Agricultural harvesting robot capable of automatically replacing and carrying collecting box and control method

Abstract

The invention discloses an agricultural harvesting robot capable of automatically replacing and carrying a collecting box and a control method, and belongs to the technical field of agricultural machinery, the agricultural harvesting robot comprises a crawler-type transportation assembly and a transportation trolley, the crawler-type transportation assembly can be in butt joint with the transportation trolley, and the crawler-type transportation assembly comprises a crawler-type chassis and a box lifting mechanism; the top end of the transport trolley is connected with one end of the box lifting mechanism, the other end of the box lifting mechanism is connected with the crawler chassis, the box lifting mechanism can carry boxes arranged at the top end of the transport trolley to the crawler chassis, and a main control center is arranged in the crawler chassis. And the box lifting mechanism is arranged, so that a box filled with crops can be automatically replaced by an empty box, and the working efficiency of a user is higher.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an agricultural harvesting robot capable of automatically replacing and transporting a collecting box and a control method thereof. Background Art

[0002] During the agricultural harvesting process, the replacement and transportation of the crop storage boxes after the robots have harvested them has always been a technical challenge faced by crop harvesting robots. Traditional agricultural harvesting robots mostly rely on manual or fixed transportation devices to handle the replacement and transportation tasks of the boxes, and cannot achieve efficient automated operations. In addition, the existing automated box handling systems have problems with poor coordination and poor adaptability, especially in complex terrain or irregular farmlands or orchards. The machines cannot effectively complete the handling or precise positioning of the boxes, which affects the operation efficiency and stability. This results in low overall work efficiency and automation level of the system, limiting the popularization and application of agricultural robot technology.

[0003] Therefore, how to provide an agricultural harvesting robot and a control method for automatically replacing and transporting a collection box is an urgent problem that needs to be solved by those skilled in the art. Summary of the invention

[0004] The main purpose of the present invention is to provide an agricultural harvesting robot and control method for automatically replacing and transporting collection boxes to solve the above technical problems. The device is provided with a box lifting mechanism, which can automatically replace a box full of crops with an empty box, making the user's work more efficient.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An agricultural harvesting robot for automatically replacing and transporting a collection box comprises a crawler transport component and a transport trolley. The crawler transport component can be docked with the transport trolley. The crawler transport component comprises a crawler chassis and a box lifting mechanism. The top of the transport trolley is connected to one end of the box lifting mechanism, and the other end of the box lifting mechanism is connected to the crawler chassis. The box lifting mechanism can transport the box arranged on the top of the transport trolley to the crawler chassis.

[0007] Furthermore, a box receiving shell is provided on the crawler chassis, and a box leveling machine is fixedly connected to two corresponding side edges of the box receiving shell, and a chassis microwave radar is also provided on the box receiving shell, and the bottom end of the box receiving shell is connected to a slide rail, and a full box conveying mechanism is rotatably connected to the bottom end of the inner wall of the box receiving shell, and the full box conveying mechanism includes a conveyor belt and two conveying shafts, and the two conveying shafts are rotatably connected to the inner wall of the box receiving shell, and the two ends of the conveyor belt are respectively sleeved on the two conveying shafts, and a pressure sensor is provided on the conveyor belt, and a conveyor belt limiting device is provided at the connection between the conveying shaft and the box receiving shell, and the conveying shaft of the full box conveying mechanism is connected to the output end of the conveyor belt driving motor.

[0008] Furthermore, an antenna and an RTK signal receiver are also provided on the tracked chassis, and the antenna and the RTK signal receiver are electrically connected to a main control center arranged in the tracked chassis. The main control center in the tracked chassis is also electrically connected to a chassis microwave radar, a pressure sensor, a box leveling machine and a conveyor belt drive motor.

