Intelligent control picking robot

Abstract

The invention discloses an intelligent control picking robot, and relates to the technical field of picking equipment. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a driving air cylinder is arranged in the unmanned aerial vehicle body, a moving plate is fixedly installed on an air rod of the driving air cylinder, the moving plate is provided with a driving motor, and a picking mechanism is arranged on an output shaft of the driving motor; the intelligent control body case is provided with a camera set and an infrared obstacle avoidance sensor, a damping mechanism is arranged at the bottom of the unmanned aerial vehicle body and comprises a connecting base arranged at the bottom of the unmanned aerial vehicle body, a damping spring is fixedly installed on the connecting base, and an undercarriage is fixedly installed on the damping spring. The conical soft cushion can change according to the shape of a fruit so as to be attached to the peel of the fruit, the reset spring is extruded through cooperation of the connecting block, the claw rods cannot directly apply larger force to the peel of the fruit, and therefore the peel of the fruit is protected.

Description

Technical Field

[0001] The present invention belongs to the technical field of picking equipment, and in particular, relates to an intelligently controlled picking robot. Background Art

[0002] Fruit refers to juicy, sweet and sour, edible plant fruits. They are usually rich in nutrients such as vitamins, minerals, dietary fiber and antioxidants, and have many benefits to human health. There are many kinds of fruits, including but not limited to apples, bananas, oranges, grapes, strawberries, blueberries, peaches, plums, cherries, mangoes, pineapples, durian, etc.; and intelligently controlled harvesting robots have broad application prospects in modern agriculture. They can not only improve the efficiency and quality of crop picking and reduce the labor intensity of farmers, but also solve problems such as labor shortages and rising costs. With the continuous development of technology and the reduction of costs, intelligently controlled harvesting robots are expected to be applied and promoted in a wider range of agricultural scenarios.

[0003] After searching, Chinese patent number CN116114473A discloses a pine cone picking robot based on a rotary-wing drone, including a picking drone fuselage, a number of drone propellers, an intelligent control main chassis, a power system, a drone flight control system, a pine cone identification and positioning module, an intelligent control module, a branch cutting device, an actuator height adjustment device, and a camera group. The propellers of the drone are arranged above the picking drone fuselage, and the intelligent control main chassis is installed on the support frame at the bottom of the picking drone fuselage. Through machine vision, the location information of the pine cone is identified and obtained, the drone flies to the appropriate position, and the branch cutting device reaches the required cutting position. The mechanical claw grabs the branch to be cut, and the branch where the pine cone is located is sawed and cut off. Then the mechanical claw is released, and the pine cone falls naturally, completing the pine cone picking. It is easy to use, highly maneuverable, and can adapt to a variety of working environments. It can efficiently and accurately cut branches and pick pine cones while protecting the mother tree;

[0004] However, in the above patent, when picking, the device is easily subjected to impact force due to its own weight when it falls. If the impact force is too large, it will cause damage to the internal electronic components of the device, affecting the service life of the device. In addition, when this mechanical claw grabs pine cones, the pine cones are often damaged due to the differences in size and shape of individual pine cones. Summary of the invention

[0005] In view of the problems in the related technology, the present invention proposes an intelligently controlled picking robot to overcome the above-mentioned technical problems existing in the existing related technology.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention is an intelligently controlled harvesting robot, comprising an unmanned aerial vehicle (UAV) body, wherein a driving cylinder is arranged inside the UAV body, a moving plate is fixedly installed on the gas rod of the driving cylinder, the moving plate is provided with a driving motor, a picking mechanism is arranged on the output shaft of the driving motor, the UAV body is provided with an intelligently controlled main body chassis, the intelligently controlled main body chassis is provided with a camera group and an infrared obstacle avoidance sensor, a shock absorbing mechanism is arranged at the bottom of the UAV body, the shock absorbing mechanism comprises a connecting seat arranged at the bottom of the UAV body, a shock absorbing spring is fixedly installed on the connecting seat, and a landing gear is fixedly installed on the shock absorbing spring.

