Grape picking robot

Abstract

The utility model relates to a grape picking robot. The picking module comprises a picking crawler chassis, a mechanical arm, a camera, an ultrasonic ranging module and a picking device. The mechanical arm is a six-degree-of-freedom mechanical arm, a base of the mechanical arm is fixed to the picking track chassis, a camera, an ultrasonic ranging module and a picking device are arranged at the grabbing end of the mechanical arm, and a servo motor used for controlling the mechanical arm is further arranged on the picking track chassis; the receiving module comprises a receiving crawler chassis and a lifting platform, and the lifting platform is arranged on the receiving crawler chassis in a lifting mode. The grape picking efficiency can be improved, manual grape picking is replaced, and the labor cost is reduced. The crawler-type traveling is suitable for a complex working environment; the fruit integrity is guaranteed through clamping type picking, the device is suitable for grapes of any variety and in any growth state, and the fruit quality can be guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic picking, and in particular relates to a grape picking robot. Background Art

[0002] Existing grape picking robots play an important role in smart agriculture, but the technology still has shortcomings:

[0003] Compared with industrial robots working in structured environments, grape picking robots need to consider the characteristics of the crops themselves and the influence of the external growth environment when working outdoors. These factors include the type, size, shape, weight of the crops, as well as natural environmental conditions such as weather, temperature, and humidity, which put higher requirements on the design and operation of the robots.

[0004] Early harvesting machines mainly used mechanical shaking and pneumatic shaking harvesting methods, which had low levels of automation and intelligence, and were prone to damaging the fruits, making them difficult to adapt to complex picking tasks.

[0005] Due to the diversity and complexity of grape cultivation, robots need to have good adaptability and flexibility to cope with grapes of different varieties and different growth states. Current technology may still be difficult to achieve this, limiting the scope of application of robots.

[0006] Therefore, a grape picking robot is proposed to solve the above problems. Summary of the invention

[0007] The utility model aims to provide a grape picking robot. The robot can replace manual grape picking and greatly improve the picking efficiency. While reducing the labor intensity of manual labor, it ensures the quality of the fruit, avoids picking unripe or damaged fruits, and realizes efficient and accurate grape picking.

[0008] The utility model comprises a picking module and a receiving module, wherein the picking module comprises a picking crawler chassis, a mechanical arm, a camera, an ultrasonic distance measuring module and a picking device; the mechanical arm is a six-degree-of-freedom mechanical arm, the base of the mechanical arm is fixed on the picking crawler chassis, the grabbing end of the mechanical arm is provided with a camera, an ultrasonic distance measuring module and a picking device, and the picking crawler chassis is also provided with a servo motor for controlling the mechanical arm;

[0009] The driving wheel of the picking crawler chassis is driven by a DC motor; the picking device includes a clamp and a blade, which are independent of each other and are respectively connected to a DC motor, and a thin film pressure sensor is arranged on the surface of the clamp; each DC motor of the picking module is driven by the Raspberry Pi 4B motherboard through a motor driver board, and the servo motor is driven by the Raspberry Pi 4B motherboard through a motor driver.

[0010] A main control board is arranged in the picking crawler chassis. The main control board uses a Raspberry Pi 4B mainboard. The camera, ultrasonic ranging module, film pressure sensor, DC motor and servo motor are all connected to the Raspberry Pi 4B mainboard through lines.

[0011] The receiving module comprises a receiving crawler chassis and a lifting platform, and the lifting platform can be lifted and lowered on the receiving crawler chassis.

[0012] A microcontroller, a Bluetooth module and a power supply are arranged in the receiving crawler chassis, and the microcontroller and the Bluetooth module are connected through lines; the hydraulic system and the driving wheels of the receiving crawler chassis are driven by two DC motors respectively, and each DC motor is driven by the microcontroller through a motor driving board.

[0013] Preferably, the robotic arm is an Arduino six-axis robotic arm.

