Solar intelligent strawberry picking robot

Abstract

The invention discloses a solar intelligent strawberry picking robot which comprises a moving platform, and an operation table, a solar cell panel, a plurality of picking mechanical arms and a storage basket are arranged on the top of the moving platform. A control bin is arranged at the bottom of the mobile platform; walking systems are arranged on two sides of the control bin; walking identification cameras are arranged at the front end and the rear end of the mobile platform; a picking recognition camera is arranged at the end of the picking mechanical arm. Compared with the prior art, the device has the advantages that the picking efficiency is improved, the manual labor intensity is reduced through automatic picking, and the picking speed and efficiency are improved; the picking cost is reduced, solar energy is used for supplying power, energy consumption is reduced, and meanwhile labor cost is reduced; the picking precision is improved, accurate positioning and maturity judgment of the strawberries are achieved through the visual processing unit, and mistaken picking and missing picking are reduced; and the walking recognition camera and the picking recognition camera are provided with infrared light supplementing modules, so that the device adapts to a weak light environment, and all-weather operation is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural robots, and in particular to a solar-powered intelligent strawberry picking robot. Background Art

[0002] In the strawberry farming industry, strawberry picking is a labor-intensive, inefficient, and costly task. Traditional manual picking not only requires a significant amount of manpower, but is also limited by factors like fatigue, making it difficult to meet the harvesting needs of large-scale strawberry plantations. With the advancement of agricultural modernization, automated picking equipment has become a research hotspot.

[0003] At present, the existing strawberry picking equipment has achieved automated picking to a certain extent, but there are still many problems. Some picking equipment adopts a fixed or semi-fixed structure, which has poor mobility and is difficult to adapt to the layout of different planting areas. It is impossible to efficiently cover the entire strawberry planting area for picking. Some picking equipment, although capable of mobility, lacks the ability to identify the environment and avoid obstacles during movement, and is prone to colliding with strawberry plants or other obstacles, causing damage to the strawberry plants and affecting the yield and quality of the strawberries. In addition, in terms of picking identification, the existing equipment is not accurate enough in judging the maturity of strawberries, and often mistakenly picks unripe strawberries or misses ripe strawberries, reducing the accuracy and efficiency of picking.

[0004] In response to the problems existing in the above-mentioned prior art, the present invention provides a solar-powered intelligent strawberry picking robot, which aims to solve technical problems such as poor mobility, insufficient obstacle avoidance ability and inaccurate picking identification of existing picking equipment, improve the efficiency and quality of strawberry picking, and reduce picking costs. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems mentioned in the background technology and provide a solar-powered intelligent strawberry picking robot. By optimizing the robot's structural design and control system, the robot's mobility, obstacle avoidance ability and picking recognition accuracy are improved, thereby achieving efficient and accurate strawberry picking.

[0006] To solve the above technical problems, the present invention provides a technical solution as follows: a solar-powered intelligent strawberry picking robot, comprising a mobile platform, a top of which is provided with an operating table, a solar panel, a plurality of picking mechanical arms, and a storage basket;

[0007] A control cabin is provided at the bottom of the mobile platform, and walking systems are provided on both sides of the control cabin;

[0008] The front and rear ends of the mobile platform are both equipped with walking recognition cameras;

[0009] A picking identification camera is provided at the end of the picking mechanical arm.

[0010] As a preferred solution, the picking robotic arm includes a base, which is fixedly connected to the mobile platform. The top of the base is hinged with a rear robotic arm through a rotating mechanism, and the end of the rear robotic arm away from the rotating mechanism is hinged with a front robotic arm. The front section of the front robotic arm is provided with a picking claw through a connecting seat, and the picking identification camera is arranged on the connecting seat.

[0011] As a preferred solution, the operating table is provided with operating components and a display screen.

[0012] As a preferred solution, the walking system includes a driving wheel and a plurality of driven wheels, and walking tracks are provided on the outer sides of the driving wheel and the driven wheels.

