An automatic mulberry leaf picking robot and a mulberry leaf picking method

Abstract

The present invention relates to the technical field of mulberry picking robots, and discloses an automatic mulberry picking robot and a mulberry picking method, which include a mobile base, on which a robotic arm structure and a mulberry leaf storage structure are installed. A first vision unit is installed on the end face of the mobile base. The robotic arm structure includes a robotic arm base installed on the surface of the mobile base and a first mounting frame rotatably arranged above the robotic arm base. A second mounting frame is movably arranged in the first mounting frame, a connecting arm is movably arranged in the second mounting frame, and a connecting frame is fixedly connected to the end of the connecting arm. By setting the robotic arm structure, the mulberry leaves can be picked from multiple angles according to requirements, which is convenient for the operation of the mulberry picking robot. By setting the mulberry leaf storage structure, the ejector plate and the pressing mechanism, the picked mulberry leaves can be stored, and the stored mulberry leaves can be pressed down according to requirements, so that more mulberry leaves can be picked, ensuring the efficiency of mulberry leaf picking and carrying out the dumping work of the mulberry leaves.

Description

Technical Field

[0001] The present invention relates to the technical field of mulberry picking robots, and discloses an automatic mulberry picking robot and a mulberry picking method. Background Art

[0002] During the process of raising silkworms, mulberry leaves are the main food for silkworms. A single silkworm needs to consume approximately 0.4 - 0.6 kilograms of mulberry leaves from the silkworm pupa stage until it spins silk. For enterprises that raise silkworms on a large scale, it is conceivable how much mulberry leaves the raised silkworms need to consume. An adult can pick 100 - 150 Kg of mulberry leaves when proficient. If manual mulberry picking is adopted, a large amount of labor is required to meet the daily mulberry leaf feeding needs during large-scale silkworm raising.

[0003] In recent years, although certain developments have been made in mulberry picking machinery. For example, the mulberry leaf picker with the patent number 201120287574.3 in terms of mulberry leaf picking. This tool has the advantages of fast speed, no hand injury when picking mulberry leaves, small volume, can be held in the palm with one hand, and can be operated with both the left and right hands. It is light in weight, less than 150 grams, suitable for various mulberry tree varieties, and can quickly pick mulberry branches of different sizes. Another example is a new type of mulberry leaf picking machine with the patent number 201220176574, which has a middle concave S-shaped guide plate arranged at the lower front part of the battery driver, and is composed of a conveyor belt with tooth nails, a collecting fan, rollers, connecting rods, a lower collecting plate, wheels, a beating wheel, an upper collecting net, a control lever, and a leaf outlet. However, they still require a large amount of manual labor for operation. The appearance of these mulberry leaf pickers can greatly reduce the labor intensity of farmers, but the designs of these mulberry leaf pickers have not changed the picking mode of mulberry farmers, mainly relying on the labor of mulberry farmers.

[0004] Of course, in the prior art, there are also some picking machines that can replace manual mulberry picking. However, most of the existing mulberry picking machines use mechanical blade cutting devices. Since mulberry leaves are relatively dense and the petioles of mulberry leaves are tough, it is difficult for mechanical blade cutting devices to cut, not convenient for continuous cutting. And the mulberry leaves picked by the machine are directly put into the storage device. Due to a large number of gaps between the placed mulberry leaves, the mulberry leaves stored in the storage device are extremely easy to overflow, and the mulberry leaves in the storage device have to be poured out after a while, resulting in low mulberry leaf picking efficiency. Summary of the Invention

[0005] Aiming at the defects in the prior art, the present invention provides an automatic mulberry picking robot and a mulberry picking method, which can pick mulberry leaves, replace manual picking, and can effectively store the picked mulberry leaves, with higher picking efficiency.

[0006] In order to solve the above technical problems, the present invention proposes the following technical solutions:

[0007] An automatic mulberry leaf picking robot, comprising a mobile base, on which a robotic arm structure and a mulberry leaf storage structure are installed. A first vision unit is installed on the end face of the mobile base. The robotic arm structure includes a robotic arm base installed on the surface of the mobile base and a first mounting frame rotatably arranged above the robotic arm base. A second mounting frame is movably arranged in the first mounting frame, and a connecting arm is movably arranged in the second mounting frame. The end of the connecting arm is fixedly connected with a connecting frame. A laser mounting frame is movably arranged at the end of the connecting frame. Second vision units are installed on both sides of the laser mounting frame, and a laser emitter is installed in the middle of the laser mounting frame. The upper and lower ends of the laser mounting frame are movably provided with a second material receiving pipe and a first material receiving pipe;

[0008] The mulberry leaf storage structure includes a movable plate movably arranged on the mobile base. A first collection cylinder and a second collection cylinder are installed on the movable plate. A top plate and a pressing mechanism are both movably arranged in the first collection cylinder and the second collection cylinder. The end of the second material receiving pipe is connected to the second collection cylinder, and the first material receiving pipe is connected to the first collection cylinder. Sensors are arranged inside both the first collection cylinder and the second collection cylinder;

[0009] It further includes a single-chip microcomputer, which is cooperatively arranged with the mobile base, the robotic arm structure, the mulberry leaf storage structure, the first vision unit and the second vision unit.

[0010] Furthermore, moving wheels are installed around the bottom of the mobile base. A driving motor is arranged on the side of the moving wheel and is electrically connected to the single-chip microcomputer. Both the first vision unit and the second vision unit are intelligent cameras.