[0014] Furthermore, the lifting platform can be lifted and lowered on the receiving crawler chassis through a scissor-type lifting structure and hydraulic transmission.

[0015] Furthermore, a harvesting basket for receiving grapes is placed on the lifting platform.

[0016] Furthermore, the main control board is connected to a power source via a line to supply power to other modules.

[0017] Furthermore, the microcontroller is connected to a power source via a line to supply power to other modules.

[0018] Preferably, the camera is Huaner GC0308 high-definition camera 70°, the ultrasonic ranging module is HY-SRF05 ultrasonic module, the film pressure sensor model is RFP602, the motor drive board model is L298N, the driver model is CDV3, the microcontroller model is STC89C52RC, and the Bluetooth module model is E104-BT40.

[0019] Furthermore, the main control board is also connected to a GPS module and a wireless communication module.

[0020] Preferably, the GPS module is a GT-U8 locator, and the wireless communication module is an NRF24L01 wireless module.

[0021] Furthermore, a suspension system is provided at the bottom of the picking crawler chassis and the receiving crawler chassis.

[0022] The utility model can improve the efficiency of grape picking, replace manual grape picking, and reduce labor costs. The crawler-type movement is suitable for complex working environments; the clamping-type picking ensures the integrity of the fruit and is suitable for grapes of any variety and growth state; it can also ensure the quality of the fruit: through the cooperation of the camera and the main control board, it can accurately identify and pick ripe grapes, avoid picking unripe or damaged fruits, and ensure the quality of the fruit; it reduces labor intensity and reduces the labor intensity of workers through continuous and stable work. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the overall structure diagram of the utility model;

[0024] Figure 2 for Figure 1 Schematic diagram of the picking device structure;

[0025] Figure 3 This is the control system block diagram of the main control board;

[0026] Figure 4 This is the block diagram of the access module control system. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] like Figure 1 As shown, a grape picking robot comprises a picking module and a receiving module. The picking module is used for picking grapes, and the receiving module is used for receiving the grapes picked by the picking module.

[0029] The picking module includes a picking crawler chassis 4, a mechanical arm 2, a camera 3, an ultrasonic ranging module and a picking device 5; the mechanical arm 2 is a six-degree-of-freedom mechanical arm, and an Arduino six-axis mechanical arm is selected in this example; the base of the mechanical arm is fixed on the picking crawler chassis 4, and the gripping end of the mechanical arm is provided with a camera 3, an ultrasonic ranging module and a picking device 5. In this embodiment, the camera 3 selects the Huaner GC0308 high-definition camera 70°, and the ultrasonic ranging module selects the HY-SRF05 ultrasonic module.

[0030] The picking crawler chassis 4 is also provided with a servo motor 8 for controlling the mechanical arm 2, which converts the received electrical signal into a mechanical action. The electromagnetic torque is generated by the interaction between the armature current and the magnetic field to drive the motor to rotate; while keeping the excitation voltage unchanged, the motor speed is adjusted by changing the armature voltage. Through the closed-loop control of the feedback device (the encoder provides accurate information on the motor position and speed), high-precision control of the position, speed and acceleration can be achieved.

[0031] The driving wheels of the picking crawler chassis are driven by a DC motor;

[0032] like Figure 2 As shown, the picking device 5 includes a clamp 10 and a blade 9, which are independent of each other and are respectively connected to a DC motor. A thin film pressure sensor is installed on the surface of the clamp 10, and the model of the thin film pressure sensor in this embodiment is RFP602.

[0033] Each DC motor of the picking module is driven by the Raspberry Pi 4B mainboard through a motor driver board. In this embodiment, the motor driver board model is L298N.

[0034] The receiving module comprises a receiving crawler chassis 1 and a lifting platform 9. The lifting platform 9 is liftable on the receiving crawler chassis 1 through a scissor-type lifting structure 6 and a hydraulic transmission 7. A harvesting basket for receiving grapes is placed on the lifting platform 9.

