A light-blocking pineapple harvesting robot

Abstract

This invention discloses a light-shielding pineapple harvesting robot, relating to the field of agricultural machinery technology. It includes a frame with a light-shielding plate mounted on its top side. Multiple strip-shaped light-shielding strips are mounted on both the front and rear sides of the frame. Tracked wheels are mounted on both sides of the frame. A robotic arm is mounted on the frame, and a spherical end effector is mounted at the output end of the robotic arm. A light panel and a camera are mounted on the light-shielding plate. An adjustment structure is installed inside the frame, and light-shielding frames are set on the multiple light-shielding strips. By using the light-shielding plate and strips, the light source inside the frame is not affected by external factors, allowing the camera to acquire the position information of the pineapples inside the frame. Harvesting can then be performed by the robotic arm and the spherical end effector. This design reduces manual labor and ensures that the harvesting machinery is not affected by the external environment (light source) during operation.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically a light-shielding pineapple harvesting robot. Background Technology

[0002] Pineapple is a widely distributed tropical economic crop. Studies have shown that pineapple contains five times more vitamin C than apples and is also rich in enzymes that aid in the digestion of protein. Pineapple byproducts are also economically valuable; for example, the fiber from pineapple leaves can be used to make socks and other fabrics, while the peel, roots, and leaves have medicinal uses. Today, pineapples are widely cultivated in Guangdong and Hainan provinces of my country, generating significant economic benefits annually.

[0003] In the pineapple planting industry, labor costs account for the majority of the entire planting process. At the same time, due to issues such as pineapple planting density, the spiky growth characteristics of fruit and leaves, and the proliferation of red imported fire ants, manual harvesting is time-consuming, labor-intensive, and poses certain safety risks.

[0004] In mechanized harvesting operations, there is also a significant interference factor: light. Because agricultural planting takes place in an open environment, without the stable environment of a factory workshop, light conditions are greatly affected by factors such as time, season, and weather. Therefore, mechanized harvesting operations place high demands on the visual recognition system of the harvesting mechanism.

[0005] Therefore, a light-shielding pineapple harvesting robot is provided to solve the problems mentioned in the background art. Summary of the Invention

[0006] The purpose of this invention is to provide a light-shielding pineapple harvesting robot to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A light-shielding pineapple harvesting robot includes a frame, a light-shielding plate mounted on the top side of the frame, multiple strip-shaped light-shielding strips mounted on the front and rear sides of the frame, tracked wheels mounted on both sides of the frame, a robotic arm mounted on the frame, a ball-shaped end effector mounted on the output end of the robotic arm, a light panel and a camera mounted on the light-shielding plate, a conveyor belt located below the light-shielding plate and installed inside the frame, an adjustment structure installed inside the frame, light-shielding frames mounted on the multiple light-shielding strips, and a cleaning structure mounted on the light-shielding frames. The adjustment structure drives the light-shielding frames to move, and the cleaning structure cleans the light-shielding strips.

[0009] As a further embodiment of the present invention: track wheels are installed on both sides of the vehicle frame, and a motor and a battery are installed on one side of the vehicle frame. The motor drives the track wheels to rotate, and the battery provides power to the robotic arm, camera, light panel, spherical end effector and conveyor belt.

[0010] As a further aspect of the present invention: the chassis is equipped with a main control computer, which includes a ROS framework, a main state machine program, a communication protocol, a vision perception module, a robotic arm motion module, an end effector operation module, and a safety monitoring module.

[0011] As a further embodiment of the present invention: the adjustment structure includes a fixing frame, which is fixedly connected inside the vehicle frame. Two sets of threaded screws are rotatably mounted inside the fixing frame. A transmission motor is installed inside the fixing frame, which drives the threaded screws to rotate. A sprocket is mounted on the threaded screw, and a transmission chain is wound between the sprockets. A sliding block is threadedly connected to the threaded screw, and the sliding block is fixedly connected to the sunshade frame.

[0012] As a further embodiment of the present invention: the cleaning structure includes a collection box, which is installed on one side of the light-shielding frame. The light-shielding frame has multiple placement slots. A cleaning roller is provided inside the collection box and is rotatably connected to the placement slots. A scraper is fixedly connected inside the collection box and is in contact with the cleaning roller. The scraper has multiple through slots. A drain pipe is installed on the bottom side of the collection box and a valve is installed on the drain pipe.

