Corn stigma picking robot and operation method thereof

Abstract

The invention discloses a corn stigma picking robot and an operation method thereof, and belongs to the technical field of agricultural equipment. The corn stigma picking device solves the problems that an existing corn stigma picking device is large in size, complex in structure, prone to damage corncobs and not suitable for corn field operation. Comprising a moving device, a spatial position adjusting assembly, a picking assembly and a collecting assembly, the spatial position adjusting assembly and the collecting assembly are both installed on the moving device, the picking assembly comprises a hollow cup motor, an installation support and a blade, and the installation support is fixedly installed on the spatial position adjusting assembly. Compared with existing corn stigma picking equipment, the corn stigma picking robot is smaller in size and simpler in structure, the corn stigma is sucked through negative pressure and then cut through the picking assembly, the operation probability of corncobs is greatly reduced, in addition, the corn stigma picking robot is provided with the moving device and the spatial position adjusting assembly, and the working efficiency is improved. The corn harvester is more suitable for corn field operation.

Description

Technical Field

[0001] The invention relates to a corn silk picking robot and an operation method thereof, belonging to the technical field of agricultural equipment. Background Art

[0002] Corn silk has great value both as a medicinal material and a health product, and it is common and easily available. However, people currently pick corn silk by hand, but this manual picking method is only suitable for situations where the demand is small. When the demand for corn silk is large, the efficiency of manual picking is too low to meet the needs of large pharmaceutical factories, and it requires a lot of labor, affecting the production efficiency of the pharmaceutical factories.

[0003] In order to improve the efficiency of manual picking in the prior art, some auxiliary picking tools such as corn silk picking scissors have appeared. However, such tools also need to be held manually to pick corn silk. The picking efficiency is slightly higher than that of pure manual picking, but it still cannot meet market demand.

[0004] There are also devices for automatically picking corn silk in the prior art, but they are generally large in size and complex in structure, and are generally suitable for harvested corn ears, but not suitable for the actual working environment in corn fields, that is, they cannot realize corn silk picking in corn fields; in addition, the existing corn silk picking devices are prone to the situation that the blades damage the corn cobs during the picking process. Therefore, there is an urgent need for a corn silk picking robot suitable for real-time operation in corn fields and an operation method thereof. Summary of the invention

[0005] The invention aims to solve the problems that the existing corn silk picking equipment is large in size, complex in structure, easy to damage corn cobs and unsuitable for corn field operations, and further provides a corn silk picking robot and an operation method thereof.

[0006] The technical solution adopted by the present invention to solve the above technical problems is:

[0007] A corn silk picking robot comprises a moving device, a spatial position adjustment component, a picking component and a collecting component, wherein:

[0008] The spatial position adjustment component and the collection component are both installed on the mobile device.

[0009] The picking assembly includes a coreless cup motor, a mounting bracket and a blade. The mounting bracket is fixedly mounted on the spatial position adjustment assembly. One end of the blade is fixedly connected to the output end of the coreless cup motor and the blade and the coreless cup motor are respectively located on both sides of the mounting bracket. A collecting hole is processed on the mounting bracket. The blade is driven by the coreless cup motor to realize radial swing along the collecting hole.

[0010] The collecting assembly is in a negative pressure state and is connected to the collecting hole through a collecting tube.

[0011] The spatial position of the picking component is adjusted by the spatial position adjustment component, and a depth camera is also arranged on the spatial position adjustment component.

[0012] Furthermore, the mobile device includes a mobile base, running wheels, hub motors and a steering mechanism, wherein the number of the running wheels is four and they are connected to the mobile base via four steering mechanisms, and at least two of the running wheels are correspondingly equipped with hub motors.

[0013] Furthermore, the steering mechanism includes a steering base, a steering bracket and a steering joint motor. The steering bracket is fixedly mounted on the mobile base through the steering base, the steering joint motor is fixedly mounted on the steering bracket, and the output ends of the hub motor and the steering joint motor are fixedly connected through the hub bracket.

[0014] Furthermore, the four steering mechanisms are symmetrically arranged in pairs around the movable base.

[0015] Furthermore, a square tube bracket is installed below the movable base.

[0016] Furthermore, the spatial position adjustment component includes a lifting mechanism, a horizontal telescopic mechanism and a robotic arm joint motor installed between the movable end of the lifting mechanism and the fixed end of the horizontal telescopic mechanism, wherein the fixed end of the lifting mechanism is fixedly mounted on the mobile device, the mounting bracket is fixedly connected to the movable end of the horizontal telescopic mechanism, and the depth camera is installed at the movable end of the horizontal telescopic mechanism.

