Intelligent tomato maturity identification picking equipment

Abstract

The utility model relates to the technical field of agricultural picking instruments, in particular to tomato maturity intelligent identification picking equipment which comprises a collecting bin, a camera is installed on the collecting bin, a visual identification system is arranged in the camera, a base is fixedly connected to the middle of the collecting bin, a steering motor is installed on the base, and a control system is installed on the steering motor. The output end of the steering motor is connected with a steering main gear, the steering main gear is in meshed connection with a steering auxiliary gear, the steering auxiliary gear is coaxially and fixedly connected with a steering seat, and the steering seat is rotationally connected with the base. The angle of the scissor mechanical arm is adjusted through the steering motor and the steering base, so that mature tomatoes at different horizontal positions and different heights can be picked, the tomatoes do not need to be picked by adjusting the position of equipment, time and labor are saved, and meanwhile the picking efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural picking equipment, in particular to a tomato maturity intelligent recognition and picking device. Background Art

[0002] The efficiency of tomato picking is an important factor affecting the efficiency of subsequent processing and production procedures. The original picking method is manual picking. With the development of social productivity and the increasing needs of people, manual picking of fruits and vegetables can no longer meet the requirements of productivity. Mechanical picking has gradually become the mainstream of picking fruits and vegetables.

[0003] Most of the existing tomato picking equipment consists of a collection bin for collecting tomatoes, a scissor robot for picking tomatoes, and a visual system for identifying ripe tomatoes. The scissor robot on the tomato picking device is usually a scissor-fork structure to achieve the extension and retraction of the scissor robot to obtain tomatoes at different distances. However, in actual operation, all the ripe tomatoes recognized by the visual system are usually distributed at different heights and directions, and the operating range of the scissor robot is limited. In order to obtain all the ripe tomatoes, the existing tomato picking equipment needs to adjust its own position at this time, and move its own position so that the target tomatoes enter the operating range of the scissor robot, thereby achieving the picking of tomatoes. Since the equipment itself is heavy and the moving range of the equipment is limited in the farmland or greenhouse, this tomato picking method is time-consuming and labor-intensive, and the picking efficiency is not high.

[0004] Therefore, it is necessary to propose a tomato maturity intelligent identification and picking device to improve the tomato picking efficiency. Utility Model Content

[0005] The purpose of the utility model is to solve the problem that the picking method of existing tomato picking equipment is time-consuming and labor-intensive, and the picking efficiency is low. Now a tomato maturity intelligent recognition and picking equipment is provided.

[0006] The technical solution of the utility model is:

[0007] A tomato maturity intelligent recognition and picking device comprises a collecting bin, a camera is installed in the collecting bin, a visual recognition system is built in the camera, a base is fixedly connected to the top of the collecting bin, a steering motor is installed on the base, a steering main gear is connected to the output end of the steering motor, the steering main gear is meshingly connected to the steering sub-gear, the steering sub-gear is coaxially fixedly connected to a steering seat, the steering seat is rotatably connected to the base, the steering seat is provided with a lead screw lifting device and a lead screw translation device, the lead screw translation device is provided with a scissors manipulator, the lead screw translation device drives the scissors manipulator to move horizontally, and the lead screw lifting device drives the lead screw translation device and the scissors manipulator to rise and fall.

[0008] Furthermore, the screw lifting device includes a lifting motor, a first screw and a lifting screw nut connected to the first screw. The lifting motor is fixedly connected to the steering seat, the first screw is placed vertically, and the lifting screw nut is fixedly connected to the support platform. The lifting motor drives the first screw to rotate, thereby realizing the lifting and lowering of the support platform, and the screw translation device is arranged on the support platform.

[0009] Furthermore, the lead screw translation device includes a translation motor, a second lead screw and a translation screw nut connected to the second lead screw. The translation motor is fixedly connected to the support platform, the second lead screw is placed horizontally, the translation screw nut is fixedly connected to the scissors manipulator, and the translation motor drives the second lead screw to rotate, thereby realizing horizontal movement of the scissors manipulator.

[0010] Furthermore, the steering seat is fixedly connected with a lifting guide rail, and the lifting screw nut is lifted and lowered in the lifting guide rail.

[0011] Furthermore, the support platform is fixedly connected to a movable guide rail, and the translation lead screw nut translates in the movable guide rail.

[0012] Furthermore, the scissors manipulator includes a fixed seat, a clamp and a first telescopic cylinder for controlling the opening and closing of the clamp, the support plate is fixedly connected to the translation screw nut, the second telescopic cylinder is fixedly connected to the support plate, the first telescopic cylinder is fixedly connected to the fixed seat, the second telescopic cylinder drives the fixed seat to translate, and the length of the fixed seat is equal to that of the movable guide rail.

