connecting plate, the lower end of the telescopic frame is connected to the electric drive wheel, and the telescopic frame is driven to extend and retract up and down by a telescopic cylinder;

[0009] A pitch-changing drive device is respectively provided between the two wheel assemblies at the front end of the vehicle body and between the two wheel assemblies at the rear end of the vehicle body, and the pitch-changing drive device includes a pitch-changing motor, a bidirectional lead screw, a slider, a guide rod and a pitch-changing link. The bidirectional lead screw is rotatably connected to the lower end of the vehicle body and driven to rotate by the pitch-changing motor. The sliders are respectively threadedly connected to the two threaded sections of the bidirectional lead screw in opposite directions of rotation. The two sliders are both slidably connected to the guide rods, one slider is connected to the deflection plate of the wheel assembly on one side through a pitch-changing link, and the other slider is connected to the deflection plate of the wheel assembly on the other side through another pitch-changing link, and the pitch-changing link is connected to the slider and the deflection plate in an articulated manner;

[0010] The two-degree-of-freedom linear module is installed at the lower end of the vehicle body, and the picking manipulator is installed on the two-degree-of-freedom linear module. The two-degree-of-freedom linear module drives the picking manipulator to move along the Z-axis and Y-axis directions, wherein the Z-axis direction is the height direction and the Y-axis direction is the forward and backward movement direction of the vehicle body;

[0011] A collecting box is installed at each lower end of the vehicle body in the front and rear directions of the picking manipulator for collecting the picked honeysuckle;

[0012] The millimeter-wave radar is installed on the vehicle body, and the depth camera is installed at the lower end of the vehicle body. The millimeter-wave radar, the depth camera, the steering motor, the variable pitch motor, the electric drive wheel and the two-degree-of-freedom linear module are respectively connected to the microcomputer signal, and the telescopic cylinder and the picking robot are controlled by the microcomputer.

[0013] Preferably, the two-degree-of-freedom linear module includes a Y-axis linear module and a Z-axis linear module, the Y-axis linear module includes a Y-axis motor, a Y-axis lead screw, a Y-axis guide rail and a Y-axis slider, the lower end of the vehicle body is fixedly connected to a mounting frame, the Y-axis guide rail is fixed on the mounting frame, the Y-axis lead screw is rotatably connected to the Y-axis guide rail and connected to the Y-axis motor, the Y-axis slider is threadedly connected to the Y-axis lead screw and slidably set on the Y-axis guide rail; the Z-axis linear module includes a Z-axis motor, a Z-axis lead screw, a Z-axis guide rail and a Z-axis slider, the Z-axis guide rail is fixed on the Y-axis slider, the Z-axis lead screw is rotatably connected to the Z-axis guide rail and connected to the Z-axis motor, the Z-axis slider is threadedly connected to the Z-axis lead screw and slidably set on the Z-axis guide rail; the picking robot is installed on the Z-axis slider.

[0014] The eccentric shaft is fixed on the eccentric shaft, and the eccentric shaft is eccentrically fixed on the eccentric shaft. One end of the eccentric shaft is rotatably connected to the eccentric shaft, and the other end is rotatably connected to one end of the telescopic shaft through the connecting shaft. The telescopic shaft is arranged on the manipulator mounting plate along a straight line, and the other end of the telescopic shaft is rotatably connected to one end of the rotating disk connecting rod, and the other end of the rotating disk connecting rod is rotatably connected to the manipulator rotating disk, and the manipulator fixing plate is fixed on the manipulator mounting plate, and the manipulator rotating disk is connected to the manipulator fixing plate;

[0015] A clamping through-hole is provided in the middle of the manipulator rotating disk, and arc-shaped grooves coaxial with the manipulator rotating disk are provided on both sides of the disk surface of the manipulator rotating disk, and guide pins corresponding to the two arc-shaped grooves are fixed on the manipulator fixed plate, and the guide pins are slidably arranged in the arc-shaped grooves. The manipulator rotating disk can rotate around its axis through the cooperation of the guide pins and the arc-shaped grooves, and three groups of clamping components are provided between the manipulator rotating disk and the manipulator fixed plate;

[0016] The clamping assembly includes a long clamping plate and a short connecting plate, one end of the long clamping plate and the short connecting plate are rotatably connected, the other end of the long clamping plate is rotatably connected to the manipulator fixed plate, and the other end of the short connecting plate is rotatably connected to the manipulator rotating disk. The three long clamping plates form a clamping space. When the manipulator rotating disk rotates, the three long clamping plates converge inward to shear and clamp the honeysuckle in the clamping space, or open outward to loosen the clamping of the honeysuckle.