[0009] Furthermore, the box lifting mechanism includes a first connecting rod, a rocker, a vacuum suction cup, a rotating motor, a rocker placement frame and a second connecting rod. The first connecting rod is connected to both corresponding sides of the box, and both ends of the first connecting rod are respectively hinged to one end of the two rockers, and the ends of the two rockers away from the first connecting rod are respectively connected to the two rotating motors, and the two rotating motors are respectively fixed on the two vacuum suction cups, and the two vacuum suction cups are connected to the rocker placement frame. The two vacuum suction cups are adsorbed on the outer wall of the box containing shell close to the rocker side, and the side of the rocker placement frame away from the vacuum suction cup is connected to the second connecting rod, and the second connecting rod is connected to the second connecting rod set on the corresponding side through a limit buckle to electrically connect the rotating motor and the main control center in the crawler chassis.

[0010] Furthermore, a plurality of first soft pads are arranged between the rocker placement frame and the box receiving shell, an electromagnet telescopic device and an infrared sensor are arranged on the first connecting rod, and the electromagnet telescopic device and the infrared sensor are electrically connected to the main control center of the crawler chassis.

[0011] Furthermore, two clamping and lifting mechanisms are correspondingly arranged at the bottom end of the transport trolley, and a transport trolley microwave radar and a control panel are also arranged on the transport trolley, and the control panel is electrically connected to the driver of the transport trolley.

[0012] Furthermore, the box is provided with an electromagnet, which is connected to the electromagnet telescopic device, and the electromagnet is electrically connected to the control panel.

[0013] Furthermore, the clamping and lifting mechanism includes a lifting shell, two connecting shafts are fixedly provided on the top of the lifting shell, the connecting shaft is hinged to one end of the hydraulic rod, and the other end of the hydraulic rod is connected to the bottom end of the transport trolley, and two gears are rotatably connected in the lifting shell, a rack propulsion rod is provided between the two gears, and the rack propulsion rod is meshed with the two gears, one end of the transmission shafts of the two gears vertically penetrates one side of the lifting shell and is connected to the lifting motor, and both ends of the rack propulsion rod transversely penetrate both sides of the lifting shell, one end of the rack propulsion rod is connected to the clamping rod, and a second soft pad is provided on the clamping rod, and the hydraulic rod and the lifting motor are electrically connected to the control panel.

[0014] A control method for an agricultural harvesting robot capable of automatically replacing and transporting a collection box comprises the following steps:

[0015] Step 1: Plan the path of the agricultural robot and use the image recognition and integration technology of the agricultural robot to harvest crops. At the same time, the agricultural robot can record the path it has taken and its position and posture;

[0016] Step 2: The pressure sensor on the conveyor belt can identify the weight of the box. When the box weight does not meet the standard, the crawler transport component continues to work. When the box weight reaches the standard, a signal is transmitted to the control panel of the crawler transport component to replace the box and dock and transport the transport trolley.

[0017] Furthermore, the docking task process in step 2 includes the following steps:

[0018] Step 1: docking the transport trolley through the transport trolley microwave radar and the chassis microwave radar;

[0019] Step 2: After the docking is completed, the boxes are placed and the boxes that meet the weight standard are lifted at the same time;

[0020] Step 3: The electromagnet and the electromagnet telescopic device operate by adsorption to fix the box by the box lifting mechanism. At the same time, the rotary motor in the box lifting mechanism rotates to drive the rocker to drive the box to be replaced. The box is placed on the conveyor belt and is flattened and clamped by the box flattening machine.

[0021] Step 4: Start the gear to rotate and drive the clamping rod to clamp the box that meets the weight standard, start the hydraulic rod to lift the box, and complete the fixation of the box that meets the weight standard.

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

[0023] The present invention is provided with a box lifting mechanism, which can automatically replace a box full of crops with an empty box, so that the user's work efficiency is higher; the box lifting mechanism mainly utilizes a double rocker mechanism, an electromagnetic telescopic device and a rotating motor to realize full-automatic lifting of the box; in the present invention, when the box is full of crops, it is conveyed to the ground through the full box conveying mechanism, and the transport trolley uses the clamping lifting mechanism to clamp the box and transport it to the designated location. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0025] Figure 1 It is a schematic diagram of the structure of the present invention.