[0013] Furthermore, the clamp includes a main clamp and an auxiliary clamp, the main clamp is connected to a first telescopic cylinder, and the auxiliary clamp is fixedly connected to a fixed seat, and the first telescopic cylinder drives the main clamp to move away from or closer to the auxiliary clamp to achieve opening and closing of the clamp.

[0014] Furthermore, a walking wheel and a walking motor are installed at the bottom of the collecting bin, and the walking motor drives the walking wheel to rotate so as to realize the walking of the collecting bin.

[0015] Furthermore, the collecting bin is a rectangular bin.

[0016] Furthermore, guide plates are provided on both sides of the collecting bin, and the guide plates form an angle of degrees with the vertical plane and are turned outwards.

[0017] The utility model discloses a tomato maturity intelligent recognition and picking device. After the camera collects and recognizes the ripe tomatoes, the steering motor drives the base to rotate according to the position of the tomatoes, so that the lead screw lifting device, the lead screw translation device and the scissors manipulator are in the same vertical plane as the target tomatoes. Then the lifting motor drives the lead screw lifting device to lift and lower, so that the scissors manipulator, the lead screw translation device and the target tomatoes are in the same horizontal plane. Finally, the lead screw translation device drives the scissors manipulator to translate, so that the scissors manipulator reaches the position of the target tomatoes. The scissors manipulator picks the target tomatoes and drops them into a collection bin for collection. Compared with the traditional technology, the technical solution adopts the lead screw lifting device to realize lifting and lowering, the lead screw translation device to realize translation, and the steering motor and the steering seat to realize the adjustment of the angle of the scissors manipulator, so that ripe tomatoes at different horizontal positions and different heights can be picked, and there is no need to rely on adjusting the position of the equipment to pick tomatoes, which saves time and effort while also improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the front view of the utility model;

[0019] Figure 2 It is a top view of the utility model;

[0020] Figure 3 For this utility model Figure 1 Cross-section at BB;

[0021] Figure 4 For this utility model Figure 2 A partial enlarged view of the middle part;

[0022] Figure 5 This is a reference diagram for the use status of the utility model.

[0023] Figure numerals: 1. Collection bin; 2. Camera; 3. Base; 4. Steering motor; 5. Steering main gear; 6. Steering sub-gear; 7. Steering seat; 8. Screw lifting device; 9. Screw translation device; 10. Scissors manipulator; 11. Lifting motor; 12. First screw; 13. Lifting screw nut; 14. Support platform; 15. Translation motor; 16. Second screw; 17. Translation screw nut; 18. Lifting guide rail; 19. Moving guide rail; 20. Fixed seat; 21. Clamp; 22. First telescopic cylinder; 23. Main clamp; 24. Sub-clamp; 25. Travel wheel; 26. Travel motor; 27. Guide plate; 28. Second telescopic cylinder; 29. ​​Support plate. DETAILED DESCRIPTION

[0024] In order to make the technical means, technical features, utility model objectives and technical effects achieved by the utility model easy to understand, the utility model is further explained below with reference to specific illustrations.

[0025] Embodiment 1:

[0026] like Figure 1 and Figure 3 As shown, this embodiment provides a tomato maturity intelligent recognition and picking device, including a collection bin 1, a camera 2 is fixedly installed on the collection bin 1 by screws, and the camera 2 has a built-in visual recognition system. A base 3 is fixedly connected to the top of the collection bin 1, and a steering motor 4 is fixedly installed on the base 3 by screws. Figure 3 As shown, the output end of the steering motor 4 is connected to the steering main gear 5 through a key, the steering main gear 5 is meshed with the steering sub-gear 6, the steering sub-gear 6 is coaxially keyed and fixedly connected to the steering seat 7, the steering seat 7 is rotatably connected to the base 3 bearing, the steering seat 7 is provided with a screw lifting device 8 and a screw translation device 9, the screw translation device 9 is provided with a scissors manipulator 10, the screw translation device 9 drives the scissors manipulator 10 to move horizontally, and the screw lifting device 8 drives the screw translation device 9 and the scissors manipulator 10 to rise and fall.

[0027] Preferably, the screw lifting device 8 includes a lifting motor 11, a first screw 12 and a lifting screw nut 13 connected to the first screw 12. The lifting motor 11 is fixedly connected to the steering seat 7 with screws, the first screw 12 is placed vertically, and the lifting screw nut 13 is fixedly connected to the support platform 14 with screws. The lifting motor 11 drives the first screw 12 to rotate, thereby realizing the lifting and lowering of the support platform 14, and the screw translation device 9 is arranged on the support platform 14.