[0017] Preferably, the telescopic frame includes a wheel mounting plate, a square sleeve, a square telescopic rod and a top plate. Several square sleeves are fixedly provided on the upper end of the wheel mounting plate, and square telescopic rods corresponding to each square sleeve are fixedly provided on the lower end of the top plate. Each square telescopic rod is slidably provided in each square sleeve, and the wheel mounting plate and the top plate are connected by the telescopic cylinder.

[0018] Preferably, the vehicle body includes a vehicle box and a vehicle cover installed on the upper end of the vehicle box, a distribution box, a wheel motor driver, a variable pitch motor driver and a linear module motor driver are provided in the vehicle box, and a battery is provided in the distribution box.

[0019] Preferably, the microcomputer is installed in the vehicle box, and each of the steering motors and each of the steering reducers are installed in the vehicle box.

[0020] Preferably, the steering reducer is a right-angle reducer.

[0021] Preferably, the car box is a square car box, with a first hood mounting seat provided at each of the four corners of the car box, and a second hood mounting seat provided at the middle of each of the two long sides of the car box, and the car box is threadedly connected to the first hood mounting seat and the second hood mounting seat by screws.

[0022] Compared with the prior art, the present invention has achieved the following technical effects:

[0023] The present invention provides an automatic field honeysuckle picking robot with adjustable wheelbase and height. The wheel spacing can be adjusted by a wheel steering drive device and a variable pitch drive device according to different row spacings of the honeysuckle field. The telescopic frame can be driven to extend and retract up and down by a telescopic cylinder to achieve height adjustment of the vehicle body, thereby being suitable for different honeysuckle planting row spacings and different picking heights. The millimeter wave radar is used to sense the surrounding environment of the field and perform path planning, thereby achieving autonomous movement of the field honeysuckle picking robot. After arriving at the area to be picked, the depth camera is used to identify and locate the target honeysuckle under the vehicle body, and the picking manipulator is driven to reach the target position by a two-degree-of-freedom linear module, and the picking manipulator is controlled to shear and clamp the honeysuckle. The sheared honeysuckle is then placed in a collection box, completing the automated picking operation, improving production efficiency, and reducing labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of the automatic field honeysuckle picking robot with adjustable wheelbase and height provided by the present invention;

[0026] Figure 2 This is a front view of the automatic field honeysuckle picking robot with adjustable wheelbase and height provided by the present invention;

[0027] Figure 3 Schematic diagram of the internal structure of the box in the present invention;

[0028] Figure 4 This is a right view of the automatic field honeysuckle picking robot with adjustable wheelbase and height provided by the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the picking robot in the present invention;

[0030] Figure 6 It is a structural diagram of the manipulator rotating disk in the present invention;

[0031] Figure 7 This is a front view of the connecting structure of the manipulator fixing plate, clamping assembly, rotating disk connecting rod and telescopic rod in the present invention;

[0032] Figure 8 Schematic diagram of the connection structure of the manipulator rotating disk, clamping assembly, guide pin shaft, rotating disk connecting rod and telescopic rod in the present invention;

[0033] Figure 9 This is a side view of the connection structure between the manipulator rotating disk, the manipulator fixed plate, the rotating disk connecting rod and the telescopic rod in the present invention;

[0034] Figure 10 It is a structural schematic diagram of the connecting disk in the present invention.

