An intelligent double-arm grape picking device

Abstract

The present invention discloses an intelligent double-arm grape picking device, comprising: a main load-bearing frame, a suspension assembly is installed on the main load-bearing frame, and the main load-bearing frame is connected to an agricultural machine through the suspension assembly; a picking mechanism, two groups of picking mechanisms are provided, and the two groups of picking mechanisms are symmetrically installed on both sides of the main load-bearing frame, and the picking mechanism includes a telescopic arm installed on the main load-bearing frame, and a picking manipulator is installed at the end of the telescopic arm; a harvesting box, two groups of harvesting boxes are provided, and both groups of harvesting boxes are installed on the main load-bearing frame, and the two groups of harvesting boxes are respectively arranged corresponding to the two groups of picking manipulators; a control system, which is installed on the main load-bearing frame and is electrically connected to the two picking manipulators. The present invention realizes non-destructive picking and storage of grape fruits by cooperating with the picking manipulator through the telescopic arm. The picking manipulator is enabled to reach the designated coordinates in the optimal posture according to the optimal motion path, thereby improving the working efficiency and reducing the damage of the manipulator to the fruit.

Description

Technical Field

[0001] The invention relates to the technical field of fruit and vegetable picking, and in particular to an intelligent double-arm grape picking device. Background Art

[0002] Grape is a widely cultivated fruit. Its sweet taste and high nutritional value make it an important part of people's daily diet. However, the traditional grape picking process faces a series of challenges, which limits the improvement of picking efficiency and grape quality. At present, grape picking is mainly divided into two methods: manual picking and mechanical vibration picking. However, these methods still have many problems in practical application.

[0003] Although manual harvesting can better protect the grapes, it requires a lot of manpower and time, especially during the grape harvest season, when there may be a shortage of manual labor, resulting in low harvesting efficiency. In addition, manual harvesting is costly and is not suitable for large-scale vineyard production.

[0004] Mechanical vibration harvesting attempts to achieve mechanized harvesting by vibrating the vines to make the ripe grapes fall. However, this method may cause damage to the grapes because the vibration process may break the connection between the grapes and the vines, affecting the quality and commercial value of the grapes. In addition, different varieties of grapes may have different sensitivities to vibration, making this method difficult to adapt to diverse grape varieties.

[0005] Existing automated grape harvesting technology also has some problems in practical application. Although some automated machines can complete part of the harvesting task, human intervention is still required to handle some special situations, which limits the improvement of automation. In addition, automated harvesting technology may not be able to accurately determine when is the best time to harvest, which may miss the best quality period of grapes.

[0006] Based on the above reasons, the present invention provides an intelligent double-arm grape picking device. Summary of the invention

[0007] The purpose of the present invention is to provide an intelligent double-arm grape picking device to solve the problems existing in the prior art.

[0008] To achieve the above object, the present invention provides the following solution: The present invention provides an intelligent double-arm grape picking device, comprising:

[0009] A main load-bearing frame, on which a suspension assembly is mounted, and through which the main load-bearing frame is connected to the agricultural machine;

[0010] A picking mechanism, wherein two groups of the picking mechanisms are provided, and the two groups of the picking mechanisms are symmetrically installed on both sides of the main load-bearing frame, and the picking mechanism comprises a telescopic arm installed on the main load-bearing frame, and a picking manipulator is installed at the end of the telescopic arm;

[0011] Harvest boxes, wherein two groups of harvest boxes are provided, and both groups of harvest boxes are installed on the main load-bearing frame, and the two groups of harvest boxes are respectively provided corresponding to the two groups of picking manipulators;

[0012] A control system is installed on the main load-bearing frame, and the control system is electrically connected to the two picking manipulators.

[0013] According to the intelligent double-arm grape picking device provided by the present invention, the suspension assembly includes a suspension frame and a suspension connection node, the suspension frame is a triangular structure, the suspension frame is fixedly connected to the top of the main load-bearing frame, and the suspension connection nodes are provided with two groups, and the two groups of the suspension connection nodes are symmetrically arranged on one side of the main load-bearing frame, and the main load-bearing frame is detachably connected to the agricultural machinery through the suspension frame and the suspension connection nodes.

[0014] According to the intelligent double-arm grape picking device provided by the present invention, the telescopic arm includes a telescopic outer sleeve, the telescopic outer sleeve is fixedly connected to the main load-bearing frame, one end of the telescopic outer sleeve is slidably connected with a telescopic inner sleeve, the picking robot is installed at one end of the telescopic inner sleeve, and the other end of the telescopic outer sleeve is installed with a transmission assembly, and the transmission assembly and the telescopic inner sleeve are matched for transmission.