[0028] Preferably, Figure 2 and Figure 4 As shown, the lead screw translation device 9 includes a translation motor 15, a second lead screw 16 and a translation lead screw nut 17 connected to the second lead screw 16. The translation motor 15 is fixedly connected to the support platform 14 with screws, the second lead screw 16 is placed horizontally, and the translation lead screw nut 17 is fixedly connected to the scissors manipulator 10 with screws. The translation motor 15 drives the second lead screw 16 to rotate, thereby realizing the horizontal movement of the scissors manipulator 10.

[0029] Preferably, the visual recognition system is connected to the steering motor 4, the translation motor 15 and the lifting motor 11 and controls the start and stop of the three. The camera 2 has a built-in colorimeter. First, the camera 2 scans and collects colorimetry above the collection bin 1. After detecting that the tomatoes are ripe, the intelligent control system in the colorimeter determines the coordinates of the ripe tomato fruits, and then controls the steering seat to rotate, the screw lifting device to lift, and the screw translation mechanism to translate, so that the scissors manipulator reaches the positioning coordinates and picks the ripe tomatoes, thereby realizing the positioning and identification of tomatoes and improving the tomato production quality and picking quality. Since the visual recognition technology and the colorimeter are both relatively mature technologies at present, those skilled in the art can select appropriate visual recognition technology and control system according to the specific situation, which will not be repeated here.

[0030] Preferably, the steering seat 7 is screw-fixedly connected to a lifting guide rail 18 , and the lifting screw nut 13 is lifted and lowered in the lifting guide rail 18 .

[0031] Preferably, the support platform 14 is screw-fixedly connected to a movable guide rail 19, and the translation lead screw nut 17 translates in the movable guide rail 19, and the movable guide rail 19 is a dovetail guide rail.

[0032] Preferably, the scissors manipulator 10 includes a support plate 29, a second telescopic cylinder 28, a fixed seat 20, a clamp 21 and a first telescopic cylinder 22 for controlling the clamp 21 to open and close, the support plate 29 is fixedly connected to the translation screw nut 17, the second telescopic cylinder 28 is fixedly connected to the support plate 29 by screws, the first telescopic cylinder 22 is fixedly connected to the fixed seat 20 by screws, the second telescopic cylinder 28 drives the fixed seat 20 to translate, and the length of the fixed seat 20 is equal to that of the moving guide rail 19. In order to increase the moving distance of the scissors manipulator 10, when the translation screw nut 17 drives the scissors manipulator 10 to translate, the second telescopic cylinder 28 can also drive the fixed seat to continue to translate, thereby ensuring the operating range of the scissors manipulator 10.

[0033] Preferably, the clamp 21 includes a main clamp 23 and an auxiliary clamp 24, the main clamp 23 is connected to the first telescopic cylinder 22, and the auxiliary clamp 24 is fixedly connected to the fixing base 20 by screws, and the first telescopic cylinder 22 drives the main clamp 23 away from or close to the auxiliary clamp 24 to realize the opening and closing of the clamp 21.

[0034] Preferably, a travel wheel 25 and a travel motor 26 are installed at the bottom of the collecting bin 1 , and the travel motor 26 drives the travel wheel 25 to rotate so as to realize the travel of the collecting bin 1 .

[0035] Preferably, the collecting bin 1 is a rectangular bin.

[0036] Preferably, guide plates 27 are provided on both sides of the collecting bin 1, and the guide plates 27 are at an angle of 45 degrees to the vertical plane and are flipped outward. During the tomato picking process, the tomatoes are likely to fall on the edge of the collecting bin 1, and thus have a greater probability of falling on the outside of the collecting bin 1 and falling on the ground. The guide plates can flip outward to both sides of the collecting bin 1, thereby increasing the contact area between the tomatoes and the collecting bin 1, so that the tomatoes can fall into the collecting bin 1.

[0037] Preferably, the steering main gear 5 and the steering sub gear 6 are both spur gears.

[0038] When working, Figure 5 As shown, the camera 2 captures the video image above the collection bin 1, and the visual recognition system recognizes the ripe tomatoes according to the image. The control system connected to the visual recognition system controls the steering motor 4 to drive the base 3 to rotate according to the position of the tomatoes, so that the screw lifting device 8 and the screw translation device 9 and the scissor manipulator 10 are in the same vertical plane as the target tomatoes, and then the lifting motor 11 drives the screw lifting device 8 to rise and fall, so that the scissor manipulator 10 and the screw translation device 9 are in the same horizontal plane as the target tomatoes, and finally the screw translation device 9 drives the scissor manipulator 10 to translate, so that the scissor manipulator 10 reaches the position of the target tomatoes, and the scissor manipulator 10 picks the target tomatoes and drops them into the collection bin 1. Compared with the traditional technology, the technical solution adopts the screw lifting device 8 to realize lifting and lowering, the screw translation device 9 to realize translation, and the steering motor 4 and the steering seat 7 to realize the adjustment of the angle of the scissor manipulator 10, so that ripe tomatoes at different horizontal positions and different heights can be picked, and there is no need to rely on adjusting the position of the equipment to pick tomatoes, which saves time and effort while also improving the picking efficiency.