[0017] Furthermore, the collection assembly includes a collection box and a duct motor installed on the collection box, and a negative pressure environment is formed inside the collection box through the duct motor. One end of the collection pipe is connected and fixed to the collection box, and the other end is connected and fixed to the collection hole.

[0018] Furthermore, the blade is fixed to the output end of the hollow cup motor through the blade holder.

[0019] Furthermore, the collecting pipe and the coreless cup motor are arranged on the same side of the mounting bracket.

[0020] An operating method of the above-mentioned corn silk picking robot, which observes the position of corn silk to be picked by a depth camera, and the obtained data information is transmitted to an external remote control system via WiFi. The external remote control system issues a command to control the movement of a mobile device, so that the picking robot walks to the position of the corn silk to be picked. At the same time, the depth camera accurately locates the corn silk to be picked, and then controls the movement of a spatial position adjustment component to make the picking component reach the position of the corn silk to be picked. Then, a hollow cup motor and a collecting component start working at the same time, and the collecting component uses negative pressure to suck one end of the corn silk to be picked into a collecting hole, and the picking component is used to cut and pick the corn silk to be picked. At the same time, the collecting component uses negative pressure to suck the picked corn silk into the collecting component through a collecting tube, thereby completing a corn silk picking operation.

[0021] Compared with the prior art, the present invention has the following effects:

[0022] The mobile device enables the corn silk picking robot to move freely between ridges in the corn field to reach the position of the corn silk that needs to be picked as detected by the depth camera.

[0023] The spatial position adjustment component has three degrees of freedom to adapt to the picking of corn silk on corn ears at various height positions and different angle positions.

[0024] The corn silk is picked by the picking component;

[0025] The collection of the harvested corn silk is achieved through the collection component.

[0026] The corn silk picking robot of the present invention is an automated and intelligent agricultural equipment, which can effectively improve the corn silk picking efficiency and thus meet the needs of pharmaceutical factories. At the same time, it greatly reduces the labor required for corn silk picking in the prior art, solves the problems of low efficiency, high labor cost and high time cost in traditional agriculture, and promotes the sustainable development of agriculture.

[0027] Compared with existing corn silk picking equipment, the corn silk picking robot of the present invention has a smaller size and a simpler structure. It absorbs corn silk through negative pressure and then uses picking components to cut it, which greatly reduces the probability of operating corn ears. In addition, the corn silk picking robot of the present invention is more suitable for corn field operations by providing a moving device and a spatial position adjustment component. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the corn silk picking robot of the present invention;

[0030] Figure 2 It is a schematic diagram of the three-dimensional structure of the picking component in the corn silk picking robot of the present invention;

[0031] Figure 3 It is a three-dimensional structural schematic diagram of the steering mechanism in the corn silk picking robot of the present invention;

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the space position adjustment component in the corn silk picking robot of the present invention.

[0033] In the figure:

[0034] 1. Mobile device; 11. Mobile base; 12. Traveling wheel; 13. Hub motor; 14. Steering mechanism; 141. Steering base; 142. Steering bracket; 143. Steering joint motor; 144. Connecting flange; 145. Slewing bearing; 15. Hub bracket; 16. Square tube bracket;

[0035] 2. Spatial position adjustment component; 21. Lifting mechanism; 22. Horizontal telescopic mechanism; 23. Mechanical arm joint motor; 24. Mechanical arm base; 25. Motor base;

[0036] 3. Picking assembly; 31. Coreless cup motor; 32. Mounting bracket; 321. Collecting hole; 33. Blade; 34. Blade holder;

[0037] 4. Collection assembly; 41. Collection pipe; 42. Collection box; 43. Duct motor. DETAILED DESCRIPTION

[0038] Specific implementation method 1: Combination Figure 1 to Figure 4 The technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] It should be noted that the descriptions of the present invention regarding directions such as "front", "back", "left", "right", "inside", "outside", "left side", "right side", "upper", "lower", "top", "bottom", etc. are all defined based on the relationship between the orientations or positions shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0040] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] A corn silk picking robot comprises a moving device 1, a spatial position adjustment component 2, a picking component 3 and a collecting component 4, wherein:

[0042] The spatial position adjustment component 2 and the collection component 4 are both installed on the mobile device 1.

[0043] The picking assembly 3 includes a coreless cup motor 31, a mounting bracket 32 ​​and a blade 33. The mounting bracket 32 ​​is fixedly mounted on the spatial position adjustment assembly 2. One end of the blade 33 is fixedly connected to the output end of the coreless cup motor 31. The blade 33 and the coreless cup motor 31 are respectively located on both sides of the mounting bracket 32. A collecting hole 321 is processed on the mounting bracket 32. The blade 33 is driven by the coreless cup motor 31 to realize radial swing along the collecting hole 321.

