Accurate identification device for solanaceous vegetable robot
By designing an accurate identification device for eggplant vegetable robot with a mobile base, a rotating base and adjustable height, the problem of missing picking caused by insufficient flexibility in the identification camera in the prior art is solved, and efficient and accurate vegetable picking is achieved.
Patent Information
- Application Number
- CN202421648401.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-04-18
- Estimated Expiration
- 2034-07-12
AI Technical Summary
The existing recognition cameras of the eggplant and fruit vegetable pickers are not flexible enough and cannot be identified, which leads to missed picking of the robot, which reduces the picking efficiency and causes economic losses.
An accurate identification device for eggplant vegetable robots is designed. Through the cooperation of the mobile base, the machine base, the rotating seat, the main arm and the extension arm, the recognition camera can be driven to rotate freely and adjust the height. The motor drive system is used to achieve flexible swing of the recognition camera to ensure accurate identification of vegetables.
Improve the flexibility of the device, avoid economic losses caused by leakage picking, improve the picking efficiency, and ensure identification accuracy through cleaning devices.
Smart Images
Figure CN222768435U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of agricultural machinery, and in particular to a robot precise identification device for eggplant and tomato vegetables. Background Art
[0002] At present, the popularity of mechanized picking in my country is generally low. The main forms of picking are semi-automatic picking and fully-automatic picking. For Solanaceae vegetables, which are mostly ridge-planted vegetables, fully-automatic picking often has problems such as low picking efficiency, large damage, and low fruit recognition rate. Against this background, semi-automatic picking has become the mainstream. Most of the Solanaceae vegetable picking machines on the market today use a robot to clamp the Solanaceae vegetables, then cut the stems of the Solanaceae vegetables, and control the force of clamping the Solanaceae vegetables through a pressure sensor, so that they need to be accurately identified before picking to avoid damage caused by excessive picking force.
[0003] At present, the cameras that identify Solanaceae vegetables before picking are fixedly installed on one side of the robot. Through a large range of image acquisition of Solanaceae vegetables, the images of Solanaceae vegetables are judged whether the Solanaceae vegetables are ripe and the size when ripe, so that the robot can accurately pick the ripe fruits and control the picking force. However, Solanaceae vegetables are often dense after ripening. For example, many ripe tomatoes will be crowded together, so that some parts will be blocked. The fixed recognition camera is not flexible enough and is easy to fail to recognize, which may cause the robot to miss picking, thereby reducing the picking efficiency. At the same time, missed picking will also cause economic losses.
[0004] Therefore, it is particularly important to design a robot-accurate identification device for eggplant and solanaceous vegetables to solve the above-mentioned defects. Utility Model Content
[0005] In view of the shortcomings of the existing technology, the utility model designs a robot precise identification device for Solanaceae and eggplant vegetables. The robot precise identification device for Solanaceae and eggplant vegetables aims to solve the technical problem that the recognition camera in the existing technology is not flexible enough and easily fails to recognize, resulting in the phenomenon of missed picking by the robot arm, thereby reducing the picking efficiency and causing economic losses.
[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0007] A robot precision identification device for eggplant and solanaceous vegetables comprises a mobile base, a machine base is fixedly mounted on the top of the mobile base, the top of the machine base is rotatably connected to a rotating base, the top of the rotating base is rotatably connected to a mainframe arm, the top of the mainframe arm is rotatably connected to an extension arm, the front end of the extension arm is rotatably connected to a mounting base, a connecting frame is fixedly mounted on the front side of the mounting base, an identification camera is fixedly mounted on the inner side of the connecting frame, and a cleaning device is fixedly mounted on the top of the connecting frame.
[0008] As a preferred solution of the utility model, a first motor is fixedly installed on the front of the machine base, a worm is fixedly installed on the driving end of the first motor and located inside the machine base, the rear end of the worm is rotatably connected to the machine base through a bearing seat, a rotating shaft is rotatably connected at the center of the machine base, the top end of the rotating shaft is fixedly connected to the rotating seat, and the outer side of the rotating shaft is meshed with the worm through a worm gear.
[0009] As a preferred solution of the utility model, a second motor is fixedly installed on the right side of the rotating seat, and the driving end of the second motor is fixedly connected to the bottom end of the right side of the mainframe arm.