[0039] The above description is only a preferred embodiment of the utility model, and is not intended to limit the scope of implementation of the utility model. That is, all equivalent changes and modifications made according to the content of the patent application scope of the utility model should belong to the technical scope of the utility model.

Claims

1. A tomato maturity intelligent recognition and picking device, comprising a collection bin (1), the collection bin (1) being equipped with a camera (2), the camera (2) being equipped with a built-in visual recognition system, characterized in that: The top of the collecting bin (1) is fixedly connected to a base (3), the base (3) is equipped with a steering motor (4), the output end of the steering motor (4) is connected to a steering main gear (5), the steering main gear (5) is meshingly connected to a steering sub-gear (6), the steering sub-gear (6) is coaxially fixedly connected to a steering seat (7), the steering seat (7) is rotatably connected to the base (3), the steering seat (7) is provided with a lead screw lifting device (8) and a lead screw translation device (9), the lead screw translation device (9) is provided with a scissors manipulator (10), the lead screw translation device (9) drives the scissors manipulator (10) to move horizontally, and the lead screw lifting device (8) drives the lead screw translation device (9) and the scissors manipulator (10) to move up and down.

2. The tomato maturity intelligent identification and picking device according to claim 1 is characterized by: The screw lifting device (8) comprises a lifting motor (11), a first screw (12) and a lifting screw nut (13) connected to the first screw (12); the lifting motor (11) is fixedly connected to the steering seat (7); the first screw (12) is placed vertically; the lifting screw nut (13) is fixedly connected to a support platform (14); the lifting motor (11) drives the first screw (12) to rotate, thereby realizing the lifting of the support platform (14); and the screw translation device (9) is arranged on the support platform (14).

3. The tomato maturity intelligent identification and picking device according to claim 2 is characterized by: The lead screw translation device (9) comprises a translation motor (15), a second lead screw (16) and a translation screw nut (17) connected to the second lead screw (16); the translation motor (15) is fixedly connected to the support platform (14); the second lead screw (16) is placed horizontally; the translation screw nut (17) is fixedly connected to the scissors manipulator (10); the translation motor (15) drives the second lead screw (16) to rotate, thereby realizing horizontal movement of the scissors manipulator (10).

4. The tomato maturity intelligent identification and picking device according to claim 2 is characterized by: The steering seat (7) is fixedly connected to a lifting guide rail (18), and the lifting screw nut (13) is lifted and lowered in the lifting guide rail (18).

5. The tomato maturity intelligent identification and picking device according to claim 3 is characterized by: The support platform (14) is fixedly connected to a movable guide rail (19), and the translation lead screw nut (17) translates within the movable guide rail (19).

6. The tomato maturity intelligent identification and picking device according to claim 5 is characterized by: The scissor manipulator (10) comprises a support plate (29), a second telescopic cylinder (28), a fixed seat (20), a clamp (21) and a first telescopic cylinder (22) for controlling the clamp (21) to open and close, the support plate (29) being fixedly connected to a translation screw nut (17), the second telescopic cylinder (28) being fixedly connected to the support plate (29), the first telescopic cylinder (22) being fixedly connected to the fixed seat (20), the second telescopic cylinder (28) driving the fixed seat (20) to translate, and the length of the fixed seat (20) is equal to that of the movable guide rail (19).

7. The tomato maturity intelligent identification and picking device according to claim 6 is characterized by: The clamp (21) comprises a main clamp (23) and an auxiliary clamp (24); the main clamp (23) is connected to a first telescopic cylinder (22); the auxiliary clamp (24) is fixedly connected to a fixed seat (20); the first telescopic cylinder (22) drives the main clamp (23) to move away from or towards the auxiliary clamp (24), thereby realizing the opening and closing of the clamp (21).

8. The tomato maturity intelligent identification and picking device according to claim 1 is characterized by: A walking wheel (25) and a walking motor (26) are installed at the bottom of the collection bin (1), and the walking motor (26) drives the walking wheel (25) to rotate, thereby achieving the movement of the collection bin (1).

9. The tomato maturity intelligent identification and picking device according to claim 8, characterized in that: The collecting bin (1) is a rectangular bin.

10. The tomato maturity intelligent identification and picking device according to claim 6, characterized in that: Guide plates (27) are arranged on both sides of the collection bin (1); the guide plates (27) form an angle of 45 degrees with the vertical plane and are turned outwards.

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