[0044] The collecting assembly 4 is in a negative pressure state and is connected to the collecting hole 321 through the collecting pipe 41.

[0045] The spatial position of the picking component 3 is adjusted by the spatial position adjustment component 2, and a depth camera is also provided on the spatial position adjustment component 2.

[0046] Through the depth camera, color images and depth images can be obtained simultaneously to detect and identify the location of corn silk, realize obstacle detection and ranging functions, and then realize path planning and automatic control during robot operation. The detected data information is transmitted to the remote control system through WiFi and other channels, and signal transmission between the picking robot, depth camera and external computer is realized through WiFi.

[0047] The depth camera is a telephoto depth camera.

[0048] When picking is required, the hollow cup motor 31 and the collecting component 4 start working at the same time. The collecting component 4 uses negative pressure to suck one end of the corn silk to be picked into the collecting hole 321, thereby separating the corn silk from the corn cob, and the picking component 3 is used to cut and pick the corn silk to be picked.

[0049] The collecting hole 321 in the picking component 3 is equivalent to the corn silk transport port during the picking process. The blade 33 cooperates with one end of the collecting hole 321 to realize the picking of corn silk. The end of the blade 33 facing upward on the collecting hole 321 is not rounded, so when the blade 33 swings, the blade 33 cooperates with one end of the collecting hole 321 to form a relatively sharp scissors-like effect, thereby playing a role in cutting corn silk. The blade 33 is tightly fitted to the surface of the mounting bracket 32 ​​where one end of the collecting hole 321 is located. Therefore, when picking corn silk, the hollow cup motor 31 controls the blade 33 to rotate, and the blade 33 and the edge of one end of the collecting hole 321 simultaneously shear the corn silk, thereby improving the efficiency of picking corn silk.

[0050] The collecting pipe 41 is a hose.

[0051] The mobile device 1 enables the corn silk picking robot to move freely between ridges in the corn field to reach the position of the corn silk that needs to be picked as detected by the depth camera.

[0052] The spatial position adjustment component 2 has three degrees of freedom to adapt to the picking of corn silk on corn ears at various height positions and different angle positions.

[0053] The corn silk is picked by the picking component 3;

[0054] The collection component 4 is used to collect the harvested corn silk.

[0055] The corn silk picking robot of the present invention is an automated and intelligent agricultural equipment, which can effectively improve the corn silk picking efficiency and thus meet the needs of pharmaceutical factories. At the same time, it greatly reduces the labor required for corn silk picking in the prior art, solves the problems of low efficiency, high labor cost and high time cost in traditional agriculture, and promotes the sustainable development of agriculture.

[0056] Compared with existing corn silk picking equipment, the corn silk picking robot of the present invention has a smaller size and a simpler structure. It absorbs corn silk by negative pressure and then uses picking components to cut it, which greatly reduces the probability of damage to corn ears. In addition, the corn silk picking robot of the present invention is more suitable for corn field operations by providing a moving device and a spatial position adjustment component.

[0057] The mobile device 1 includes a mobile base 11, a running wheel 12, a hub motor 13 and a steering mechanism 14, wherein the number of the running wheels 12 is four and they are connected to the mobile base 11 through four steering mechanisms 14, and the hub motor 13 is installed on at least two running wheels 12. In this design, the spatial position adjustment component 2 and the collection component 4 are both installed on the mobile base 11, and the mobile base 11 provides support and installation space for the spatial position adjustment component 2 and the collection component 4. The four steering mechanisms 14 are used to respectively realize the individual control of the four running wheels 12, and each running wheel 12 can participate in the steering process and play a steering role, which can effectively reduce the steering radius of the picking robot, and can also improve the mobile stability and steering maneuverability of the picking robot, that is, the walking direction of the entire picking robot is controlled by the four steering mechanisms 14, so that the steering maneuverability of the picking robot is higher and the adjustable angle range is wider. By equipping at least two running wheels 12 with a hub motor 13, the walking of the corn picking robot is realized. Preferably, each traveling wheel 12 is equipped with a hub motor 13 to further realize the forward and backward movement of the entire picking robot. The hub motor 13 is installed below the corresponding steering mechanism 14.

