Tomato picking robot

Abstract

The invention discloses a tomato picking robot, and relates to the technical field of picking equipment, the tomato picking robot comprises a walking device, the upper end of the walking device is provided with a lifting device and a control device, and the upper end of the lifting device is provided with a mechanical arm; a disinfection device, a clamping device, first scissors and a first visual identification device are installed at the driving tail end of the mechanical arm, the first scissors are located above the clamping device, a second visual identification device is installed at the upper end of the control device, and a storage basket is placed at the upper end of the walking device; and a second shear is installed above the storage basket, and the disinfection device, the clamping device, the first shear, the second shear, the first visual recognition device and the second visual recognition device are all electrically connected with the control device. The tomato picking device can achieve mechanical and automatic tomato picking, can reduce the labor intensity of work, can improve the picking efficiency, and is high in automation degree.

Description

Technical Field

[0001] The invention relates to the technical field of picking equipment, and in particular to a tomato picking robot. Background Art

[0002] As a common fruit and vegetable, tomatoes are widely planted in my country, but their harvesting still relies on manual picking, which requires a lot of labor and is inefficient. Therefore, the current manual picking labor model can no longer meet the needs of the industrial development of tomatoes.

[0003] Therefore, there is an urgent need in the art for a tomato picking robot to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a tomato picking robot to solve the problems existing in the above-mentioned prior art, which can realize mechanical picking of tomatoes, reduce the labor intensity of workers, and has a high degree of automation.

[0005] To achieve the above object, the present invention provides the following solutions: The present invention discloses a tomato picking robot, comprising a walking device, a lifting device and a control device are installed on the upper end of the walking device, a mechanical arm is installed on the upper end of the lifting device, a disinfection device, a clamping device, a first pair of scissors and a first visual recognition device are installed on the driving end of the mechanical arm, the first pair of scissors are located above the clamping device, a second visual recognition device is installed on the upper end of the control device, a storage basket is placed on the upper end of the walking device, a second pair of scissors is installed above the storage basket, and the disinfection device, the clamping device, the first pair of scissors, the second pair of scissors, the first visual recognition device and the second visual recognition device are all electrically connected to the control device.

[0006] Preferably, the control device is a control cabinet.

[0007] Preferably, a scissors supporting frame is installed on the walking device, a first scissors fixing plate is installed on the upper end of the scissors supporting frame, the first scissors fixing plate is provided with three first elongated holes, a second scissors fixing plate is installed on the first scissors fixing plate, a plurality of first connecting through holes are provided on the second scissors fixing plate, the second scissors fixing plate is connected to the first elongated holes by first bolts, three second elongated holes are provided on the second scissors fixing plate, and the second scissors are connected to the second elongated holes by second bolts.

[0008] Preferably, the walking device is a crawler chassis.

[0009] Preferably, a radar is installed on the upper end of the control device.

[0010] Preferably, both the first scissors and the second scissors are pneumatic scissors.

[0011] Preferably, the first visual recognition device is a monocular camera, and the second visual recognition device is a binocular camera.

[0012] Preferably, the clamping device is a pneumatic clamp.

[0013] Preferably, the disinfection device includes a disinfection nozzle and a disinfectant tank, the disinfection nozzle is installed on the driving end of the robotic arm, the disinfectant tank is placed on the walking device, the disinfection nozzle and the disinfectant tank are connected by a disinfectant delivery pipe, and a disinfectant delivery pump is connected to the disinfectant delivery pipe.

[0014] Preferably, a gas tank is installed on the walking device, and the first scissors, the second scissors and the clamping device are all connected to the gas tank through an air pipe, and the air pipe is connected to an air pump.