[0015] According to the intelligent double-arm grape picking device provided by the present invention, the transmission assembly includes a telescopic motor fixedly connected to the end of the telescopic outer sleeve, one end of the output shaft of the telescopic motor is axially connected to a telescopic screw, a telescopic flange nut is fixedly connected to the telescopic inner sleeve, and the telescopic flange nut is threadedly matched with the telescopic screw.

[0016] According to the intelligent double-arm grape picking device provided by the present invention, the picking robot comprises a picking machine base fixedly connected to one end of the telescopic inner sleeve, the top of the picking machine base is rotatably connected to a picking machine arm, and the end of the picking machine arm is equipped with an intelligent picking robot.

[0017] According to the intelligent double-arm grape picking device provided by the present invention, the control system includes a controller installed on the main load-bearing frame, and a visual positioning module is installed on the picking robot arm, and the visual positioning module is electrically connected to the controller.

[0018] According to the intelligent double-arm grape picking device provided by the present invention, a coupling is installed at one end of the output shaft of the telescopic motor, and the telescopic screw is axially connected to the telescopic motor through the coupling.

[0019] According to the intelligent double-arm grape picking device provided by the present invention, a bearing frame is fixedly connected to the top of the main load-bearing frame, and two groups of the bearing frames are provided. The two harvesting boxes are respectively fixed on the top surfaces of the two bearing frames.

[0020] The present invention discloses the following technical effects:

[0021] When the present invention is working, the device is connected to the agricultural machine through the suspension component, the height of the device is controlled by the agricultural machine, the traction device of the agricultural machine moves to the picking position, and the image information is obtained by the depth camera of the picking manipulator; the image information obtained by the depth camera is imported into the grape picking recognition neural network of the controller for recognition and precise positioning, and the telescopic arm is controlled according to the positioning information to drive the picking manipulator to move to the specified position, and the cutting and clamping device in the picking manipulator picks and clamps the grape fruits; the picking manipulator moves to the top of the grape harvesting box; the cutting and clamping device in the picking manipulator is released to put the grape fruits into the harvesting box; the picking manipulator moves to the initial position; and the above process is repeated until the grapes in the area are harvested.

[0022] The invention realizes non-destructive picking and storage of grapes by using a telescopic arm in conjunction with a picking manipulator, so that the picking manipulator can reach the designated coordinates in an optimal posture according to an optimal motion path, thereby improving the operation efficiency and reducing the damage of the manipulator to the fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 creative work.

[0024] Figure 1 This is a schematic diagram of the structure of the intelligent double-arm grape picking device of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the telescopic arm of the present invention.

[0026] Among them, 1. Main load-bearing frame; 2. Harvesting box; 3. Suspension frame; 4. Suspension connection node; 5. Telescopic outer sleeve; 6. Telescopic inner sleeve; 7. Telescopic motor; 8. Telescopic screw; 9. Telescopic flange nut; 10. Harvesting machine base; 11. Harvesting robot arm; 12. Intelligent harvesting robot; 13. Controller; 14. Coupling; 15. Carrying frame. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0028] 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.

[0029] Reference Figure 1-2 The present invention provides an intelligent double-arm grape picking device, comprising:

[0030] A main load-bearing frame 1, on which a suspension assembly is installed, and the main load-bearing frame 1 is connected to the agricultural machine via the suspension assembly;

[0031] The picking mechanism is provided with two groups, and the two groups of picking mechanisms are symmetrically installed on both sides of the main load-bearing frame 1. The picking mechanism includes a telescopic arm installed on the main load-bearing frame 1, and a picking manipulator is installed at the end of the telescopic arm;

[0032] Harvest boxes 2, two groups of harvest boxes 2 are provided, both groups of harvest boxes 2 are installed on the main load-bearing frame 1, and the two groups of harvest boxes 2 are respectively provided corresponding to the two groups of picking manipulators;

[0033] Control system: The control system is installed on the main load-bearing frame 1, and the control system is electrically connected to the two picking manipulators.