[0011] Furthermore, a rotating gear is arranged at the top of the robotic arm base. The rotating gear is sleeved on the bottom of the first mounting frame, and the bottom of the first mounting frame is rotatably arranged on the robotic arm base. A first motor is arranged on the side of the robotic arm base, and the output end of the first motor is connected with a gear meshing with the rotating gear. Second motors are installed on both sides of the first mounting frame, and the output ends of the second motors are connected with transmission gear discs. First gear discs are rotatably arranged on both sides of the top of the first mounting frame, and the first gear discs are meshed with the transmission gear discs. The second mounting frame is fixed between the two first gear discs. A second gear disc is rotatably arranged on the inner side of the top of the second mounting frame, and the second gear disc is fixedly connected with the end of the connecting arm. A third motor is installed on the side of the second mounting frame, and the output end of the third motor is connected with a gear, which is meshed with the second gear disc. The single-chip microcomputer is electrically connected to the first motor, the second motor and the third motor.

[0012] Furthermore, a rotating motor is installed inside the connecting frame. The output end of the rotating motor is connected with a connecting frame. A rotating arm is installed on the connecting frame and is movable through a swinging motor. The laser mounting frame is fixed at the end of the rotating arm. The single-chip microcomputer is electrically connected to the rotating motor and the swinging motor.

[0013] Further, a second biaxial motor and a first biaxial motor are respectively installed at the upper and lower ends of the laser mounting bracket. Second connecting rods and first connecting rods are respectively installed at the two telescopic ends of the second biaxial motor and the first biaxial motor. The second connecting rod and the first connecting rod are respectively fixedly connected to the ends of the second material receiving pipe and the first material receiving pipe. Both the second material receiving pipe and the first material receiving pipe are made of telescopic corrugated pipe material. The single-chip microcomputer is electrically connected to the second biaxial motor and the first biaxial motor.

[0014] Further, first covers and second covers are respectively movably installed at the tops of the first collection cylinder and the second collection cylinder. The first cover and the second cover are hinged to the tops of the first collection cylinder and the second collection cylinder. The first material receiving pipe penetrates through the first cover and is connected into the first collection cylinder. The second material receiving pipe penetrates through the second cover and is connected into the second collection cylinder. A double-acting cylinder is installed between the first cover and the second cover. The first cover and the second cover are driven to move by the double-acting cylinder. The double-acting cylinder is electrically connected to the single-chip microcomputer; first air extractors and second air extractors are respectively installed on the first cover and the second cover. The air extraction ends of the first air extractor and the second air extractor are respectively connected into the first material receiving pipe and the second material receiving pipe. Both the first air extractor and the second air extractor are electrically connected to the single-chip microcomputer.

[0015] Further, a connecting plate is fixed between the first collection cylinder and the second collection cylinder. A first cylinder is installed on the connecting plate. The telescopic end of the first cylinder is connected to a lifting plate. Second chutes are respectively opened on the adjacent surfaces of the first collection cylinder and the second collection cylinder. Both sides of the lifting plate are slidably arranged in the second chutes. Ejector plates are respectively movably arranged inside the first collection cylinder and the second collection cylinder. The ejector plates in the first collection cylinder and the second collection cylinder are connected to the lifting plate; A column is installed on the movable plate. A second cylinder is installed on the inner side of the top of the column. First chutes are respectively opened on the backs of the first collection cylinder and the second collection cylinder. The tops of the first chutes penetrate through the first collection cylinder and the second collection cylinder. A movable plate is slidably arranged in the first chutes. The movable plate is connected to the telescopic end of the second cylinder. The movable plate is fixedly connected to the pressing mechanism; A partition plate is fixedly connected to the front surfaces of the first collection cylinder and the second collection cylinder. The partition plate is fixed on the movable plate. The single-chip microcomputer is electrically connected to the first cylinder and the second cylinder.

[0016] Further, the pressing mechanism includes a circular groove, a through hole, a third cylinder and a limiting rod. The circular groove is correspondingly arranged below the first cover and the second cover and is arranged at the material outlet of the first material receiving pipe and the second material receiving pipe. The ends of the first material receiving pipe and the second material receiving pipe are respectively arranged close to the frames of the first cover and the second cover. A through hole is opened inside the pressing mechanism. The third cylinder is installed in the through hole. The limiting rod is installed at the telescopic end of the third cylinder. The limiting rod is movably arranged in the through hole. The single-chip microcomputer is electrically connected to the third cylinder.

[0017] Furthermore, a groove is provided on the moving base, and a plurality of hinge blocks are installed in the groove. A fourth cylinder is hinged to the hinge blocks. A slide rail is installed at the bottom of the movable plate. The slide rail is arranged to match the hinge blocks. A slider is slidably provided on the slide rail. The slider is hinged to the telescopic end of the fourth cylinder. The single-chip microcomputer is electrically connected to the fourth cylinder.

[0018] The present invention also discloses a mulberry leaf picking method for an automatic mulberry leaf picking robot. The mulberry leaf picking method includes the following steps:

[0019] S1, positioning: The first vision unit collects the positions of nearby mulberry trees, transmits instructions to the single-chip microcomputer. The single-chip microcomputer controls the driving motor to drive the entire mulberry leaf picking robot to move to the position of the mulberry leaves. The single-chip microcomputer synchronously drives the first motor, the second motor, and the third motor so that the entire robotic arm moves according to the position of the mulberry leaves.

[0020] S2, classification: The second vision unit photographs and analyzes whether the mulberry leaves to be laser-spotted are new leaves or old leaves, and transmits the analysis result to the single-chip microcomputer. The single-chip microcomputer controls the rotation motor, the swing motor, and the first biaxial motor and the second biaxial motor to start correspondingly, and adjusts the positions of the first material receiving pipe and the second material receiving pipe to respectively receive new leaves and old leaves.