[0013] As a further embodiment of the present invention: A mounting bracket is installed on the upper side of the fixed frame, and a threaded rod is movably connected inside the mounting bracket. Meshing bevel gears are installed on the threaded rod and the threaded lead screw. A compression block is threadedly connected to the threaded rod. An air collection box is installed on the mounting bracket, and an airbag is installed on one side of the air collection box. The airbag and the compression block are mating components. A first air guide pipe is installed on the air collection box, and the first air guide pipe is in contact with the camera.

[0014] As a further embodiment of the present invention: an adjustment frame is installed on the lower side of the light-shielding plate, the first air guide pipe is located inside the adjustment frame, a spiral rod is rotatably connected inside the adjustment frame, the spiral rod is threadedly connected to a limit block, and the limit block is connected to the first air guide pipe.

[0015] As a further embodiment of the present invention: a blowing plate is fixedly connected to the light-shielding frame, the blowing plate has multiple air blowing holes, and the blowing plate is fixed to the air collection box and connected through a second air guide pipe.

[0016] As a further embodiment of the present invention, the light-shielding strip is provided with multiple reflectors on the inner side of the vehicle frame.

[0017] As a further embodiment of the present invention: the airbag is cylindrical in shape, and a spring coil is installed inside the airbag.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] By installing light-shielding plates and strips, the light source inside the frame is not affected by external factors, allowing the camera to obtain the position information of the pineapples inside the frame 1. The pineapples can then be harvested using a robotic arm and a ball end effector. This setup reduces manual labor and ensures that the harvesting machinery is not affected by the external environment (light source) during operation.

[0020] By incorporating a light-shielding frame structure, the vehicle stops moving when harvesting pineapples, and a camera captures the position of the pineapples inside the frame. To prevent misalignment of the light-shielding curtains when the vehicle stops (the pineapple roots cause the curtains to intertwine), which could allow external light to enter the frame or cause light leakage, the light-shielding frame helps to straighten and align the multiple curtains (the frame moves along the curtains), reducing light leakage and allowing the camera to better capture the position of the pineapples inside the frame.

[0021] When the sunshade frame moves on the sunshade curtain, the cleaning roller can roll on the sunshade curtain, thereby cleaning the inside of the sunshade curtain (facing the frame) and reducing the contamination of the sunshade curtain by pineapple juice.

[0022] When the sunshade moves on the sunshade curtain, the first air duct can also blow and clean the camera, preventing the camera from getting too dusty and preventing the camera from being unable to identify the position of the pineapple inside the frame due to dust. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the internal structure of the vehicle frame in this invention;

[0025] Figure 3 This is a schematic diagram of the robotic arm structure in this invention;

[0026] Figure 4 This is a schematic diagram of the threaded rod structure in this invention;

[0027] Figure 5 This is a schematic diagram of the adjusting frame structure in this invention;

[0028] Figure 6 This is a schematic diagram of the light-shielding frame structure in this invention;

[0029] Figure 7 This is a schematic diagram of the blowing plate structure in this invention;

[0030] Figure 8 This is a schematic diagram of the camera structure in this invention;

[0031] Figure 9 This is a schematic diagram of the adjustment structure in this invention;

[0032] The correspondence between the labels and component names in the attached figures is as follows:

[0033] 1. Frame; 101. Sunshade; 102. Sunshade strip; 103. Battery; 104. Motor; 2. Track wheels; 201. Conveyor belt; 202. Robotic arm; 203. Camera; 204. Spherical end effector; 205. Light panel; 3. Adjustment structure; 301. Fixing frame; 302. Threaded screw; 303. Sliding block; 304. Sprocket; 305. Drive chain; 4. Cleaning structure; 401. Sunshade 402. Frame; 403. Placement slot; 404. Blowing plate; 405. Air blowing hole; 406. Collection box; 407. Cleaning roller; 408. Scraper; 409. Drain pipe; 500. Mounting frame; 501. Bevel gear; 502. Threaded rod; 503. Extrusion block; 504. Airbag; 505. Adjusting frame; 506. First air guide pipe; 507. Second air guide pipe; 508. Spiral rod; 509. Limiting block; 510. Air collection box. Detailed Implementation