[0008] Furthermore, the driving cylinder is fixedly installed inside the drone body, one end of the gas rod is fixedly installed on the output end of the driving cylinder, and the other end passes through the drone body and is fixedly installed on the moving plate, one end of the telescopic rod is fixedly installed on the bottom of the drone body, and the other end of the telescopic rod is fixedly installed on the moving plate, and the driving motor is fixedly installed above the moving plate.

[0009] Furthermore, the picking mechanism includes a rotating disk arranged on the output shaft of the driving motor, the rotating disk is fixedly connected to the output shaft of the driving motor, the rotating disk is rotatably mounted on a connecting member, and the connecting member is fixedly mounted on the movable plate.

[0010] Furthermore, the rotating disk is fixedly installed with a first connecting rod, one end of the second connecting rod is rotatably installed on the first connecting rod, a claw rod is fixedly installed on the other end of the second connecting rod, and the second connecting rod is slidably connected to the inside of a sliding groove, and the sliding groove is opened on the connecting piece.

[0011] Furthermore, the claw rod is fixedly installed with a connecting block, the connecting block is slidably connected with a connecting shaft, one end of the connecting shaft is fixedly installed with a limit block, the other end is fixedly installed with a conical cushion, and the connecting shaft is sleeved with a reset spring.

[0012] Furthermore, the intelligent control main body chassis is fixedly installed on the drone body, the camera group and the infrared obstacle avoidance sensor are both fixedly installed on the intelligent control main body chassis, the drone body is fixedly installed with a frame, the frame is fixedly installed with a drive motor, and a propeller is rotatably installed on the top of the drive motor.

[0013] Furthermore, the connecting seat is fixedly installed at the bottom of the drone body, one end of the shock-absorbing spring is fixedly installed at the bottom of the connecting seat, and the other end is fixedly installed on the fixing plate, the fixing plate is fixedly installed with a protruding block, the protruding block is fixedly installed with a connecting plate, and the connecting plate is fixedly installed with a landing gear.

[0014] Furthermore, a solar panel is fixedly installed above the drone body, and a plurality of solar panels are provided.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention can effectively reduce the impact force received by the drone body during landing by utilizing the shock-absorbing spring and the landing gear, thereby preventing the internal components of the drone body from being damaged due to the external impact force and ensuring the service life of the drone body.

[0017] 2. The present invention allows the conical soft pad to contact the fruit skin before the claw rod when the claw rod is grabbing, and the conical soft pad will change according to the shape of the fruit so as to fit the fruit skin. At the same time, if the claw rod continues to slide, the fruit skin will push the conical soft pad in the opposite direction, and the conical soft pad will push the limit block to slide, and squeeze the return spring through cooperation with the connecting block to prevent the fruit from falling. At the same time, the claw rod cannot directly apply a greater force to the fruit skin, thereby protecting the fruit skin and preventing the fruit skin from being damaged due to the imbalance in size between the outer wall of the claw rod and the fruit.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on the following drawings without creative work.

[0020] Figure 1 The three-dimensional structure of the present invention Figure 1 ;

[0021] Figure 2 It is an enlarged view of point A of the present invention;

[0022] Figure 3 The three-dimensional structure of the present invention Figure 2 ;

[0023] Figure 4 The three-dimensional structure of the present invention Figure 3 ;

[0024] Figure 5 It is an enlarged view of B of the present invention;

[0025] Figure 6 The three-dimensional structure of the present invention Figure 4 ;

[0026] Figure 7The three-dimensional structure of the present invention Figure 5 ;

[0027] Figure 8 It is an enlarged view of location C of the present invention.

