Pepper picking robot based on AI target detection

Abstract

The invention relates to the technical field of picking robots, in particular to a pepper picking robot based on AI target detection.The pepper picking robot comprises a robot body, an auxiliary motor, a storage battery, a processor and a rotating motor are installed in the robot body, and the driving end of the auxiliary motor is fixedly connected with an auxiliary rod; the auxiliary rod penetrates through the robot body from inside to outside, one end of the auxiliary rod is fixedly connected with an auxiliary frame, one side of the robot body is fixedly connected with a solar frame, a solar panel is installed on the top of the solar frame, the driving end of the rotating motor is fixedly connected with a rotating frame, and a picking mechanism is installed on the outer side of the rotating frame; according to the pepper picking robot, the obstacle crossing ability of the pepper picking robot is improved, the problem that due to the fact that obstacles cannot pass through, picking is incomplete is solved, the cruising ability of the pepper picking robot is improved, the working time of the pepper picking robot is prolonged, and meanwhile picking losses are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of picking robots, and specifically to a pepper picking robot based on AI target detection. Background Art

[0002] With the advancement of the agricultural modernization process, the shortage of labor and the rising labor costs have become the key factors restricting the development of the pepper industry. The pepper picking robot based on AI target detection has emerged as the times require, aiming to achieve the automation of pepper picking, improve the picking efficiency, reduce the production cost, and at the same time reduce the pepper losses caused by untimely manual picking, so as to ensure the sustainable development of the pepper industry.

[0003] However, for the existing problems, we hereby propose a pepper picking robot based on AI target detection. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides a pepper picking robot based on AI target detection to solve the problems raised in the above background art.

[0006] (2) Technical Solutions

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions: A pepper picking robot based on AI target detection, including a robot main body, inside which an auxiliary motor, a storage battery, a processor and a rotating motor are respectively installed. The driving end of the auxiliary motor is fixedly connected to an auxiliary rod, which penetrates the robot main body from the inside to the outside. One end of the auxiliary rod is fixedly connected to an auxiliary frame. One side of the robot main body is fixedly connected to a solar frame, and a solar panel is installed on the top of the solar frame. The driving end of the rotating motor is fixedly connected to a rotating frame, and a picking mechanism is installed on the outside of the rotating frame. A picking motor is arranged through the picking mechanism on the rotating frame. The driving end of the picking motor is fixedly connected to a picking claw, and a sensing module is fixedly connected to the front of the picking claw. An image camera, a lidar and an AI target recognizer are respectively embedded in the bottom of the sensing module. An adjustment groove is opened at the bottom of the picking claw, and a sliding frame is movably connected to the bottom of the picking claw through the adjustment groove. One end of the sliding frame is fixedly connected to a picking hand, and a strain force sensor is installed inside the picking hand.

[0008] Preferably, auxiliary wheels are movably connected to both the front and the back of the robot main body. A moving track is movably connected to the outside of the auxiliary wheels, and a driving wheel is movably connected to the inside of the moving track. One side of the driving wheel is penetrated and connected to a moving motor, and the moving motor is installed inside the robot main body.

[0009] Preferably, a vision radar is installed on the top of the robot main body, and a placement groove is formed on one side of the top of the robot main body away from the vision radar.

[0010] Preferably, an adjustment motor is installed inside the rotating frame, and the driving end of the adjustment motor is fixedly connected to the rotating arm.

[0011] Preferably, the picking mechanism includes a first connection flange installed on the outer side of the rotating frame, one side of the first connection flange is movably connected to a rotating arm, a first adjustment arm is fixedly connected to the outer side of the rotating arm, and one end of the first adjustment arm is fixedly connected to a first driving arm.

[0012] Preferably, one end of the first driving arm is fixedly connected to a second connection flange, one side of the second connection flange is movably connected to a second adjustment arm, and one end of the second adjustment arm is fixedly connected to a third driving arm.

[0013] Preferably, one end of the third driving arm is fixedly connected to a third connection flange, one side of the third connection flange is movably connected to a third adjustment arm, and the third adjustment arm is fixedly connected to the picking motor.

[0014] Preferably, mounting brackets are fixedly connected to both sides of the sensing module, fixing screws are threadedly connected to the front surface of the mounting brackets, and the mounting brackets are fixedly connected to the picking claws through the fixing screws.