[0026] Figure 2 Schematic diagram of the overall structure of the crawler chassis.

[0027] Figure 3 It is a schematic diagram of the local structure of the conveyor belt limiting device.

[0028] Figure 4 This is a structural diagram of the box lifting mechanism.

[0029] Figure 5 This is a schematic diagram of the structure of the transport vehicle.

[0030] Figure 6 This is a schematic diagram of the clamping and lifting structure.

[0031] Figure 7 This is a schematic diagram of the overall process.

[0032] Figure 8 This is a schematic diagram of the docking task flow.

[0033] Among them, 1-track chassis, 101-RTK signal receiver, 102-antenna, 103-box storage shell, 104-chassis microwave radar, 105-full box conveying mechanism, 106-slide rail, 107-conveyor belt limiting device, 108-box leveling machine, 2-box lifting mechanism, 201-electromagnet telescopic device, 202-first connecting rod, 203-rocker, 204-vacuum suction cup, 205-rotating motor, 206-rocker placement rack, 207-first cushion, 208-second connecting rod, 209-limiting buckle, 3-transport trolley, 301-electromagnet, 302-box, 303-transport trolley microwave radar, 304-control panel, 305-gripping lifting mechanism, 306-hydraulic rod, 307-rack propulsion rod, 308-gear, 309-drive shaft, 310-second cushion, 311-gripping rod. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figures 1 to 6 As shown, the present invention provides an agricultural harvesting robot for automatic replacement and transportation of collection boxes, including a crawler transport component and a transport trolley 3, wherein the crawler transport component can be docked with the transport trolley, and the crawler transport component includes a crawler chassis 1 and a box lifting mechanism 2, wherein the top of the transport trolley 3 is connected to one end of the box lifting mechanism 2, and the other end of the box lifting mechanism 2 is connected to the crawler chassis 1, and the box lifting mechanism 2 can transport the box 302 arranged on the top of the transport trolley 3 to the crawler chassis 1.

[0036] In this embodiment, a box receiving shell 103 is provided on the crawler chassis 1, and a box leveler 108 is fixedly connected to the two corresponding sides of the box receiving shell 103. A chassis microwave radar 104 is also provided on the box receiving shell 103. The bottom end of the box receiving shell 103 is connected to a slide rail 106, and the bottom end of the inner wall of the box receiving shell 103 is rotatably connected to a full box conveying mechanism 105. The full box conveying mechanism 105 includes a conveyor belt and two conveying shafts, and the two conveying shafts are rotatably connected to the inner wall of the box receiving shell 103. The two ends of the conveyor belt are respectively sleeved on two conveyor shafts, a pressure sensor is arranged on the conveyor belt, a conveyor belt limiting device 107 is arranged at the connection between the conveyor shaft and the box receiving shell 103, the conveyor shaft of the full box conveying mechanism 105 is connected to the output end of the conveyor belt driving motor; the box leveler 108 is an air pump, and the pressure sensor can determine the weight of the crops in the box 203, so as to facilitate confirmation of whether the box 203 is full of crops. The conveyor belt limiting device 107 can specifically be a plurality of limiting protrusions or limiting rods, which are limiting rods here.

[0037] In this embodiment, an antenna 102 and an RTK signal receiver 101 are also provided on the tracked chassis 1. The antenna 102 and the RTK signal receiver 101 are electrically connected to a main control center disposed in the tracked chassis 1. The main control center in the tracked chassis 1 is also electrically connected to a chassis microwave radar 104, a pressure sensor, a box leveler 108 and a conveyor belt drive motor. The antenna 102 and the RTK signal receiver 101 are used to confirm the travel direction and specific position of the tracked chassis 1, so as to facilitate subsequent docking with the transport vehicle 3.

