High-water-content safflower root cutting feeding type end effector, robot and harvesting method

Abstract

The invention relates to a high-water-content safflower root cutting feeding type end effector, a robot and a harvesting method. The high-water-content safflower root cutting feeding type end effector comprises a shell, a motor, a sensor, a feeding mechanism, a root cutting mechanism and a sliding rail mechanism. Three groups of high-water-content safflower root cutting feeding type end effectors which are symmetrically arranged on the left, the middle and the right form a filament picking device, and the filament picking device, a movable rack and a safflower filament collecting system mounted on the rack jointly form a robot; in the picking process, the high-water-content safflower root cutting feeding type end effector winds the safflower into an air expansion roller shaft, a motor and a sensor control the gap of the roller shaft in a self-adaptive mode, filaments enter the roller shaft and have certain pre-tightening force, and under the condition that the filament structure is not damaged, the root cutting mechanism conducts high-water-content safflower root cutting; the safflower silk collecting system comprises a silk collecting device, an information collecting device and an automatic control device. Safflower recognition and positioning are completed through the information acquisition device, the automatic control device coordinates with the actuator to achieve simultaneous harvesting of multiple safflowers, and the filament harvesting efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and particularly relates to a high-moisture-content safflower root cutting-feeding end effector, a robot and a harvesting method thereof. Background Art

[0002] In recent years, more and more safflower picking focuses on fresh safflower harvesting. However, the current fresh safflower picking actuators on the market lack consideration of the physical properties of safflower, such as high moisture content and poor compression resistance. In addition, traditional roller feeding does not pay attention to the protection of safflower filaments, which can easily break the filaments and lead to poor quality of regrown filaments, which cannot meet people's demand for high-quality safflower filament picking.

[0003] There is a single-blade multi-target safflower harvesting end effector, harvesting device and harvesting method (publication number: CN116326337A). The device proposes a single end effector to pick multiple flowers at the same time, but the arrangement of the end effector ignores the natural growth law of safflower, and multiple flowers will not be distributed on the same picking plane at the same time, resulting in multiple knives can only harvest a single safflower, making it difficult to further improve the picking efficiency. There is also a safflower harvesting end effector, robot and harvesting method (announcement number: CN115136793B). The device proposes a multi-target end effector for synchronously picking multiple safflower fruit balls, but the movement path of the end effector is single, and it is also impossible to achieve the picking of safflowers at each flower entrance. There is also a dwarf safflower profiling harvester and harvesting method (announcement number: CN113692849B). The device is harvested by manual pushing. In terms of obtaining safflower position information, it is impossible to identify and pick the safflower at the bottom of the robot. Therefore, the fitting is difficult and the reliability is difficult to guarantee.

[0004] Therefore, in order to solve the difficulties in harvesting safflower with high moisture content and pay attention to the protection of safflower filaments, a high-moisture-content safflower root-cutting feeding end effector is designed. During the picking process, the safflower end effector pre-clamps the safflower with high moisture content and then cuts the root, which can reduce the squeezing of safflower by the feeding mechanism and reduce the loss rate of safflower filaments. At the same time, multiple end effectors can realize the simultaneous harvesting of multiple fruit balls, improving the efficiency of filament harvesting. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to provide a high-moisture content safflower root-cutting feeding end effector, which can divide the safflower filaments into regions for picking according to the distribution pattern of the fruit balls. During the picking process, the safflower with high moisture content is pre-clamped and then cut with a knife, which can reduce the squeezing of the safflower by the roller mechanism and reduce the loss rate of the safflower filaments. In addition, multiple end effectors can realize the harvesting operation of multiple fruit balls at the same time, thereby improving the filament harvesting efficiency. Another purpose of the present invention is to provide a safflower picking robot. Another purpose of the present invention is to provide a harvesting method using a safflower picking robot.

[0006] Technical solution: The high-moisture content safflower root cutting feeding end effector of the present invention comprises a housing, a motor and a sensor, a slide rail mechanism, a feeding mechanism and a root cutting mechanism;

[0007] The motor and the sensor are installed outside the housing and are connected to the slide rail mechanism and the feeding mechanism respectively, so as to drive the feeding mechanism and the undercutting mechanism;

[0008] The feeding mechanism is installed in the housing and is used to pre-clamp the safflower;

[0009] The root cutting mechanism is installed in the shell through a slide rail mechanism and is placed below the feeding mechanism for root cutting safflower.

[0010] In the above technical scheme, during the picking process, the high-moisture-content safflower root-cutting feeding end effector rolls the safflower into the air-expanded roller shaft, and the motor and sensor adaptively control the roller shaft gap through the pressure of the flower wire entering the roller shaft to ensure that the flower wire has a certain pre-tightening force when entering the roller shaft, pre-clamp the flower wire without destroying the flower wire structure, and the root-cutting mechanism performs high-moisture-content safflower root-cutting.