[0034] Please see Figures 1-9A light-shielding pineapple harvesting robot includes a frame 1. A light-shielding plate 101 is installed on the top side of the frame 1. Multiple strip-shaped light-shielding strips 102 are installed on both the front and rear sides of the frame 1. Multiple reflectors are installed on the inner side of the light-shielding strips 102. The arrangement of the light-shielding plate 101 and light-shielding strips 102 can prevent external light sources from interfering with the internal light source of the frame 1, and can also prevent the internal light source of the frame 1 from leaking and failing to concentrate the light inside the frame 1. During the movement of the frame 1, when the light-shielding strips 102 encounter obstacles (such as pineapple roots or branches), their position and angle will shift (similar to a curtain not aligning with an obstacle). A robotic arm 202 is installed on the frame 1. A ball end effector 204 is installed at the output end of the robotic arm 202. The robotic arm 202 can drive the ball end effector 204 to move. The ball end effector 204 is used to grasp the target object and perform opening and closing actions to clamp the pineapple (built-in force sensor, proximity sensor, and tactile sensor). A light panel 205 and a camera 203 are installed on the light-shielding plate 101. A conveyor belt 201 is set below the light-shielding plate 101 and is installed inside the frame 1. The light panel 205 can illuminate the inside of the frame 1. When used with the camera 203, the camera 203 can obtain the fruit information (position) inside the frame 1, so that the inside of the frame 1 is in a clear light environment.

[0035] like Figure 1 and Figure 3 As shown, track wheels 2 are installed on both sides of the frame 1. A motor 104 and a battery 103 are installed on one side of the frame 1. The motor 104 drives the track wheels 2 to rotate. The battery 103 provides power to the robotic arm 202, camera 203, light panel 205, ball end effector 204 and conveyor belt 201. The motor 104 can drive the track wheels 2 to rotate, so that the track wheels 2 can drive the frame 1 to move. The battery 103 provides power to the electrical components inside the frame 1.

[0036] Furthermore, the chassis 1 is equipped with a main control computer, which includes the ROS framework, main state machine program, communication protocol, as well as a vision perception module, robotic arm motion module, end effector operation module, and safety monitoring module. The main control computer coordinates the entire workflow in the following order: (starting the vision perception module—obtaining results—calculating the fruit position—the robotic arm motion module plans the motion path—sending commands to the end effector operation module—grabbing the object—transporting it onto the conveyor belt). The safety monitoring module detects obstacles in the workspace (through vision or additional sensors) and plans paths to avoid them. The integration of robotics and control systems by the main control computer is existing technology and will not be described further.

[0037] like Figure 9 and Figure 8As shown, the adjustment structure 3 includes a fixed frame 301, which is fixedly connected inside the frame 1. Two sets of threaded screws 302 rotate inside the fixed frame 301. A transmission motor is installed inside the fixed frame 301, driving the threaded screws 302 to rotate. A sprocket 304 is mounted on the threaded screw 302, and a transmission chain 305 is wound between the sprockets 304. A sliding block 303 is threadedly connected to the threaded screw 302, and the sliding block 303 is fixedly connected to the light shield 401. When the frame 1 stops moving and the camera 203 needs to obtain information about the pineapple inside the frame 1, the transmission motor is activated, driving the threaded screws. When 302 rotates, another threaded screw 302 will also rotate through the transmission chain 305, causing the sliding block 303 to shift position. When the sliding block 303 moves down, it will drive the light shield 401 to move down. When the light shield 401 moves down, it will straighten and align the intersecting light shield strips 102, thereby preventing light leakage inside the frame 1. This allows the camera 203 to better obtain the position information of the pineapple inside the frame 1. After the robotic arm 202 has finished picking the pineapple inside the frame 1, the transmission motor will reverse, causing the light shield 401 to return to its initial position. The frame 1 will continue to move, repeating the above steps.

[0038] like Figure 6 and Figure 7 As shown, the cleaning structure 4 includes a collection box 405, which is installed on one side of a light-shielding frame 401. The light-shielding frame 401 has multiple placement slots 402. A cleaning roller 406 is installed inside the collection box 405 and rotatably connected to the inside of the placement slots 402. A scraper 407 is fixedly connected inside the collection box 405, and the scraper 407 is in contact with the cleaning roller 406. Multiple through slots are provided on the scraper 407. A drain pipe 408 is installed on the bottom side of the collection box 405, and a valve is installed on the drain pipe 408. When the light-shielding frame 401 moves on the light-shielding strip 102, the placement slots... The cleaning roller 406 inside 402 is in contact with the light-blocking strip 102, causing the cleaning roller 406 to rotate. When the cleaning roller 406 rotates, it will absorb the juice adhering to the reflector on the light-blocking strip 102, which will play a certain cleaning role and prevent the light-blocking strip 102 from being contaminated by juice. During the rotation process, the cleaning roller 406 will also be scraped by the scraper 407, which will scrape the juice absorbed on the cleaning roller 406 and let it flow into the collection box 405, thereby keeping the cleaning roller 406 in a relatively clean state and enabling the cleaning roller 406 to continuously clean the light-blocking strip 102.

