An agricultural harvesting robot and its control method for automatic replacement and transport of collection bins.

Abstract

This invention discloses an agricultural harvesting robot and its control method for automatically changing and transporting collection boxes, belonging to the field of agricultural machinery technology. It includes a tracked transport component and a transport trolley. The tracked transport component can dock with the transport trolley. The tracked transport component includes a tracked chassis and a box lifting mechanism. One end of the box lifting mechanism is connected to the top of the transport trolley, and the other end of the box lifting mechanism is connected to the tracked chassis. The box lifting mechanism can transport the boxes placed on the top of the transport trolley to the tracked chassis. A main control center is located inside the tracked chassis. This invention features a box lifting mechanism that can automatically replace boxes full of crops with empty boxes, thus increasing the user's work efficiency.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an agricultural harvesting robot and its control method for automatic replacement and transport of collection boxes. Background Technology

[0002] In agricultural harvesting, the replacement and handling of crop storage bins after robotic harvesting has always been a technical challenge for crop harvesting robots. Traditional agricultural harvesting robots mostly rely on manual labor or fixed transport devices to handle bin replacement and handling tasks, failing to achieve efficient automated operation. Furthermore, existing automated bin handling systems suffer from poor coordination and adaptability, especially in complex terrain or irregular farmland or orchards, where machines cannot effectively handle bin movement or precise positioning, thus affecting operational efficiency and stability. This results in low overall system efficiency and automation levels, limiting the widespread adoption and application of agricultural robot technology.

[0003] Therefore, how to provide an agricultural harvesting robot and control method with automatic replacement and transport of collection boxes is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The main objective of this invention is to provide an agricultural harvesting robot and its control method for automatically changing and transporting harvesting bins, thereby solving the aforementioned technical problems. This device is equipped with a bin lifting mechanism that can automatically replace bins filled with crops with empty bins, thus increasing the user's work efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An agricultural harvesting robot for automatic replacement and transport of collection boxes includes a tracked transport component and a transport trolley. The tracked transport component can dock with the transport trolley. The tracked transport component includes a tracked 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 tracked chassis. The box lifting mechanism can transport the boxes set on the top of the transport trolley to the tracked chassis.

[0007] Furthermore, a box receiving shell is provided on the tracked chassis, and a box leveling machine is fixedly connected to each of the two corresponding sides of the box receiving shell. A chassis microwave radar is also provided on the box receiving shell. 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. The full box conveying mechanism includes a conveyor belt and two conveyor shafts. Both conveyor shafts are rotatably connected to the inner wall of the box receiving shell. The two ends of the conveyor belt are respectively sleeved on the two conveyor shafts. A pressure sensor is provided on the conveyor belt. A conveyor belt limiting device is provided at the connection between the conveyor shaft and the box receiving shell. The conveyor shaft of the full box conveying mechanism is connected to the output end of the conveyor belt drive motor.

[0008] Furthermore, the tracked chassis is also equipped with an antenna and an RTK signal receiver. The antenna and RTK signal receiver are electrically connected to the main control center located inside the tracked chassis. The main control center inside the tracked chassis is also electrically connected to the chassis microwave radar, pressure sensor, box leveler, and conveyor belt drive motor.

[0009] Furthermore, the box lifting mechanism includes a first connecting rod, a rocker arm, a vacuum suction cup, a rotary motor, a rocker arm placement frame, and a second connecting rod. The box has first connecting rods on corresponding sides. The two ends of the first connecting rods are hinged to one end of each of the two rocker arms. The ends of the two rocker arms away from the first connecting rods are connected to the two rotary motors. The two rotary motors are fixed to the two vacuum suction cups. The two vacuum suction cups are connected to the rocker arm placement frame and are attached to the outer wall of the box housing near the rocker arm. The side of the rocker arm placement frame away from the vacuum suction cup is connected to the second connecting rod. The second connecting rod is connected to the corresponding second connecting rod via a limiting buckle. The rotary motor is electrically connected to the main control center inside the tracked chassis.

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

[0011] Furthermore, the bottom of the transport trolley is provided with two clamping and lifting mechanisms, and the transport trolley is also provided with a transport trolley microwave radar and a control panel, the control panel being electrically connected to the driver of the transport trolley.