[0011] Furthermore, the motor and the sensor include a first motor and a second motor; the feeding mechanism is composed of two air-expanding roller shafts; the air-expanding roller shafts are made of flexible materials such as silicone or rubber, and have fine textures or grooves on the surface, and the expansion and contraction of the shaft body are achieved through inflation or deflation operations;

[0012] The first motor is connected to the air expansion roller shaft through a gear, and the first motor drives the two air expansion roller shafts to rotate in opposite directions.

[0013] Furthermore, the motor and the sensor include a first motor and a second motor; the root cutting mechanism is composed of two sets of cutting tools;

[0014] The slide rail mechanism includes two relatively arranged sliders, a slide seat and a slide rod, wherein the slider is used to install the cutting tool, the slide rod is used to connect the two cutting tools, one end of the slide rod is connected to the cutting tool on one side, and the other end of the slide rod is connected to the cutting tool on the other side, and the slider is connected to the slide rod; the second motor is connected to the slide rod through the rack and drives the slider to move on the slide seat, and the slide rod moves up and down to drive the cutting tool to reciprocate.

[0015] Furthermore, the two tracks are arranged opposite to each other with a gap therebetween, and the two tracks surround and form a groove space for accommodating the safflower and guiding the filaments to enter the feeding mechanism at a proper angle and position to prevent the filaments from separating.

[0016] On the other hand, the present invention provides a safflower picking robot, the safflower picking robot comprising the above-mentioned high-moisture content safflower root cutting and feeding end effector, and also comprising a mobile frame, a filament picking device and a safflower filament collecting system;

[0017] The mobile frame is used to install the flower silk picking device and the safflower silk collecting system;

[0018] The high-moisture content safflower root cutting feeding end effector is installed on the filament picking device, and the filament picking device is used to adjust the inclination angle and / or telescopic distance of the high-moisture content safflower root cutting feeding end effector;

[0019] The safflower silk collection system includes a silk collection device, an information collection device and an automatic control device;

[0020] The wire collecting device is connected to the high-moisture-content safflower root cutting feeding end effector, and is used to provide negative pressure to the high-moisture-content safflower root cutting feeding end effector to suck the root-cut safflower;

[0021] The information collection device is used to collect the current picking area information and send the collected information to the automatic control device;

[0022] The automatic control device is respectively connected with the high-moisture-content safflower root cutting and feeding type end effector, the mobile frame and the filament picking device. The automatic control device is used to control the opening of the high-moisture-content safflower root cutting and feeding type end effector, plan the moving path of the mobile frame, control the filament picking device to enter the harvesting state and adjust the picking posture and telescopic distance of the high-moisture-content safflower root cutting and feeding type end effector.

[0023] Furthermore, the mobile frame includes a support frame, a rear wheel walking mechanism and a front wheel steering mechanism;

[0024] The support frame comprises a rectangular frame, support legs connected to the rectangular frame, and a support beam arranged between the support legs; a front wheel steering mechanism and a rear wheel walking mechanism are arranged at the bottom end of the support frame.

[0025] Furthermore, the filament picking device includes a mounting frame, a connecting frame, an adjusting electric cylinder and a moving electric cylinder;

[0026] The mounting frame is installed on the mobile frame, one end of the connecting frame is installed on the mounting frame, and the other end is installed on the high-moisture content safflower root cutting and feeding type end effector; one end of the adjusting electric cylinder is installed on the mounting frame, and the other end is installed on the connecting frame, which is used to adjust the inclination angle of the high-moisture content safflower root cutting and feeding type end effector; the moving electric cylinder is installed on the connecting frame, which is used to adjust the telescopic distance of the connecting frame.

[0027] Furthermore, the connecting frame includes a fixed frame and a telescopic frame; wherein the telescopic frame is sleeved in the fixed frame, one end of the fixed frame is connected to the mounting frame, and the other end is connected to the high-moisture content safflower root cutting feeding end effector.

[0028] Furthermore, the wire collecting device comprises a wire collecting hose, a wire collecting box and a negative pressure fan; the negative pressure fan is arranged on the wire collecting box to provide negative pressure, the wire collecting hose is installed in the wire collecting box, and the inlet of the wire collecting hose is used to extend into the high-moisture content safflower root cutting feeding end effector to suck the root-cut safflower;

[0029] The information collection device includes a positioning device and a depth camera; the automatic control device includes a control module, a power module and a protective cover;

[0030] A positioning device and a depth camera are respectively arranged on the top and front end of the protective cover, and a power module and a control module are arranged inside the protective cover.

