Intelligent flexible pepper picking trolley

Abstract

The invention discloses an intelligent flexible pepper picking trolley which comprises a frame, a walking mechanism, a walking obstacle avoidance module, a visual camera recognition module, a picking mechanism, a conveying and sorting mechanism, a collecting mechanism, a control module and a power module. The picking mechanism comprises a multi-shaft mechanical arm and a tail end picking executing mechanism, the conveying and sorting mechanism comprises a curved-surface roller which is obliquely arranged and a conveying belt which is in butt joint with the lower end of the curved-surface roller, the curved-surface roller comprises curved-surface guide rails and a plurality of rollers which are rotationally connected between the curved-surface guide rails, and a gap is reserved between every two adjacent rollers; the two conveying belts are arranged in parallel and twisted oppositely, are horizontally arranged on one side of the curved-surface roller and are vertically arranged on one side far away from the curved-surface roller, and the distance between the two conveying belts is gradually increased from one side of the curved-surface roller; at least two sets of collecting mechanisms are arranged and located below the conveying belt. The pepper picking device can achieve efficient and intelligent pepper picking and complete automatic sorting and collecting work, and the picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to agricultural harvesting equipment, in particular to an intelligent flexible pepper picking trolley. Background Art

[0002] In the field of agricultural production, pepper picking has always been a labor-intensive job. The traditional manual picking method is not only inefficient, but also increasingly expensive as labor costs continue to rise. In addition, capsaicin in peppers is the substance that causes the spicy taste, which may cause irritation to the eyes, nose and mouth, and the process of picking peppers can easily cause discomfort, irritation and pain to the pickers.

[0003] Among the existing agricultural picking robots or automated equipment, although some can realize partial picking functions, there are still many problems. For example, during the picking process, a significant problem is that it is difficult to avoid picking branches and leaves during the picking operation. These branches and leaves will be mixed into the collection frame, which will not only affect the purity of the peppers, but also cause trouble for subsequent processing and reduce the overall quality of the peppers; in addition, the existing picking equipment cannot sort the peppers by size during the picking process, and can only collect the picked peppers in a unified manner. This requires additional manual sorting processes for situations where the peppers need to be sorted according to their size, which greatly increases labor costs and time costs, and reduces overall production efficiency.

[0004] In order to meet the needs of modern agriculture for high efficiency, precision and low cost, the development of intelligent flexible pepper picking carts has become an important research and application direction. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides an intelligent flexible pepper picking cart, which realizes efficient and intelligent pepper picking, sorting and collection, improves picking efficiency, reduces labor workload and reduces picking costs.

[0006] The technical solution adopted by the present invention is as follows: an intelligent flexible pepper picking trolley, comprising a frame and a walking mechanism, and also comprising a walking obstacle avoidance module, a visual camera recognition module, a picking mechanism, a conveying and sorting mechanism, a collecting mechanism, a control module, and a power module installed on the frame; The walking obstacle avoidance module and the visual camera recognition module are respectively installed at the front end of the frame, the walking obstacle avoidance module is used to provide navigation and obstacle avoidance capabilities for the vehicle, and the visual camera recognition module is used to identify mature peppers and obtain the three-dimensional spatial coordinates of the peppers; The picking mechanism includes a multi-axis mechanical arm and an end picking actuator installed at the front end of the multi-axis mechanical arm; The conveying and sorting mechanism is used to receive the peppers picked by the picking mechanism, and includes an inclined curved roller and a conveyor belt docked at the lower end of the curved roller, the curved roller includes two parallel curved guide rails, and a plurality of rollers are rotatably connected between the curved guide rails, the rollers can roll freely and there is a gap between adjacent rollers, two conveyor belts are arranged in parallel, the two conveyor belts are twisted relative to each other, the conveyor belt driving wheel on one side of the curved roller is horizontally arranged, the conveyor belt driving wheel on the side away from the curved roller is vertically arranged, and the spacing between the two conveyor belts gradually increases from one side of the curved roller; the conveying and sorting mechanism also includes a fan, which is installed on a frame below the curved roller and is used to blow away branches and leaves that fall from the gap between the rollers to the side away from the collecting mechanism; The collecting mechanism is provided with at least two groups, both of which are located below the conveyor belt and are used to receive the peppers falling from the conveyor belt; The control module is used to coordinate the work of each module; The power module provides power for the entire vehicle.