[0013] As a preferred solution, a control system is provided in the control cabin, and the control system includes a main control module, a power management module, a visual processing unit, a motor drive module, a communication module, and an environmental sensor module;

[0014] The main control module is connected to the motor drive module, visual processing unit, and environmental sensor module, and is responsible for overall logical control, including path planning, robot arm kinematics calculation, task scheduling, and multi-module collaboration;

[0015] The visual processing unit is connected to the walking recognition camera and the picking recognition camera, and is used to process the images of the walking recognition camera and the picking recognition camera in real time to achieve strawberry positioning, maturity judgment and obstacle avoidance;

[0016] The motor drive module is connected to the power management module, the walking system, and the mechanical arm joint motor, and is used to drive the walking system and the rotation and clamping of the picking mechanical arm;

[0017] The power management module is connected to the solar panel and is used to store the charge of the solar panel and supply power to the main control module, the motor drive module and the visual processing unit;

[0018] The communication module is connected to the main control module to support remote monitoring, data uploading and manual intervention;

[0019] The environmental sensor module is connected to the main control module and is used to monitor temperature, humidity, and light intensity to assist in adjusting the picking strategy.

[0020] As a preferred solution, the control system adopts the ROS robot operating system framework to achieve modular task scheduling.

[0021] As a preferred solution, the walking recognition camera and the picking recognition camera are both equipped with infrared fill light modules to adapt to low-light environments.

[0022] Compared with the existing technology, the advantages of the present invention are: improving picking efficiency, reducing manual labor intensity through automated picking, and improving picking speed and efficiency; reducing picking costs, using solar energy for power supply, reducing energy consumption, and reducing labor costs at the same time; improving picking accuracy, using a visual processing unit to achieve precise positioning and maturity judgment of strawberries, reducing mispicking and missed picking; enhancing environmental adaptability, the walking recognition camera and the picking recognition camera are equipped with infrared fill light modules to adapt to low-light environments, ensuring all-weather operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is the front view of the present invention.

[0025] Figure 3 It is a structural schematic diagram of the picking mechanical arm of the present invention.

[0026] Figure 4 This invention Figure 3 A partial enlarged view of middle A.

[0027] Figure 5 It is a block diagram of the control system of the present invention.

[0028] Figure 6 It is a workflow diagram of the present invention.

[0029] As shown in the figure: 1. Mobile platform, 2. Operating table, 3. Solar panel, 4. Picking robotic arm, 5. Storage basket, 6. Control compartment, 7. Walking recognition camera, 8. Picking recognition camera, 9. Base, 10. Rotating mechanism, 11. Rear section robotic arm, 12. Front section robotic arm, 13. Connecting seat, 14. Picking claw, 15. Operating component, 16. Display screen, 17. Driving wheel, 18. Driven wheel, 19. Walking track. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "front," "back," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for the convenience of describing the present invention and to simplify the description. They are not intended to indicate or imply that a method or component must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can be fixed, detachable, or integral; they can be mechanical or point-to-point; they can be directly connected or indirectly connected through an intermediate medium; and they can be internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0033] In conjunction with the accompanying drawings, a solar-powered intelligent strawberry picking robot comprises a mobile platform 1, on the top of which is provided an operating table 2, a solar panel 3, a plurality of picking mechanical arms 4, and a storage basket 5;

[0034] A control compartment 6 is provided at the bottom of the mobile platform 1, and walking systems are provided on both sides of the control compartment 6;

[0035] The front and rear ends of the mobile platform 1 are both equipped with walking recognition cameras 7;

[0036] A picking recognition camera 8 is provided at the end of the picking robot arm 4 .

[0037] The picking robot arm 4 includes a base 9, which is fixedly connected to the mobile platform 1. The top of the base 9 is hinged with a rear-section robot arm 11 through a rotating mechanism 10. The end of the rear-section robot arm 11 away from the rotating mechanism 10 is hinged with a front-section robot arm 12. The front section of the front-section robot arm 12 is provided with a picking claw 14 through a connecting seat 13, and the picking identification camera 8 is set on the connecting seat 13.

[0038] An operating component 15 and a display screen 16 are provided on the operating console 2 .

[0039] The traveling system includes a driving wheel 17 and a plurality of driven wheels 18 , and a traveling track 19 is provided on the outer sides of the driving wheel 17 and the driven wheels 18 .