[0010] As a preferred solution of the utility model, an adjusting rod is installed between the main arm and the extension arm, the top end of the adjusting rod is rotatably connected to the extension arm, a third motor is fixedly installed on the left side of the rotating seat, the driving end of the third motor extends to the inner side of the main arm and is fixedly connected to a connecting plate, and the rear end of the connecting plate is rotatably connected to the bottom end of the adjusting rod.
[0011] As a preferred solution of the utility model, a fourth motor is fixedly mounted on the front end of the extension arm, and a driving end of the fourth motor is fixedly connected to the mounting seat.
[0012] As a preferred solution of the utility model, the cleaning device includes a water tank fixedly installed on the top of the connecting frame, a micro water pump is fixedly installed on the front of the water tank, the input end of the micro water pump is connected to the interior of the water tank, the output end of the micro water pump is fixedly connected to a water pipe, the front end of the water pipe extends to the front of the identification camera and is fixedly connected to a water spray head, a micro motor is fixedly installed at the front end of the identification camera, and a swing plate is fixedly connected to the driving end of the micro motor.
[0013] As a preferred solution of the utility model, a rubber scraper is fixedly connected to the inner side of the swing plate, a guide plate is fixedly connected to the top of the front side of the recognition camera, and the top of the swing plate is slidably connected to the guide plate via a connecting column.
[0014] Compared with the prior art, the beneficial effects of the utility model are:
[0015] 1. In the utility model, through the coordinated design of the movable base, the machine base, the rotating base, the main arm and the extension arm, the movable base drives the device as a whole to move between two ridges of planting land, and the rotation of the rotating base can drive the identification camera to rotate freely, so that when the identification camera is between the two ridges of planting land, after the vegetables on the same plant on one ridge of vegetables are identified and picked, the identification camera can be rotated to another ridge of planting land for identification and picking, so that it can perform identification operations on two ridges of planting land at the same time, and the main arm cooperates with the extension arm to freely adjust the height and extension state of the identification camera, so as to facilitate the identification of vegetables of different heights, and at the same time can extend into the inside of the plant to identify the obstructed vegetables, and the fourth motor drives the mounting base to rotate, so as to swing the identification camera so that it is always aimed at the vegetables for accurate identification, thereby greatly improving the flexibility of the device, avoiding the problem of economic losses caused by missed picking, and improving the picking efficiency.
[0016] 2. In the utility model, through the design of the cleaning device, the surface of the recognition camera can be cleaned by the cleaning device, so as to prevent the leaves of plants and other debris from adhering to the recognition camera and affecting the recognition operation, thereby ensuring its recognition accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;
[0018] Figure 2 This is a schematic diagram of the structure of the base of the utility model;
[0019] Figure 3 This is a schematic diagram of the back structure of the mainframe arm of the utility model;
[0020] Figure 4 This is a schematic diagram of the external structure of the recognition camera of the utility model;
[0021] Figure 5 This is a schematic diagram of the internal structure of the recognition camera of the utility model.
[0022] In the figure: 1. mobile base; 2. machine base; 201. first motor; 202. worm; 203. rotating shaft; 204. worm wheel; 3. rotating base; 301. second motor; 4. main engine arm; 401. adjusting rod; 402. third motor; 403. connecting plate; 5. extension arm; 501. fourth motor; 6. mounting base; 7. connecting frame; 8. identification camera; 9. cleaning device; 901. water tank; 902. micro water pump; 903. water guide pipe; 904. water spray head; 905. micro motor; 906. swing plate; 907. rubber scraper; 908. guide plate; 909. connecting column. DETAILED DESCRIPTION
[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. Example
[0024] See also Figure 1-Figure 5 , the utility model provides a technical solution:
[0025] A robot precision identification device for eggplant and solanaceous vegetables comprises a mobile base 1, a base 2 is fixedly mounted on the top of the mobile base 1, a rotating base 3 is rotatably connected to the top of the base 2, a mainframe arm 4 is rotatably connected to the top of the rotating base 3, an extension arm 5 is rotatably connected to the top of the mainframe arm 4, a mounting base 6 is rotatably connected to the front end of the extension arm 5, a connecting frame 7 is fixedly mounted on the front of the mounting base 6, an identification camera 8 is fixedly mounted on the inner side of the connecting frame 7, and a cleaning device 9 is fixedly mounted on the top of the connecting frame 7.