[0038] In this embodiment, the box lifting mechanism 2 includes a first connecting rod 202, a rocker 203, a vacuum suction cup 204, a rotating motor 205, a rocker placement frame 206 and a second connecting rod 208. The two corresponding sides of the box 302 are both provided with a first connecting rod 202, and the two ends of the first connecting rod 202 are respectively hinged to one end of the two rockers 203, and the ends of the two rockers 203 away from the first connecting rod 202 are respectively connected to the two rotating motors 205, and the two rotating motors 205 are respectively fixed on the two On a vacuum suction cup 204, two of the vacuum suction cups 204 are connected to a rocker placement rack 206, and the two vacuum suction cups 204 are adsorbed on the outer wall of the box receiving shell 103 close to the rocker 203. The rocker placement rack 206 is connected to a second connecting rod 208 on a side away from the vacuum suction cup 204, and the second connecting rod 208 is connected to the second connecting rod 208 set on the corresponding side through a limiting buckle 209, and the rotating motor is electrically connected to the main control center in the crawler chassis 1; the vacuum suction cup 204 is easy to disassemble.

[0039] In this embodiment, a plurality of first soft pads 207 are arranged between the rocker rack 206 and the box receiving shell 103, and an electromagnet telescopic device 201 and an infrared sensor are arranged on the first connecting rod 202. The electromagnet telescopic device 201 and the infrared sensor are electrically connected to the main control center of the crawler chassis 1. The first soft pad 207 can ensure the stability between the box receiving shell 103 and the rocker rack 206, and fix the two by interference fit; the electromagnet telescopic device 201 is an electromagnet telescopic push rod, and the infrared sensor is used to sense the position of the box 302.

[0040] In this embodiment, two clamping and lifting mechanisms 305 are correspondingly provided at the bottom end of the transport trolley 3. The transport trolley 3 is also provided with a transport trolley microwave radar 303 and a control panel 304. The control panel 304 is electrically connected to the driver of the transport trolley 3. The transport trolley microwave radar 303 is used to cooperate with the chassis microwave radar 104 to realize the alignment of the agricultural robot and the transport trolley 3.

[0041] In this embodiment, the box 302 is provided with an electromagnet 301 , which is connected to the electromagnet telescopic device 201 via the electromagnet 301 . The electromagnet 301 is electrically connected to a control panel 304 , and the control panel 304 can control the operation of the electromagnet 301 .

[0042] In this embodiment, the clamping and lifting mechanism 305 includes a lifting shell, and two connecting shafts are fixedly arranged on the top of the lifting shell. The connecting shaft is hinged to one end of the hydraulic rod 306, and the other end of the hydraulic rod 306 is connected to the bottom end of the transport trolley 3. Two gears 308 are rotatably connected in the lifting shell, and a rack propulsion rod 307 is arranged between the two gears 308. The rack propulsion rod 307 and the two gears 308 are meshed with each other. One end of the transmission shaft of the two gears 308 vertically penetrates one side of the lifting shell and is connected to the lifting motor. Both ends of the rack push rod 307 pass through both sides of the lifting shell horizontally, one end of the rack push rod 307 is connected to the clamping rod 311, and the clamping rod 311 is provided with a second soft pad 310. The hydraulic rod 306 and the lifting motor are electrically connected to the control panel 304. The second soft pad 310 can avoid damage to the box 302 when clamping the box 302. The hydraulic rod 306 is used to drive the box 302 to move up and down. When the transport trolley 3 moves to the specified position, the hydraulic rod 306 moves down to put down the box 302. The hydraulic rod 306 is a hydraulic telescopic rod.

[0043] like Figures 7-8 A control method for an agricultural harvesting robot capable of automatically replacing and transporting a collection box comprises the following steps:

[0044] Step 1: Plan the path of the agricultural robot and use the image recognition and integration technology of the agricultural robot to harvest crops. At the same time, the agricultural robot can record the path it has taken and its position and posture;

[0045] Step 2, the pressure sensor on the conveyor belt can identify the weight of the box 302. When the weight of the box 302 does not meet the standard, the crawler transport assembly continues to work. When the weight of the box 302 reaches the standard, a signal is transmitted to the control panel 304 of the crawler transport assembly to replace the box 302 and dock and transport the transport cart.

