Tomato picking robot based on visual navigation

Abstract

The invention belongs to the technical field of agriculture, particularly relates to a tomato picking robot based on visual navigation, and provides the following scheme that the tomato picking robot comprises a moving trolley, a storage box is arranged on one side of the top of the moving trolley, an opening is formed in one side of the top of the storage box in a penetrating mode, and a feeding port is formed in one side of the top of the storage box in a penetrating mode; a conveying mechanism is arranged in the feeding port, a picking mechanism is arranged on one side of the top of the moving trolley, one side of the picking mechanism is connected with the conveying mechanism through a hinge, and a cleaning mechanism and a dust removal mechanism are arranged on the two sides of the top of the picking mechanism correspondingly; and the picking mechanism is matched with the cleaning mechanism and the dust removal mechanism. Dust and residual leaves adhered to the surface of the camera can be conveniently treated through jet of airflow, so that the definition of the camera is improved, and the situation that the dust and residual leaves adhere to the surface of the camera, so that the camera is blurred, and tomato picking is interfered is prevented.

Description

Technical Field

[0001] The present invention relates to the field of agriculture, and in particular, to a tomato picking robot based on visual navigation. Background Art

[0002] As a common fruit and vegetable, tomatoes are widely planted in our country. However, their picking still depends on manual operation, which requires a lot of labor and is inefficient. Moreover, the current manual picking labor mode can no longer meet the industrial development needs of tomatoes. Therefore, it is imperative to use tomato picking robots to replace manual picking.

[0003] After retrieval, a Chinese patent application with the publication number of CN114586545B discloses a robot agricultural picking device based on machine vision detection, including: a storage box, a traveling device is provided at the bottom of the storage box, a counting device is provided on the storage box, a picking device is provided at the top of the storage box, a vision detection device is provided on the picking device, and the picking device, the vision detection device and the traveling device are all electrically connected to a controller; through the cooperation of the traveling device, the vision detection device and the picking device for picking, it avoids manual operation for picking and has a high degree of intelligence; at the same time, during the picking process, the counting device will count the picked fruits to confirm the picked quantity.

[0004] When the existing picking robots pick tomatoes, they usually use visual navigation (i.e., a camera) to guide the picking of tomatoes, that is, install a camera on the robot, and through manual operation of the robot, use the camera to identify the route and pick the ripe tomatoes, preventing the tomatoes from being picked before they are ripe. At the same time, it avoids damaging the tomatoes during the picking process and improves the picking efficiency of tomatoes. However, during the picking process, since the picking robot shuttles back and forth inside the tomato grove, dust and residual leaves will adhere to the surface of the camera, which will affect the clarity of the camera, and thus affect the picking of tomatoes. Summary of the Invention

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A tomato picking robot based on visual navigation, comprising a mobile trolley, one side of the top of the mobile trolley is provided with a storage box, and an opening is formed through one side of the top of the storage box. An inlet is formed through one side of the top of the storage box. A conveying mechanism is arranged inside the inlet. One side of the top of the mobile trolley is provided with a picking mechanism, and one side of the picking mechanism is connected to the conveying mechanism through a hinge. Cleaning mechanisms and dust removal mechanisms are respectively arranged on both sides of the top of the picking mechanism, and a cooperation is formed between the picking mechanism and the cleaning mechanisms and the dust removal mechanisms. A camera is arranged on one side of the top of the picking mechanism.

[0007] Preferably, the picking mechanism includes a first motor, a turntable, a bracket, a support rod, a connecting rod, a support plate, and a picking component. The first motor is connected to the bottom of the mobile trolley through bolts. One end of the first motor is connected to the turntable through bolts. The bottom of the bracket is fixedly connected to the top of the turntable. The opposite sides of the bracket are rotatably connected to the support rod through bearings. A second motor is connected to one side of the bracket through bolts. One end of the second motor is connected to the support rod through bolts. The top of the support rod is rotatably connected to the connecting rod through a bearing. The top of the connecting rod is connected to the bottom of the support plate through bolts. A hydraulic rod is connected between one side of the support rod and the connecting rod through a hinge. The picking component is located on one side of the support plate.

[0008] Preferably, the picking component is composed of a third motor and a cutting disc. The third motor is connected to the bottom of the support plate through bolts. One end of the third motor is connected to the cutting disc through bolts. One side of the top of the support plate is fixedly connected to the camera through bolts.