[0021] S3, storage: The new leaves and old leaves respectively received by the first material receiving pipe and the second material receiving pipe enter the first collection cylinder and the second collection cylinder respectively. The sensor senses the stacking height of the mulberry leaves. After reaching the position of the sensor, the third cylinder is controlled so that the telescopic end of the third cylinder drives the limiting rod to move and block the circular groove. At the same time, the second cylinder is driven to drive the pressing mechanism to press down to press the collected mulberry leaves and store as many mulberry leaves as possible at one time.

[0022] S4, dumping: After the mulberry leaves are collected, the fourth cylinder is controlled to start, driving the movable plate to flip, thereby driving the first collection cylinder and the second collection cylinder to follow and flip. The double-directional cylinder is synchronously started, and the double-directional cylinder retracts, driving the first cover plate and the second cover plate to flip, so that the tops of the first collection cylinder and the second collection cylinder are emptied. The first cylinder is driven, and the first cylinder drives the lifting plate to lift and lower, thereby ejecting the mulberry leaves collected in the first collection cylinder and the second collection cylinder to dump the mulberry leaves.

[0023] It can be seen from the above technical solutions that the beneficial effects of the present invention are:

[0024] By setting the robotic arm structure, the present invention can pick mulberry leaves at multiple angles according to requirements, which is convenient for the operation of the mulberry leaf picking robot.

[0025] The present invention can store the picked mulberry leaves by setting up a mulberry leaf storage structure, an ejection plate and a pressing mechanism. According to requirements, the stored mulberry leaves can be pressed down to pick more mulberry leaves, ensuring the efficiency of mulberry leaf picking. At the same time, after the picking is completed, the mulberry leaves can be dumped according to requirements.

[0026] By setting up a first vision unit and a second vision unit, the present invention can collect data on mulberry leaves and the mulberry leaves, so as to better control the robotic arm structure to pick mulberry leaves, with higher picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

[0028] Figure 1 is the overall schematic diagram of the present invention;

[0029] Figure 2 In the present invention Figure 1 is the enlarged schematic diagram of part A;

[0030] Figure 3 In the present invention Figure 1 is the enlarged schematic diagram of part B;

[0031] Figure 4 is the connection schematic diagram of the mobile base and the movable plate in the present invention;

[0032] Figure 5 is the connection schematic diagram of the movable plate in the present invention;

[0033] Figure 6 is the cross-sectional view of the first collection cylinder in the present invention;

[0034] Figure 7 is the first structural schematic diagram of the pressing mechanism in the present invention;

[0035] Figure 8 is the second structural schematic diagram of the pressing mechanism in the present invention.

[0036] Reference numerals:

[0037] 1 - Mobile base, 101 - Mobile wheels, 102 - Drive motor, 2 - First vision unit, 3 - Movable plate, 4 - Robotic arm base, 5 - First motor, 6 - First mounting bracket, 7 - Rotating gear, 8 - Second motor, 9 - First gear disk, 10 - Transmission gear disk, 11 - Second mounting bracket, 12 - Second gear disk, 13 - Connecting arm, 14 - Connecting frame, 1401 - Rotation motor, 15 - Connecting bracket, 16 - Rotating arm, 17 - Laser mounting bracket, 18 - Second vision unit, 19 - First dual-axis motor, 20 - First connecting rod, 21 - First material receiving pipe, 22 - Laser emitter, 23 - Second dual-axis motor, 24 - Second connecting rod, 25 - Second material receiving pipe, 26 - Partition, 27 - First collection cylinder, 2701 - First chute, 28 - Second collection cylinder, 29 - Lifting plate, 30 - First cover plate, 31 - Second cover plate, 32 - First cylinder, 33 - Connecting plate, 34 - Second chute, 35 - Double-acting cylinder, 36 - Movable plate, 37 - Ejecting plate, 38 - Compression mechanism, 39 - Column, 40 - Second cylinder, 41 - Sensor, 42 - Circular groove, 43 - Through hole, 44 - Third cylinder, 45 - Limiting rod, 46 - Slide rail, 47 - Slide block, 48 - Fourth cylinder, 49 - Hinge block, 50 - First air extractor fan, 51 - Second air extractor fan. Detailed implementation mode

[0038] The embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0039] Refer to Figure 1-8 , an automatic mulberry leaf picking robot, including a mobile base 1, a robotic arm structure and a mulberry leaf storage structure are installed on the mobile base 1, a first vision unit 2 is installed on the end face of the mobile base 1, the robotic arm structure includes a robotic arm base 4 installed on the surface of the mobile base 1 and a first mounting bracket 6 rotatably arranged above the robotic arm base 4, a second mounting bracket 11 is movably arranged in the first mounting bracket 6, a connecting arm 13 is movably arranged in the second mounting bracket 11, the end of the connecting arm 13 is fixedly connected with a connecting frame 14, the end of the connecting frame 14 is movably arranged with a laser mounting bracket 17, second vision units 18 are installed on both sides of the laser mounting bracket 17, a laser emitter 22 is installed in the middle of the laser mounting bracket 17, and a second material receiving pipe 25 and a first material receiving pipe 21 are movably arranged at the upper and lower ends of the laser mounting bracket 17;

[0040] The mulberry leaf storage structure includes a movable plate 3 movably arranged on the mobile base 1. A first collection cylinder 27 and a second collection cylinder 28 are installed on the movable plate 3. A top plate 37 and a pressing mechanism 38 are movably arranged in both the first collection cylinder 27 and the second collection cylinder 28. The end of the second material receiving pipe 25 is connected into the second collection cylinder 28, and the first material receiving pipe 21 is connected into the first collection cylinder 27. Sensors 41 are arranged inside both the first collection cylinder 27 and the second collection cylinder 28;

[0041] It further includes a single-chip microcomputer, which is cooperatively arranged with the mobile base 1, the robotic arm structure, the mulberry leaf storage structure, the first vision unit 2 and the second vision unit 18.