[0046] In this embodiment, the docking task process in step 2 includes the following steps:

[0047] Step 1, docking of the transport trolley 3 is achieved through the transport trolley microwave radar 303 and the chassis microwave radar 104, both of which can ensure the alignment of the transport trolley and the crawler transport assembly;

[0048] Step 2, after the docking is completed, the box 302 is placed and the box 302 that meets the weight standard is lifted;

[0049] Step 3, the electromagnet 301 and the electromagnet telescopic device 201 operate by adsorption to fix the box 302 by the box lifting mechanism 2, and at the same time, the rotary motor 205 in the box lifting mechanism 2 rotates to make the rocker 203 operate to drive the box 302 to be replaced, and the box 302 is placed on the conveyor belt, and the box 302 is flattened and clamped by the box leveling machine 108;

[0050] Step 4, start the gear 308 to rotate and drive the clamping rod 311 to clamp the box that meets the weight standard, start the hydraulic rod 306 to lift the box, and complete the fixation of the box that meets the weight standard.

[0051] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0052] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An agricultural harvesting robot capable of automatically replacing and transporting a collection box, characterized in that: The invention comprises a crawler transport component and a transport trolley (3), wherein the crawler transport component can be docked with the transport trolley, and the crawler transport component comprises a crawler chassis (1) and a box lifting mechanism (2), wherein the top of the transport trolley (3) is connected to one end of the box lifting mechanism (2), and the other end of the box lifting mechanism (2) is connected to the crawler chassis (1), and the box lifting mechanism (2) can move a box (302) arranged on the top of the transport trolley (3) to the crawler chassis (1), and a main control center is arranged in the crawler chassis (1).

2. The agricultural harvesting robot with automatic collection box replacement and transportation according to claim 1, characterized in that: The crawler chassis (1) is provided with a box receiving shell (103), and the two corresponding side edges of the box receiving shell (103) are fixedly connected with a box leveling machine (108). The box receiving shell (103) is also provided with a chassis microwave radar (104). The bottom end of the box receiving shell (103) is connected with a slide rail (106), and the bottom end of the inner wall of the box receiving shell (103) is rotatably connected with a full box conveying mechanism (105). The full box conveying mechanism (105) comprises a conveyor belt and two conveyor shafts, and the two conveyor shafts are rotatably connected with the inner wall of the box receiving shell (103). The two ends of the conveyor belt are respectively sleeved on the two conveyor shafts. A pressure sensor is provided on the conveyor belt, and a conveyor belt limiting device (107) is provided at the connection between the conveyor shaft and the box receiving shell (103). The conveyor shaft of the full box conveying mechanism (105) is connected with the output end of the conveyor belt driving motor.

3. The agricultural harvesting robot with automatic collection box replacement and transportation according to claim 2, characterized in that: The crawler chassis (1) is also provided with an antenna (102) and an RTK signal receiver (101), and the antenna (102) and the RTK signal receiver (101) are electrically connected to a main control center arranged in the crawler chassis (1), and the main control center in the crawler chassis (1) is also electrically connected to a chassis microwave radar (104), a pressure sensor, a box leveler (108) and a conveyor belt drive motor.

4. The agricultural harvesting robot with automatic collection box replacement and transportation according to claim 1, characterized in that: The box lifting mechanism (2) comprises a first connecting rod (202), a rocking arm (203), a vacuum suction cup (204), a rotating motor (205), a rocking arm placement frame (206) and a second connecting rod (208). The first connecting rod (202) is connected to the corresponding two sides of the box (302). The two ends of the first connecting rod (202) are respectively hinged to one end of the two rocking arms (203). The ends of the two rocking arms (203) away from the first connecting rod (202) are respectively connected to the two rotating motors (205). The two rotating motors (205) They are fixed on two vacuum suction cups (204) respectively, the two vacuum suction cups (204) are connected to the rocker placement frame (206), the two vacuum suction cups (204) are adsorbed on the outer wall of the box receiving shell (103) close to the rocker (203), the rocker placement frame (206) is connected to the second connecting rod (208) on the side away from the vacuum suction cups (204), the second connecting rod (208) is connected to the second connecting rod (208) set on the corresponding side through a limiting buckle (209), and the rotating motor is electrically connected to the main control center in the crawler chassis (1).