[0035] A main control board and a power supply are arranged in the picking crawler chassis 4. The main control board is a Raspberry Pi 4B motherboard. Figure 3 As shown, the camera 3, ultrasonic ranging module, thin film pressure sensor, DC motor, and servo motor 8 are all connected to the Raspberry Pi 4B mainboard through lines. The power supply is connected to the main control board through lines to supply power to the remaining modules. The servo motor is driven by the Raspberry Pi 4B mainboard through a motor driver; the driver model in this embodiment is CDV3.

[0036] The main control board is also connected to a GPS module and a wireless communication module. The GPS module is used for navigation and positioning of the routes of the picking module and the receiving module. The Raspberry Pi 4B plans a suitable route based on the navigation and positioning information to ensure that the robot can drive autonomously in the vineyard. The wireless communication module sends the robot's status information to the remote monitoring center. The operator can view the robot's status in real time through the mobile phone APP or the web page, and perform remote control.

[0037] In this embodiment, the GPS module uses the GT-U8 locator, and the wireless communication module uses the NRF24L01 wireless module.

[0038] A microcontroller, a Bluetooth module and a power supply are arranged in the receiving crawler chassis 1, and the microcontroller and the Bluetooth module are connected by a line; in this embodiment, the microcontroller model is STC89C52RC, and the Bluetooth module model is E104-BT40. The power supply is connected to the microcontroller through a line to supply power to the remaining modules. The driving wheels of the hydraulic system and the receiving crawler chassis are driven by two DC motors respectively, and each DC motor is driven by the microcontroller through a motor drive board. In this embodiment, the motor drive board model is L298N.

[0039] A suspension system for transmitting force and absorbing impact is provided at the bottom of the picking crawler chassis 4 and the receiving crawler chassis 1; the driving wheels of the picking crawler chassis 4 and the receiving crawler chassis 1 are driven by DC motors, which convert the rotational power of the motor into the linear motion of the crawler, thereby realizing the movement of the robot. It is driven by a reduction motor and controlled by the Raspberry Pi 4B motherboard (the DC motor driving the receiving crawler chassis 1 is wirelessly connected to the Raspberry Pi 4B motherboard through a Bluetooth module and a microcontroller), and the crawler is driven by rotating the driving wheel. The interaction between the driving wheel and the crawler enables the robot to move stably on different ground surfaces.

[0040] The working process is as follows:

[0041] When in use, the picking module and the receiving module are driven to move by controlling the driving wheels in the picking crawler chassis 4 and the receiving crawler chassis 1;

[0042] Camera 3 and the ultrasonic ranging module are connected to the Raspberry Pi mainboard for data communication to achieve accurate perception of the position and maturity of the grapes. If the grapes meet the picking conditions, the mainboard transmits instructions to the robotic arm and picking device.

[0043] Specifically, the camera and ultrasonic ranging module transmit the grape position information and image information to the main control board, which receives the grape position information and image information through the GPIO interface. Use OpenCV to perform image processing on the Raspberry Pi 4B to identify the position and size of the grapes. According to the image processing results, the servo motor is controlled by PWM (pulse width modulation) signal to achieve precise control of the robot joints. At the same time, the actual position of the robot arm joint is obtained through the encoder to form a closed-loop control and improve the control accuracy. The servo motor and the moving parts of the robot arm transmit power and control the direction and speed of movement, so that the robot arm can move in six degrees of freedom.

[0044] When the camera and ultrasonic distance measurement module recognize that the grapes to be picked are close enough, the main control board controls the DC motor at the clamp 10 to close the clamp 10, while the blade 9 is still open. When the clamp 10 clamps the root of the grape and the film pressure sensor recognizes the set pressure, the main control board drives the DC motor at the blade 9 to push the blade 9 to close for cutting and picking, thereby accurately cutting the ripe grape bunches. Then the clamp 10 holds the grape handle and places the grape in the picking frame on the lifting platform 9.