[0042] In actual use, by setting the robotic arm structure, mulberry leaves can be picked from multiple angles according to requirements, facilitating the operation of the mulberry picking robot; by setting the mulberry leaf storage structure, the top plate 37 and the pressing mechanism 38, the picked mulberry leaves can be stored, and the stored mulberry leaves can be pressed down according to requirements to pick more mulberry leaves, ensuring the efficiency of mulberry leaf picking. At the same time, after picking, the mulberry leaves can be dumped according to requirements; by setting the first vision unit 2 and the second vision unit 18, the mulberry leaves and their data can be collected, thus facilitating better control of the robotic arm structure to pick mulberry leaves with higher picking efficiency.

[0043] Refer to Figure 1 , in this embodiment, moving wheels 101 are installed around the bottom of the mobile base 1. A driving motor 102 is drivingly arranged on the side of the moving wheels 101. The driving motor 102 is electrically connected to the single-chip microcomputer. Both the first vision unit 2 and the second vision unit 18 are intelligent cameras; specifically, the mulberry tree information can be collected by the first vision unit 2 and transmitted to the single-chip microcomputer. The single-chip microcomputer drives the driving motor 102 to start, thereby driving the moving wheels 101, and then driving the entire mulberry picking robot to move through the mobile base 1 to the mulberry tree area to be picked.

[0044] Refer to Figure 1, in this embodiment, a rotating gear 7 is provided at the top of the robotic arm base 4. The rotating gear 7 is sleeved on the bottom of the first mounting frame 6. The bottom of the first mounting frame 6 is rotatably arranged on the robotic arm base 4. A first motor 5 is provided on the side of the robotic arm base 4. The output end of the first motor 5 is connected to a gear that meshes with the rotating gear 7. Second motors 8 are installed on both sides of the first mounting frame 6. The output ends of the second motors 8 are connected to transmission sprockets 10. First gear discs 9 are rotatably arranged on both sides of the top of the first mounting frame 6. The first gear discs 9 are meshed with the transmission sprockets 10. A second mounting frame 11 is fixed between the two first gear discs 9. A second gear disc 12 is rotatably arranged on the inner side of the top of the second mounting frame 11. The second gear disc 12 is fixedly connected to the end of the connecting arm 13. A third motor is installed on the side of the second mounting frame 11. The output end of the third motor is connected to a gear, and the gear is meshed with the second gear disc 12. The single-chip microcomputer is electrically connected to the first motor 5, the second motors 8, and the third motor; specifically, the first motor 5, the second motors 8, and the third motor can be controlled to start by the single-chip microcomputer. When the first motor 5 starts, it can drive the rotating gear 7, thereby driving the first mounting frame 6 to rotate. When the second motors 8 start, it can drive the first gear discs 9 to swing, thereby adjusting the second mounting frame 11. When the third motor starts, it can drive the second gear disc 12, thereby driving the connecting arm 13 to move. According to requirements, it can be adjusted at multiple angles, so as to facilitate the laser emitter 22 to better perform laser spot picking on mulberry leaves.

[0045] Refer to Figure 1 And Figure 2 , in this embodiment, a rotating motor 1401 is installed inside the connecting frame 14. The output end of the rotating motor 1401 is connected to the connecting frame 15. A rotating arm 16 is installed on the connecting frame 15. The rotating arm 16 moves through a swinging motor. The laser mounting frame 17 is fixed at the end of the rotating arm 16. The single-chip microcomputer is electrically connected to the rotating motor 1401 and the swinging motor; specifically, the rotating motor 1401 and the swinging motor can be driven to start by the single-chip microcomputer. When the rotating motor 1401 starts, it can drive the connecting frame 15 to rotate, so that when the second vision unit 18 identifies whether the mulberry leaf is a new leaf or an old leaf, according to requirements, it can drive the laser mounting frame 17 to rotate, so that the first material receiving pipe 21 or the second material receiving pipe 25 is correspondingly arranged below the laser emitter 22 for receiving the corresponding mulberry leaves. When the swinging motor starts, it can drive the laser mounting frame 17 to swing, so as to facilitate the laser emitter 22 to perform multi-directional laser spot picking on the surrounding mulberry leaves.

[0046] Refer to Figure 1 And Figure 2In this embodiment, a second biaxial motor 23 and a first biaxial motor 19 are respectively installed at the upper and lower ends of the laser mounting bracket 17. Second connecting rods 24 and first connecting rods 20 are respectively installed at the two telescopic ends of the second biaxial motor 23 and the first biaxial motor 19. The second connecting rods 24 and the first connecting rods 20 are respectively fixedly connected to the ends of a second material receiving pipe 25 and a first material receiving pipe 21. Both the second material receiving pipe 25 and the first material receiving pipe 21 are made of telescopic bellows material. The single-chip microcomputer is electrically connected to the second biaxial motor 23 and the first biaxial motor 19. Specifically, the second biaxial motor 23 and the first biaxial motor 19 can be controlled by the single-chip microcomputer. When the second biaxial motor 23 and the first biaxial motor 19 are started, the second material receiving pipe 25 and the first material receiving pipe 21 can be adjusted respectively, so that the second material receiving pipe 25 and the first material receiving pipe 21 can better receive mulberry leaves, preventing the mulberry leaves dropped by the laser emitter 22 from falling and being wasted.

[0047] Among them, the laser spot shooting of the laser emitter 22 is divided into two categories. One category is for spot shooting new leaves, and the other category is for spot shooting old leaves, both of which are controlled by the single-chip microcomputer.