5. The agricultural harvesting robot with automatic collection box replacement and transportation according to claim 4, characterized in that: A plurality of first soft pads (207) are arranged between the rocker placement frame (206) and the box receiving shell (103); an electromagnet telescopic device (201) and an infrared sensor are arranged on the first connecting rod (202); and the electromagnet telescopic device (201) and the infrared sensor are electrically connected to the main control center of the crawler chassis (1).

6. The agricultural harvesting robot with automatic collection box replacement and transportation according to claim 4, characterized in that: Two clamping and lifting mechanisms (305) are correspondingly arranged at the bottom end of the transport trolley (3). The transport trolley (3) is also provided with a transport trolley microwave radar (303) and a control panel (304). The control panel (304) is electrically connected to the driver of the transport trolley (3).

7. The agricultural harvesting robot with automatic collection box replacement and transportation according to claim 6, characterized in that: The box (302) is provided with an electromagnet (301), which is connected to the electromagnet telescopic device (201) through the electromagnet (301), and the electromagnet (301) is electrically connected to the control panel (304).

8. The agricultural harvesting robot with automatic collection box replacement and transportation according to claim 7, characterized in that: The clamping and lifting mechanism (305) comprises a lifting shell, two connecting shafts are fixedly arranged at the top of the lifting shell, the connecting shafts are hinged to one end of a hydraulic rod (306), the other end of the hydraulic rod (306) is connected to the bottom end of the transport trolley (3), two gears (308) are rotatably connected in the lifting shell, a rack propulsion rod (307) is arranged between the two gears (308), the rack propulsion rod (307) and the two gears (308) are meshed with each other, one end of the transmission shafts of the two gears (308) vertically penetrates one side of the lifting shell and is connected to the lifting motor, the two ends of the rack propulsion rod (307) penetrate the two sides of the lifting shell horizontally, one end of the rack propulsion rod (307) is connected to a clamping rod (311), a second soft pad (310) is arranged on the clamping rod (311), and the hydraulic rod (306) and the lifting motor are electrically connected to the control panel (304).

9. A control method for an agricultural harvesting robot capable of automatically replacing and transporting a collection box, implemented by using the transport device according to any one of claims 1 to 8, characterized in that: The steps include: Step 1: Plan the path of the agricultural robot and use the image recognition and integration technology of the agricultural robot to harvest crops. At the same time, the agricultural robot can record the path it has taken and its position and posture; Step 2, the pressure sensor on the conveyor belt can identify the weight of the box (302). When the weight of the box (302) does not meet the standard, the crawler transport assembly continues to work. When the weight of the box (302) reaches the standard, a signal is transmitted to the control panel (304) of the crawler transport assembly to replace the box (302) and dock and transport the transport trolley.

10. The control method of the agricultural harvesting robot with automatic replacement and transportation of the collection box according to claim 9 is characterized in that: The docking task process in step 2 includes the following steps: Step 1, achieving docking of the transport trolley (3) through the transport trolley microwave radar (303) and the chassis microwave radar (104); Step 2, after the docking is completed, the boxes (302) are placed and the boxes (302) that meet the weight standard are lifted; Step 3, the electromagnet (301) and the electromagnet telescopic device (201) operate by adsorption to realize the fixing of the box (302) by the box lifting mechanism (2), and at the same time, the rotating motor (205) in the box lifting mechanism (2) rotates to make the rocker (203) operate to drive the box (302) to be replaced, and the box (302) is placed on the conveyor belt, and the box (302) is flattened and clamped by the box flattening machine (108); Step 4, start the gear (308) to rotate and drive the clamping rod (311) to clamp the box that meets the weight standard, start the hydraulic rod (306) to lift the box, and complete the fixing of the box that meets the weight standard.

Images