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

[0013] Furthermore, the clamping and lifting mechanism includes a lifting housing. Two connecting shafts are fixedly installed at the top of the lifting housing. The connecting shafts are hinged to one end of a hydraulic rod, and the other end of the hydraulic rod is connected to the bottom of a transport trolley. Two gears are rotatably connected inside the lifting housing. A rack and pinion push rod is provided between the two gears. The rack and pinion push rod meshes with the two gears. One end of the drive shaft of each of the two gears vertically penetrates one side of the lifting housing and is connected to a lifting motor. Both ends of the rack and pinion push rod horizontally penetrate both sides of the lifting housing. One end of the rack and pinion push rod is connected to a clamping rod. A second soft pad is provided on the clamping rod. The hydraulic rod and the lifting motor are both electrically connected to the control panel.

[0014] A control method for an agricultural harvesting robot that automatically changes and transports collection bins includes the following steps:

[0015] Step 1: Path planning is performed on the agricultural robot. The image recognition and integration technology of the agricultural robot itself are used 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 weight of the box is below the standard, the tracked transport component continues to work. When the weight of the box reaches the standard, a signal is transmitted to the control panel of the tracked transport component to replace the box and dock and transport the trolley.

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

[0018] Step 1: The transport vehicle is docked using microwave radar on the transport vehicle and microwave radar on the chassis.

[0019] Step 2: After docking is completed, simultaneously place the boxes and lift the boxes that meet the weight requirements.

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

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

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

[0023] This invention features a box lifting mechanism that automatically replaces boxes filled with crops with empty boxes, increasing user efficiency. The box lifting mechanism utilizes a double rocker mechanism, an electromagnet telescopic device, and a rotary motor to achieve fully automatic box lifting. In this invention, when a box is filled with crops, it is conveyed to the ground via a full-box conveyor mechanism. A transport trolley then uses a clamping and lifting mechanism to pick up the box and transport it to a designated location. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

[0026] Figure 2 This is a schematic diagram of the overall structure of the tracked chassis.

[0027] Figure 3 This is a partial structural diagram of a conveyor belt limiting device.

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

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

[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 flowchart illustrating the task docking process.

[0033] Among them, 1-tracked chassis, 101-RTK signal receiver, 102-antenna, 103-box housing, 104-chassis microwave radar, 105-full box conveyor mechanism, 106-slide rail, 107-conveyor belt limiting device, 108-box leveler, 2-box lifting mechanism, 201-electromagnetic telescopic device, 202-first connecting rod, 203-rocker arm, 204-vacuum suction cup, 205-rotary motor, 206-rocker arm placement rack, 207-first soft pad, 208-second connecting rod, 209-limiting buckle, 3-transport trolley, 301-electromagnetic magnet, 302-box, 303-transport trolley microwave radar, 304-control panel, 305-clamping and lifting mechanism, 306-hydraulic rod, 307-rack and pinion push rod, 308-gear, 309-drive shaft, 310-second soft pad, 311-clamping rod. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figures 1-6 As shown, the present invention provides an agricultural harvesting robot for automatic replacement and transport of collection boxes, including a tracked transport component and a transport vehicle 3. The tracked transport component can dock with the transport vehicle. The tracked transport component includes a tracked chassis 1 and a box lifting mechanism 2. The top of the transport vehicle 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 tracked chassis 1. The box lifting mechanism 2 can transport the box 302 set on the top of the transport vehicle 3 to the tracked chassis 1.

[0036] In this embodiment, a box receiving shell 103 is provided on the tracked chassis 1. Box leveling machines 108 are fixedly connected to 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. A full box conveying mechanism 105 is rotatably connected to the bottom end of the inner wall of the box receiving shell 103. The full box conveying mechanism 105 includes a conveyor belt and two conveyor shafts, both of which rotate with the inner wall of the box receiving shell 103. The conveyor belt is connected to two conveyor shafts at both ends. A pressure sensor is installed on the conveyor belt. A conveyor belt limiting device 107 is installed at the connection between the conveyor shaft and the box housing 103. The conveyor shaft of the full box conveying mechanism 105 is connected to the output end of the conveyor belt drive motor. The box leveling machine 108 is an air pump. The pressure sensor can determine the weight of the crops in the box 203, so as to confirm whether the box 203 is full of crops. The conveyor belt limiting device 107 can be multiple limiting protrusions or limiting rods. Here, it is a limiting rod.

[0037] In this embodiment, the tracked chassis 1 is also equipped with an antenna 102 and an RTK signal receiver 101. The antenna 102 and the RTK signal receiver 101 are electrically connected to the main control center located inside the tracked chassis 1. The main control center inside the tracked chassis 1 is also electrically connected to the chassis microwave radar 104, pressure sensor, box leveler 108, and 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, which facilitates subsequent docking with the transport vehicle 3.