[0048] Refer to Figure 1 And Figure 3 In this embodiment, first covers 30 and second covers 31 are respectively movably installed at the tops of the first collection cylinder 27 and the second collection cylinder 28. The first covers 30 and the second covers 31 are hinged to the tops of the first collection cylinder 27 and the second collection cylinder 28. The first material receiving pipe 21 penetrates through the first cover 30 and is connected to the first collection cylinder 27. The second material receiving pipe 25 penetrates through the second cover 31 and is connected to the second collection cylinder 28. A double-acting cylinder 35 is installed between the first cover 30 and the second cover 31. The first cover 30 and the second cover 31 are driven to move by the double-acting cylinder 35. The double-acting cylinder 35 is electrically connected to the single-chip microcomputer. First air extractors 50 and second air extractors 51 are respectively installed on the first cover 30 and the second cover 31. The air extraction ends of the first air extractors 50 and the second air extractors 51 are respectively connected to the first material receiving pipe 21 and the second material receiving pipe 25. The first air extractors 50 and the second air extractors 51 are both electrically connected to the single-chip microcomputer. Specifically, the double-acting cylinder 35 can be controlled by the single-chip microcomputer to start. Thus, the first cover 30 and the second cover 31 can be pulled inward by the double-acting cylinder 35 to open the first cover 30 and the second cover 31, so that the tops of the first collection cylinder 27 and the second collection cylinder 28 are exposed, facilitating the feeding work. By controlling the corresponding first air extractor 50 and second air extractor 51 to start through the single-chip microcomputer, suction is generated in the corresponding first material receiving pipe 21 and second material receiving pipe 25, thereby adsorbing the mulberry leaves after spot shooting, facilitating the collection work of the mulberry leaves.

[0049] Among them, after the first air extractor 50 and the second air extractor 51 are set, it does not affect the work of the double-acting cylinder 35 pulling the first cover 30 and the second cover 31 inward.

[0050] Referring to Figure 1 , Figure 3 , Figure 5 and Figure 6 , in this embodiment, a connecting plate 33 is fixed between the first collecting cylinder 27 and the second collecting cylinder 28. A first cylinder 32 is installed on the connecting plate 33. The telescopic end of the first cylinder 32 is connected to a lifting plate 29. Second sliding grooves 34 are formed on the adjacent surfaces of the first collecting cylinder 27 and the second collecting cylinder 28. Both sides of the lifting plate 29 are slidably arranged in the second sliding grooves 34. Ejecting plates 37 are movably arranged inside the first collecting cylinder 27 and the second collecting cylinder 28. The ejecting plates 37 in the first collecting cylinder 27 and the second collecting cylinder 28 are connected to the lifting plate 29; A column 39 is installed on the movable plate 3. A second cylinder 40 is installed inside the top of the column 39. First sliding grooves 2701 are formed on the back surfaces of the first collecting cylinder 27 and the second collecting cylinder 28. The top of the first sliding grooves 2701 penetrates through the first collecting cylinder 27 and the second collecting cylinder 28. A movable plate 36 is slidably arranged in the first sliding grooves 2701. The movable plate 36 is connected to the telescopic end of the second cylinder 40. The movable plate 36 is fixedly connected to the pressing mechanism 38; A partition plate 26 is fixedly connected to the front surfaces of the first collecting cylinder 27 and the second collecting cylinder 28. The partition plate 26 is fixed on the movable plate 3. The single-chip microcomputer is electrically connected to the first cylinder 32 and the second cylinder 40; Specifically, the first cylinder 32 and the second cylinder 40 can be controlled to start by the single-chip microcomputer. When the first cylinder 32 starts, it can drive the lifting plate 29 to move. Thus, when the first cover plate 30 and the second cover plate 31 are opened, the lifting plate 29 drives the ejecting plate 37 to move, so as to eject the collected mulberry leaves and facilitate the feeding work; When the second cylinder 40 starts, it can drive the movable plate 36 to move, so as to drive the pressing mechanism 38 to move and press the collected mulberry leaves.

[0051] Referring to Figure 7 and Figure 8, in this embodiment, the pressing mechanism 38 includes a circular groove 42, a through hole 43, a third cylinder 44 and a limiting rod 45. The circular groove 42 is correspondingly arranged below the first cover plate 30 and the second cover plate 31, and is arranged at the discharge ports of the first material receiving pipe 21 and the second material receiving pipe 25 in a matching manner. The end parts of the first material receiving pipe 21 and the second material receiving pipe 25 are respectively arranged close to the frames of the first cover plate 30 and the second cover plate 31. A through hole 43 is opened inside the pressing mechanism 38. The third cylinder 44 is installed in the through hole 43. The limiting rod 45 is installed at the telescopic end of the third cylinder 44. The limiting rod 45 is movably arranged in the through hole 43. The single-chip microcomputer is electrically connected to the third cylinder 44. Specifically, the storage height of the mulberry leaves can be identified by the sensor 41. After the sensor 41 identifies that the storage height of the mulberry leaves is level with the sensor 41, an instruction is transmitted to the single-chip microcomputer. The second cylinder 40 is driven by the single-chip microcomputer to drive the pressing mechanism 38 to press down, so as to press the mulberry leaves. During the pressing process, the single-chip microcomputer controls the third cylinder 44 to start, so that the limiting rod 45 moves to limit the circular groove 42, and better presses the mulberry leaves, which is convenient for collecting more mulberry leaves at one time.

[0052] Among them, at least two sensors 41 are respectively arranged in the first collecting cylinder 27 and the second collecting cylinder 28. The sensors 41 are used to monitor the storage height of the mulberry leaves. Once the height reaches the horizontal height of the sensors 41, an instruction is transmitted to the single-chip microcomputer. The second cylinder 40 is driven by the single-chip microcomputer to drive the pressing mechanism 38 to press down, so as to press the mulberry leaves. Each sensor 41 only transmits an instruction to the single-chip microcomputer once, so as to realize the pressing work of the mulberry leaves and facilitate the storage of more mulberry leaves.