[0009] Preferably, the conveying mechanism includes a hopper, a conduit, and a feed pipe. The top of the feed pipe is fixedly connected to the inlet. A guide plate is connected to the bottom inner wall of the storage box through bolts. The cross section of the guide plate is triangular. The bottom of the feed pipe is in contact with the top of the guide plate. A discharge port is formed at the bottom of the feed pipe. The top of the feed pipe is fixedly connected to the bottom of the conduit. The conduit is made of an elastic material. The top of the conduit is fixedly connected to the bottom of the hopper. One side of the hopper is connected to the support plate through a hinge.

[0010] Preferably, the cleaning mechanism includes a cleaning frame and two cleaning brushes. The two cleaning brushes are fixedly connected between the opposite inner walls of the cleaning frame. One end of the cleaning brush is in contact with the surface of the cutting disc. A notch is formed in the top of the support plate. A slider is slidably connected to the inner wall of the notch. The top of the slider is fixedly connected to the bottom of the cleaning frame.

[0011] Preferably, a pin shaft is welded to one side of the top of the cutting disc. A sleeve is rotatably sleeved on the outer wall of the pin shaft. A shaft rod is connected between the sleeve and the cleaning frame through a hinge.

[0012] Preferably, the dust removal mechanism is composed of an airbag and a spray pipe. The airbag is located between the slider and the inner wall of one side of the notch. The spray pipe is connected to the top of the camera by bolts, and a trachea is arranged between the airbag and the spray pipe.

[0013] Preferably, a plurality of blocking mechanisms are arranged between the inner walls on opposite sides of the feed pipe. The blocking mechanism is composed of a plurality of blocking rods, and the blocking rods are staggered on both sides of the inner wall of the feed pipe. The blocking rods are made of flexible elastic material.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. By setting the picking mechanism, cleaning mechanism and dust removal mechanism, when picking tomatoes, the robot is placed inside the picking garden and the picking robot is started. The picking robot will drive the camera to move, so as to identify and process the picking of tomatoes through the camera. When a ripe tomato is identified, at this time, the picking mechanism is started. The picking mechanism will drive the cutting disc to move to one side, so that the cutting disc contacts the root of the tomato, and the root of the tomato is cut off by the cutting disc. At this time, the tomato will be transported to the inside of the storage box through the conveying mechanism. During this period, when the cutting disc rotates, the pin shaft will rotate around the center of the cutting disc, and the shaft rod will drive the cleaning frame to move reciprocally under the action of the pin shaft and the shaft sleeve. When the cleaning frame approaches the cutting disc, the cleaning brush will clean the cutting disc. When the cleaning frame moves away from the cutting disc, the cleaning frame will drive the slider to squeeze the airbag. At this time, the gas inside the airbag will be transported to the inside of the spray pipe through the trachea. At this time, the air flow will be sprayed onto the surface of the camera through the spray pipe, so as to process the dust and residual leaves adhered to the surface of the camera through the spraying of the air flow, thereby improving the clarity of the camera, improving the picking effect of the picking robot on tomatoes, preventing the dust and residual leaves from adhering to the surface of the camera and causing the camera to be blurred, and further interfering with the picking of tomatoes;

[0016] 2. By setting the conveying mechanism and the blocking mechanism, after the tomatoes are picked, the tomatoes will fall into the hopper and be transported to the inside of the feed pipe through the conduit, and the tomatoes will be discharged into the storage box through the discharge port. Since the cross section of the guide plate is triangular, the tomatoes will automatically roll to one side of the storage box. During this period, the plurality of blocking rods are staggered. Therefore, when the tomatoes contact the blocking rods during the falling process, the blocking rods will limit the falling speed of the tomatoes, so as to facilitate reducing the buffering force when the tomatoes fall, preventing the falling speed of the tomatoes from being too fast and resulting in a large impact force on the tomatoes, and further causing damage to the tomatoes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of a tomato picking robot based on visual navigation proposed by the present invention;

[0018] Figure 2 Side view structural schematic diagram of a tomato picking robot based on visual navigation proposed by the present invention;

[0019] Figure 3 Partial front view structural schematic diagram of a tomato picking robot based on visual navigation proposed by the present invention;

[0020] Figure 4 Partial structural schematic diagram of a tomato picking robot based on visual navigation proposed by the present invention;

[0021] Figure 5 Structural schematic diagram of a cleaning mechanism and a dust removal mechanism of a tomato picking robot based on visual navigation proposed by the present invention;

[0022] Figure 6 Structural schematic diagram of a conveying mechanism of a tomato picking robot based on visual navigation proposed by the present invention;

[0023] Figure 7 Cross-sectional view structural schematic diagram of a conveying mechanism of a tomato picking robot based on visual navigation proposed by the present invention.