[0035] In the figure: 1-car body, 2-wheel assembly, 3-variable pitch drive device, 4-millimeter wave radar, 5-two-degree-of-freedom linear module, 6-picking manipulator, 7-collection box, 8-depth camera, 9-microcomputer, 10-upper fixed plate, 11-lower fixed plate, 12-deflection plate, 13-telescopic frame, 14-electric drive wheel, 15-steering motor, 16-steering reducer, 17-universal shaft sleeve, 18-universal telescopic shaft, 19-connecting plate, 20-connecting column, 21-telescopic cylinder, 22-variable pitch motor, 23-bidirectional screw, 24-slider, 25-guide rod, 26-variable pitch connecting rod, 27-Y-axis motor, 28-Y-axis screw, 29-Y-axis guide rail, 30-mounting frame, 31-Z-axis motor, 32-Z-axis screw, 33-Z-axis guide rail, 34-Z-axis Slider, 35-manipulator mounting plate, 36-manipulator drive motor, 37-manipulator reducer, 38-eccentric turntable, 39-eccentric rod, 40-reciprocating connecting rod, 41-connecting shaft, 42-telescopic rod, 43-rotating disk connecting rod, 44-manipulator fixed plate, 45-manipulator rotating disk, 46-wheel mounting plate, 47-square sleeve, 48-square telescopic rod, 49-top plate, 50-carriage, 51-car cover, 52-distribution box, 53-wheel motor driver, 54-variable pitch motor driver, 55-linear module motor driver, 56-battery, 57-long clamping plate, 58-short connecting plate, 59-first car cover mounting seat, 60-second car cover mounting seat, 61-clamping through hole, 62-arc groove, 63-guide pin shaft, 64-clamping space. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] The purpose of the present invention is to provide an automatic field honeysuckle picking robot with adjustable wheelbase and height to solve the problems existing in the prior art. The robot is suitable for different honeysuckle planting row spacings and different picking heights, can realize automatic identification and picking of honeysuckle, improve production efficiency and reduce labor intensity.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1-10 As shown, this embodiment provides a field honeysuckle automatic picking robot with adjustable wheelbase and height, including a vehicle body 1, a wheel assembly 2, a variable pitch drive device 3, a millimeter wave radar 4, a two-degree-of-freedom linear module 5, a picking manipulator 6, a collection box 7, a depth camera 8 and a microcomputer 9;

[0040] Two wheel assemblies 2 are symmetrically installed at the front and rear ends of the vehicle body 1. The wheel assembly 2 includes an upper fixed plate 10, a lower fixed plate 11, a deflection plate 12, a wheel steering drive device, a telescopic frame 13 and an electric drive wheel 14. The electric drive wheel 14 is a hub motor wheel. The upper fixed plate 10 is fixed to the vehicle body 1. The inner and outer ends of the upper fixed plate 10 are respectively hinged to the upper ends of the two deflection plates 12. The lower ends of the two deflection plates 12 are respectively hinged to the inner and outer ends of the lower fixed plate 11. The wheel steering drive device includes a steering motor 15, a steering reducer 16, and a universal joint sleeve 17. , a universal telescopic shaft 18 and a connecting plate, the steering motor 15 is connected to the steering reducer 16, the output shaft of the steering reducer 16 is connected to the upper end of the universal joint sleeve 17 through a cross universal joint, the upper end of the universal telescopic shaft 18 is slidably connected in the universal joint sleeve 17, the lower end of the universal telescopic shaft 18 is connected to the connecting column 20 on the connecting plate 19 through a cross universal joint, the connecting plate 19 is rotatably connected to the lower fixed plate 11, the upper end of the telescopic frame 13 is fixed to the lower end of the connecting plate 19, the lower end of the telescopic frame 13 is connected to the electric drive wheel 14, and the telescopic frame 13 is driven up and down by the telescopic cylinder 21;

[0041] A variable pitch drive device 3 is provided between the two wheel assemblies 2 at the front end of the vehicle body 1 and between the two wheel assemblies 2 at the rear end of the vehicle body 1. The variable pitch drive device 3 includes a variable pitch motor 22, a bidirectional lead screw 23, a slider 24, a guide rod 25 and a variable pitch connecting rod 26. The bidirectional lead screw 23 is rotatably connected to the lower end of the vehicle body 1 and is driven to rotate by the variable pitch motor 22. The two threaded sections of the bidirectional lead screw 23 with opposite rotation directions are respectively threaded with sliders 24. The two sliders 24 are both slidably connected to the guide rod 25. One slider 24 is connected to the deflection plate 12 of the wheel assembly 2 on one side through a variable pitch connecting rod 26, and the other slider 24 is connected to the deflection plate 12 of the wheel assembly 2 on the other side through another variable pitch connecting rod 26. The connection mode of the variable pitch connecting rod 26 to the slider 24 and the deflection plate 12 is all hinged;

[0042] A two-degree-of-freedom linear module 5 is mounted at the lower end of the vehicle body 1, and a picking manipulator 6 is mounted on the two-degree-of-freedom linear module 5. The two-degree-of-freedom linear module 5 drives the picking manipulator 6 to move along the Z-axis and Y-axis directions. The Z-axis direction is the height direction, and the Y-axis direction is the forward and backward movement direction of the vehicle body 1.