[0026] First, a first motor 201 is fixedly installed on the front of the base 2, and a worm 202 is fixedly installed on the driving end of the first motor 201 and inside the base 2, the rear end of the worm 202 is rotatably connected to the base 2 through a bearing seat, and a rotating shaft 203 is rotatably connected at the center of the base 2, the top of the rotating shaft 203 is fixedly connected to the rotating base 3, and the outer side of the rotating shaft 203 is meshed with the worm 202 through a worm gear 204, and the worm 202 is driven to rotate by the first motor 201, and the rotating shaft 203 is driven to rotate under the transmission of the worm gear 204, thereby driving the rotating base 3 to rotate, and then driving the recognition camera 8 to rotate freely, so that when the recognition camera 8 is between two ridges of planting areas, after the vegetables on the same plant on one ridge of vegetables are identified and picked, the recognition camera 8 can be rotated to the other ridge of planting areas for identification and picking, so that it can simultaneously perform identification operations on two ridges of planting areas, and cooperate with the manipulator to complete the picking work, which is not only more flexible but also greatly improves the picking efficiency.
[0027] Furthermore, a second motor 301 is fixedly installed on the right side of the rotating base 3, and the driving end of the second motor 301 is fixedly connected to the bottom end of the right side of the main arm 4. The main arm 4 is driven by the second motor 301 to rotate, so that the height and extension state of the identification camera 8 can be adjusted.
[0028] Then, an adjusting rod 401 is installed between the main arm 4 and the extension arm 5, and the top of the adjusting rod 401 is rotatably connected to the extension arm 5, and a third motor 402 is fixedly installed on the left side of the rotating seat 3, and the driving end of the third motor 402 extends to the inner side of the main arm 4 and is fixedly connected to a connecting plate 403, and the rear end of the connecting plate 403 is rotatably connected to the bottom end of the adjusting rod 401, and the connecting plate 403 is driven to rotate by the third motor 402, and the extension arm 5 can be driven to swing up and down under the transmission of the adjusting rod 401, and the height and extension state of the recognition camera 8 can be freely adjusted in conjunction with the main arm 4, so as to facilitate the recognition of vegetables of different heights, and at the same time, it can extend into the inside of the plant to identify the obstructed vegetables, further improving the flexibility of the recognition camera 8, thereby avoiding the problem of economic losses caused by missed picking and improving the picking efficiency.
[0029] Furthermore, a fourth motor 501 is fixedly installed at the front end of the extension arm 5, and the driving end of the fourth motor 501 is fixedly connected to the mounting base 6. After the height or extension state of the identification camera 8 is adjusted, the mounting base 6 is driven to rotate by the fourth motor 501, thereby swinging the identification camera 8 so that it is always aimed at the vegetables for accurate identification.
[0030] Secondly, the cleaning device 9 includes a water tank 901 fixedly installed on the top of the connecting frame 7, a micro water pump 902 is fixedly installed on the front of the water tank 901, the input end of the micro water pump 902 is connected to the inside of the water tank 901, and the output end of the micro water pump 902 is fixedly connected to a water pipe 903, the front end of the water pipe 903 extends to the front of the identification camera 8 and is fixedly connected to a water spray head 904, a micro motor 905 is fixedly installed at the front end of the identification camera 8, and a swing plate 906 is fixedly connected to the driving end of the micro motor 905. Since the identification camera 8 needs to extend into the inner side of the plant, the leaves of the plant and other debris will adhere to the identification camera 8 and affect the identification operation. The micro water pump 902 is used to pump out the water in the water tank 901, and finally sprayed to the surface of the identification camera 8 through the water spray head 904 under the transmission of the water pipe 903. At the same time, the swing plate 906 is driven by the micro motor 905 to swing, and the identification camera 8 is cleaned in conjunction with the water spray, thereby ensuring its recognition accuracy.
[0031] Finally, a rubber scraper 907 is fixedly connected to the inner side of the swing plate 906, and a guide plate 908 is fixedly connected to the top of the front side of the recognition camera 8. The top of the swing plate 906 is slidably connected to the guide plate 908 via a connecting column 909, and the surface of the recognition camera 8 is cleaned by the rubber scraper 907. When the swing plate 906 swings, the movement trajectory of the swing plate 906 is guided under the guidance of the connecting column 909 and the guide plate 908, so that it can stably clean the surface of the recognition camera 8.