[0024] In the drawings: 1, mobile trolley; 2, storage box; 3, conveying mechanism; 4, cleaning mechanism; 5, dust removal mechanism; 6, picking mechanism; 7, opening; 8, first motor; 9, turntable; 10, second motor; 11, bracket; 12, support rod; 13, connecting rod; 14, hydraulic rod; 15, support plate; 16, camera; 17, third motor; 18, cutting disc; 19, feed pipe; 20, conduit; 21, hopper; 22, notch; 23, airbag; 24, pin shaft; 25, bushing; 26, shaft rod; 27, cleaning frame; 28, cleaning brush; 29, air jet pipe; 30, air pipe; 31, discharge port; 32, guide plate; 33, stop bar. Detailed implementation manners

[0025] Example 1, refer to Figures 1-7, a tomato picking robot based on visual navigation, including a mobile trolley 1. On one side of the top of the mobile trolley 1, a storage box 2 is provided. And on one side of the top of the storage box 2, an opening 7 is penetrated. On one side of the top of the storage box 2, a feeding port is penetrated. Inside the feeding port, a conveying mechanism 3 is provided. On one side of the top of the mobile trolley 1, a picking mechanism 6 is provided. And between one side of the picking mechanism 6 and the conveying mechanism 3, they are connected by a hinge. On both sides of the top of the picking mechanism 6, a cleaning mechanism 4 and a dust removal mechanism 5 are respectively provided. And between the picking mechanism 6 and the cleaning mechanism 4 and the dust removal mechanism 5, they form a cooperation. On one side of the top of the picking mechanism 6, a camera 16 is provided, which is convenient for processing the dust and residual leaves adhered to the surface of the camera 16 through the jet of air flow, thereby improving the clarity of the camera 16, improving the picking effect of the picking robot on tomatoes, preventing the dust and residual leaves from adhering to the surface of the camera 16 and causing the camera 16 to become blurred, and further interfering with the picking of tomatoes.

[0026] On the above basis, the picking mechanism 6 includes a first motor 8, a turntable 9, a bracket 11, a support rod 12, a connecting rod 13, a support plate 15, and a picking component. And between the first motor 8 and the bottom of the mobile trolley 1, they are connected by bolts. Between one end of the first motor 8 and the turntable 9, they are connected by bolts. Between the bottom of the bracket 11 and the top of the turntable 9, they are fixedly connected. Between the opposite sides of the bracket 11 and the support rod 12, they form a rotational connection through bearings. On one side of the bracket 11, a second motor 10 is connected by bolts. Between one end of the second motor 10 and the support rod 12, they are connected by bolts. Between the top of the support rod 12 and the connecting rod 13, they form a rotational connection through bearings. Between the top of the connecting rod 13 and the bottom of the support plate 15, they are connected by bolts. Between one side of the support rod 12 and the connecting rod 13, a hydraulic rod 14 is connected by a hinge. The picking component is located on one side of the support plate 15.

[0027] On the above basis, the picking component consists of a third motor 17 and a cutting disc 18. And between the third motor 17 and the bottom of the support plate 15, they are connected by bolts. Between one end of the third motor 17 and the cutting disc 18, they are connected by bolts. On one side of the top of the support plate 15, it is fixedly connected with the camera 16 by bolts.

[0028] On the above basis, the conveying mechanism 3 includes a hopper 21, a conduit 20, and a feed pipe 19. And the top of the feed pipe 19 is fixedly connected with the feeding port. On the bottom inner wall of the storage box 2, a guide plate 32 is connected by bolts. The cross-section of the guide plate 32 is triangular. The bottom of the feed pipe 19 is in contact with the top of the guide plate 32. The bottom of the feed pipe 19 is provided with a discharge port 31. The top of the feed pipe 19 is fixedly connected with the bottom of the conduit 20. The conduit 20 is made of an elastic material. The top of the conduit 20 is fixedly connected with the bottom of the hopper 21. Between one side of the hopper 21 and the support plate 15, they are connected by a hinge.

[0029] On the basis of the above, the cleaning mechanism 4 includes a cleaning frame 27 and two cleaning brushes 28, and the two cleaning brushes 28 are fixedly connected between the inner walls of the opposite sides of the cleaning frame 27. One end of the cleaning brush 28 is in contact with the surface of the cutting disc 18. A notch 22 is formed in the top of the support plate 15, and a slider is slidably connected to the inner wall of the notch 22. The top of the slider is fixedly connected to the bottom of the cleaning frame 27.