[0007] Furthermore, the lower end of the curved guide rail is rotatably connected to the frame, the middle part of the curved guide rail is rotatably connected to an inclined rod for supporting the curved guide rail, a clamping rail is provided on the frame below the curved guide rail, and clamping slots are provided at intervals on the clamping rail, and the lower end of the inclined rod is clamped in the clamping slot.

[0008] Furthermore, the collecting mechanism comprises a collecting box, which is placed in a placement slot on the vehicle frame, and an umbrella-shaped sorting block is provided above the junction of adjacent collecting boxes.

[0009] Furthermore, the collection box includes hard baffles arranged at both ends, and a soft box body connected to the hard baffles, and elastic support members are also arranged between the hard baffles, so that the hard baffles can be compressed under force and opened in a natural state. At least two collection boxes are placed in the placement groove, and the inner collection box is in a compressed state. A telescopic buckle is arranged on the side of the placement groove for limiting the hard baffle of the inner collection box, and a gear bar is arranged on the outer edge of the placement groove for limiting the outer collection box, so that when the outer collection box is taken out, the inner collection box is automatically opened by releasing the telescopic buckle under the action of the elastic support member.

[0010] Furthermore, the collection mechanism also includes an automatic ejection device for pushing out the collection box, and the automatic ejection device includes a push belt, and the push belt is driven to reciprocate by a push gear. A push rod is connected to the side of the push belt. When the push rod is on the lower side, the push belt drives the push rod to move and then the collection box is pushed out of the placement slot through the push rod and the hard baffle of the collection box.

[0011] Furthermore, a control box is installed on the frame, and the control module and the power module are installed in the control box.

[0012] Furthermore, the walking mechanism includes four walking components installed at the bottom of the frame, the walking components include a short shaft, both ends of the short shaft are respectively slidably sleeved with connecting tubes and are provided with limiting nuts for limiting the connecting tubes, a shock-absorbing spring is provided between the two connecting tubes on the short shaft, the upper and lower sides of the connecting tubes are respectively hinged with connecting rods, the upper connecting rod is hinged to the connecting seat fixed on the frame, and the lower connecting rod is jointly hinged to the mounting seat, and the mounting seat is provided with walking wheels and a driving motor for driving the walking wheels to rotate.

[0013] The beneficial effects of the present invention are: (1) The visual camera recognition module in the present invention can accurately identify mature peppers and obtain their three-dimensional spatial coordinates, which enables the picking mechanism to accurately locate the peppers, improve the accuracy of picking, avoid mistakenly picking immature peppers, and ensure the quality of picked peppers. At the same time, the cooperation of the multi-axis robotic arm and the end-point picking actuator can flexibly pick peppers in different positions and growth states through precise motion control, greatly improving the picking efficiency and reducing the inefficiency caused by human factors during manual picking; (2) The curved roller and conveyor belt in the conveying and sorting mechanism are cleverly designed. When the peppers picked by the picking mechanism are placed on the curved roller and transferred to the conveyor belt as the roller rotates, small branches and leaves will fall from the gap between the rollers during the transfer process. The fan will blow away these fallen branches and leaves to prevent them from being mixed into the collection mechanism, thus ensuring the purity of the collected peppers and reducing the workload of subsequent manual sorting of branches and leaves. The two relatively twisted conveyor belts with gradually increasing spacing can perform preliminary sorting according to the size of the peppers, realizing the automatic sorting function after picking, improving the work efficiency of the entire picking process, and facilitating subsequent processing; (3) The combination of the hard baffle and the soft box body of the collection box, as well as the setting of the elastic support, make the collection box have a certain degree of flexibility and compressibility, which can more effectively utilize the space of the frame. When the outer collection box is taken out, the inner collection box will automatically open, which is convenient for continuous collection of peppers, improving the space utilization rate of the collection mechanism and the continuity of collection; the automatic ejection device can automatically push the collection box out of the placement slot, which is convenient for replacement after the collection box is full of peppers, reducing the time and labor intensity of manual operation, and improving the automation level and work efficiency of the entire picking system; (4) The unique design of the walking mechanism, through the shock-absorbing spring and the adjustable connecting pipe, enables the walking wheels to better adapt to the undulations of the ground, reducing the impact of vibration on the entire trolley and picking operations, and improving the adaptability and stability of the trolley in different terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the installation of the conveying and sorting mechanism of the present invention.