[0034] When the present invention is working, the device is connected to the agricultural machine through the suspension component, the height of the device is controlled by the agricultural machine, the agricultural machine traction device moves to the picking position, and the image information is obtained by the depth camera of the picking manipulator; the image information obtained by the depth camera is imported into the grape picking recognition neural network of the controller 13 for recognition and precise positioning, and the telescopic arm is controlled according to the positioning information to drive the picking manipulator to move to the specified position, and the cutting and clamping device in the picking manipulator picks and clamps the grape fruits; the picking manipulator moves to the top of the grape harvesting box 2; the cutting and clamping device in the picking manipulator is released to put the grape fruits into the harvesting box 2; the picking manipulator runs to the initial position; and the above process is repeated until the grapes in the area are harvested.

[0035] The invention realizes non-destructive picking and storage of grapes by using a telescopic arm in conjunction with a picking manipulator, so that the picking manipulator can reach the designated coordinates in an optimal posture according to an optimal motion path, thereby improving the operation efficiency and reducing the damage of the manipulator to the fruit.

[0036] Use the depth camera in the intelligent picking robot 12 to obtain image information; import the image information obtained by the depth camera into the grape picking recognition neural network of the controller 13 for recognition and precise positioning; transmit the precise positioning information to the robot arm controller 13; import the precise positioning coordinates of the grape bunch and the point cloud information of the depth camera into the obstacle avoidance and path network to produce the mechanical picking robot arm path; transmit the path information to the picking robot arm 11, and the picking robot arm 11 moves to the target point according to the planned path; the cutting and clamping device in the intelligent picking robot arm 12 picks and clamps the grapes; the picking robot arm 11 moves to the top of the grape harvesting box 2; release the cutting and clamping device in the picking robot arm to put the grapes into the harvesting box 2; the picking robot arm 11 moves to the initial position; repeat the above process until the grapes in the area are harvested.

[0037] A further optimized solution is that the suspension assembly includes a suspension frame 3 and a suspension connection node 4. The suspension frame 3 is a triangular structure. The suspension frame 3 is fixedly connected to the top of the main load-bearing frame 1. Two groups of suspension connection nodes 4 are provided. The two groups of suspension connection nodes 4 are symmetrically arranged on one side of the main load-bearing frame 1. The main load-bearing frame 1 is detachably connected to the agricultural machinery through the suspension frame 3 and the suspension connection node 4.

[0038] A further optimized solution is that the telescopic arm includes a telescopic outer sleeve 5, which is fixedly connected to the main load-bearing frame 1, and a telescopic inner sleeve 6 is slidably connected to one end of the telescopic outer sleeve 5. The picking robot is installed at one end of the telescopic inner sleeve 6, and a transmission assembly is installed at the other end of the telescopic outer sleeve 5, and the transmission assembly and the telescopic inner sleeve 6 are coordinated with each other.

[0039] A further optimized solution is that the transmission assembly includes a telescopic motor 7 fixedly connected to the end of the telescopic outer sleeve 5, one end of the output shaft of the telescopic motor 7 is axially connected to a telescopic screw 8, a telescopic flange nut 9 is fixedly connected to the telescopic inner sleeve 6, and the telescopic flange nut 9 is threadedly matched with the telescopic screw 8.

[0040] The setting of the telescopic arm can increase the picking area of ​​the device and the single-stop operation area of ​​the device. The telescopic screw 8 is controlled to rotate by the telescopic motor 7. The telescopic inner sleeve 6 is controlled to slide along the axial direction through the threaded cooperation between the telescopic screw 8 and the telescopic flange nut 9, thereby controlling the extension or retraction of the entire telescopic arm.

[0041] According to a further optimized solution, the picking robot comprises a picking robot base 10 fixedly connected to one end of the telescopic inner sleeve 6, the top of the picking robot base 10 is rotatably connected to a picking robot arm 11, and an intelligent picking robot 12 is installed at the end of the picking robot arm 11.

[0042] According to a further optimization scheme, the control system includes a controller 13 installed on the main load-bearing frame 1 , and a visual positioning module is installed on the picking robot arm 11 , and the visual positioning module is electrically connected to the controller 13 .

[0043] According to a further optimization scheme, a coupling 14 is installed at one end of the output shaft of the telescopic motor 7 , and the telescopic screw 8 is axially connected to the telescopic motor 7 through the coupling 14 .

[0044] According to a further optimization scheme, a support frame 15 is fixedly connected to the top of the main load-bearing frame 1 , and two groups of support frames 15 are provided. Two harvesting boxes 2 are respectively fixed on the top surfaces of the two support frames 15 .