[0043] A collecting box 7 is installed at the lower end of the vehicle body 1 in the front and rear directions of the picking manipulator 6 for collecting the picked honeysuckle;

[0044] The millimeter-wave radar 4 is installed on the vehicle body 1, and the depth camera 8 is installed at the lower end of the vehicle body 1. The millimeter-wave radar 4, the depth camera 8, the steering motor 15, the variable pitch motor 22, the electric drive wheel 14 and the two-degree-of-freedom linear module 5 are respectively connected to the microcomputer 9 for signal connection, and the telescopic cylinder 21 and the picking robot 6 are controlled by the microcomputer 9.

[0045] When adjusting the wheel spacing, the wheel movement is controlled to be perpendicular to the forward direction of the vehicle body 1, facilitating steering. During further steering, the universal joint sleeve 17 and universal telescopic shaft 18 can be extended and retracted to adjust the height of the vehicle body 1 in real time. A variable pitch motor 22 drives the two sliders 24 in relative motion, while a variable pitch connecting rod 26 tilts the deflector plate 12, causing the wheels to expand outward, achieving wheel spacing adjustment. By adjusting the extension and retraction length of the telescopic cylinder 21, the robot's operating height can be varied to accommodate honeysuckle plants of varying heights.

[0046] In this embodiment, the two-degree-of-freedom linear module 5 includes a Y-axis linear module and a Z-axis linear module. The Y-axis linear module includes a Y-axis motor 27, a Y-axis screw 28, a Y-axis guide rail 29 and a Y-axis slider. The lower end of the vehicle body 1 is fixedly connected to a mounting frame 30, and the Y-axis guide rail 29 is fixed on the mounting frame 30. The Y-axis screw 28 is rotatably connected to the Y-axis guide rail 29 and is connected to the Y-axis motor 27. The Y-axis slider is threadedly connected to the Y-axis screw 28 and is slidably set on the Y-axis guide rail 29; the Z-axis linear module includes a Z-axis motor 31, a Z-axis screw 32, a Z-axis guide rail 33 and a Z-axis slider 34. The Z-axis guide rail 33 is fixed on the Y-axis slider, the Z-axis screw 32 is rotatably connected to the Z-axis guide rail 33 and is connected to the Z-axis motor 31, and the Z-axis slider 34 is threadedly connected to the Z-axis screw 32 and is slidably set on the Z-axis guide rail 33; the picking robot 6 is installed on the Z-axis slider 34. When picking honeysuckle, the depth camera 8 first identifies and locates the honeysuckle under the vehicle body 1. The camera coordinates are calibrated with the coordinates of the two-degree-of-freedom linear module 5. The coordinates of the honeysuckle in the image are converted to the world coordinate system. The two-degree-of-freedom linear module 5 is controlled to drive the picking robot 6 to the honeysuckle clamping and shearing position, that is, the picking robot 6 picks the honeysuckle. After reaching the designated position, the picking robot 6 is controlled to cut and clamp, and then the sheared honeysuckle is placed in the collection box 7, completing a picking operation.

[0047] In this embodiment, the picking robot 6 includes a robot mounting plate 35, a robot drive motor 36, a robot reducer 37, an eccentric turntable 38, an eccentric rod 39, a reciprocating connecting rod 40, a connecting shaft 41, a telescopic rod 42, a rotating disk connecting rod 43, a robot fixing plate 44 and a robot rotating disk 45. The robot mounting plate 35 is installed on the Z-axis slider 34, the robot drive motor 36 is connected to the robot reducer 37, the robot reducer 37 is installed on the robot mounting plate 35, and the eccentric turntable 38 is fixed to the output of the robot reducer 37. On the output shaft, the eccentric rod 39 is eccentrically fixed on the eccentric rotating disk 38, one end of the reciprocating connecting rod 40 is rotatably connected to the eccentric rod 39, and the other end is rotatably connected to one end of the telescopic rod 42 through the connecting shaft 41, and the telescopic rod 42 is arranged on the manipulator mounting plate 35 along a straight line sliding, and the other end of the telescopic rod 42 is rotatably connected to one end of the rotating disk connecting rod 43, and the other end of the rotating disk connecting rod 43 is rotatably connected to the manipulator rotating disk 45, and the manipulator fixing plate 44 is fixed on the manipulator mounting plate 35, and the manipulator rotating disk 45 is connected to the manipulator fixing plate 44;