[0016] Figure 3 It is a structural schematic diagram of the conveying and sorting mechanism of the present invention.

[0017] Figure 4 It is a schematic diagram of the coordination of the conveyor belt of the present invention.

[0018] Figure 5 It is a structural schematic diagram of the collecting mechanism of the present invention.

[0019] Figure 6 It is a schematic diagram of the working state of the automatic ejection device of the present invention.

[0020] Figure 7 It is a structural schematic diagram of the walking mechanism of the present invention.

[0021] In the figure: frame 100; walking mechanism 200, connecting seat 201, connecting rod 202, shock-absorbing spring 203, limiting nut 204, connecting pipe 205, short shaft 206, mounting seat 207, driving motor 208, walking wheel 209; walking obstacle avoidance module 300; visual camera recognition module 400; picking mechanism 500, multi-axis robotic arm 501, end picking actuator 502; conveying and sorting mechanism 600, curved guide rail 601, roller 602, conveyor belt 603, inclined rod 604, rail 605, fan 606; control box 700; collecting mechanism 800, collecting box 801, umbrella-shaped sorting block 802, elastic support 803, placement slot 804, gear bar 805, telescopic buckle 806, push belt 807, push gear 808, push rod 809. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention are described clearly and completely below. 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.

[0023] like Figure 1-Figure 7 As shown, the intelligent flexible pepper picking cart provided in this embodiment includes a frame 100 and a walking mechanism 200, and also includes a walking obstacle avoidance module 300 installed on the frame 100, a visual camera recognition module 400, a picking mechanism 500, a conveying and sorting mechanism 600, a collecting mechanism 800, a control module, a power module, and a control box 700.

[0024] In this embodiment, the walking mechanism 200 includes four walking components installed at the bottom of the frame 100, and the walking components include a short shaft 206, and the two ends of the short shaft 206 are respectively slidably sleeved with connecting pipes 205 and provided with limiting nuts 204 for limiting the connecting pipes 205. A shock-absorbing spring 203 is provided between the two connecting pipes 205 on the short shaft 206, and the upper and lower sides of the connecting pipe 205 are respectively hinged with connecting rods 202. The upper connecting rod 202 is hinged with the connecting seat 201 fixed on the frame 100, and the lower connecting rod 202 is jointly hinged on the mounting seat 207. The mounting seat 207 is equipped with a walking wheel 209 and a driving motor 208 for driving the walking wheel 209 to rotate. This design not only improves the obstacle-crossing ability of the trolley, but also effectively reduces the bumps through the shock-absorbing spring, ensuring the smooth progress of the picking operation.

[0025] The walking obstacle avoidance module 300 and the visual camera recognition module 400 are respectively installed at the front end of the frame 100. The walking obstacle avoidance module 300 uses advanced sensor technology to provide navigation and obstacle avoidance capabilities for the vehicle. The visual camera recognition module 400 uses a high-precision visual camera to identify mature peppers and obtain their three-dimensional coordinates. The walking obstacle avoidance module 300 and the visual camera recognition module 400 can adopt existing known technologies.

[0026] The picking mechanism 500 includes a multi-axis robot arm 501 and a terminal picking actuator 502 installed at the front end of the multi-axis robot arm 501. The flexibility of the multi-axis robot arm ensures that it can reach various complex picking positions, while the terminal picking actuator is responsible for actually performing the picking action.

[0027] The conveying and sorting mechanism 600 is used to receive the peppers picked by the picking mechanism 500, and includes a curved roller arranged obliquely and a conveyor belt 603 connected to the lower end of the curved roller. The curved roller includes two curved guide rails 601 arranged in parallel. A plurality of rollers 602 are rotatably connected between the curved guide rails 601. The rollers 602 can roll freely and gaps are left between adjacent rollers 602. Two conveyor belts 603 are arranged in parallel. The two conveyor belts 603 are twisted relative to each other. The conveyor belt driving wheel on one side of the curved roller is arranged horizontally, and the conveyor belt driving wheel on the side away from the curved roller is arranged vertically, and the spacing between the two conveyor belts 603 gradually increases from one side of the curved roller.