[0015] Compared with the prior art, the present invention has achieved the following technical effects: The present invention can move the entire device to the position where the tomatoes need to be picked by the walking device, and then adjust the positions of the clamping device and the first scissors by the lifting device and the mechanical arm, so that the device can be moved to the position where the tomatoes need to be picked, and then the roots of the tomatoes are clamped by the clamping device, and the tomatoes are cut by the first scissors. Then the mechanical arm moves the cut tomatoes to the top of the storage basket, and finally uses the second scissors to cut off the root part clamped by the clamping device, so that the tomatoes fall into the storage basket, and the picking of one tomato is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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 will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of a tomato picking robot from a first perspective according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the tomato picking robot from a second perspective in an embodiment of the present invention; Figure 3 It is a schematic structural diagram of a first scissor fixing plate and a second scissor fixing plate in a tomato picking robot according to an embodiment of the present invention; Figure 4 This is a connection relationship diagram of the driving end of the mechanical arm in the tomato picking robot according to an embodiment of the present invention; In the figure: 1-walking device; 2-mechanical arm; 3-control cabinet; 4-battery; 5-radar; 6-monocular camera; 7-binocular camera; 8-air pump; 9-gas tank; 10-storage basket; 11-first scissors; 12-clamping device; 13-disinfection nozzle; 14-second scissors; 15-disinfectant tank; 16-first scissors fixing plate; 17-second scissors fixing plate. DETAILED DESCRIPTION

[0018] 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.

[0019] The purpose of the present invention is to provide a tomato picking robot to solve the problems existing in the above-mentioned prior art, which can realize mechanical picking of tomatoes, reduce the labor intensity of workers, and has a high degree of automation.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figure 1-Figure 4 As shown, this embodiment provides a tomato picking robot, including a walking device 1, which is used to support various components above it and drive various components to walk on the ground. A lifting device and a control device are installed on the upper end of the walking device 1, wherein the lifting device can adopt existing electric telescopic rods, linear motors or hydraulic cylinders and other devices with linear telescopic functions, and a mechanical arm 2 is installed on the upper end of the lifting device. The mechanical arm 2 can adopt a common six-degree-of-freedom mechanical arm on the market, and it can be seen from the figure that the mechanical arm 2 is located on one side of the walking device 1, as shown in FIG. Figure 1The robot arm 2 is shown to be located on the right side of the walking device 1. There is no other device at the right end of the robot arm 2 to hinder it, so the robot arm 2 has a large space for movement and can pick tomatoes at different heights. Further, the driving end of the robot arm 2 is equipped with a disinfection device, a clamping device 12, a first scissors 11 and a first visual recognition device. Specifically, the driving end of the robot arm 2 is fixed with an adapter plate, and the disinfection device, the clamping device 12, the first scissors 11 and the first visual recognition device are all installed on the adapter plate, and the first scissors 11 are fixed to the upper surface of the adapter plate, and the clamping device 12 is installed on the lower surface of the adapter plate, so the first scissors 11 is located above the clamping device 12. In addition, a second visual recognition device is installed at the upper end of the control device. The first visual recognition device and the second visual recognition device are both used to identify the color grade of tomatoes and perform picking operations according to the set pickable color grade. A storage basket 10 is placed at the upper end of the walking device 1, and the storage basket 10 is used to collect picked tomatoes. A second scissors 14 is installed above the storage basket 10, and the second scissors 14 is used to cut the tomatoes clamped by the clamping device 12. The disinfection device, the clamping device 12, the first scissors 11, the second scissors 14, the first visual recognition device and the second visual recognition device are all electrically connected to the control device and are uniformly controlled by the control device. Furthermore, the control device can also be electrically connected to the background host in the greenhouse, and can be remotely controlled by the staff in the greenhouse.

[0022] In actual use, the walking device 1 can automatically move forward, backward, turn, and U-turn according to the positioning marks arranged by the staff in the greenhouse; the walking device 1 can move between the tomato ridges, identify the color grade of the tomatoes through the first visual recognition device and the second visual recognition device, and perform picking operations according to the set pickable color grade. Specifically, after the first visual recognition device and the second visual recognition device identify and locate the pickable tomatoes, a command is issued to the robot arm 2, and the robot arm 2 moves to the clamping point of the tomato according to the obstacle avoidance motion trajectory. After the clamping device 12 clamps the upper part of the tomato sepals in place, the first scissors 11 perform a shearing action above the clamping device 12 (it should be noted that at this time, the first scissors 11 only cuts off the rhizome part above the clamping device 12, and the clamping device 12 still clamps a part of the rhizome). Then the disinfection device sprays 1mL of disinfectant on the cut of the tomato. Then, the robot arm 2 carries the tomatoes and moves along the obstacle avoidance trajectory toward the second scissors 14 above the storage basket 10. When the clamping device 12 carries the tomatoes to the point above the second scissors 14, the second scissors 14 perform a shearing action, at which time the remaining roots of the tomatoes are also cut off, leaving only complete tomatoes. The tomatoes fall into the storage basket 10 in a free-fall manner, completing a picking process.