[0031] On the other hand, the present invention provides a harvesting method using the above-mentioned safflower picking robot, comprising the following steps:

[0032] S1, positioning between rows of safflowers; the safflower picking robot provides real-time position feedback through the positioning device; the depth camera provides a three-dimensional view of the surrounding environment to help the robot identify and locate safflowers, thereby achieving accurate navigation and target recognition; the two-dimensional position information provided by the positioning device and the three-dimensional environment information captured by the depth camera are integrated, and the position center of the safflower picking robot and the midpoint of the picking area are connected to form a picking path Lr to complete the positioning between rows of safflowers;

[0033] S2, safflower target recognition and positioning: The depth camera recognizes the flower distribution information of the safflower plant and generates the three-dimensional position of the safflower picking point. The safflower picking robot divides the safflower plant into three picking areas (left, middle and right) according to the three-dimensional coordinate positions of multiple picking points. 1 , A 2 , A 3 ), the control module controls the safflower picking robot to travel along the picking path Lr, completes the safflower target recognition and positioning, and prepares to enter the picking state;

[0034] S3, safflower silk picking; Step 1: The automatic control device controls the silk picking device to enter the harvesting state, and adjusts the electric cylinder and the motion electric cylinder to adjust the picking posture and telescopic distance of the high-moisture content safflower root cutting feeding end effector respectively, and at the same time, the negative pressure fan in the safflower silk collection system is started;

[0035] Step 2: With the power module as the power source, the first motor drives the two air-expanding rollers to rotate in opposite directions, and the filaments are rolled into the rollers to pre-clamp the filaments. The second motor is connected to the slide bar through the rack and drives the cutting tool on the slide to reciprocate, so that the air-expanding rollers pre-clamp the safflower and the cutting tool cuts the safflower root;

[0036] S4, the filament picking device is reset; the cut safflower filaments are sucked into the wire collecting box through the wire collecting hose, the picking state ends, the negative pressure fan is started and closed, the filament picking device is reset, and the next operation is prepared, and step S1 is entered again.

[0037] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. The air-expanded roller shaft is self-adaptive to the gap between rollers to protect the safflower filaments. The air-expanded roller shaft is made of flexible materials such as silicone or rubber, and has fine textures or grooves on the surface to enhance the friction of the filaments entering the feeding mechanism; the safflower filaments are rolled into the air-expanded roller shaft, and the motor and sensor control the roller shaft gap self-adaptively through the pressure of the filaments entering the roller shaft, ensuring that the filaments have a certain pre-tightening force when entering the roller shaft, so as to clamp the filaments without damaging them and protect the safflower filaments.

[0038] 2. The air-expanding roller pre-clamps the safflower, and the root-cutting mechanism realizes the root-cutting of the safflower. With the power module as the power source, the first motor drives the two air-expanding rollers of the feeding mechanism to rotate in opposite directions. After the filament is rolled into the roller, the filament is pre-clamped. The second motor is connected to the sliding rod through the rack to drive the cutting tool of the root-cutting mechanism to reciprocate, so that the air-expanding roller pre-clamps the safflower, and the root-cutting mechanism realizes the cutting tool to root-cut the safflower.

[0039] 3. The adjustment electric cylinder and the motion electric cylinder adjust the picking posture and telescopic distance of the safflower end effector respectively. Three groups of high-water content safflower root cutting feeding end effectors arranged symmetrically on the left, middle and right sides can harvest safflower within the harvesting range, but the distribution of safflower fruit balls on the plants is relatively random, and it is impossible to accurately cover every safflower, resulting in a high missed harvesting rate. The adjustment electric cylinder is controlled by the control module to adjust the picking posture of the left and right end actuators to achieve simultaneous harvesting of multiple fruit balls in the area, thereby improving the efficiency of flower silk harvesting.

[0040] 4. The positioning device and the depth camera position information are integrated to achieve safflower target recognition and positioning. The depth camera identifies the flower distribution information of the safflower plant and generates the three-dimensional position of the safflower picking point. The safflower picking robot identifies the safflower plant according to the three-dimensional coordinate positions of multiple picking points through the two-dimensional position information provided by the positioning device and the depth camera, and divides the picking area information of the three picking areas of left, middle and right. The center of the safflower picking robot position and the midpoint of the picking area are connected to form a picking path Lr. The control module controls the safflower picking robot to travel along the picking path Lr to achieve safflower target recognition and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of a high-moisture content safflower root cutting feeding end effector of the present invention;

[0042] Figure 2 It is a schematic diagram of the shell-free structure of the high-moisture content safflower root cutting and feeding end effector of the present invention;

[0043] Figure 3 It is a top view of the shell-free structure of the high-moisture-content safflower root cutting and feeding end effector of the present invention;

[0044] Figure 4 It is a schematic diagram of the connection between the motor and the sensor and the feeding mechanism;

[0045] Figure 5 It is a schematic diagram of the connection between the motor and the sensor and the slide rail mechanism and the root cutting mechanism;

[0046] Figure 6 It is a structural schematic diagram of safflower feeding root cutting of the present invention;

[0047] Figure 7 It is a structural schematic diagram of the support plate of the present invention;