[0030] On the basis of the above, a pin shaft 24 is welded to one side of the top of the cutting disc 18, and a bushing 25 is rotatably sleeved on the outer wall of the pin shaft 24. A shaft rod 26 is connected between the bushing 25 and the cleaning frame 27 by a hinge.

[0031] On the basis of the above, the dust removal mechanism 5 is composed of an airbag 23 and a spray pipe 29. The airbag 23 is located between the slider and the inner wall of the notch 22. The spray pipe 29 is bolted to the top of the camera 16. A trachea 30 is provided between the airbag 23 and the spray pipe 29. When the cutting disc 18 rotates, the pin shaft 24 will rotate around the center of the cutting disc 18, and the shaft rod 26 will drive the cleaning frame 27 to move reciprocally under the action of the pin shaft 24 and the bushing 25. When the cleaning frame 27 approaches the cutting disc 18, the cleaning brush 28 will clean the cutting disc 18. When the cleaning frame 27 moves away from the cutting disc 18, the cleaning frame 27 will drive the slider to squeeze the airbag 23. At this time, the gas inside the airbag 23 will be conveyed into the interior of the spray pipe 29 through the trachea 30 after being squeezed. At this time, the air flow will be sprayed onto the surface of the camera 16 through the spray pipe 29, so as to process the dust and residual leaves adhered to the surface of the camera 16 through the spraying of the air flow.

[0032] Example 2. Refer to Figures 1-7 , a tomato picking robot based on visual navigation. Compared with Example 1, on the basis of Example 1, a plurality of blocking mechanisms are arranged between the inner walls of the opposite sides of the feed pipe 19, and the blocking mechanism is composed of a plurality of blocking rods 33. The blocking rods 33 are staggered on both sides of the inner wall of the feed pipe 19. The blocking rods 33 are made of flexible elastic material. After the tomatoes are picked, the tomatoes will fall into the hopper 21 and be conveyed into the feed pipe 19 through the conduit 20, and the tomatoes will be discharged into the storage box 2 through the discharge port 31. Since the cross-section of the guide plate 32 is triangular, the tomatoes will automatically roll to one side of the storage box 2. During this period, the plurality of blocking rods 33 are staggered. Therefore, when the tomatoes come into contact with the blocking rods 33 during the falling process, the blocking rods 33 will limit the falling speed of the tomatoes, so as to facilitate reducing the buffer force when the tomatoes fall and prevent the large impact force caused by the fast falling speed of the tomatoes, thereby damaging the tomatoes.

[0033] In summary, by means of the above technical solutions of the present invention: when picking tomatoes, the robot is placed inside the picking garden, and the picking robot is started. The picking robot will drive the camera 16 to move, so as to identify and process the picking of tomatoes through the camera 16. When a ripe tomato is identified, at this time, the picking mechanism 6 is started. The picking mechanism 6 will drive the cutting disc 18 to move to one side, so that the cutting disc 18 contacts the root of the tomato, and the cutting disc 18 cuts off the root of the tomato. At this time, the tomato will be transported to the inside of the storage box 2 through the conveying mechanism 3. During this period, when the cutting disc 18 rotates, the pin shaft 24 will rotate around the center of the cutting disc 18, and the shaft rod 26 will drive the cleaning frame 27 to reciprocate under the action of the pin shaft 24 and the sleeve 25. When the cleaning frame 27 approaches the cutting disc 18, the cleaning brush 28 will clean the cutting disc 18. When the cleaning frame 27 moves away from the cutting disc 18, the cleaning frame 27 will drive the slider to squeeze the airbag 23. At this time, the gas inside the airbag 23 will be squeezed and transported to the inside of the spray pipe 29 through the air pipe 30. At this time, the air flow will be sprayed onto the surface of the camera 16 through the spray pipe 29, so as to process the dust and residual leaves adhering to the surface of the camera 16 through the spraying of the air flow, thereby improving the clarity of the camera 16, improving the picking effect of the picking robot on tomatoes, preventing dust and residual leaves from adhering to the surface of the camera 16 and causing the camera 16 to become blurred, and further interfering with the picking of tomatoes. When the picking of tomatoes is completed, the tomatoes will fall into the hopper 21, and the tomatoes will be transported to the inside of the feed pipe 19 through the conduit 20, and the tomatoes will be discharged into the inside of the storage box 2 through the discharge port 31. Since the cross-section of the guide plate 32 is triangular, the tomatoes will automatically roll to one side of the storage box 2. During this period, the multiple stop bars 33 are staggered. Therefore, when the tomatoes contact the stop bars 33 during the falling process, the stop bars 33 will limit the falling speed of the tomatoes, so as to facilitate reducing the buffer force when the tomatoes fall, preventing the falling speed of the tomatoes from being too fast and resulting in a large impact force on the tomatoes, and further damaging the tomatoes.