[0048] A clamping through-hole 61 is provided in the middle of the manipulator rotating disk 45, and arc-shaped grooves 62 coaxial with the manipulator rotating disk 45 are provided on both sides of the disk surface of the manipulator rotating disk 45. Guide pins 63 corresponding to the two arc-shaped grooves 62 are fixed on the manipulator fixed plate 44. The guide pins 63 are slidably set in the arc-shaped grooves 62. The manipulator rotating disk 45 can rotate around its axis through the cooperation of the guide pins 63 and the arc-shaped grooves 62. Three groups of clamping components are provided between the manipulator rotating disk 45 and the manipulator fixed plate 44;

[0049] The clamping assembly includes a long clamping plate 57 and a short connecting plate 58. One end of the long clamping plate 57 and the short connecting plate 58 are rotatably connected, the other end of the long clamping plate 57 is rotatably connected to the manipulator fixed plate 44, and the other end of the short connecting plate 58 is rotatably connected to the manipulator rotating disk 45. The three long clamping plates 57 form a clamping space 64. When the manipulator rotating disk 45 rotates, the three long clamping plates 57 converge inward to shear and clamp the honeysuckle in the clamping space 64, or open outward to loosen the clamping of the honeysuckle.

[0050] When the picking robot 6 moves to the top of the honeysuckle, the honeysuckle enters the clamping through-hole 61. The robot drive motor 36, the robot reducer 37, the eccentric turntable 38, the eccentric rod 39 and the reciprocating connecting rod 40 form an eccentric rocker mechanism. The eccentric rocker mechanism drives the telescopic rod 42 to extend and retract, thereby driving the rotating disk connecting rod 43 to swing. The swing of the rotating disk connecting rod 43 drives the robot rotating disk 45 to rotate (at this time, the two guide pins 63 slide in the two arc-shaped grooves 62 respectively). The rotation of the robot rotating disk 45 drives the short connecting plate 58 connected to it to swing, and the swing of the short connecting plate 58 drives the long clamping plate 57 to rotate; the long clamping plate 57 and the short connecting plate 58 swing simultaneously and converge inward, shearing and clamping the honeysuckle inside. When the honeysuckle flowers need to be released, the eccentric rocker mechanism, telescopic rod 42, and rotating disk connecting rod 43 drive the manipulator rotating disk 45 to rotate in the opposite direction, causing the long clamping plate 57 and the short connecting plate 58 to swing and open outward at the same time, releasing the honeysuckle flowers in the clamping space 64. This picking manipulator can gather the honeysuckle flowers and clamp them for picking, improving the picking success rate and efficiency.

[0051] In this embodiment, the telescopic frame 13 includes a wheel mounting plate 46, a square sleeve 47, a square telescopic rod 48, and a top plate 49. Several square sleeves 47 are fixedly mounted on the upper end of the wheel mounting plate 46. A square telescopic rod 48 corresponding to each square sleeve 47 is fixedly mounted on the lower end of the top plate 49. Each square telescopic rod 48 slides within each square sleeve 47. The wheel mounting plate 46 and the top plate 49 are connected by a telescopic cylinder 21. The telescopic cylinder 21 is extended and retracted to adjust the distance between the wheel mounting plate 46 and the top plate 49, thereby adjusting the working height of the vehicle body 1 to accommodate honeysuckle picking operations at different heights.

[0052] In this embodiment, the vehicle body 1 includes a vehicle box 50 and a hood 51 mounted on the upper end of the vehicle box 50. A power distribution box 52, wheel motor drivers 53, variable pitch motor drivers 54, and linear module motor drivers 55 are located within the vehicle box 50. A battery 56 is housed within the power distribution box 52. A microcomputer 9 is also installed within the vehicle box 50. Each steering motor 15 and each steering reducer 16 is also installed within the vehicle box 50. Power is supplied by the battery 56 to each motor through the power distribution box 52. The microcomputer 9 controls each motor via the wheel motor drivers 53, variable pitch motor drivers 54, and linear module motor drivers 55.

[0053] In this embodiment, the steering reducer 16 is a right-angle reducer.

[0054] In this embodiment, the box 50 is a square box with a first hood mounting seat 59 at each of the four corners of the box 50 and a second hood mounting seat 60 at the center of each of the two long sides of the box 50. The hood 51 is screwed to the first hood mounting seat 59 and the second hood mounting seat 60. This facilitates the assembly and disassembly of the hood 51 and facilitates the inspection and replacement of internal components of the box 50.