[0038] In this embodiment, the box lifting mechanism 2 includes a first connecting rod 202, a rocker arm 203, a vacuum suction cup 204, a rotary motor 205, a rocker arm placement bracket 206, and a second connecting rod 208. The box 302 has a first connecting rod 202 on each of its corresponding sides. The two ends of the first connecting rod 202 are respectively hinged to one end of each of the two rocker arms 203. The ends of the two rocker arms 203 away from the first connecting rod 202 are respectively connected to the two rotary motors 205. The two rotary motors 205 are respectively fixed to two... On the vacuum suction cup 204, two vacuum suction cups 204 are connected to the rocker arm placement frame 206. The two vacuum suction cups 204 are attached to the outer wall of the box housing 103 near the rocker arm 203. The side of the rocker arm placement frame 206 away from the vacuum suction cup 204 is connected to the second connecting rod 208. The second connecting rod 208 is connected to the corresponding second connecting rod 208 through the limiting buckle 209. The rotary motor is electrically connected to the main control center in the tracked chassis 1. The vacuum suction cup 204 is easy to disassemble.

[0039] In this embodiment, a plurality of first soft pads 207 are provided between the rocker arm placement bracket 206 and the box receiving shell 103. An electromagnet telescopic device 201 and an infrared sensor are provided 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 tracked chassis 1. The first soft pads 207 can ensure the stability between the box receiving shell 103 and the rocker arm placement bracket 206, and the two are fixed 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 gripping and lifting mechanisms 305 are provided at the bottom 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, an electromagnet 301 is provided on the box 302. The electromagnet 301 is connected to the electromagnet telescopic device 201. The electromagnet 301 is electrically connected to the control panel 304, which can control the operation of the electromagnet 301.

[0042] In this embodiment, the clamping and lifting mechanism 305 includes a lifting housing. Two connecting shafts are fixedly mounted at the top of the lifting housing. One end of each connecting shaft is hinged to a hydraulic rod 306, and the other end of the hydraulic rod 306 is connected to the bottom of the transport trolley 3. Two gears 308 are rotatably connected inside the lifting housing. A rack and pinion push rod 307 is disposed between the two gears 308. The rack and pinion push rod 307 meshes with the two gears 308. One end of the drive shaft of each of the two gears 308 vertically penetrates one side of the lifting housing and is connected to a lifting motor. The rack push rod 307 extends laterally through both sides of the lifting housing. One end of the rack push rod 307 is connected to the clamping rod 311. 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 prevent damage to the box 302 when clamping it. The hydraulic rod 306 is used to drive the box 302 to move up and down. When the transport trolley 3 moves to the designated position, the hydraulic rod 306 moves down to put the box 302 down. The hydraulic rod 306 is a hydraulic telescopic rod.

[0043] like Figures 7-8 A control method for an agricultural harvesting robot that automatically changes and transports collection bins includes the following steps:

[0044] Step 1: Path planning is performed on the agricultural robot. The image recognition and integration technology of the agricultural robot itself are used 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 box 302. When the weight of box 302 is below the standard, the tracked transport assembly continues to work. When the weight of box 302 reaches the standard, a signal is transmitted to the control panel 304 of the tracked transport assembly to replace box 302 and dock and transport the trolley.

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

[0047] Step 1: The transport vehicle 3 is docked through the microwave radar 303 of the transport vehicle and the microwave radar 104 of the chassis, which can ensure the alignment of the transport vehicle and the tracked transport component.

[0048] Step 2: After docking is completed, simultaneously place box 302 and lift box 302 that meets the weight requirements.

[0049] Step 3: Electromagnet 301 and electromagnet telescopic device 201 attract and operate to fix box 302 on box lifting mechanism 2. At the same time, the rotary motor 205 in box lifting mechanism 2 rotates to make rocker arm 203 run to drive box 302 to be replaced. Box 302 is placed on conveyor belt and flattened and clamped by 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 fixing of the box that meets the weight standard.