[0028] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0029] 1. UAV body; 2. Driving cylinder; 3. Air rod; 4. Moving plate; 5. Driving motor; 6. Intelligent control main chassis; 7. Camera group; 8. Infrared obstacle avoidance sensor; 9. Connecting seat; 10. Shock-absorbing spring; 11. Landing gear; 12. Telescopic rod; 13. Rotating plate; 14. Connecting piece; 15. First connecting rod; 16. Second connecting rod; 17. Claw rod; 18. Sliding groove; 19. Connecting block; 20. Connecting shaft; 21. Limit block; 22. Conical cushion; 23. Reset spring; 24. Frame; 25. Driving motor; 26. Propeller; 27. Fixing plate; 28. Protruding block; 29. ​​Connecting plate; 30. Solar panel. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0031] In the description of the present invention, it is necessary to understand that the terms "opening", "upper", "lower", "top", "middle", "inside" and the like indicating orientation or positional relationship are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention.

[0032] See also Figure 1-Figure 8 As shown, the present invention is an intelligently controlled harvesting robot, comprising an unmanned aerial vehicle body 1, a driving cylinder 2 is arranged inside the unmanned aerial vehicle body 1, a moving plate 4 is fixedly installed on the gas rod 3 of the driving cylinder 2, the moving plate 4 is provided with a driving motor 5, and a harvesting mechanism is arranged on the output shaft of the driving motor 5, the unmanned aerial vehicle body 1 is provided with an intelligently controlled main body chassis 6, the intelligently controlled main body chassis 6 is provided with a camera group 7 and an infrared obstacle avoidance sensor 8, a shock absorbing mechanism is arranged at the bottom of the unmanned aerial vehicle body 1, and the shock absorbing mechanism includes a connecting seat 9 arranged at the bottom of the unmanned aerial vehicle body 1, a shock absorbing spring 10 is fixedly installed on the connecting seat 9, and a landing gear 11 is fixedly installed on the shock absorbing spring 10.

[0033] The working principle of the intelligently controlled harvesting robot proposed by the present invention is that the drone body 1 is firstly brought close to the fruit tree. When the drone body 1 is flying in the woods, the camera group 7 starts to work. When an obstacle is found, the image data is transmitted to the drone flight control system in the intelligently controlled body chassis 6. The drone flight control system controls the drone body 1 to avoid the obstacle.

[0034] The camera group 7 transmits the data to the identification and positioning module inside the intelligent control main body chassis 6 for analysis to determine whether it is a miscellaneous tree. If it is a miscellaneous tree, the identification and positioning module transfers the information to the intelligent control system in the intelligent control main body chassis 6, and the intelligent control system calculates the obstacle avoidance plan and sends the moving signal to the drone body 1 to realize the automatic obstacle avoidance function;

[0035] After the drone body 1 reaches the designated position, the driving cylinder 2 drives the gas rod 3 and the moving plate 4 to adjust the height, thereby driving the picking mechanism to adjust the height, and then starts the driving motor 5 to drive the picking mechanism to move, thereby picking the fruit;

[0036] Finally, when the drone body 1 lands, the shock-absorbing spring 10 and the landing gear 11 can effectively reduce the impact force received by the drone body 1 during landing, preventing the internal components of the drone body 1 from being damaged due to external impact force, thereby ensuring the service life of the drone body 1.

[0037] In one embodiment, for the above-mentioned driving cylinder 2, the driving cylinder 2 is fixedly installed inside the drone body 1, one end of the gas rod 3 is fixedly installed at the output end of the driving cylinder 2, and the other end passes through the drone body 1 and is fixedly installed with the moving plate 4, one end of the telescopic rod 12 is fixedly installed at the bottom of the drone body 1, and the other end of the telescopic rod 12 is fixedly installed on the moving plate 4, and the driving motor 5 is fixedly installed above the moving plate 4.

[0038] The working principle of the intelligently controlled picking robot proposed by the present invention is to start the driving cylinder 2, thereby driving the gas rod 3 to move, and then driving the moving plate 4 to move, thereby driving the telescopic rod 12 to contract or extend, which can play a guiding and supporting role.