[0048] Figure 8 It is a structural schematic diagram of the mobile rack of the present invention;

[0049] Fig. 9 It is a structural schematic diagram of the support frame of the present invention;

[0050] Fig.10 It is a structural schematic diagram of the filament picking device of the present invention;

[0051] Fig.11 It is a structural schematic diagram of the connecting frame of the present invention;

[0052] Fig.12 It is a structural schematic diagram of the safflower silk collecting system of the present invention;

[0053] Fig.13 is a front view of the safflower picking robot of the present invention;

[0054] Fig.14 This is a schematic diagram of dividing the picking areas of the safflower picking robot of the present invention;

[0055] Fig.15 Schematic diagram of the harvesting path Lr of the safflower picking robot of the present invention;

[0056] Fig.16 The invention discloses a harvesting method of a high-water-content safflower root cutting-feeding end effector and a robot.

[0057] The reference numerals are as follows: 1. High-moisture content safflower root cutting feeding end effector; 11. Housing; 111. End effector shield; 112. Support plate; 1121. Roller hole; 1122. Tool moving slot; 12. Motor and sensor; 121. First motor; 122. Second motor; 13. Slide mechanism; 131. Sliding block; 132. Sliding seat; 133. Sliding rod; 14. Feeding mechanism; 141. Inflatable roller; 15. Root cutting mechanism; 151. Cutting tool; 2. Moving frame; 21. Support frame; 211. Rectangular frame; 212. Support Leg support; 213. Support beam; 22. Rear wheel walking mechanism; 23. Front wheel steering mechanism; 3. Flower wire picking device; 31. Mounting frame; 32. Connecting frame; 321. Fixed frame; 322. Telescopic frame; 33. Adjusting electric cylinder; 34. Moving electric cylinder; 4. Red flower wire collection system; 41. Wire collection device; 411. Wire collection hose; 412. Wire collection box; 413. Negative pressure fan; 42. Information collection device; 421. Positioning device; 422. Depth camera; 43. Automatic control device; 431. Control module; 432. Power module; 433. Protective cover; L 1 .Extension distance of the middle arrangement moving electric cylinder; L 2 .Extension distance of the left and right arrangement of the electric cylinder; L 3 . Adjust the telescopic distance of the electric cylinder at both ends; L 4 . The gap between the two air rollers; L 5 .The distance the tool moves in the moving slot; Lr. The optimal picking path. DETAILED DESCRIPTION

[0058] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0059] like Figures 1 to 3 As shown, an embodiment of the present invention provides a high-moisture-content safflower root-cutting and feeding end effector 1 for shearing high-moisture-content safflower, comprising a housing 11, a motor and sensor 12, a slide rail mechanism 13, a feeding mechanism 14 and a root-cutting mechanism 15.

[0060] The motor and sensor 12 are installed outside the housing 11 and are connected to the slide rail mechanism 13 and the feeding mechanism 14 respectively, so as to drive the feeding mechanism 14 and the root cutting mechanism 1 .

[0061] The feeding mechanism 14 is installed in the housing 11 and is used for pre-clamping safflower.

[0062] The root cutting mechanism 15 is installed in the housing 11 through the slide rail mechanism 13 and is placed below the feeding mechanism 14 for root cutting safflower.

[0063] like Figure 4-5 As shown, the motor and sensor 12 includes a first motor 121, a second motor 122 and a sensor; the feeding mechanism 14 is composed of two air-expanding roller shafts 141; and the root cutting mechanism 15 is composed of two sets of cutting tools 151.

[0064] The first motor 121 is connected to the air-expanding roller shaft 141 through gears, and the first motor 121 drives the two air-expanding roller shafts 141 to rotate in opposite directions.

[0065] The slide rail mechanism 13 includes two relatively arranged sliders 131, a slide seat 132 and a slide bar 133, wherein the slider 131 is used to install the cutting tool 151, the slide bar 133 is used to connect the two cutting tools 151, one end of the slide bar 133 is connected to the cutting tool 151 on one side, the other end of the slide bar 133 is connected to the cutting tool 151 on the other side, and the slider 131 is connected to the slide bar 133; the second motor is connected to the slide bar 133 through the rack and drives the slider 131 to move on the slide seat 132, and the slide bar 133 moves up and down to drive the cutting tool 151 to reciprocate. The two tracks are arranged relatively with a gap between them, and the two tracks are arranged to form a groove space for accommodating safflower and guiding the filaments to enter the rollers at an appropriate angle and position to prevent the filaments from separating.