[0015] Preferably, a biaxial motor is installed inside the picking claw, the driving end of the biaxial motor is fixedly connected to an adjustment screw rod, an adjustment nut seat is threadedly connected to the outer side of the adjustment screw rod, and the adjustment nut seat is fixedly connected to the sliding frame.

[0016] Preferably, a transmission wheel is movably connected to the inner side of the auxiliary frame, and an auxiliary belt is movably connected to the outer side of the transmission wheel.

[0017] (III) Beneficial effects

[0018] The present invention provides a pepper picking robot based on AI target detection, having the following beneficial effects:

[0019] (1) This pepper picking robot based on AI target detection, through the auxiliary motor, auxiliary rod and auxiliary frame set, when using the pepper picking robot, by starting the mobile motor, the mobile motor drives the driving wheel to rotate. At this time, the driving wheel drives the mobile track to rotate through the auxiliary wheel, and the pepper picking robot can move. And when moving to a position with obstacles and it is difficult for the pepper picking robot to pass, the auxiliary motor drives the auxiliary rod to operate, and the auxiliary rod drives the auxiliary frame to rotate 360 degrees. At the same time, the auxiliary frame drives the auxiliary belt through the transmission wheel to press against the ground, thereby supporting the front side of the pepper picking robot, so that the mobile track is supported to the same height as the obstacle and is located above the obstacle, enabling the pepper picking robot to directly pass through the obstacle. Therefore, the obstacle-crossing ability of the pepper picking robot is improved, and the problem of incomplete picking caused by being unable to pass due to obstacles is avoided.

[0020] (2) This pepper picking robot based on AI target detection, through the solar panel set, and during the process of the pepper picking robot picking peppers, the solar panel can use the photovoltaic effect to convert light into electricity, and invert the current through the inverter on the storage battery, so that the current charges the storage battery. Therefore, the battery life of the pepper picking robot is improved, and the working time of the pepper picking robot is extended.

[0021] (3) This pepper picking robot based on AI target detection, through the picking hand and the strain force sensor set, and when picking peppers, the biaxial motor drives the adjusting screw rod to rotate clockwise, and the adjusting nut seat will move inward due to the rotation direction of the adjusting screw rod. At the same time, the adjusting nut seat drives the sliding frame to move through the adjusting groove. At this time, the picking hand follows the sliding frame to move to clamp the pepper. And during the clamping process, the stressed part of the pepper deforms, and the resistance value of the strain force sensor changes accordingly. By measuring the change in the resistance value, the magnitude of the clamping force can be indirectly obtained, avoiding damage to the pepper due to excessive clamping force. Therefore, the picking loss is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2 is the partial structural schematic diagram of the track of the present invention;

[0024] Figure 3 is the cross-sectional view of the robot main body of the present invention;

[0025] Figure 4 is the partial structural schematic diagram of the second adjusting arm of the present invention;

[0026] Figure 5 is the cross-sectional view of the rotating frame of the present invention;

[0027] Figure 6 It is a partial structural schematic diagram of the picking claw of the present invention;

[0028] Figure 7 It is a partial structural schematic diagram of the picking hand of the present invention.