[0053] Refer to Figure 1 And Figure 4 , in this embodiment, a groove body is opened on the moving base 1. A plurality of hinged blocks 49 are installed in the groove body. A fourth cylinder 48 is hinged on the hinged block 49. A slide rail 46 is installed at the bottom of the movable plate 3. The slide rail 46 is arranged in a matching manner with the hinged block 49. A slider 47 is slidably arranged on the slide rail 46. The slider 47 is hinged to the telescopic end of the fourth cylinder 48. The single-chip microcomputer is electrically connected to the fourth cylinder 48. Specifically, the fourth cylinder 48 can be driven by the single-chip microcomputer. By starting the fourth cylinder 48, the slider 47 is driven to move, so as to jack up the movable plate 3 and drive the first collecting cylinder 27 and the second collecting cylinder 28 to move accordingly, which is convenient for discharging work.

[0054] The present invention also discloses a mulberry leaf picking method of an automatic mulberry leaf picking robot. The mulberry leaf picking method includes the following steps:

[0055] S1. Positioning: The first vision unit 2 collects the positions of nearby mulberry trees, transmits instructions to the single-chip microcomputer. The single-chip microcomputer controls the driving motor 102 to drive the entire mulberry leaf picking robot to move to the position of the mulberry leaves. The single-chip microcomputer synchronously drives the first motor 5, the second motor 8, and the third motor, so that the entire robotic arm moves according to the position of the mulberry leaves.

[0056] S2. Classification: The second vision unit 18 takes pictures and analyzes whether the mulberry leaves to be laser-pointed are new leaves or old leaves, and transmits the analysis results to the single-chip microcomputer. Through the single-chip microcomputer, the rotation motor 1401, the swing motor, the first biaxial motor 19 and the second biaxial motor 23 are correspondingly started to adjust the positions of the first receiving pipe 21 and the second receiving pipe 25, which are respectively used to receive new leaves and old leaves.

[0057] S3. Storage: The new leaves and old leaves received by the first receiving pipe 21 and the second receiving pipe 25 respectively enter the first collection cylinder 27 and the second collection cylinder 28. The sensor 41 senses the stacking height of the mulberry leaves. After reaching the position of the sensor, the third cylinder 44 is controlled, so that the telescopic end of the third cylinder 44 drives the limiting rod 45 to move, blocking the circular groove 42. At the same time, the second cylinder 40 is driven to drive the pressing mechanism 38 to press down, pressing the collected mulberry leaves to store as many mulberry leaves as possible at one time.

[0058] S4. Dumping: After the mulberry leaves are collected, the fourth cylinder 48 is controlled to start, driving the movable plate 3 to flip, thereby driving the first collection cylinder 27 and the second collection cylinder 28 to flip accordingly. The two-way cylinder 35 is synchronously started, and the two-way cylinder 35 retracts, driving the first cover plate 30 and the second cover plate 31 to flip, so that the tops of the first collection cylinder 27 and the second collection cylinder 28 are emptied. The first cylinder 32 is driven, and the first cylinder 32 drives the lifting plate 29 to lift and lower, thereby ejecting the mulberry leaves collected in the first collection cylinder 27 and the second collection cylinder 28 to dump the mulberry leaves.

[0059] Working principle: The first vision unit 2 identifies the position of the mulberry tree and transmits instructions to the single-chip microcomputer. The single-chip microcomputer controls the driving motor 102 to start, thereby driving the moving wheel 101, and then driving the entire mulberry leaf picking robot to move through the moving base 1 to the mulberry tree area to be picked. After moving to the mulberry tree area to be picked, the single-chip microcomputer controls the first motor 5, the second motor 8, and the third motor to start. The start of the first motor 5 can drive the rotating gear 7, thereby driving the first mounting bracket 6 to rotate. The start of the second motor 8 can drive the first gear disk 9 to swing, thereby adjusting the second mounting bracket 11. The start of the third motor can drive the second gear disk 12, thereby driving the connecting arm 13 to move and adjusting at multiple angles according to requirements. After adjustment, the second vision unit 18 identifies the specific root and stem positions of the mulberry leaves and whether the mulberry leaves are new leaves or old leaves, and transmits the identified information to the single-chip microcomputer. The single-chip microcomputer controls the rotation motor 1401, the swing motor, the first double-shaft motor 19, and the second double-shaft motor 23 to start, adjusts the positions of the first material receiving pipe 21 and the second material receiving pipe 25, and at the same time controls the first air extractor 50 and the second air extractor 51 through the single-chip microcomputer to enable them to better receive the mulberry leaves after being spot-shot by the laser emitter 22, and controls the laser emitter 22 to select whether to spot-shot new leaves or old leaves according to the information received by the single-chip microcomputer. The mulberry leaves spot-shot down fall into the first collection cylinder 27 and the second collection cylinder 28 respectively through the first material receiving pipe 21 and the second material receiving pipe 25 for collection. During the collection process, the sensor 41 senses the height of the stored mulberry leaves. If the stored mulberry leaves are level with the sensor 41, it transmits instructions to the single-chip microcomputer, and the single-chip microcomputer controls the second air cylinder 40 to compact the mulberry leaves, which is convenient for storing more mulberry leaves during the picking process. After the picking work is completed, it controls the fourth air cylinder 48 to start. Through the start of the fourth air cylinder 48, it pushes the movable plate 3 to move, jacks up the first collection cylinder 27 and the second collection cylinder 28, so that the first collection cylinder 27 and the second collection cylinder 28 can be placed upside down. At the same time, it starts the double-directional air cylinder 35 to open the first cover plate 30 and the second cover plate 31, so that the tops of the first collection cylinder 27 and the second collection cylinder 28 are exposed. It controls the first air cylinder 32 to start, drives the lifting plate 29 and the ejecting plate 37 to move, and ejects the stored mulberry leaves from the first collection cylinder 27 and the second collection cylinder 28 to complete the blanking work.