[0055] The field honeysuckle automatic picking robot with adjustable wheelbase and height provided by the present invention has the following advantages:

[0056] (1) The wheel spacing adjustment device makes the wheel spacing adjustable, which increases the adaptability to different honeysuckle planting row spacings; the four hub motor wheels can be steered and moved in any direction, which increases the flexibility of operation.

[0057] (2) The height of the picking trolley can be adjusted by using the telescopic cylinder, which greatly improves the applicability of the picking trolley. Through the precise control of the telescopic cylinder, the height of the picking trolley can be easily adjusted to suit different working environments and needs.

[0058] (3) The honeysuckle is automatically positioned by a depth camera, and the picking robot can cut and clamp the honeysuckle, and the cut honeysuckle can be placed in a collection box, realizing the full automation of the cutting, clamping and collection of the honeysuckle.

[0059] (4) The picking robot can realize the integrated operation of cutting and clamping the honeysuckle by means of sleeve and contraction, and can pick multiple honeysuckle flowers at one time, thereby improving the efficiency and success rate of honeysuckle picking.

[0060] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A field honeysuckle automatic picking robot with adjustable wheelbase and height, characterized by: It includes a vehicle body, wheel assembly, variable pitch drive device, millimeter wave radar, two-degree-of-freedom linear module, picking manipulator, collection box, depth camera and microcomputer; The two wheel assemblies are symmetrically installed at the front and rear ends of the vehicle body, and the wheel assembly includes an upper fixed plate, a lower fixed plate, a deflection plate, a wheel steering drive device, a telescopic frame and an electric drive wheel. The upper fixed plate is fixed to the vehicle body, the inner and outer ends of the upper fixed plate are respectively hingedly connected to the upper ends of the two deflection plates, and the lower ends of the two deflection plates are respectively hinged to the inner and outer ends of the lower fixed plate. The wheel steering drive device includes a steering motor, a steering reducer, a universal joint, a universal telescopic shaft and a connecting plate. The steering motor is connected to the steering reducer, the output shaft of the steering reducer is connected to the upper end of the universal joint sleeve through a cross universal joint, the upper end of the universal telescopic shaft is slidably connected in the universal joint sleeve, the lower end of the universal telescopic shaft is connected to the connecting column on the connecting plate through a cross universal joint, the connecting plate is rotatably connected to the lower fixed plate, the upper end of the telescopic frame is fixed to the lower end of the connecting plate, the lower end of the telescopic frame is connected to the electric drive wheel, and the telescopic frame is driven to extend and retract up and down by a telescopic cylinder; A pitch-changing drive device is respectively provided between the two wheel assemblies at the front end of the vehicle body and between the two wheel assemblies at the rear end of the vehicle body, and the pitch-changing drive device includes a pitch-changing motor, a bidirectional lead screw, a slider, a guide rod and a pitch-changing link. The bidirectional lead screw is rotatably connected to the lower end of the vehicle body and driven to rotate by the pitch-changing motor. The sliders are respectively threadedly connected to the two threaded sections of the bidirectional lead screw in opposite directions of rotation. The two sliders are both slidably connected to the guide rods, one slider is connected to the deflection plate of the wheel assembly on one side through a pitch-changing link, and the other slider is connected to the deflection plate of the wheel assembly on the other side through another pitch-changing link, and the pitch-changing link is connected to the slider and the deflection plate in an articulated manner; The two-degree-of-freedom linear module is installed at the lower end of the vehicle body, and the picking manipulator is installed on the two-degree-of-freedom linear module. The two-degree-of-freedom linear module drives the picking manipulator to move along the Z-axis and Y-axis directions, wherein the Z-axis direction is the height direction and the Y-axis direction is the forward and backward movement direction of the vehicle body; A collecting box is installed at each lower end of the vehicle body in the front and rear directions of the picking manipulator for collecting the picked honeysuckle; The millimeter-wave radar is installed on the vehicle body, and the depth camera is installed at the lower end of the vehicle body. The millimeter-wave radar, the depth camera, the steering motor, the variable pitch motor, the electric drive wheel and the two-degree-of-freedom linear module are respectively connected to the microcomputer signal, and the telescopic cylinder and the picking robot are controlled by the microcomputer.