[0029] In the figure: 1. Robot main body; 101. Moving motor; 102. Auxiliary motor; 103. Battery; 104. Processor; 105. Rotating motor; 2. Driving wheel; 3. Auxiliary wheel; 4. Moving track; 5. Auxiliary rod; 6. Auxiliary frame; 601. Transmission wheel; 7. Auxiliary belt; 8. Solar frame; 9. Solar panel; 10. Placing groove; 11. Vision radar; 12. Rotating frame; 1201. Adjusting motor; 13. First connecting flange; 14. Rotating arm; 15. First adjusting arm; 16. First driving arm; 17. Second connecting flange; 18. Second adjusting arm; 19. Third driving arm; 20. Third connecting flange; 21. Third adjusting arm; 22. Picking motor; 23. Picking claw; 24. Adjusting groove; 25. Sliding frame; 26. Picking hand; 2601. Strain force sensor; 27. Sensing module; 28. Mounting bracket; 29. Fixing screw; 30. Image camera; 31. Lidar; 32. AI target recognizer; 33. Biaxial motor; 34. Adjusting lead screw; 35. Adjusting nut seat. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] Please refer to Figure 1-7, the present invention provides a technical solution: a pepper picking robot based on AI target detection, including a robot main body 1. Inside the robot main body 1, an auxiliary motor 102, a storage battery 103, a processor 104, and a rotating motor 105 are respectively installed. The driving end of the auxiliary motor 102 is fixedly connected to an auxiliary rod 5. The auxiliary rod 5 penetrates the robot main body 1 from the inside to the outside. One end of the auxiliary rod 5 is fixedly connected to an auxiliary frame 6. One side of the robot main body 1 is fixedly connected to a solar frame 8. A solar panel 9 is installed on the top of the solar frame 8. The driving end of the rotating motor 105 is fixedly connected to a rotating frame 12. A picking mechanism is installed on the outside of the rotating frame 12. A picking motor 22 is arranged through the picking mechanism on the rotating frame 12. The driving end of the picking motor 22 is fixedly connected to a picking claw 23. A sensing module 27 is fixedly connected to the front of the picking claw 23. An image camera 30, a lidar 31, and an AI target recognizer 32 are respectively embedded in the bottom of the sensing module 27. An adjustment groove 24 is opened at the bottom of the picking claw 23. The bottom of the picking claw 23 is movably connected to a sliding frame 25 through the adjustment groove 24. One end of the sliding frame 25 is fixedly connected to a picking hand 26. A strain force sensor 2601 is installed inside the picking hand 26.

[0032] Further, auxiliary wheels 3 are movably connected to both the front and back of the robot main body 1. A moving track 4 is movably connected to the outside of the auxiliary wheels 3. A driving wheel 2 is movably connected to the inside of the moving track 4. One side of the driving wheel 2 is penetrated and connected to a moving motor 101. The moving motor 101 is installed inside the robot main body 1. By starting the moving motor 101, the moving motor 101 drives the driving wheel 2 to rotate. At this time, the driving wheel 2 drives the moving track 4 to rotate through the auxiliary wheels 3, and then the pepper picking robot can move.

[0033] Further, a vision radar 11 is installed on the top of the robot main body 1. A placement groove 10 is opened on one side of the top of the robot main body 1 away from the vision radar 11. Through the vision radar 11, the pepper picking robot can avoid obstacles during movement and prevent collisions. And through the placement groove 10, it is convenient for the staff to place a storage box to collect peppers.

[0034] Further, an adjustment motor 1201 is installed inside the rotating frame 12. The driving end of the adjustment motor 1201 is fixedly connected to a rotating arm 14. The adjustment motor 1201 drives the rotating arm 14 to rotate 180 degrees through a first connection flange 13, thereby adjusting the angle of the first adjustment arm 15 and changing the position of the picking hand 26.

[0035] Further, the picking mechanism includes a first connection flange 13 installed on the outside of the rotating frame 12. One side of the first connection flange 13 is movably connected to a rotating arm 14. The outside of the rotating arm 14 is fixedly connected to a first adjustment arm 15. One end of the first adjustment arm 15 is fixedly connected to a first driving arm 16.

[0036] Further, one end of the first driving arm 16 is fixedly connected with a second connecting flange 17. One side of the second connecting flange 17 is movably connected with a second adjusting arm 18. One end of the second adjusting arm 18 is fixedly connected with a third driving arm 19. The first driving arm 16 drives the second adjusting arm 18 to rotate 180 degrees through the second connecting flange 17, thereby changing the position of the picking hand 26.

[0037] Further, one end of the third driving arm 19 is fixedly connected with a third connecting flange 20. One side of the third connecting flange 20 is movably connected with a third adjusting arm 21. The third adjusting arm 21 is fixedly connected with the picking motor 22. The third driving arm 19 drives the third adjusting arm 21 to rotate 360 degrees through the third connecting flange 20, and the position of the picking hand 26 can be changed.

[0038] Further, both sides of the sensing module 27 are fixedly connected with mounting brackets 28. The front of the mounting bracket 28 is threadedly connected with fixing screws 29. The mounting bracket 28 is fixedly connected with the picking claw 23 through the fixing screws 29. By placing the mounting bracket 28 at the mounting position and then using the fixing screws 29 for fixation, the sensing module 27 can be firmly fixed to the picking claw 23.