[0040] The control compartment 6 is equipped with a control system, which includes a main control module, a power management module, a visual processing unit, a motor drive module, a communication module, and an environmental sensor module;

[0041] Among them, the main control module (central processing unit, MCU / FPGA) is responsible for overall logical control, including path planning, robotic arm kinematics calculation, task scheduling and multi-module collaboration.

[0042] Hardware connection: Communicate with the motor drive module via CAN bus or RS485 to control the walking system and robotic arm joint motors; connect to the vision processing unit via USB / Ethernet to receive camera data; connect to environmental sensors (temperature, humidity, and light) via I2C / SPI interface; interact with the remote monitoring terminal via a wireless module (Wi-Fi / 4G).

[0043] The visual processing unit (embedded AI computing board, such as Jetson Nano) processes images from the walking recognition camera (front / back end) and the picking recognition camera in real time to achieve strawberry positioning, maturity judgment, and obstacle avoidance.

[0044] Hardware connection: Directly connect to the camera's MIPI / HDMI interface; communicate with the main control module via Gigabit Ethernet / USB3.0 to transmit target coordinates and maturity data; optional GPU acceleration module to improve deep learning inference speed.

[0045] The motor drive module (servo drive / stepper motor drive) drives the walking system (driving wheel, driven wheel) and the robotic arm joint motor (rotating mechanism, front / rear section robotic arm).

[0046] Hardware connection: Receives PWM / pulse commands from the main control module to control the motor speed and direction; feeds back encoder signals to the main control module to achieve closed-loop control; power is distributed by the power management module and supports 24V / 48VDC power supply.

[0047] The power management module (solar charge and discharge controller) manages the charging of solar panels, lithium battery energy storage and system power distribution.

[0048] Hardware connection: Input: Connect to solar panels (12V / 24VDC); Output: Power the main control module (5V), motor drive module (24V / 48V), vision processing unit (12V), etc.; Integrated overvoltage / undervoltage protection, and feedback of power information to the main control module.

[0049] The communication module (Wi-Fi / 4G / Bluetooth) supports remote monitoring, data upload and manual intervention.

[0050] Hardware connection: Interact with the main control module via UART / USB; optional RTK-GPS (high-precision positioning) assisted path planning.

[0051] The environmental sensor module monitors temperature, humidity, and light intensity to assist in adjusting picking strategies (such as nighttime hibernation).

[0052] Hardware connection: Connect to the main control module via I2C / RS485; optional soil sensor (if expansion to irrigation function is required).

[0053] The control system adopts the ROS robot operating system framework to realize modular task scheduling.

[0054] Both the walking recognition camera 7 and the picking recognition camera 8 are equipped with infrared fill light modules to adapt to low-light environments.

[0055] In the specific implementation of the present invention, the solar cell panel is a high-efficiency monocrystalline silicon solar cell panel, such as TrinaSolarTSM-DEG18C.20 (20% efficiency, 250W power, suitable for outdoor lighting conditions).

[0056] The joint motor of the picking robot arm uses a stepper motor, such as model 57BYG250C, which has moderate torque and is suitable for the movement requirements of the robot arm.

[0057] The camera uses an industrial-grade camera, such as Hikvision DS-2CD3325FWD-I, which has infrared fill light function and can adapt to low-light environments.

[0058] The main control module uses NVIDIA Jetson AGX Xavier, supports the ROS framework, and meets the needs of multi-module collaboration.

[0059] The walking system motor uses a 57 stepper motor, which is matched with a planetary reducer to provide stable power.

[0060] Workflow and principle:

[0061] 1. Initialization Phase: After the robot starts, the power management module begins operating, converting solar energy collected by solar panels 3 into electricity to power each module. The main control module performs a system self-test and initializes the vision processing unit, motor drive module, communication module, and environmental sensor module.

[0062] 2. Environmental Perception Phase: Walking Recognition Camera 7 and Picking Recognition Camera 8 begin operating. Walking Recognition Camera 7 captures real-time images of the robot's surroundings, which the Vision Processing Unit processes to implement obstacle avoidance and path planning. Picking Recognition Camera 8 captures images of strawberries, which the Vision Processing Unit determines their ripeness and locates.