[0058] The steering mechanism 14 includes a steering base 141, a steering bracket 142 and a steering joint motor 143. The steering bracket 142 is fixedly mounted on the mobile base 11 through the steering base 141, and the steering joint motor 143 is fixedly mounted on the steering bracket 142. The hub motor 13 and the output end of the steering joint motor 143 are fixedly connected through the hub bracket 15. With such a design, the steering joint motor 143 drives the hub motor 13 to rotate through the hub bracket 15, thereby realizing 360-degree free steering control of the running wheel 12. The steering base 141 and the steering bracket 142 are fixedly connected by a plurality of bolts. The steering bracket 142 is arranged horizontally. The steering joint motor 143 is located above the steering bracket 142. The steering joint motor 143 is connected to the hub bracket 15 through the connecting flange 144, and drives the hub bracket 15 to rotate through the key connection. A slewing bearing 145 is also arranged between the steering bracket 142 and the connecting flange 144, which plays a role in protecting the steering joint motor 143. Compared with the steering wheel in the prior art, the degree of freedom is higher and the reliability is stronger.

[0059] The four steering mechanisms 14 are symmetrically arranged in pairs around the mobile base 11. Such a design further improves the overall stability of the picking robot.

[0060] A square tube bracket 16 is installed below the mobile base 11. With such a design, the square tube bracket 16 is a bracket structure formed by splicing a plurality of square tubes, which can increase the structural reliability of the mobile base 11 and at the same time act as a counterweight to lower the center of gravity of the picking robot, thereby preventing the picking robot from tipping over during driving, thereby ensuring the stability of the walking and picking process.

[0061] The spatial position adjustment component 2 includes a lifting mechanism 21, a horizontal telescopic mechanism 22, and a mechanical arm joint motor 23 installed between the movable end of the lifting mechanism 21 and the fixed end of the horizontal telescopic mechanism 22, wherein the fixed end of the lifting mechanism 21 is fixedly mounted on the mobile device 1, the mounting bracket 32 ​​is fixedly connected to the movable end of the horizontal telescopic mechanism 22, and the depth camera is installed at the movable end of the horizontal telescopic mechanism 22. In this design, the lifting mechanism 21 is fixedly mounted on the mobile base 11 through the mechanical arm base 24. The vertical position movement adjustment of the picking component 3 is realized by the lifting mechanism 21, and the depth position adjustment of the picking component 3 in the horizontal direction is realized by the horizontal telescopic mechanism 22. The mechanical arm joint motor 23 is fixedly mounted on the movable end of the lifting mechanism 21 through the motor base 25, and the angle adjustment of the picking component 3 in the horizontal direction is realized by the mechanical arm joint motor 23. The lifting mechanism 21 is a lifting cylinder, and the horizontal telescopic mechanism 22 is a horizontal telescopic electric cylinder. The three degrees of freedom adjustment of the spatial position adjustment component 2 is realized by the lifting mechanism 21, the horizontal telescopic mechanism 22, and the mechanical arm joint motor 23, thereby meeting the requirements for corn silk picking. During operation, the corn silk is located by a depth camera, and then the picking component is made to reach the position of the corn silk by the spatial position adjustment component 2 to complete the picking work.

[0062] The collecting assembly 4 includes a collecting box 42 and a ducted motor 43 installed on the collecting box 42. The ducted motor 43 forms a negative pressure environment inside the collecting box 42. One end of the collecting pipe 41 is connected and fixedly connected to the collecting box 42, and the other end is connected and fixedly connected to the collecting hole 321. With such a design, the collecting box 42 is fixedly installed on the mobile base 11. When working, the picking assembly first shears the corn silk, and then the ducted motor 43 sucks the picked corn silk into the collecting box 42 along the collecting pipe 41. After the corn silk in the collecting box 42 is piled to a certain height, the ducted motor 43 reverses to scatter the corn silk in the collecting box 42 in the collecting box 42, so that the corn silk in the collecting box 42 is evenly distributed.

[0063] The blade 33 is fixed to the output end of the hollow cup motor 31 through the blade holder 34. With such a design, the blade holder 34 is fixedly connected to the output end of the hollow cup motor 31 by screws, and the blade 33 is fixedly connected to the blade holder 34 by screws, so that the blade 33 is easy to replace.

[0064] The collecting pipe 41 and the coreless cup motor 31 are arranged on the same side of the mounting bracket 32. Such a design makes it possible for the collecting pipe 41 and the blade 33 not to interfere with each other.