[0039] Further, a dual-axis motor 33 is installed inside the picking claw 23. The driving end of the dual-axis motor 33 is fixedly connected with an adjusting lead screw 34. The outside of the adjusting lead screw 34 is threadedly connected with an adjusting nut seat 35. The adjusting nut seat 35 is fixedly connected with the sliding frame 25. By driving the adjusting lead screw 34 to rotate clockwise by the dual-axis motor 33, the adjusting nut seat 35 will move inward due to the rotation direction of the adjusting lead screw 34. At the same time, the adjusting nut seat 35 drives the sliding frame 25 to move through the adjusting groove 24. At this time, the picking hand 26 follows the sliding frame 25 to move to clamp the chili peppers.

[0040] Further, a transmission wheel 601 is movably connected to the inner side of the auxiliary frame 6. The outside of the transmission wheel 601 is movably connected with an auxiliary belt 7. The transmission wheel 601 can play a role in supporting the auxiliary belt 7, so that when the auxiliary belt 7 supports the ground and the chili pepper picking robot is moving, the auxiliary belt 7 can also operate, thus ensuring the smoothness during the moving process.

[0041] Working principle: After the present invention is installed, first check the installation and fixation as well as safety protection of the present invention. When using the pepper picking robot, by starting the mobile motor 101, the mobile motor 101 drives the driving wheel 2 to rotate. At this time, the driving wheel 2 drives the mobile crawler 4 to rotate through the auxiliary wheel 3, and then the pepper picking robot can move. And when moving to a position with obstacles and it is difficult for the pepper picking robot to pass, the auxiliary motor 102 drives the auxiliary rod 5 to operate, and the auxiliary rod 5 drives the auxiliary frame 6 to rotate 360 degrees. At the same time, the auxiliary frame 6 drives the auxiliary belt 7 through the transmission wheel 601 to press against the ground, thereby supporting the front side of the pepper picking robot, so that the mobile crawler 4 is supported to the same height as the obstacle and located on the obstacle, enabling the pepper picking robot to directly pass the obstacle. At the same time, the solar panel 9 can utilize the photoelectric effect to convert light into electricity, and the current is inverted through the inverter on the storage battery 103, so that the current charges the storage battery 103. When picking peppers, the image camera 30 on the sensing module 27 takes pictures of the pepper images, and at the same time, the AI target recognizer 32 identifies the position and maturity of the peppers. When it is necessary to pick after identification, at this time, the rotating motor 105 drives the rotating frame 12 to rotate 360 degrees, thereby adjusting the position of the picking hand 26. Then the adjusting motor 1201 drives the rotating arm 14 to rotate 180 degrees through the first connecting flange 13, thereby adjusting the angle of the first adjusting arm 15 and changing the position of the picking hand 26. And the first driving arm 16 drives the second adjusting arm 18 to rotate 180 degrees through the second connecting flange 17, thereby changing the position of the picking hand 26 again. Subsequently, the third driving arm 19 drives the third adjusting arm 21 to rotate 360 degrees through the third connecting flange 20, changing the position of the picking hand 26 again, so that the picking hand 26 is aligned with the pepper. And when aligning and picking, the lidar 31 senses the environment, so that the picking mechanism can avoid obstacles and align with the pepper during the adjustment process. Then the biaxial motor 33 drives the adjusting screw rod 34 to rotate clockwise, and the adjusting nut seat 35 will move inward due to the rotation direction of the adjusting screw rod 34. At the same time, the adjusting nut seat 35 drives the sliding frame 25 to move through the adjusting groove 24. At this time, the picking hand 26 moves along with the sliding frame 25 to clamp the pepper. And during the clamping process, the stressed part of the pepper deforms, and the resistance value of the strain force sensor 2601 changes accordingly. By measuring the change in the resistance value, the magnitude of the clamping force can be indirectly obtained, avoiding damage to the pepper due to excessive clamping force. When the picking is completed, the picking mechanism drives the pepper to be adjusted into the storage box of the placement groove 10, and the picking hand 26 will release the pepper, so that the pepper falls into the storage box, thus completing the use process of the present invention. The present invention has a simple structure and is safe and convenient to use.