[0063] 3. Movement and Identification: The driving wheels 17 and driven wheels 18 in the walking system move via walking tracks 19. The walking recognition camera 7 monitors the road ahead in real time, and the visual processing unit plans the path based on the image information. The picking robot arm 4 adjusts its posture and picks according to the positioning information from the picking recognition camera 8.

[0064] 4. Picking and storage: The picking claws 14 pick up ripe strawberries and place them in the storage basket 5. The environmental sensor module monitors temperature, humidity, and light intensity to assist in adjusting the picking strategy.

[0065] 5. Remote monitoring and intervention: The communication module supports remote monitoring. The operator can monitor the status of the robot through the operating component 15 and the display screen 16 and perform manual intervention when necessary.

[0066] The present invention solves the problems of low efficiency and high cost of traditional strawberry picking through technical means such as solar power supply, multi-camera visual recognition, and a modular control system, realizes an automated and intelligent picking process, and provides an efficient and environmentally friendly solution for the strawberry planting industry.

[0067] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A solar-powered intelligent strawberry picking robot, characterized by: The mobile platform (1) comprises an operating table (2), a solar cell panel (3), a plurality of picking mechanical arms (4), and a storage basket (5) provided on the top of the mobile platform (1); A control compartment (6) is provided at the bottom of the mobile platform (1), and walking systems are provided on both sides of the control compartment (6); The front and rear ends of the mobile platform (1) are both provided with walking recognition cameras (7); A picking recognition camera (8) is provided at the end of the picking mechanical arm (4).

2. The solar-powered intelligent strawberry picking robot according to claim 1, characterized in that: The picking mechanical arm (4) comprises a base (9), the base (9) being fixedly connected to the mobile platform (1), the top of the base (9) being hingedly provided with a rear section mechanical arm (11) via a rotating mechanism (10), the end of the rear section mechanical arm (11) away from the rotating mechanism (10) being hingedly provided with a front section mechanical arm (12), the front section of the front section mechanical arm (12) being provided with a picking claw (14) via a connecting seat (13), and the picking identification camera (8) being arranged on the connecting seat (13).

3. The solar-powered intelligent strawberry picking robot according to claim 1, characterized in that: The operating table (2) is provided with an operating component (15) and a display screen (16).

4. The solar-powered intelligent strawberry picking robot according to claim 1, characterized in that: The walking system comprises a driving wheel (17) and a plurality of driven wheels (18), and walking tracks (19) are provided on the outer sides of the driving wheel (17) and the driven wheels (18).

5. The solar-powered intelligent strawberry picking robot according to claim 1, characterized in that: The control compartment (6) is provided with a control system, which includes a main control module, a power management module, a visual processing unit, a motor drive module, a communication module, and an environmental sensor module; The main control module is connected to the motor drive module, visual processing unit, and environmental sensor module, and is responsible for overall logical control, including path planning, robot arm kinematics calculation, task scheduling, and multi-module collaboration; The visual processing unit is connected to a walking recognition camera (7) and a picking recognition camera (8) and is used for processing images of the walking recognition camera (7) and the picking recognition camera (8) in real time to achieve strawberry positioning, maturity judgment and obstacle avoidance; The motor drive module is connected to the power management module, the walking system, and the mechanical arm joint motor, and is used to drive the walking system and the rotation and clamping of the picking mechanical arm (4); The power management module is connected to the solar panel (3) and is used to store the charge of the solar panel (3) and to supply power to the main control module, the motor drive module, and the visual processing unit; The communication module is connected to the main control module to support remote monitoring, data uploading and manual intervention; The environmental sensor module is connected to the main control module and is used to monitor temperature, humidity, and light intensity to assist in adjusting the picking strategy.

6. The solar-powered intelligent strawberry picking robot according to claim 5, characterized in that: The control system adopts the ROS robot operating system framework to realize modular task scheduling.

7. The solar-powered intelligent strawberry picking robot according to claim 5, characterized in that: The walking recognition camera (7) and the picking recognition camera (8) are both equipped with infrared fill light modules to adapt to low-light environments.

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