[0039] In one embodiment, for the above-mentioned picking mechanism, the picking mechanism includes a rotating disk 13 arranged on the output shaft of the driving motor 5, the rotating disk 13 is fixedly connected to the output shaft of the driving motor 5, the rotating disk 13 is rotatably mounted on the connecting member 14, and the connecting member 14 is fixedly mounted on the movable plate 4.

[0040] In one embodiment, for the above-mentioned rotating disk 13, the rotating disk 13 is fixedly installed with a first connecting rod 15, and the first connecting rod 15 is rotatably installed with one end of a second connecting rod 16, and the other end of the second connecting rod 16 is fixedly installed with a claw rod 17, and the second connecting rod 16 is slidably connected to the inside of a sliding groove 18, and the sliding groove 18 is opened on the connecting member 14.

[0041] In one embodiment, for the above-mentioned claw rod 17, the claw rod 17 is fixedly installed with a connecting block 19, the connecting block 19 is slidably connected with a connecting shaft 20, one end of the connecting shaft 20 is fixedly installed with a limiting block 21, and the other end is fixedly installed with a conical cushion 22, and the connecting shaft 20 is sleeved with a reset spring 23.

[0042] The working principle of the intelligently controlled picking robot proposed by the present invention is that when picking fruits, the driving motor 5 drives the rotating disk 13 to rotate, the rotating disk 13 drives one end of the first connecting rod 15 to move, and the other end of the first connecting rod 15 drives the second connecting rod 16 to rotate, thereby driving the claw rod 17 to slide inside the sliding groove 18, and the claw rod 17 drives the connecting block 19 to slide when sliding. When the claw rod 17 performs a grabbing action, the conical soft pad 22 will contact the fruit skin first before the claw rod 17, and the conical soft pad 22 will change according to the shape of the fruit so as to fit the fruit skin. At the same time, if the claw rod 17 continues to slide, the fruit skin will push the conical soft pad 22 in the opposite direction, and the conical soft pad 22 will push the limit block 21 to slide, and squeeze the reset spring 23 through cooperation with the connecting block 19, so that the fruit will not fall. At the same time, the claw rod 17 cannot directly apply a greater force to the fruit skin, thereby protecting the fruit skin, so that the fruit skin will not be damaged due to the imbalance of the size of the fruit and the outer wall of the claw rod 17 directly contacting the fruit.

[0043] Finally, a rotation is performed to cause the fruit to fall off the tree and be collected inside the collection box.

[0044] In one embodiment, for the above-mentioned intelligent control main body chassis 6, the intelligent control main body chassis 6 is fixedly installed on the drone body 1, the camera group 7 and the infrared obstacle avoidance sensor 8 are both fixedly installed on the intelligent control main body chassis 6, the drone body 1 is fixedly installed with a skeleton 24, the skeleton 24 is fixedly installed with a drive motor 25, and a propeller 26 is rotatably installed on the top of the drive motor 25.

[0045] In one embodiment, for the above-mentioned connecting seat 9, the connecting seat 9 is fixedly installed at the bottom of the drone body 1, one end of the shock-absorbing spring 10 is fixedly installed at the bottom of the connecting seat 9, and the other end is fixedly installed on the fixing plate 27, the fixing plate 27 is fixedly installed with a protruding block 28, the protruding block 28 is fixedly installed with a connecting plate 29, and the connecting plate 29 is fixedly installed with a landing gear 11.

[0046] In one embodiment, for the above-mentioned drone body 1 , a solar panel 30 is fixedly installed above the drone body 1 , and a plurality of solar panels 30 are provided.