[0060] It should be noted that in this text, the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. The terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, unless otherwise clearly specified and defined, the terms "fixedly installed", "installed", "connected", "joined" should be understood in a broad sense. For example, "joined" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "joined" can be directly connected, indirectly connected through an intermediate medium, or the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. An automatic mulberry leaf picking robot, comprising a mobile base (1), characterized in that: A robotic arm structure and a mulberry leaf storage structure are installed on the mobile base (1). A first vision unit (2) is installed on the end face of the mobile base (1). The robotic arm structure includes a robotic arm base (4) installed on the surface of the mobile base (1) and a first mounting frame (6) rotatably arranged above the robotic arm base (4). A second mounting frame (11) is movably arranged in the first mounting frame (6), a connecting arm (13) is movably arranged in the second mounting frame (11), a connecting frame (14) is fixedly connected to the end of the connecting arm (13), a laser mounting frame (17) is movably arranged at the end of the connecting frame (14), second vision units (18) are installed on both sides of the laser mounting frame (17), and a laser emitter (22) is installed in the middle of the laser mounting frame (17). The upper and lower ends of the laser mounting frame (17) are movably provided with a second material receiving pipe (25) and a first material receiving pipe (21); The mulberry leaf storage structure includes a movable plate (3) movably arranged on the mobile base (1). A first collection cylinder (27) and a second collection cylinder (28) are installed on the movable plate (3). A top plate (37) and a pressing mechanism (38) are both movably arranged in the first collection cylinder (27) and the second collection cylinder (28). The end of the second material receiving pipe (25) is connected into the second collection cylinder (28), and the first material receiving pipe (21) is connected into the first collection cylinder (27). Sensors (41) are arranged inside both the first collection cylinder (27) and the second collection cylinder (28); It further includes a single-chip microcomputer, which is cooperatively arranged with the mobile base (1), the robotic arm structure, the mulberry leaf storage structure, the first vision unit (2), and the second vision unit (18); First covers (30) and second covers (31) are arranged on the tops of the first collection cylinder (27) and the second collection cylinder (28); A connecting plate (33) is fixed between the first collecting cylinder (27) and the second collecting cylinder (28). A first cylinder (32) is installed on the connecting plate (33). The telescopic end of the first cylinder (32) is connected to a lifting plate (29). Second sliding grooves (34) are formed on the adjacent surfaces of the first collecting cylinder (27) and the second collecting cylinder (28). Both sides of the lifting plate (29) are slidably arranged in the second sliding grooves (34). Ejector plates (37) are movably arranged inside the first collecting cylinder (27) and the second collecting cylinder (28). The ejector plates (37) in the first collecting cylinder (27) and the second collecting cylinder (28) are connected to the lifting plate (29). A column (39) is installed on the movable plate (3). A second cylinder (40) is installed inside the top of the column (39). First sliding grooves (2701) are formed on the backs of the first collecting cylinder (27) and the second collecting cylinder (28). The tops of the first sliding grooves (2701) penetrate through the first collecting cylinder (27) and the second collecting cylinder (28). A movable plate (36) is slidably arranged in the first sliding grooves (2701). The movable plate (36) is connected to the telescopic end of the second cylinder (40). The movable plate (36) is fixedly connected to a pressing mechanism (38). A partition plate (26) is fixedly connected to the fronts of the first collecting cylinder (27) and the second collecting cylinder (28). The partition plate (26) is fixed on the movable plate (3). The single-chip microcomputer is electrically connected to the first cylinder (32) and the second cylinder (40). The pressing mechanism (38) includes a circular groove (42), a through hole (43), a third cylinder (44) and a limiting rod (45). The circular groove (42) is correspondingly arranged below the first cover plate (30) and the second cover plate (31), and is arranged at the discharge ports of the first material receiving pipe (21) and the second material receiving pipe (25) in a matching manner. The ends of the first material receiving pipe (21) and the second material receiving pipe (25) are respectively arranged close to the frames of the first cover plate (30) and the second cover plate (31). A through hole (43) is formed inside the pressing mechanism (38). The third cylinder (44) is installed in the through hole (43). The limiting rod (45) is installed at the telescopic end of the third cylinder (44). The limiting rod (45) is movably arranged in the through hole (43). The single-chip microcomputer is electrically connected to the third cylinder (44).

2. The automatic mulberry leaf picking robot according to claim 1, characterized in that, Moving wheels (101) are installed around the bottom of the moving base (1). A driving motor (102) is arranged on the side of the moving wheel (101). The driving motor (102) is electrically connected to the single-chip microcomputer. Both the first vision unit (2) and the second vision unit (18) are intelligent cameras.

3. The automatic mulberry leaf picking robot according to claim 1, characterized in that, A rotating gear (7) is provided at the top of the robotic arm base (4). The rotating gear (7) is sleeved on the bottom of the first mounting bracket (6). The bottom of the first mounting bracket (6) is rotatably arranged on the robotic arm base (4). A first motor (5) is provided on the side of the robotic arm base (4). The output end of the first motor (5) is connected to a gear that meshes with the rotating gear (7). Second motors (8) are installed on both sides of the first mounting bracket (6). The output end of the second motor (8) is connected to a transmission gear disc (10). First gear discs (9) are rotatably arranged on both sides of the top of the first mounting bracket (6). The first gear discs (9) are meshed with the transmission gear disc (10). A second mounting bracket (11) is fixed between the two first gear discs (9). A second gear disc (12) is rotatably arranged on the inner side of the top of the second mounting bracket (11). The second gear disc (12) is fixedly connected to the end of the connecting arm (13). A third motor is installed on the side of the second mounting bracket (11). The output end of the third motor is connected to a gear that meshes with the second gear disc (12). The single-chip microcomputer is electrically connected to the first motor (5), the second motors (8), and the third motor.