[0023] In this embodiment, the control device is an existing control cabinet 3, which has some built-in electrical components inside, which are all existing technologies and will not be described in detail here. In addition, in order to be able to supply power to each device, a power supply device is also provided in the control cabinet 3, and the power supply device can be a battery 4 or other power supply equipment.

[0024] In this embodiment, if Figure 3 As shown, a scissors support frame is installed on the walking device 1, and a first scissors fixing plate 16 is installed on the upper end of the scissors support frame. The scissors support frame can adopt a bracket structure with suitable height, and its main function is to fix the first scissors fixing plate 16, so there are no more restrictions on its specific structure. The first scissors fixing plate 16 is provided with three mutually parallel first long holes, and a second scissors fixing plate 17 is installed on the first scissors fixing plate 16. The second scissors fixing plate 17 is provided with a plurality of first connecting through holes. It can be seen from the figure that four first connecting through holes are specifically provided, and the four first connecting through holes are respectively distributed at the four corners of the rectangle, and the second scissors fixing plate 17 is connected to the first long hole by a first bolt, specifically, the first bolt passes through the first connecting through hole and the corresponding first long hole on the second scissors fixing plate 17 in sequence and is threadedly connected with a nut. Figure 3 Two of the first connecting through holes correspond to the first long holes on both sides respectively, and the remaining two first connecting through holes correspond to the first long hole in the middle. In actual use, when the nut on the first bolt is loosened, the second scissors fixing plate 17 can be moved linearly along the linear direction of the first long hole. In addition, the relative angle between the first scissors fixing plate 16 and the second scissors fixing plate 17 can be appropriately adjusted (because the first long hole has a certain width, by adjusting the relative position of the first bolt and the corresponding first long hole, the relative angle between the first scissors fixing plate 16 and the second scissors fixing plate 17 can be slightly adjusted). In addition, the number of first connecting through holes corresponding to different first long holes can be adjusted to adjust the relative angle between the first scissors fixing plate 16 and the second scissors fixing plate 17, so as to adjust the position of the second scissors fixing plate 17. When the position is adjusted appropriately, the nut corresponding to the first bolt can be tightened.

[0025] Similarly, three second long holes are provided on one end of the second scissors fixing plate 17 away from the first connecting through hole, and a plurality of second connecting through holes are provided at the bottom of the second scissors 14. The second scissors 14 are connected to the second long holes by second bolts, specifically, the second bolts pass through the second long holes in sequence and are threadedly connected to the second connecting through holes. In actual use, the second bolts can be loosened first, so that the second scissors 14 can be moved along the length direction of the second long holes, and the second bolts can be tightened after moving to a suitable position.

[0026] The staff can adjust the specific position of the second scissors 14 through the first scissors fixing plate 16 and the second scissors fixing plate 17 so that the second scissors 14 are located at a suitable position.

[0027] In this embodiment, the walking device 1 can use the existing crawler chassis. The crawler chassis is used to enable the entire device to run smoothly on uneven ground.

[0028] In this embodiment, a radar 5 is installed on the upper end of the control device, and the radar 5 is electrically connected to the control cabinet 3 for transmitting the position information to the control cabinet 3 in real time, and then transmitting it to the background host through the control cabinet 3, so that the staff in the shed can understand the specific location of the device.

[0029] In this embodiment, the first scissors 11 and the second scissors 14 are both existing pneumatic scissors.

[0030] In this embodiment, the first visual recognition device is a monocular camera 6, which is fixed on the first scissors 11. The second visual recognition device is a binocular camera 7, which is fixed on the upper end of the control cabinet 3. The monocular camera 6 and the binocular camera 7 are both electrically connected to the control cabinet 3, and are used to transmit image information to the control cabinet 3, and then transmitted to the background host by the control cabinet 3.