[0047] The working principle of the intelligently controlled harvesting robot proposed in the present invention is to start the driving motor 25 to drive the propeller 26 to rotate, thereby driving the drone body 1 to fly and shoot. The solar panels 30 can absorb sunlight when the drone body 1 is flying, thereby storing energy and making full use of natural resources.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0049] The preferred embodiments of the invention disclosed above are only used to help illustrate the invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made based on the content of this specification. This specification selects and specifically describes the embodiments in order to better explain the principles and practical applications of the invention, so that technicians in the relevant technical field can better understand and use the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligently controlled harvesting robot, comprising a drone body (1), characterized in that: The drone body (1) is provided with a driving cylinder (2) inside, the driving cylinder (2) has a gas rod (3) fixedly mounted with a moving plate (4), the moving plate (4) is provided with a driving motor (5), the output shaft of the driving motor (5) is provided with a picking mechanism, the drone body (1) is provided with an intelligent control body chassis (6), the intelligent control body chassis (6) is provided with a camera group (7) and an infrared obstacle avoidance sensor (8), the drone body (1) is provided with a shock absorbing mechanism at the bottom, the shock absorbing mechanism comprises a connecting seat (9) arranged at the bottom of the drone body (1), the connecting seat (9) is fixedly mounted with a shock absorbing spring (10), and the shock absorbing spring (10) is fixedly mounted with a landing gear (11).

2. The intelligently controlled harvesting robot according to claim 1, characterized in that: The driving cylinder (2) is fixedly mounted inside the drone body (1); one end of the gas rod (3) is fixedly mounted on the output end of the driving cylinder (2); the other end of the gas rod (3) passes through the drone body (1) and is fixedly mounted on the moving plate (4); one end of a telescopic rod (12) is fixedly mounted on the bottom of the drone body (1); the other end of the telescopic rod (12) is fixedly mounted on the moving plate (4); and the driving motor (5) is fixedly mounted above the moving plate (4).

3. The intelligently controlled picking robot according to claim 2, characterized in that: The picking mechanism comprises a rotating disk (13) arranged on the output shaft of a driving motor (5), the rotating disk (13) being fixedly connected to the output shaft of the driving motor (5), the rotating disk (13) being rotatably mounted on a connecting member (14), and the connecting member (14) being fixedly mounted on a moving plate (4).

4. The intelligently controlled harvesting robot according to claim 3, characterized in that: The rotating disk (13) is fixedly mounted with a first connecting rod (15), one end of a second connecting rod (16) is rotatably mounted on the first connecting rod (15), a claw rod (17) is fixedly mounted on the other end of the second connecting rod (16), and the second connecting rod (16) is slidably connected to the inside of a sliding groove (18), and the sliding groove (18) is provided on the connecting piece (14).

5. The intelligently controlled harvesting robot according to claim 4, characterized in that: The claw rod (17) is fixedly mounted with a connecting block (19), the connecting block (19) is slidably connected with a connecting shaft (20), one end of the connecting shaft (20) is fixedly mounted with a limiting block (21), the other end of the connecting shaft (20) is fixedly mounted with a conical cushion (22), and the connecting shaft (20) is sleeved with a return spring (23).

6. The intelligently controlled harvesting robot according to claim 1, characterized in that: The intelligent control main body chassis (6) is fixedly mounted on the drone main body (1); the camera group (7) and the infrared obstacle avoidance sensor (8) are both fixedly mounted on the intelligent control main body chassis (6); the drone main body (1) is fixedly mounted with a frame (24); the frame (24) is fixedly mounted with a drive motor (25); and a propeller (26) is rotatably mounted on the top of the drive motor (25).

7. The intelligently controlled harvesting robot according to claim 6, characterized in that: The connecting seat (9) is fixedly mounted on the bottom of the drone body (1); one end of the shock-absorbing spring (10) is fixedly mounted on the bottom of the connecting seat (9); the other end of the shock-absorbing spring (10) is fixedly mounted on a fixing plate (27); a protruding block (28) is fixedly mounted on the fixing plate (27); a connecting plate (29) is fixedly mounted on the connecting plate (29); and a landing gear (11) is fixedly mounted on the connecting plate (29).

8. The intelligently controlled harvesting robot according to claim 1, characterized in that: A solar panel (30) is fixedly mounted above the drone body (1), and a plurality of solar panels (30) are provided.

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