[0065] An operating method of the above-mentioned corn silk picking robot, which observes the position of corn silk to be picked by a depth camera, and the obtained data information is transmitted to an external remote control system via WiFi. The external remote control system issues a command to control the movement of the mobile device 1, so that the picking robot walks to the position of the corn silk to be picked. At the same time, the depth camera accurately locates the corn silk to be picked, and then controls the movement of the spatial position adjustment component 2 to make the picking component 3 reach the position of the corn silk to be picked. Then the hollow cup motor 31 and the collecting component 4 start working at the same time. The collecting component 4 uses negative pressure to suck one end of the corn silk to be picked into the collecting hole 321, and the picking component 3 is used to cut and pick the corn silk to be picked. At the same time, the collecting component 4 uses negative pressure to suck the picked corn silk into the collecting component 4 through the collecting tube 41, thereby completing a corn silk picking operation.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A corn silk picking robot, characterized in that: It comprises a moving device (1), a spatial position adjustment component (2), a picking component (3) and a collecting component (4), wherein: The spatial position adjustment component (2) and the collection component (4) are both installed on the mobile device (1). The picking component (3) comprises a coreless cup motor (31), a mounting bracket (32) and a blade (33); the mounting bracket (32) is fixedly mounted on the spatial position adjustment component (2); one end of the blade (33) is fixedly connected to the output end of the coreless cup motor (31); the blade (33) and the coreless cup motor (31) are respectively located on both sides of the mounting bracket (32); a collecting hole (321) is machined on the mounting bracket (32); the blade (33) is driven by the coreless cup motor (31) to swing radially along the collecting hole (321); The collecting assembly (4) is in a negative pressure state and is connected to the collecting hole (321) via a collecting pipe (41). The spatial position adjustment component (2) is used to adjust the spatial position of the picking component (3), and a depth camera is also provided on the spatial position adjustment component (2).

2. A corn silk picking robot according to claim 1, characterized in that: The mobile device (1) comprises a mobile base (11), running wheels (12), a wheel hub motor (13) and a steering mechanism (14), wherein the number of the running wheels (12) is four and they are connected to the mobile base (11) via four steering mechanisms (14), and at least two of the running wheels (12) are correspondingly equipped with a wheel hub motor (13).

3. A corn silk picking robot according to claim 2, characterized in that: The steering mechanism (14) comprises a steering base (141), a steering bracket (142) and a steering joint motor (143); the steering bracket (142) is fixedly mounted on the mobile base (11) via the steering base (141); the steering joint motor (143) is fixedly mounted on the steering bracket (142); and the output ends of the wheel hub motor (13) and the steering joint motor (143) are fixedly connected via the wheel hub bracket (15).

4. The corn silk picking robot according to claim 2, characterized in that: The four steering mechanisms (14) are symmetrically arranged in pairs around the movable base (11).

5. The corn silk picking robot according to claim 1, characterized in that: A square tube bracket (16) is installed below the mobile base (11).

6. The corn silk picking robot according to claim 1, characterized in that: The spatial position adjustment component (2) comprises a lifting mechanism (21), a horizontal telescopic mechanism (22), and a mechanical arm joint motor (23) installed between the movable end of the lifting mechanism (21) and the fixed end of the horizontal telescopic mechanism (22), wherein the fixed end of the lifting mechanism (21) is fixedly mounted on the mobile device (1), the mounting bracket (32) is fixedly connected to the movable end of the horizontal telescopic mechanism (22), and the depth camera is installed at the movable end of the horizontal telescopic mechanism (22).

7. The corn silk picking robot according to claim 1, characterized in that: The collecting assembly (4) comprises a collecting box (42) and a ducted motor (43) mounted on the collecting box (42). The ducted motor (43) forms a negative pressure environment inside the collecting box (42). One end of the collecting pipe (41) is connected and fixedly connected to the collecting box (42), and the other end is connected and fixedly connected to the collecting hole (321).

8. The corn silk picking robot according to claim 1, characterized in that: The blade (33) is fixed to the output end of the hollow cup motor (31) through the blade holder (34).

9. The corn silk picking robot according to claim 1, characterized in that: The collecting pipe (41) and the coreless cup motor (31) are arranged on the same side of the mounting bracket (32).

10. An operating method of the corn silk picking robot as claimed in any one of claims 1 to 9, characterized in that: The position of the corn silk to be picked is observed by a depth camera, and the obtained data information is transmitted to an external remote control system via WiFi. The external remote control system issues a command to control the movement of the mobile device (1), so that the picking robot moves to the position of the corn silk to be picked. At the same time, the depth camera accurately locates the corn silk to be picked, and then controls the spatial position adjustment component (2) to move, so that the picking component (3) reaches the position of the corn silk to be picked. Then, the hollow cup motor (31) and the collection component (4) start working at the same time. The collection component (4) uses negative pressure to suck one end of the corn silk to be picked into the collection hole (321), and the picking component (3) is used to cut and pick the corn silk to be picked. At the same time, the collection component (4) uses negative pressure to suck the picked corn silk into the collection component (4) through the collection pipe (41), thereby completing a corn silk picking operation.

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