2. The automatic honeysuckle picking robot with adjustable wheelbase and height according to claim 1 is characterized in that: The two-degree-of-freedom linear module includes a Y-axis linear module and a Z-axis linear module. The Y-axis linear module includes a Y-axis motor, a Y-axis lead screw, a Y-axis guide rail and a Y-axis slider. The lower end of the vehicle body is fixedly connected to a mounting frame. The Y-axis guide rail is fixed to the mounting frame. The Y-axis lead screw is rotatably connected to the Y-axis guide rail and connected to the Y-axis motor. The Y-axis slider is threadedly connected to the Y-axis lead screw and slidably set on the Y-axis guide rail; the Z-axis linear module includes a Z-axis motor, a Z-axis lead screw, a Z-axis guide rail and a Z-axis slider. The Z-axis guide rail is fixed to the Y-axis slider. The Z-axis lead screw is rotatably connected to the Z-axis guide rail and connected to the Z-axis motor. The Z-axis slider is threadedly connected to the Z-axis lead screw and slidably set on the Z-axis guide rail; the picking robot is installed on the Z-axis slider.

3. The automatic honeysuckle picking robot with adjustable wheelbase and height according to claim 2 is characterized in that: The eccentric shaft is fixed on the eccentric shaft of the manipulator, and the eccentric shaft is eccentrically fixed on the eccentric shaft of the manipulator. One end of the reciprocating connecting rod is rotatably connected to the eccentric shaft, and the other end is rotatably connected to one end of the telescopic rod through the connecting shaft. The telescopic rod is arranged on the manipulator mounting plate along a straight line, and the other end of the telescopic rod is rotatably connected to one end of the rotating disk connecting rod. The other end of the rotating disk connecting rod is rotatably connected to the manipulator rotating disk. The manipulator fixing plate is fixed on the manipulator mounting plate, and the manipulator rotating disk is connected to the manipulator fixing plate. A clamping through-hole is provided in the middle of the manipulator rotating disk, and arc-shaped grooves coaxial with the manipulator rotating disk are provided on both sides of the disk surface of the manipulator rotating disk, and guide pins corresponding to the two arc-shaped grooves are fixed on the manipulator fixed plate, and the guide pins are slidably arranged in the arc-shaped grooves. The manipulator rotating disk can rotate around its axis through the cooperation of the guide pins and the arc-shaped grooves, and three groups of clamping components are provided between the manipulator rotating disk and the manipulator fixed plate; The clamping assembly includes a long clamping plate and a short connecting plate, one end of the long clamping plate and the short connecting plate are rotatably connected, the other end of the long clamping plate is rotatably connected to the manipulator fixed plate, and the other end of the short connecting plate is rotatably connected to the manipulator rotating disk. The three long clamping plates form a clamping space. When the manipulator rotating disk rotates, the three long clamping plates converge inward to shear and clamp the honeysuckle in the clamping space, or open outward to loosen the clamping of the honeysuckle.

4. The automatic honeysuckle picking robot with adjustable wheelbase and height according to claim 1 is characterized in that: The telescopic frame includes a wheel mounting plate, a square sleeve, a square telescopic rod and a top plate. A plurality of the square sleeves are fixedly provided on the upper end of the wheel mounting plate. The square telescopic rods corresponding to the square sleeves are fixedly provided on the lower end of the top plate. The square telescopic rods are slidably provided in the square sleeves. The wheel mounting plate and the top plate are connected by the telescopic cylinder.

5. The automatic honeysuckle picking robot with adjustable wheelbase and height according to claim 1 is characterized in that: The vehicle body includes a vehicle box and a vehicle cover installed on the upper end of the vehicle box. A distribution box, a wheel motor driver, a variable pitch motor driver and a linear module motor driver are arranged in the vehicle box, and a battery is arranged in the distribution box.

6. The automatic honeysuckle picking robot with adjustable wheelbase and height according to claim 5 is characterized in that: The microcomputer is installed in the vehicle box, and each of the steering motors and each of the steering speed reducers are installed in the vehicle box.

7. The automatic honeysuckle picking robot with adjustable wheelbase and height according to claim 1 is characterized in that: The steering reducer is a right-angle reducer.

8. The automatic honeysuckle picking robot with adjustable wheelbase and height according to claim 5 is characterized in that: The car box is a square car box, with a first car cover mounting seat provided at each of the four corners of the car box, and a second car cover mounting seat provided at the middle of each of the two long sides of the car box. The car cover is threadedly connected to the first car cover mounting seat and the second car cover mounting seat by screws.

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