[0028] As a preferred solution of this embodiment, the conveying and sorting mechanism 600 further includes a fan 606, which is installed on the frame 100 below the curved roller and is used to blow away the branches and leaves that fall from the gap between the rollers 602 to the side away from the collecting mechanism 800. The addition of the fan further improves the sorting efficiency, blows away debris such as branches and leaves, and avoids mixing.

[0029] As a preferred solution of this embodiment, the lower end of the curved guide rail 601 is rotatably connected to the frame 100, and the middle part of the curved guide rail 601 is rotatably connected to an inclined rod 604 for supporting the curved guide rail 601. A clamping rail 605 is provided on the frame below the curved guide rail 601, and clamping grooves are provided at intervals on the clamping rail 605. The lower end of the inclined rod 604 is clamped in the clamping groove. The rotatable connection between the curved guide rail and the frame and the matching design of the inclined rod and the clamping groove enable the conveying and sorting mechanism to adjust the angle as needed to adapt to different picking environments.

[0030] In this embodiment, at least two groups of collecting mechanisms 800 are provided, both of which are located below the conveyor belt 603, and are used to receive the peppers falling from the conveyor belt 603. Specifically, the collecting mechanism 800 includes a collecting box 801, which is placed in a placement slot 804 on the frame 100, and an umbrella-shaped sorting block 802 is provided above the junction of adjacent collecting boxes 801. The umbrella-shaped sorting block 802 can guide the peppers to slide along a specific path, ensuring that they can accurately fall into the collecting box 801 below, which helps to classify the peppers more accurately, reduces the scattering and loss of the peppers during the sliding process, and improves the collection efficiency.

[0031] As a preferred solution of this embodiment, in order to more effectively utilize the space of the frame, the collection box 801 includes hard baffles arranged at both ends, and a soft box body connected between the hard baffles, and an elastic support member 803 is also arranged between the hard baffles, so that the hard baffles can be compressed under force and open in a natural state, at least two collection boxes 801 are placed in the placement groove 804, the inner collection box 801 is in a compressed state, a telescopic buckle 806 for limiting the hard baffle of the inner collection box 801 is arranged on the side of the placement groove 804, and a stop bar 805 for limiting the outer collection box 801 is arranged at the outer edge of the placement groove 804, so that when the outer collection box 801 is taken out, the telescopic buckle 806 is released to automatically open the inner collection box 801 under the action of the elastic support member 803. Through this design, the space utilization rate of the collection mechanism and the continuity of collection are improved.

[0032] As a preferred solution of this embodiment, in order to reduce manual operation, the collection mechanism 800 also includes an automatic ejection device for ejecting the collection box 801, and the automatic ejection device includes a push belt 807, which is driven to reciprocate by a push gear 808, and a push rod 809 is connected to the side of the push belt 807. When the push rod 809 is at the lower side, the push belt 807 drives the push rod 809 to move, and then the push rod 809 is against the hard baffle of the collection box 801 to push the collection box 801 out of the placement slot 804. By providing an automatic ejection device, the collection box can be automatically pushed out of the placement slot, which is convenient for replacement after the collection box is full of peppers, reducing the time and labor intensity of manual operation, and improving the automation level and work efficiency of the entire picking system.

[0033] In this embodiment, the control module is used to coordinate the work of each module, and the power module provides power for the entire vehicle. The control module and the power module are installed in the control box 700.