[0031] In this embodiment, the clamping device 12 is a pneumatic clamp. For the specific structure of the driving clamp, please refer to Figure 4 The pneumatic gripper includes a pneumatic slide and two gripper bodies. The pneumatic slide is an existing component (also known as a parallel finger cylinder on the market), which includes two sliders. The pneumatic slide can drive the two sliders to move toward the middle or away from the middle at the same time. This is a prior art, so its specific structure will not be further described here. Each slider is connected to a gripper body, so the opening and closing action of the two sliders in the pneumatic slide drives the two gripper bodies to realize the opening and closing action, further completing the gripping of tomatoes.

[0032] In this embodiment, the disinfection device includes a disinfection nozzle 13 and a disinfection liquid tank 15. The disinfection nozzle 13 is installed at the driving end of the mechanical arm 2 and can spray disinfectant toward the cut tomatoes. The disinfection liquid tank 15 is placed on the platform of the walking device 1. The disinfection nozzle 13 and the disinfection liquid tank 15 are connected by a disinfection liquid delivery pipe. The end of the disinfection liquid delivery pipe is connected to a disinfection liquid delivery pump. The disinfection liquid delivery pump is located in the disinfection liquid tank 15, and the disinfection liquid delivery pump is also electrically connected to the control cabinet 3. When the control cabinet 3 controls the disinfection liquid delivery pump to start, the disinfection liquid delivery pump will deliver the disinfectant to the disinfection nozzle 13 and the disinfection nozzle 13 will spray it out.

[0033] In this embodiment, a gas tank 9 is installed on the walking device 1, and the first scissors 11, the second scissors 14 and the clamping device 12 are all connected to the gas tank 9 through an air pipe, and the air pipe is connected to an air pump 8, and the air pump 8 is electrically connected to the control cabinet 3. In actual use, the gas in the gas tank 9 is transported to the first scissors 11, the second scissors 14 and the clamping device 12 by the air pump 8 through the air pipe to drive the operation of each device. As for the specific connection relationship of the air pipe, this is a common air path and will not be described in detail.

[0034] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A tomato picking robot, characterized in that: It includes a walking device, a lifting device and a control device are installed on the upper end of the walking device, a mechanical arm is installed on the upper end of the lifting device, a disinfection device, a clamping device, a first pair of scissors and a first visual recognition device are installed on the driving end of the mechanical arm, the first pair of scissors is located above the clamping device, a second visual recognition device is installed on the upper end of the control device, a storage basket is placed on the upper end of the walking device, a second pair of scissors is installed above the storage basket, and the disinfection device, the clamping device, the first pair of scissors, the second pair of scissors, the first visual recognition device and the second visual recognition device are all electrically connected to the control device.

2. The tomato picking robot according to claim 1, characterized in that: The control device is a control cabinet.

3. The tomato picking robot according to claim 1, characterized in that: A scissors support frame is installed on the walking device, and a first scissors fixing plate is installed on the upper end of the scissors support frame, the first scissors fixing plate is provided with three first long holes, the first scissors fixing plate is installed with a second scissors fixing plate, the second scissors fixing plate is provided with a plurality of first connecting through holes, the second scissors fixing plate is connected to the first long holes by a first bolt, the second scissors fixing plate is provided with three second long holes, and the second scissors is connected to the second long holes by a second bolt.

4. The tomato picking robot according to claim 1, characterized in that: The walking device is a crawler chassis.

5. The tomato picking robot according to claim 1, characterized in that: A radar is installed on the upper end of the control device.

6. The tomato picking robot according to claim 1, characterized in that: The first scissors and the second scissors are both pneumatic scissors.

7. The tomato picking robot according to claim 1, characterized in that: The first visual recognition device is a monocular camera, and the second visual recognition device is a binocular camera.

8. The tomato picking robot according to claim 1, characterized in that: The clamping device is a pneumatic clamping jaw.

9. The tomato picking robot according to claim 1, characterized in that: The disinfection device includes a disinfection nozzle and a disinfectant tank. The disinfection nozzle is installed at the driving end of the robotic arm, and the disinfectant tank is placed on the walking device. The disinfection nozzle and the disinfectant tank are connected by a disinfectant delivery pipe, and a disinfectant delivery pump is connected to the disinfectant delivery pipe.

10. The tomato picking robot according to claim 1, characterized in that: An air tank is installed on the walking device, and the first scissors, the second scissors and the clamping device are all connected to the air tank through an air pipe, and the air pipe is connected to an air pump.

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