[0066] The sensor is used to adaptively control the roller gap, and the structure of the sensor and the method for adaptively controlling the roller gap are both prior art. The inflatable roller is made of flexible materials such as silicone or rubber, and has fine textures or grooves on the surface. The control module 431 controls the negative pressure fan 413 to inflate or deflate to achieve expansion and contraction of the shaft;

[0067] Figure 6As shown, when collecting safflower filaments, the safflower is located in the groove space formed by the two tracks, and the safflower filaments extend from the gap between the two tracks into the high-moisture content safflower root cutting feeding type end effector 1, and the two air-expanding rollers 141 rotate in opposite directions and pre-clamp the safflower filaments. The outermost layers of the two air-expanding rollers 141 are made of rubber material. Under the action of negative pressure, the filaments are sucked in the direction of the two air-expanding rollers 141; the gap between the two air-expanding rollers 141 is adjusted so that the filaments are not clamped off. After the air-expanding rollers 141 clamp the top of the filaments, the two cutting knives 151 gather together to cut off the root of the filaments. The cut filaments are sucked out from the top of the high-moisture content safflower root cutting feeding type end effector 1 under the action of negative pressure. After the two cutting knives 151 gather together, a closed structure is formed inside the high-moisture content safflower root cutting feeding type end effector 1, which is conducive to the suction of the filaments.

[0068] The feeding mechanism 14, the root cutting mechanism 15, and the slide rail mechanism 13 are respectively connected through the roller shaft hole 1121 and the tool moving slot 1122 provided on the support plate 112, and are synchronously rotated by the motor and the sensor 12 to achieve joint root cutting of high-moisture content safflower.

[0069] like Figure 5 and Figure 7 As shown, the housing 11 includes an end effector shield 111 and a support plate 112; wherein a feeding mechanism 14, a root cutting mechanism 15 and a slide rail mechanism 13 are installed in the end effector shield 111, and the support plate 112 is used to support and install the track and motor in the slide rail mechanism 13, as well as the sensor 12 and the feeding mechanism 14.

[0070] The support plate 112 is provided with a roller hole 1121 and a tool moving slot 1122 , and the two ends of the feeding mechanism 14 pass through the roller hole 1121 to be connected with the gear, and the two cutting tools 151 are slidably installed on the tool moving slot 1122 .

[0071] like Figure 8 As shown, the mobile frame 2 includes a support frame 21, a rear wheel walking mechanism 22, and a front wheel steering mechanism 23.

[0072] like Fig. 9 As shown, the support frame 21 includes a rectangular frame 211, support legs 212 and support beams 213; wherein the support legs 212 are connected to the rectangular frame 211, and the support beams 213 are arranged between two adjacent support legs 212; a rear wheel walking mechanism 22 and a front wheel steering mechanism 23 are arranged at the bottom end of the support frame 21. Optionally, there are two support beams, and the two support beams are arranged opposite to each other.

[0073] like Fig.10As shown, in this embodiment, the filament picking device 3 includes a mounting frame 31, a connecting frame 32, an adjusting electric cylinder 33 and a moving electric cylinder 34 in addition to the high-moisture content safflower root cutting feeding type end effector 1; the filament picking device 3 has three high-moisture content safflower root cutting feeding type end effectors 1 as an example, and the high-moisture content safflower root cutting feeding type end effectors 1 at the two ends are respectively installed with an adjusting electric cylinder 33 and a moving electric cylinder 34, and the high-moisture content safflower root cutting feeding type end effector 1 at the middle position is only installed with a moving electric cylinder 34. Each high-moisture content safflower root cutting feeding type end effector 1 has a set of connecting frames 32, which are installed on the mounting frame 31 through the connecting frames 32.

[0074] like Fig.11 As shown, the connecting frame 32 includes a fixed frame 321 and a telescopic frame 322 sleeved in the fixed frame 321; one end of the moving electric cylinder 34 is connected to the fixed frame 321, and the other end is connected to the telescopic frame 322, so as to realize the telescopic picking of high-moisture content safflower root cutting feeding end effector 1.

[0075] Specifically, the mounting frame 31 is used to be fixedly connected to the support frame 21; one end of the adjusting electric cylinder 33 is connected to the mounting frame 31, and the other end is connected to the fixed frame 321, which is used to adjust the picking posture of the end effector; one end of the moving electric cylinder 34 is connected to the fixed frame 321, and the other end is connected to the telescopic frame 322, which is used to adjust the telescopic distance of the end effector.

[0076] like Fig.12 As shown, the safflower wire collecting system 4 includes a wire collecting device 41, an information collection device 42 and an automatic control device 43; the wire collecting device 41 includes a wire collecting hose 411, a wire collecting box 412 and a negative pressure fan 413; one end of the wire collecting hose 411 is connected to the end effector shield 111, and the other end is connected to the wire collecting box 412; the wire collecting box 412 is fixed to the top of the support frame 21, and a negative pressure fan 413 is provided on the top.

[0077] The information acquisition device 42 includes a positioning device 421 and a depth camera 422; the automatic control device 43 includes a control module 431, a power module 432 and a protective cover 433; the top and front end of the protective cover 433 are respectively provided with a positioning device 421 and a depth camera 422; the left end of the protective cover 433 is provided with a power module 432, and the right end is provided with a control module 431.