[0042] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pepper picking robot based on AI target detection, comprising a robot main body (1), characterized in that: Inside the robot main body (1), an auxiliary motor (102), a storage battery (103), a processor (104) and a rotating motor (105) are respectively installed. The driving end of the auxiliary motor (102) is fixedly connected to an auxiliary rod (5). The auxiliary rod (5) penetrates the robot main body (1) from the inside to the outside. One end of the auxiliary rod (5) is fixedly connected to an auxiliary frame (6). One side of the robot main body (1) is fixedly connected to a solar frame (8). The top of the solar frame (8) is equipped with a solar panel (9). The driving end of the rotating motor (105) is fixedly connected to a rotating frame (12). A picking mechanism is installed on the outside of the rotating frame (12). A picking motor (22) is arranged through the picking mechanism on the rotating frame (12). The driving end of the picking motor (22) is fixedly connected to a picking claw (23). A sensing module (27) is fixedly connected to the front of the picking claw (23). An image camera (30), a lidar (31) and an AI target recognizer (32) are respectively embedded in the bottom of the sensing module (27). An adjustment groove (24) is opened at the bottom of the picking claw (23). A sliding frame (25) is movably connected to the bottom of the picking claw (23) through the adjustment groove (24). One end of the sliding frame (25) is fixedly connected to a picking hand (26). A strain force sensor (2601) is installed inside the picking hand (26).

2. The pepper picking robot based on AI target detection according to claim 1, characterized in that: Auxiliary wheels (3) are movably connected to both the front and back of the robot main body (1). A moving track (4) is movably connected to the outside of the auxiliary wheels (3). A driving wheel (2) is movably connected to the inside of the moving track (4). One side of the driving wheel (2) is connected through a moving motor (101). The moving motor (101) is installed inside the robot main body (1).

3. The pepper picking robot based on AI target detection according to claim 1 is characterized in that: A vision radar (11) is installed on the top of the robot main body (1). A placement groove (10) is opened on one side of the top of the robot main body (1) away from the vision radar (11).

4. The pepper picking robot based on AI target detection according to claim 1, characterized in that: An adjustment motor (1201) is installed inside the rotating frame (12). The driving end of the adjustment motor (1201) is fixedly connected to a rotating arm (14).

5. The pepper picking robot based on AI target detection according to claim 1, wherein: The picking mechanism includes a first connection flange (13) installed on the outside of the rotating frame (12). A rotating arm (14) is movably connected to one side of the first connection flange (13). A first adjustment arm (15) is fixedly connected to the outside of the rotating arm (14). One end of the first adjustment arm (15) is fixedly connected to a first driving arm (16).

6. The pepper picking robot based on AI target detection according to claim 5, characterized in that: One end of the first driving arm (16) is fixedly connected to a second connection flange (17). A second adjustment arm (18) is movably connected to one side of the second connection flange (17). One end of the second adjustment arm (18) is fixedly connected to a third driving arm (19).

7. The pepper picking robot based on AI target detection according to claim 6, wherein: One end of the third driving arm (19) is fixedly connected with a third connecting flange (20). One side of the third connecting flange (20) is movably connected with a third adjusting arm (21), and the third adjusting arm (21) is fixedly connected with a picking motor (22).

8. The pepper picking robot based on AI target detection according to claim 1, wherein: Both sides of the sensing module (27) are fixedly connected with mounting brackets (28). The front of the mounting brackets (28) is threadedly connected with fixing screws (29), and the mounting brackets (28) are fixedly connected with picking claws (23) through the fixing screws (29).

9. The pepper picking robot based on AI target detection according to claim 1, characterized in that: A biaxial motor (33) is installed inside the picking claw (23). The driving end of the biaxial motor (33) is fixedly connected with an adjusting lead screw (34). The outside of the adjusting lead screw (34) is threadedly connected with an adjusting nut seat (35), and the adjusting nut seat (35) is fixedly connected with a sliding frame (25).

10. A pepper picking robot based on AI target detection according to claim 1, characterized in that: A transmission wheel (601) is movably connected to the inner side of the auxiliary frame (6), and an auxiliary belt (7) is movably connected to the outside of the transmission wheel (601).

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