[0034] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A tomato picking robot based on visual navigation, including a mobile trolley (1), characterized in that, On one side of the top of the mobile trolley (1), a storage box (2) is provided, and an opening (7) is formed through one side of the top of the storage box (2). An inlet is formed through one side of the top of the storage box (2). A conveying mechanism (3) is arranged inside the inlet. On one side of the top of the mobile trolley (1), a picking mechanism (6) is provided, and one side of the picking mechanism (6) is hinged to the conveying mechanism (3). On both sides of the top of the picking mechanism (6), a cleaning mechanism (4) and a dust removal mechanism (5) are respectively arranged, and a cooperation is formed between the picking mechanism (6) and the cleaning mechanism (4) and the dust removal mechanism (5). A camera (16) is arranged on one side of the top of the picking mechanism (6).

2. The tomato picking robot based on visual navigation according to claim 1, characterized in that, The picking mechanism (6) includes a first motor (8), a turntable (9), a bracket (11), a support rod (12), a connecting rod (13), a support plate (15), and a picking component. The first motor (8) is bolted to the bottom of the mobile trolley (1). One end of the first motor (8) is bolted to the turntable (9). The bottom of the bracket (11) is fixedly connected to the top of the turntable (9). The opposite sides of the bracket (11) are rotatably connected to the support rod (12) through bearings. A second motor (10) is bolted to one side of the bracket (11). One end of the second motor (10) is bolted to the support rod (12). The top of the support rod (12) is rotatably connected to the connecting rod (13) through a bearing. The top of the connecting rod (13) is bolted to the bottom of the support plate (15). A hydraulic rod (14) is hinged between one side of the support rod (12) and the connecting rod (13). The picking component is located on one side of the support plate (15).

3. The tomato picking robot based on visual navigation according to claim 2, wherein The picking component consists of a third motor (17) and a cutting disc (18). The third motor (17) is bolted to the bottom of the support plate (15). One end of the third motor (17) is bolted to the cutting disc (18). One side of the top of the support plate (15) is bolted and fixedly connected to the camera (16).

4. The tomato picking robot based on visual navigation according to claim 2, wherein, The conveying mechanism (3) includes a hopper (21), a conduit (20), and a feed pipe (19). The top of the feed pipe (19) is fixedly connected to the inlet. A guide plate (32) is bolted to the bottom inner wall of the storage box (2). The cross-section of the guide plate (32) is triangular. The bottom of the feed pipe (19) contacts the top of the guide plate (32). A discharge port (31) is formed at the bottom of the feed pipe (19). The top of the feed pipe (19) is fixedly connected to the bottom of the conduit (20). The conduit (20) is made of an elastic material. The top of the conduit (20) is fixedly connected to the bottom of the hopper (21). One side of the hopper (21) is hinged to the support plate (15).

5. The tomato picking robot based on visual navigation according to claim 2, characterized in that, The cleaning mechanism (4) includes a cleaning frame (27) and two cleaning brushes (28), and the two cleaning brushes (28) are fixedly connected between the opposite inner walls of the cleaning frame (27). One end of the cleaning brush (28) is in contact with the surface of the cutting disc (18). A notch (22) is formed in the top of the support plate (15). A slider is slidably connected to the inner wall of the notch (22), and the top of the slider is fixedly connected to the bottom of the cleaning frame (27).

6. The tomato picking robot based on visual navigation according to claim 5, characterized in that, A pin shaft (24) is welded to one side of the top of the cutting disc (18). A bushing (25) is rotatably sleeved on the outer wall of the pin shaft (24). A shaft rod (26) is connected to the bushing (25) and the cleaning frame (27) by a hinge.

7. A tomato picking robot based on visual navigation according to claim 5, characterized in that, The dust removal mechanism (5) is composed of an air bag (23) and a jet pipe (29). The air bag (23) is located between the slider and one side inner wall of the notch (22). The jet pipe (29) is bolted to the top of the camera (16). A trachea (30) is provided between the air bag (23) and the jet pipe (29).

8. A tomato picking robot based on visual navigation according to claim 4, characterized in that, A plurality of blocking mechanisms are provided between the opposite inner walls of the feed pipe (19). The blocking mechanisms are composed of a plurality of blocking rods (33). The blocking rods (33) are staggered on both sides of the inner wall of the feed pipe (19). The blocking rods (33) are made of a flexible elastic material.

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