[0045] The receiving module obtains the data signal of the Raspberry Pi 4B motherboard through the Bluetooth module, and adjusts the speed of the DC motor through the PWM signal through the microcontroller. The hydraulic system increases the pressure of the hydraulic oil through the hydraulic pump, and then transports it into the oil cylinder to push the piston rod out; when descending, the control valve opens, and the platform slowly descends under the action of its own weight, and the lifting action is performed through the scissor-fork structure. The scissor-fork mechanical structure provides stability and a large load-bearing capacity, ensuring the precise control of the height of the harvesting basket and maintaining a stable force output in a large range, effectively storing grapes.

[0046] In the actual operating environment, the robot can be debugged, its performance in different scenarios can be observed, and the control algorithm can be continuously optimized to improve the robot's stability and efficiency, expand the robot's functions, and meet the needs of different scenarios.

Claims

1. A grape picking robot, comprising a picking module and a receiving module, characterized in that: The picking module includes a picking crawler chassis, a mechanical arm, a camera, an ultrasonic distance measuring module and a picking device; the mechanical arm is a six-degree-of-freedom mechanical arm, the base of the mechanical arm is fixed on the picking crawler chassis, the grabbing end of the mechanical arm is provided with a camera, an ultrasonic distance measuring module and a picking device, and the picking crawler chassis is also provided with a servo motor for controlling the mechanical arm; The driving wheel of the picking crawler chassis is driven by a DC motor; the picking device includes a clamp and a blade, which are independent of each other and are respectively connected to a DC motor, and a thin film pressure sensor is arranged on the surface of the clamp; each DC motor of the picking module is driven by the Raspberry Pi 4B motherboard through a motor driver board, and the servo motor is driven by the Raspberry Pi 4B motherboard through a motor driver; A main control board is arranged in the picking crawler chassis, and the main control board uses a Raspberry Pi 4B mainboard. The camera, ultrasonic ranging module, thin film pressure sensor, DC motor, and servo motor are all connected to the Raspberry Pi 4B mainboard through lines; The receiving module comprises a receiving crawler chassis and a lifting platform, and the lifting platform can be lifted and lowered on the receiving crawler chassis; A microcontroller, a Bluetooth module and a power supply are arranged in the receiving crawler chassis, and the microcontroller and the Bluetooth module are connected through lines; the hydraulic system and the driving wheels of the receiving crawler chassis are driven by two DC motors respectively, and each DC motor is driven by the microcontroller through a motor driving board.

2. The grape picking robot according to claim 1, characterized in that: The robotic arm is an Arduino six-axis robotic arm.

3. The grape picking robot according to claim 1, characterized in that: The lifting platform can be lifted and lowered on the receiving crawler chassis through a scissor-type lifting structure and hydraulic transmission.

4. The grape picking robot according to claim 1, characterized in that: A harvesting basket for receiving grapes is placed on the lifting platform.

5. The grape picking robot according to claim 1, characterized in that: The main control board is connected to the power supply through the line to supply power to the other modules.

6. The grape picking robot according to claim 1, characterized in that: The microcontroller is connected to a power source through a line to supply power to other modules.

7. The grape picking robot according to claim 1, characterized in that: The camera is Huaner GC0308 high-definition camera 70°, the ultrasonic ranging module is HY-SRF05 ultrasonic module, the film pressure sensor model is RFP602, the motor drive board model is L298N, the driver model is CDV3, the microcontroller model is STC89C52RC, and the Bluetooth module model is E104-BT40.

8. The grape picking robot according to claim 1, characterized in that: The main control board is also connected with a GPS module and a wireless communication module.

9. The grape picking robot according to claim 8, characterized in that: The GPS module uses the GT-U8 locator, and the wireless communication module uses the NRF24L01 wireless module.

10. The grape picking robot according to claim 1, characterized in that: The bottom of the picking crawler chassis and the receiving crawler chassis are both provided with a suspension system.

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