[0078] In this embodiment, the high-moisture-content safflower root-cutting and feeding end effector 1 uses the power module 432 as the power source, and the slide rail mechanism 13 transmits power to the feeding mechanism 14, and simultaneously drives the root-cutting mechanism 15 to reciprocate, so that the air-expanding roller 141 pre-clamps the safflower, and the cutting tool 151 root-cuts the safflower.

[0079] In this embodiment, the feeding mechanism 14 is composed of two air-expanding rollers 141, and air is supplied by a negative pressure fan 413 to adjust the gap between the two air-expanding rollers 141 to clamp the safflower, and the roller gap distance is adjusted to L. 4 , ranging from 0.5 to 1.5 mm.

[0080] In this embodiment, the root cutting mechanism 15 is composed of two cutting tools 151, which are connected and driven by the slide rail mechanism 13. The cutting tools 151 have a cutting angle of θ in the range of 1 to 3°.

[0081] In this embodiment, the support plate 112 is provided with a tool moving slot 1122, and the moving distance of the cutting tool 151 in the tool moving slot 1122 is L. 5 , ranging from 0 to 20mm.

[0082] In this embodiment, the safflower picking robot is provided with three groups of high-moisture content safflower root cutting feeding end effectors 1 arranged symmetrically on the left, middle and right sides. The filament picking device 3 coordinates multiple groups of high-moisture content safflower root cutting feeding end effectors 1 to pick safflower. The vertical telescopic distance of the high-moisture content safflower root cutting feeding end effector 1 arranged in the middle is L. 1 , the range is 0~160mm.

[0083] In this embodiment, the vertical telescopic distance of the high-moisture content safflower root cutting feeding end effector 1 arranged on the left and right is L 2 , ranging from 0 to 110mm.

[0084] In this embodiment, the telescopic distance of the adjusting electric cylinder 33 at the left and right ends of the high-moisture content safflower root cutting feeding end effector 1 is L 3 , the range is 0~100mm.

[0085] In this embodiment, the depth camera 422 identifies the flower distribution information of the safflower plant and generates the three-dimensional position of the safflower picking point. The safflower picking robot divides the safflower plant into three picking areas (left, middle and right) according to the three-dimensional coordinate positions of the multiple picking points. 1 , A 2 , A 3 ), and the filament picking device 3 coordinates the high-moisture content safflower root cutting feeding end effector 1 distributed on the left, middle and right to complete the picking.

[0086] like Fig.13 As shown, three groups of high-moisture content safflower root cutting and feeding end effectors symmetrically arranged on the left, middle and right constitute a filament picking device. The filament picking device, the mobile frame and the safflower filament collecting system installed on the frame together constitute a safflower picking robot to harvest the safflower within the harvesting range.

[0087] like Fig.14As shown, the safflower picking robot identifies the safflower plant through the two-dimensional position information provided by the positioning device 421 and the depth camera 422 and divides the plant into three picking areas (left, middle and right) 1 , A 2 , A 3 )’s picking area information.

[0088] like Fig.15 As shown, the center of the safflower picking robot and the midpoint of the safflower plant picking area (B 1 , B 2 ) are connected into a picking path Lr, and the control module 431 controls the safflower picking robot to travel along the picking path Lr.

[0089] In this embodiment, the safflower picking robot identifies the safflower plant through the two-dimensional position information provided by the positioning device 421 and the depth camera 422 and divides the picking area information into three left, middle and right picking areas (A 1 , A 2 , A 3 ), with the safflower picking robot position center C 1 and the midpoint of the picking area (B 1 , B 2 ) are connected into a picking path Lr, and the control module 431 controls the safflower picking robot to travel along the picking path Lr.

[0090] In this embodiment, the automatic control device 43 is communicated with the positioning device 421 and the depth camera 422 to control the start of the negative pressure fan 413; the control module 431 adjusts the picking posture and telescopic distance of the high-moisture safflower root cutting feeding end effector 1 by adjusting the electric cylinder 33 and the motion electric cylinder 34 respectively.

[0091] In this embodiment, the high-moisture content safflower root cutting feeding end effector 1 located in the middle of the filament picking device 3 can only move vertically up and down, and cannot be extended to the sides, so its harvesting range depends on L 1 The high-water content safflower root cutting feeding end effectors 1 on both sides of the filament picking device 3 can not only move vertically up and down, but also extend outward, so its harvesting range depends on L 1 and L 3 When picking safflower silk, the vertical telescopic distance of the high-water content safflower root cutting feeding end effector 1 located in the middle can complete the longitudinal A 2 The coverage of the picking area; the vertical extension and swinging amplitude of the high-moisture safflower root cutting feeding end effector 1 located on both sides can respectively complete the longitudinal A 1 Picking area and A 3 Covering of picking areas.