[0034] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An intelligent flexible pepper picking trolley, comprising a frame (100) and a walking mechanism (200), characterized in that: It also includes a walking obstacle avoidance module (300), a visual camera recognition module (400), a picking mechanism (500), a conveying and sorting mechanism (600), a collecting mechanism (800), a control module, and a power supply module, which are installed on the vehicle frame (100); The walking obstacle avoidance module (300) and the visual camera recognition module (400) are respectively installed at the front end of the vehicle frame (100); the walking obstacle avoidance module (300) is used to provide navigation and obstacle avoidance capabilities for the vehicle; and the visual camera recognition module (400) is used to identify mature peppers and obtain the three-dimensional spatial coordinates of the peppers; The picking mechanism (500) comprises a multi-axis mechanical arm (501) and an end picking actuator (502) installed at the front end of the multi-axis mechanical arm (501); The conveying and sorting mechanism (600) is used to receive the peppers picked by the picking mechanism (500), and comprises a curved roller arranged obliquely and a conveyor belt (603) connected to the lower end of the curved roller. The curved roller comprises two curved guide rails (601) arranged in parallel. A plurality of rollers (602) are rotatably connected between the curved guide rails (601). The rollers (602) can roll freely and gaps are left between adjacent rollers (602). The conveyor belt (603) comprises two rollers arranged in parallel. The two conveyor belts (603) are twisted relative to each other, the conveyor belt driving wheel on one side of the curved roller is arranged horizontally, the conveyor belt driving wheel on the side away from the curved roller is arranged vertically, and the spacing between the two conveyor belts (603) gradually increases from the side of the curved roller; the conveying and sorting mechanism (600) further comprises a fan (606), the fan (606) being mounted on the frame (100) below the curved roller and being used to blow away branches and leaves that fall from the gap between the rollers (602) to the side away from the collecting mechanism (800); The collecting mechanism (800) is provided with at least two groups, both of which are located below the conveyor belt (603) and are used to receive the peppers falling from the conveyor belt (603); The control module is used to coordinate the work of each module; The power module provides power for the entire vehicle.

2. The intelligent flexible pepper picking vehicle according to claim 1, characterized in that: The lower end of the curved guide rail (601) is rotatably connected to the vehicle frame (100), and the middle part of the curved guide rail (601) is rotatably connected to an inclined rod (604) for supporting the curved guide rail (601). A clamping rail (605) is provided on the frame below the curved guide rail (601), and clamping grooves are provided at intervals on the clamping rail (605), and the lower end of the inclined rod (604) is clamped in the clamping groove.

3. The intelligent flexible pepper picking vehicle according to claim 1 is characterized in that: The collecting mechanism (800) comprises a collecting box (801), the collecting box (801) being placed in a placement slot (804) on the vehicle frame (100), and an umbrella-shaped sorting stopper (802) being provided above the junction of adjacent collecting boxes (801).

4. The intelligent flexible pepper picking vehicle as claimed in claim 3 is characterized by: The collection box (801) comprises hard baffles arranged at both ends, and a soft box body connected between the hard baffles. An elastic support member (803) is also arranged between the hard baffles, so that the hard baffles can be compressed under force and opened in a natural state. At least two collection boxes (801) are placed in the placement groove (804), and the inner collection box (801) is in a compressed state. A telescopic buckle (806) for limiting the hard baffle of the inner collection box (801) is arranged on the side of the placement groove (804), and a stop bar (805) for limiting the outer collection box (801) is arranged at the outer edge of the placement groove (804), so that when the outer collection box (801) is taken out, the inner collection box (801) is automatically opened under the action of the elastic support member (803) by releasing the telescopic buckle (806).

5. The intelligent flexible pepper picking vehicle as claimed in claim 4 is characterized by: The collection mechanism (800) further comprises an automatic ejection device for ejecting the collection box (801), the automatic ejection device comprising a push belt (807), the push belt (807) being driven to reciprocate via a push gear (808), a push rod (809) being connected to the side of the push belt (807), and when the push rod (809) is at the lower side, the push belt (807) drives the push rod (809) to move, thereby pushing the collection box (801) out of the placement slot (804) through the push rod (809) contacting the hard baffle of the collection box (801).

6. The intelligent flexible pepper picking vehicle according to claim 1, characterized in that: A control box (700) is installed on the vehicle frame (100), and the control module and the power module are installed in the control box (700).

7. The intelligent flexible pepper picking vehicle according to claim 1, characterized in that: The walking mechanism (200) comprises four walking components mounted on the bottom of the vehicle frame (100), the walking components comprising a short shaft (206), connecting tubes (205) are slidably sleeved on both ends of the short shaft (206) and are provided with limiting nuts (204) for limiting the position of the connecting tubes (205), a shock absorbing spring (203) is provided between two connecting tubes (205) on the short shaft (206), connecting rods (202) are hingedly connected at the upper and lower sides of the connecting tubes (205), the upper connecting rod (202) is hingedly connected to a connecting seat (201) fixed on the vehicle frame (100), and the lower connecting rod (202) is hingedly connected to a mounting seat (207), and a walking wheel (209) and a driving motor (208) for driving the walking wheel (209) to rotate are installed on the mounting seat (207).

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