[0051] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0052] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An agricultural harvesting robot for automatic replacement and transport of collection bins, characterized in that, The system includes a tracked transport component and a transport trolley (3). The tracked transport component can dock with the transport trolley. The tracked transport component includes a tracked chassis (1) and a box lifting mechanism (2). 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 tracked chassis (1). The box lifting mechanism (2) can transport the box (302) set on the top of the transport trolley (3) to the tracked chassis (1). The tracked chassis (1) is equipped with a main control center. The tracked chassis (1) is provided with a box receiving shell (103). A box leveling machine (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 the slide rail (106). A full box conveying mechanism (105) is rotatably connected to the bottom end of the inner wall of the box receiving shell (103). The full box conveying mechanism (105) includes a conveyor belt and two conveyor shafts. The two conveyor 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 the two conveyor shafts. A pressure sensor is provided on the conveyor belt. 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 to the output end of the conveyor belt drive motor. The box lifting mechanism (2) includes a first connecting rod (202), a rocker arm (203), a vacuum suction cup (204), a rotary motor (205), a rocker arm placement bracket (206), and a second connecting rod (208). The box (302) has a first connecting rod (202) on each of its corresponding sides. The two ends of the first connecting rod (202) are hinged to one end of each of the two rocker arms (203). The ends of the two rocker arms (203) away from the first connecting rod (202) are connected to the two rotary motors (205). The two rotary motors (205) are respectively... The two vacuum suction cups (204) are fixed to the two vacuum suction cups (204). The two vacuum suction cups (204) are connected to the rocker arm placement bracket (206). The two vacuum suction cups (204) are attached to the outer wall of the box housing (103) near the rocker arm (203). The side of the rocker arm placement bracket (206) away from the vacuum suction cups (204) is connected to the second connecting rod (208). The second connecting rod (208) is connected to the second connecting rod (208) on the corresponding side through the limiting buckle (209). The rotary motor is electrically connected to the main control center in the tracked chassis (1). Multiple first soft pads (207) are provided between the rocker arm placement frame (206) and the box receiving shell (103). An electromagnet telescopic device (201) and an infrared sensor are provided 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 tracked chassis (1). The bottom of the transport trolley (3) is provided with two clamping and lifting mechanisms (305). 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). An electromagnet (301) is provided on the box (302), and the electromagnet (301) is connected to the electromagnet telescopic device (201). The electromagnet (301) is electrically connected to the control panel (304).

2. The agricultural harvesting robot for automatic replacement and transport of collection boxes according to claim 1, characterized in that, The tracked chassis (1) is also equipped with an antenna (102) and an RTK signal receiver (101). The antenna (102) and the RTK signal receiver (101) are electrically connected to the main control center located in the tracked chassis (1). The main control center in the tracked chassis (1) is also electrically connected to the chassis microwave radar (104), pressure sensor, box leveler (108), and conveyor belt drive motor.

3. An agricultural harvesting robot for automatic replacement and transport of collection bins according to claim 1, characterized in that, The clamping and lifting mechanism (305) includes a lifting housing. Two connecting shafts are fixedly installed at the top of the lifting housing. 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 a transport trolley (3). Two gears (308) are rotatably connected inside the lifting housing. A rack push rod (307) is provided between the two gears (308). The rack push rod (307) meshes with the two gears (308). One end of the drive shaft of each of the two gears (308) vertically penetrates one side of the lifting housing and is connected to a lifting motor. Both ends of the rack push rod (307) horizontally penetrate both sides of the lifting housing. One end of the rack push rod (307) is connected to a clamping rod (311). A second soft pad (310) is provided on the clamping rod (311). The hydraulic rod (306) and the lifting motor are electrically connected to the control panel (304).

4. A control method for an agricultural harvesting robot that automatically changes and transports collection bins, implemented using the agricultural harvesting robot described in any one of claims 1-3, characterized in that, Includes the following steps: Step 1: Path planning is performed on the agricultural robot. The image recognition and integration technology of the agricultural robot itself are used 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) is below the standard, the tracked transport component continues to work. When the weight of the box (302) reaches the standard, the signal is transmitted to the control panel (304) of the tracked transport component to replace the box (302) and dock and transport the trolley.

5. The control method for an agricultural harvesting robot with automatic replacement and handling of collection boxes according to claim 4, characterized in that, The docking task process in step 2 includes the following steps: Step 1: The transport vehicle (3) is docked using the transport vehicle microwave radar (303) and the chassis microwave radar (104); Step 2: After docking is completed, the placement of box (302) and the lifting of box (302) that meets the weight requirements are carried out simultaneously. Step 3: The electromagnet (301) and the electromagnet telescopic device (201) attract and operate to fix the box (302) in the box lifting mechanism (2). At the same time, the rotary motor (205) in the box lifting mechanism (2) rotates, causing the rocker arm (203) to run and drive the box (302) to be replaced. The box (302) is placed on the conveyor belt and flattened and clamped by the box leveling 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.

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