[0092] like Fig.16As shown, a harvesting method of safflower root with high moisture content using a cutting feeding end effector and a robot comprises the following steps:

[0093] S1, positioning between rows of safflowers; the safflower picking robot provides real-time position feedback through the positioning device 421; the depth camera 422 provides a three-dimensional view of the surrounding environment to help the robot identify and locate safflowers, thereby achieving accurate navigation and target recognition; the two-dimensional position information provided by the positioning device 421 and the three-dimensional environment information captured by the depth camera 422 are integrated, and the picking path Lr is connected with the position center of the safflower picking robot and the midpoint of the picking area to complete the positioning between rows of safflowers;

[0094] S2, safflower target recognition and positioning: the depth camera 422 recognizes the flower distribution information of the safflower plant and generates the three-dimensional position of the safflower picking point. The safflower picking robot divides the safflower plant into three picking areas (left, middle and right) according to the three-dimensional coordinate positions of multiple picking points. 1 , A 2 , A 3 ), the control module 431 controls the safflower picking robot to travel along the picking path Lr, completes the safflower target recognition and positioning, and prepares to enter the picking state;

[0095] S3, picking safflower filaments; Step 1: The automatic control device 43 controls the filament picking device 3 to enter the harvesting state, and adjusts the electric cylinder 33 and the motion electric cylinder 34 to adjust the picking posture and telescopic distance of the high-moisture content safflower root cutting feeding end effector 1, and at the same time, the negative pressure fan 413 in the safflower filament collection system 4 is started;

[0096] Step 2: With the power module 432 as the power source, the slide rail mechanism 13 transmits power to the feeding mechanism 14, and simultaneously drives the root cutting mechanism 15 to reciprocate, so that the air expansion roller 141 pre-clamps the safflower, and the cutting tool 151 root cuts the safflower;

[0097] The first motor 121 drives the two air-expanding roller shafts 141 to rotate in opposite directions, and the filaments are wound into the roller shafts to pre-clamp the filaments. The second motor 122 is connected to the slide bar 133 through the rack and drives the cutting tool 151 of the slide block 131 to reciprocate, so that the air-expanding roller 141 shaft pre-clamps the safflower, and the cutting tool 151 cuts the safflower.

[0098] S4, the filament picking device is reset; the cut safflower filaments are sucked into the filament collecting box 412 through the filament collecting hose 411, the picking state ends, the negative pressure fan 413 starts and closes, the filament picking device 3 is reset, and the next operation is prepared, and step S1 is entered again. Matters not covered by the present invention are known technologies.

[0099] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-moisture content safflower root cutting feeding end effector, characterized in that: The high-moisture content safflower root cutting and feeding type end effector comprises a housing, a motor and a sensor, a slide rail mechanism, a feeding mechanism and a root cutting mechanism; The motor and the sensor are installed outside the housing and are connected to the slide rail mechanism and the feeding mechanism respectively, so as to drive the feeding mechanism and the undercutting mechanism; The feeding mechanism is installed in the housing and is used to pre-clamp the safflower; The root cutting mechanism is installed in the shell through a slide rail mechanism and is placed below the feeding mechanism for root cutting safflower.

2. The high-moisture content safflower root cutting feeding end effector according to claim 1 is characterized in that: The motor and the sensor include a first motor and a second motor; the feeding mechanism is composed of two air-expansion roller shafts; the air-expansion roller shaft is made of a flexible material, and a texture or groove is provided on its surface; The first motor is connected to the air expansion roller shaft through a gear, and the first motor drives the two air expansion roller shafts to rotate in opposite directions.

3. The high-moisture content safflower root cutting feeding end effector according to claim 1 is characterized in that: The motor and the sensor include a first motor and a second motor; the root cutting mechanism includes two sets of cutting tools; The slide rail mechanism includes two relatively arranged sliders, a slide seat and a slide rod, wherein the slider is used to install the cutting tool, the slide rod is used to connect the two cutting tools, one end of the slide rod is connected to the cutting tool on one side, and the other end of the slide rod is connected to the cutting tool on the other side, and the slider is connected to the slide rod; the second motor is connected to the slide rod through the rack and drives the slider to move on the slide seat, and the slide rod moves up and down to drive the cutting tool to reciprocate.

4. The high-moisture content safflower root cutting feeding end effector according to claim 1 is characterized in that: The two tracks are arranged opposite to each other with a gap therebetween, and the two tracks surround and form a groove space for accommodating safflower and guiding the filaments to enter the feeding mechanism.