[0039] like Figure 7 and Figure 8As shown, a mounting bracket 5 is installed on the upper side of the fixed bracket 301. A threaded rod 502 is movably connected inside the mounting bracket 5. A bevel gear 501 meshes with the threaded rod 502 and the threaded screw 302. A pressing block 503 is threadedly connected to the threaded rod 502. An air collection box 510 is installed on the mounting bracket 5. An airbag 504 is installed on one side of the air collection box 510. The airbag 504 is cylindrical in shape and contains a spring coil. The airbag 504 and the pressing block 503 are mating components. A first air guide pipe is installed on the air collection box 510. 506. The first air duct 506 is attached to the camera 203. An adjusting bracket 505 is installed on the lower side of the light shield 101. The first air duct 506 is located inside the adjusting bracket 505. A spiral rod 508 is rotatably connected inside the adjusting bracket 505. The spiral rod 508 is threadedly connected to a limiting block 509. The limiting block 509 is connected to the first air duct 506. A blowing plate 403 is fixedly connected to the light shield 401. The blowing plate 403 has multiple blowing holes 404. The blowing plate 403 is fixed to the air collection box 510 and is connected through to the second air duct 507. When the threaded screw 302 rotates, it drives the threaded rod 502 to rotate via the bevel gear 501. The rotation of the threaded rod 502 causes the compression block 503 to move on the mounting bracket 5, thereby compressing the airbag 504 located on the mounting bracket 5. This causes the airbag 504 to flow into the gas collection box 510. The air inside the gas collection box 510 is then discharged through the first air duct 506 and the second air duct 507. One end of the first air duct 506 is flush with one side of the camera 203. The air inside the first air duct 506 blows onto the camera 203, cleaning it and preventing dust from getting on it. This allows the camera 203 to clearly identify the position of the pineapple inside the frame 1. The air inside the second air duct 507 is discharged through the air hole 404 and blown onto the light-shielding strip 102, allowing the juice on the light-shielding strip 102 to evaporate quickly and reducing juice residue. When the squeezing block 503 stops squeezing the airbag 504, the airbag 504 will reset under the action of the spring, facilitating subsequent work.

[0040] Working principle: The light panel 205 illuminates the interior of the frame 1, working in conjunction with the camera 203 to capture the fruit's location within the frame 1, ensuring a clear lighting environment. The robotic arm 202 drives the ball end effector 204 to grasp the target object, performing an opening and closing action to hold the pineapple. When the frame 1 stops moving and the camera 203 needs to obtain information about the pineapple inside, the transmission motor is activated. This motor drives the threaded screw 302 to rotate, and another threaded screw 302 rotates via the transmission chain 305, causing the sliding block 303 to shift position. As the sliding block 303 moves downward, it moves the light-shielding frame 401 downward, straightening and aligning the intersecting light-shielding strips 102, thus preventing light from entering the frame 1. The leakage allows the camera 203 to better obtain the position information of the pineapple inside the frame 1. After the robotic arm 202 finishes picking the pineapple inside the frame 1, the transmission motor will reverse, causing the light shield 401 to return to its initial position. The frame 1 will continue to move, repeating the above steps. When the light shield 401 moves on the light shield 102, the cleaning roller 406 inside the placement groove 402 is in contact with the light shield 102, causing the cleaning roller 406 to rotate. When the cleaning roller 406 rotates, it will absorb the juice adhering to the reflector on the light shield 102, which will play a certain cleaning role on the light shield 102 and prevent the light shield 102 from being contaminated by juice. During the rotation process, the cleaning roller 406 will also be scraped by the scraper 407, causing the juice absorbed on the cleaning roller 406 to be scraped off and flow into the collection box 405, thereby keeping the cleaning roller 406 in a relatively clean state and enabling the cleaning roller 406 to continuously clean the light shield 102.