[0045] The specific picking process is as follows: use the depth camera in the intelligent picking robot 12 to obtain image information; import the image information obtained by the depth camera into the grape picking recognition neural network of the controller 13 for recognition and precise positioning; transmit the precise positioning information to the robot arm controller 13; import the precise positioning coordinates of the grape bunch and the depth camera point cloud information into the obstacle avoidance and path network to produce the mechanical picking robot arm path; transmit the path information to the picking robot arm 11, and the picking robot arm 11 moves to the target point according to the planned path; the cutting and clamping device in the intelligent picking robot arm 12 picks and clamps the grapes; the picking robot arm 11 moves to the top of the grape harvesting box 2; release the cutting and clamping device in the picking robot arm to put the grapes into the harvesting box 2; the picking robot arm 11 moves to the initial position; repeat the above process until the grapes in the area are harvested.

[0046] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0047] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent double-arm grape picking device, characterized in that: include: A main load-bearing frame (1), a suspension assembly being mounted on the main load-bearing frame (1), and the main load-bearing frame (1) being connected to the agricultural machine via the suspension assembly; A picking mechanism, wherein two groups of the picking mechanism are provided, and the two groups of the picking mechanism are symmetrically mounted on both sides of the main load-bearing frame (1), and the picking mechanism comprises a telescopic arm mounted on the main load-bearing frame (1), and a picking manipulator is mounted on the end of the telescopic arm; Harvesting boxes (2), wherein two groups of harvesting boxes (2) are provided, and both groups of harvesting boxes (2) are installed on the main load-bearing frame (1), and the two groups of harvesting boxes (2) are respectively provided corresponding to the two groups of picking manipulators; A control system, the control system being mounted on the main load-bearing frame (1), the control system being electrically connected to the two picking manipulators; The telescopic arm comprises a telescopic outer sleeve (5), the telescopic outer sleeve (5) is fixedly connected to the main load-bearing frame (1), one end of the telescopic outer sleeve (5) is slidably connected to a telescopic inner sleeve (6), the picking robot is installed at one end of the telescopic inner sleeve (6), the other end of the telescopic outer sleeve (5) is installed with a transmission component, and the transmission component and the telescopic inner sleeve (6) are matched in transmission; the transmission component comprises a telescopic motor (7) fixedly connected to the end of the telescopic outer sleeve (5), one end of the output shaft of the telescopic motor (7) is axially connected to a telescopic screw (8), and the telescopic inner sleeve (6) is fixedly connected to the inner sleeve (6). A telescopic flange nut (9) is connected, and the telescopic flange nut (9) and the telescopic lead screw (8) are threadedly matched; the picking robot comprises a picking machine base (10) fixedly connected to one end of the telescopic inner sleeve (6), the top of the picking machine base (10) is rotatably connected to a picking machine arm (11), and an intelligent picking robot (12) is installed at the end of the picking machine arm (11); the control system comprises a controller (13) installed on the main load-bearing frame (1), and a visual positioning module is installed on the picking machine arm (11), and the visual positioning module is electrically connected to the controller (13); Use the depth camera in the intelligent picking robot 12 to obtain image information; import the image information obtained by the depth camera into the grape picking recognition neural network of the controller 13 for recognition and precise positioning; transmit the precise positioning information to the robot arm controller 13; import the precise positioning coordinates of the grape bunch and the point cloud information of the depth camera into the obstacle avoidance and path network to produce the path of the mechanical picking robot arm; transmit the path information to the picking robot arm 11, and the picking robot arm 11 moves to the target point according to the planned path.

2. The intelligent double-arm grape picking device according to claim 1, characterized in that: The suspension assembly comprises a suspension frame (3) and a suspension connection node (4); the suspension frame (3) is a triangular structure; the suspension frame (3) is fixedly connected to the top of the main load-bearing frame (1); two groups of the suspension connection nodes (4) are provided; the two groups of the suspension connection nodes (4) are symmetrically arranged on one side of the main load-bearing frame (1); the main load-bearing frame (1) is detachably connected to the agricultural machinery via the suspension frame (3) and the suspension connection nodes (4).

3. The intelligent double-arm grape picking device according to claim 1, characterized in that: A coupling (14) is installed at one end of the output shaft of the telescopic motor (7), and the telescopic lead screw (8) is axially connected to the telescopic motor (7) via the coupling (14).

4. The intelligent double-arm grape picking device according to claim 1, characterized in that: A bearing frame (15) is fixedly connected to the top of the main load-bearing frame (1), and two groups of the bearing frames (15) are provided. The two harvesting boxes (2) are respectively fixed on the top surfaces of the two bearing frames (15).

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