5. A safflower picking robot, characterized in that: The safflower picking robot comprises the high-moisture content safflower root cutting and feeding end effector as claimed in any one of claim 1, and also comprises a mobile frame, a filament picking device and a safflower filament collecting system; The mobile frame is used to install the flower silk picking device and the safflower silk collecting system; The high-moisture content safflower root cutting feeding end effector is installed on the filament picking device, and the filament picking device is used to adjust the inclination angle and / or telescopic distance of the high-moisture content safflower root cutting feeding end effector; The safflower silk collection system comprises a silk collection device, an information collection device and an automatic control device; The wire collecting device is connected to the high-moisture-content safflower root cutting feeding end effector, and is used to provide negative pressure to the high-moisture-content safflower root cutting feeding end effector to suck the root-cut safflower; The information collection device is used to collect the current picking area information and send the collected information to the automatic control device; The automatic control device is respectively connected with the high-moisture-content safflower root cutting and feeding type end effector, the mobile frame and the filament picking device. The automatic control device is used to control the opening of the high-moisture-content safflower root cutting and feeding type end effector, plan the moving path of the mobile frame, control the filament picking device to enter the harvesting state and adjust the picking posture and telescopic distance of the high-moisture-content safflower root cutting and feeding type end effector.

6. The safflower picking robot according to claim 5, characterized in that: The mobile frame includes a support frame, a rear wheel walking mechanism and a front wheel steering mechanism; The support frame comprises a rectangular frame, support legs connected to the rectangular frame, and a support beam arranged between the support legs; a front wheel steering mechanism and a rear wheel walking mechanism are arranged at the bottom end of the support frame.

7. The safflower picking robot according to claim 5, characterized in that: The filament picking device comprises a mounting frame, a connecting frame, an adjusting electric cylinder and a moving electric cylinder; The mounting frame is installed on the mobile frame, one end of the connecting frame is installed on the mounting frame, and the other end is installed on the high-moisture content safflower root cutting and feeding type end effector; one end of the adjusting electric cylinder is installed on the mounting frame, and the other end is installed on the connecting frame, which is used to adjust the inclination angle of the high-moisture content safflower root cutting and feeding type end effector; the moving electric cylinder is installed on the connecting frame, which is used to adjust the telescopic distance of the connecting frame.

8. The safflower picking robot according to claim 5, characterized in that: The connecting frame comprises a fixed frame and a telescopic frame; wherein the telescopic frame is sleeved in the fixed frame, one end of the fixed frame is connected to the mounting frame, and the other end is connected to the high-moisture content safflower root cutting feeding type end effector.

9. The safflower picking robot according to claim 5, characterized in that: The wire collecting device comprises a wire collecting hose, a wire collecting box and a negative pressure fan; the negative pressure fan is arranged on the wire collecting box to provide negative pressure, the wire collecting hose is installed in the wire collecting box, and the inlet of the wire collecting hose is used to extend into the high-moisture content safflower root cutting feeding end effector to suck the root-cut safflower; The information collection device includes a positioning device and a depth camera; the automatic control device includes a control module, a power module and a protective cover; A positioning device and a depth camera are respectively arranged on the top and front end of the protective cover, and a power module and a control module are arranged inside the protective cover.

10. A harvesting method using a safflower picking robot according to any one of claims 5 to 9, characterized in that: The steps include: S1, positioning between rows of safflowers; the safflower picking robot provides real-time position feedback through the positioning device; the depth camera provides a three-dimensional view of the surrounding environment to help the robot identify and locate safflowers, thereby achieving accurate navigation and target recognition; the two-dimensional position information provided by the positioning device and the three-dimensional environment information captured by the depth camera are integrated, and the position center of the safflower picking robot and the midpoint of the picking area are connected to form a picking path Lr to complete the positioning between rows of safflowers; S2, safflower target recognition and positioning; the depth camera recognizes the flower distribution information of the safflower plant and generates the three-dimensional position of the safflower picking point. The safflower picking robot divides the safflower plant into three picking areas A1, A2, and A3 on the left, middle, and right according to the three-dimensional coordinate positions of multiple picking points. The control module controls the safflower picking robot to travel along the picking path Lr, completes the safflower target recognition and positioning, and prepares to enter the picking state; S3, safflower silk picking; Step 1: The automatic control device controls the silk picking device to enter the harvesting state, and adjusts the electric cylinder and the motion electric cylinder to adjust the picking posture and telescopic distance of the high-moisture content safflower root cutting feeding end effector respectively, and at the same time, the negative pressure fan in the safflower silk collection system is started; Step 2: With the power module as the power source, the first motor drives the two air-expanding rollers to rotate in opposite directions, and the filaments are rolled into the rollers to pre-clamp the filaments. The second motor is connected to the slide bar through the rack and drives the cutting tool on the slide to reciprocate, so that the air-expanding rollers pre-clamp the safflower and the cutting tool cuts the safflower root; S4, the filament picking device is reset; the cut safflower filaments are sucked into the wire collecting box through the wire collecting hose, the picking state ends, the negative pressure fan is started and closed, the filament picking device is reset, and the next operation is prepared, and step S1 is entered again.

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