[0041] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A light-shielding pineapple harvesting robot, characterized in that, Includes a frame (1), a light shield (101) is mounted on the top side of the frame (1), multiple strip-shaped light shields (102) are mounted on the front and rear sides of the frame (1), track wheels (2) are mounted on both sides of the frame (1), a robotic arm (202) is mounted on the frame (1), a ball end effector (204) is mounted on the output end of the robotic arm (202), a light panel (205) and a camera (203) are mounted on the light shield (101), and a conveyor belt (201) is arranged below the light shield (101). 1) Installed inside the frame (1), the frame (1) has an adjustment structure (3) installed inside, and multiple light-shielding strips (102) are provided with light-shielding frames (401). The light-shielding frames (401) are provided with cleaning structures (4). The adjustment structure (3) drives the light-shielding frames (401) to move, and the cleaning structure (4) cleans the light-shielding strips (102). The adjustment structure (3) includes a fixing frame (301), which is fixedly connected inside the frame (1). The fixing frame (301) can rotate inside. There are two sets of threaded screws (302). A transmission motor is installed inside the fixed frame (301). The transmission motor drives the threaded screws (302) to rotate. A sprocket (304) is installed on the threaded screw (302). A transmission chain (305) is wound between the sprockets (304). A sliding block (303) is threadedly connected to the threaded screw (302). The sliding block (303) is fixedly connected to the light shield (401). The cleaning structure (4) includes a collection box (405). The collection box (405) is installed on the light shield (401). On one side of the light-shielding frame (401), a plurality of placement slots (402) are provided on the light-shielding frame (401). A cleaning roller (406) is provided inside the collection box (405). The cleaning roller (406) is rotatably connected inside the placement slot (402). A scraper (407) is fixedly connected inside the collection box (405). The scraper (407) is in contact with the cleaning roller (406). A plurality of through slots are provided on the scraper (407). A drain pipe (408) is installed on the bottom side of the collection box (405). A valve is installed on the drain pipe (408).

2. The shading-type pineapple harvesting robot according to claim 1, characterized in that, Tracked wheels (2) are installed on both sides of the frame (1). A motor (104) and a battery (103) are installed on one side of the frame (1). The motor (104) drives the tracked wheels (2) to rotate. The battery (103) supplies power to the robotic arm (202), camera (203), light panel (205), spherical end effector (204), and conveyor belt (201).

3. The light-shielding pineapple harvesting robot according to claim 2, characterized in that, The chassis (1) is equipped with a main control computer, which includes a ROS framework, a main state machine program, a communication protocol, a vision perception module, a robotic arm motion module, an end effector operation module, and a safety monitoring module.

4. The shading-type pineapple harvesting robot according to claim 1, characterized in that, A mounting bracket (5) is installed on the upper side of the fixed frame (301). A threaded rod (502) is movably connected inside the mounting bracket (5). A bevel gear (501) meshes with the threaded rod (502) and the threaded screw (302). A pressing block (503) is threadedly connected to the threaded rod (502). An air collection box (510) is installed on the mounting bracket (5). An air bag (504) is installed on one side of the air collection box (510). The air bag (504) and the pressing block (503) are mating components. A first air guide pipe (506) is installed on the air collection box (510). The first air guide pipe (506) is in contact with the camera (203).

5. A light-shielding pineapple harvesting robot according to claim 4, characterized in that, An adjustment frame (505) is installed on the lower side of the light shield (101). The first air guide pipe (506) is located inside the adjustment frame (505). A screw rod (508) is rotatably connected inside the adjustment frame (505). The screw rod (508) is threadedly connected to a limit block (509). The limit block (509) is connected to the first air guide pipe (506).

6. A light-shielding pineapple harvesting robot according to claim 5, characterized in that, A blowing plate (403) is fixedly connected to the light-shielding frame (401). The blowing plate (403) has multiple air holes (404). The blowing plate (403) is fixed to the air collection box (510) and is connected to a second air guide pipe (507).

7. A light-shielding pineapple harvesting robot according to claim 1, characterized in that, The light-shielding strip (102) is located on the inner side of the vehicle frame (1) and has multiple reflectors installed.

8. A light-shielding pineapple harvesting robot according to claim 4, characterized in that, The airbag (504) is cylindrical in shape, and a spring coil is installed inside the airbag (504).

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