4. The automatic mulberry leaf picking robot according to claim 3, characterized in that, A rotating motor (1401) is installed inside the connecting frame (14). The output end of the rotating motor (1401) is connected to the connecting bracket (15). A rotating arm (16) is installed on the connecting bracket (15). The rotating arm (16) is movable through a swinging motor. The laser mounting bracket (17) is fixed to the end of the rotating arm (16). The single-chip microcomputer is electrically connected to the rotating motor (1401) and the swinging motor.

5. The automatic mulberry leaf picking robot according to claim 1, wherein, A second double-shaft motor (23) and a first double-shaft motor (19) are respectively installed at the upper and lower ends of the laser mounting bracket (17). Second connecting rods (24) and first connecting rods (20) are respectively installed at the two telescopic ends of the second double-shaft motor (23) and the first double-shaft motor (19). The second connecting rods (24) and the first connecting rods (20) are respectively fixedly connected to the ends of the second material receiving pipe (25) and the first material receiving pipe (21). Both the second material receiving pipe (25) and the first material receiving pipe (21) are made of telescopic corrugated pipe material. The single-chip microcomputer is electrically connected to the second double-shaft motor (23) and the first double-shaft motor (19).

6. The automatic mulberry leaf picking robot according to claim 5, wherein, A first cover plate (30) and a second cover plate (31) are movably installed at the tops of the first collecting cylinder (27) and the second collecting cylinder (28) respectively. The first cover plate (30) and the second cover plate (31) are hinged to the tops of the first collecting cylinder (27) and the second collecting cylinder (28). The first material receiving pipe (21) penetrates through the first cover plate (30) and is connected to the first collecting cylinder (27). The second material receiving pipe (25) penetrates through the second cover plate (31) and is connected to the second collecting cylinder (28). A double-acting cylinder (35) is installed between the first cover plate (30) and the second cover plate (31). The first cover plate (30) and the second cover plate (31) are driven to move by the double-acting cylinder (35). The double-acting cylinder (35) is electrically connected to the single-chip microcomputer. First air extractors (50) and second air extractors (51) are respectively installed on the first cover plate (30) and the second cover plate (31). The air extraction ends of the first air extractor (50) and the second air extractor (51) are respectively connected to the first material receiving pipe (21) and the second material receiving pipe (25).

7. The automatic mulberry leaf picking robot according to claim 1, characterized in that, A groove is formed in the moving base (1). A plurality of hinge blocks (49) are installed in the groove. A fourth cylinder (48) is hinged to the hinge block (49). A slide rail (46) is installed at the bottom of the movable plate (3). The slide rail (46) is arranged in a matching manner with the hinge block (49). A slider (47) is slidably arranged on the slide rail (46). The slider (47) is hinged to the telescopic end of the fourth cylinder (48). The single-chip microcomputer is electrically connected to the fourth cylinder (48).

8. A mulberry picking method for an automatic mulberry picking robot, which uses the automatic mulberry picking robot according to any one of claims 1-7, and is characterized in that, The mulberry leaf picking method includes the following steps: S1. Positioning: The first vision unit (2) collects the positions of nearby mulberry trees, transmits instructions to the single-chip microcomputer. The single-chip microcomputer controls the driving motor (102) to drive the entire mulberry leaf picking robot to move to the position of the mulberry leaves. The single-chip microcomputer synchronously drives the first motor (5), the second motor (8), and the third motor, so that the entire robotic arm moves according to the position of the mulberry leaves. S2. Classification: The second vision unit (18) photographs and analyzes whether the mulberry leaves to be laser-spot-shot are new leaves or old leaves, and transmits the analysis result to the single-chip microcomputer. The single-chip microcomputer controls the rotation motor (1401), the swing motor, and the first double-shaft motor (19) and the second double-shaft motor (23) to start correspondingly, and adjusts the positions of the first material receiving pipe (21) and the second material receiving pipe (25) respectively for receiving new leaves and old leaves. S3. Storage: The new leaves and old leaves respectively received by the first material receiving pipe (21) and the second material receiving pipe (25) enter the first collecting cylinder (27) and the second collecting cylinder (28) respectively. The sensor (41) senses the stacking height of the mulberry leaves. After reaching the position of the sensor, the third cylinder (44) is controlled, so that the telescopic end of the third cylinder (44) drives the limiting rod (45) to move, blocking the circular groove (42). At the same time, the second cylinder (40) is driven to drive the pressing mechanism (38) to press down, pressing the collected mulberry leaves to store as many mulberry leaves as possible at one time. S4. Dumping: After the mulberry leaves are collected, control the fourth cylinder (48) to start, drive the movable plate (3) to turn over, thereby driving the first collecting cylinder (27) and the second collecting cylinder (28) to follow and turn over. Synchronously start the double-acting cylinder (35). The double-acting cylinder (35) retracts, driving the first cover plate (30) and the second cover plate (31) to turn over, so that the tops of the first collecting cylinder (27) and the second collecting cylinder (28) are emptied. Drive the first cylinder (32), and the first cylinder (32) drives the lifting plate (29) to move up and down, thereby ejecting the mulberry leaves collected in the first collecting cylinder (27) and the second collecting cylinder (28) to dump the mulberry leaves.

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