[0032] In this embodiment, the implementation scenario is specifically as follows: the mobile base 1 drives the device as a whole to move between two ridges of planting land, the first motor 201 drives the worm 202 to rotate, and the worm gear 204 drives the rotating shaft 203 to rotate, thereby driving the rotating base 3 to rotate, and then driving the identification camera 8 to rotate freely, so that when the identification camera 8 is between the two ridges of planting land, after the vegetables on the same plant on one ridge of vegetables are identified and picked, the identification camera 8 can be rotated to the other ridge of planting land for identification and picking, so that it can simultaneously perform identification operations on two ridges of planting land, and cooperate with the manipulator to complete the picking work, the second motor 301 drives the main arm 4 to rotate, and the height and extension state of the identification camera 8 can be adjusted, and the third motor 402 drives the connecting plate 403 to rotate, and the extension arm 5 can be driven to swing up and down under the transmission of the adjustment rod 401, and the matching The main arm 4 can freely adjust the height and extension state of the recognition camera 8, so as to facilitate the recognition of vegetables of different heights, and at the same time can extend into the inside of the plant to identify the obstructed vegetables. The fourth motor 501 drives the mounting base 6 to rotate, so as to swing the recognition camera 8 so that it is always aimed at the vegetables for accurate recognition. At the same time, the cleaning device 9 can be used to clean the surface of the recognition camera 8 to prevent the leaves of the plant and other debris from adhering to the recognition camera 8 and affecting the recognition operation. The whole operation process is simple and convenient. Compared with the existing robot accurate recognition device for eggplant and fruit vegetables, the utility model can improve the flexibility of the device through design, avoid the problem of economic losses caused by missed picking, and improve the picking efficiency. At the same time, it can clean the surface of the recognition camera 8 to prevent the leaves of the plant and other debris from adhering to the recognition camera 8 and affecting the recognition operation, thereby ensuring its recognition accuracy.
[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A robot precision identification device for eggplant and solanaceous vegetables, comprising a mobile base (1), characterized in that: The top of the mobile base (1) is fixedly mounted with a base (2); the top of the base (2) is rotatably connected to a rotating base (3); the top of the rotating base (3) is rotatably connected to a mainframe arm (4); the top of the mainframe arm (4) is rotatably connected to an extension arm (5); the front end of the extension arm (5) is rotatably connected to a mounting base (6); a connecting frame (7) is fixedly mounted on the front of the mounting base (6); an identification camera (8) is fixedly mounted on the inner side of the connecting frame (7); and a cleaning device (9) is fixedly mounted on the top of the connecting frame (7).
2. The robot accurate identification device for eggplant and fruit vegetables according to claim 1, characterized in that: A first motor (201) is fixedly mounted on the front of the machine base (2); a worm (202) is fixedly mounted on the driving end of the first motor (201) and located inside the machine base (2); a rear end of the worm (202) is rotatably connected to the machine base (2) via a bearing seat; a rotating shaft (203) is rotatably connected to the center of the machine base (2); a top end of the rotating shaft (203) is fixedly connected to the rotating base (3); and an outer side of the rotating shaft (203) is meshed with the worm (202) via a worm wheel (204).
3. The device for accurately identifying solanaceous vegetables by a robot according to claim 1, characterized in that: A second motor (301) is fixedly mounted on the right side of the rotating seat (3), and a driving end of the second motor (301) is fixedly connected to the bottom end of the right side of the mainframe arm (4).
4. The robot accurate identification device for nightshade vegetables according to claim 1, characterized in that: An adjusting rod (401) is installed between the main arm (4) and the extension arm (5); the top end of the adjusting rod (401) is rotatably connected to the extension arm (5); a third motor (402) is fixedly installed on the left side of the rotating seat (3); a driving end of the third motor (402) extends to the inner side of the main arm (4) and is fixedly connected to a connecting plate (403); and a rear end of the connecting plate (403) is rotatably connected to the bottom end of the adjusting rod (401).
5. The device for accurately identifying solanaceous vegetables by a robot according to claim 1, characterized in that: A fourth motor (501) is fixedly mounted on the front end of the extension arm (5), and a driving end of the fourth motor (501) is fixedly connected to the mounting seat (6).
6. The device for accurately identifying nightshade vegetables by robot according to claim 1, characterized in that: The cleaning device (9) comprises a water tank (901) fixedly mounted on the top of the connection frame (7); a micro water pump (902) is fixedly mounted on the front of the water tank (901); an input end of the micro water pump (902) is connected to the interior of the water tank (901); an output end of the micro water pump (902) is fixedly connected to a water pipe (903); a front end of the water pipe (903) extends to the front of the identification camera (8) and is fixedly connected to a water spray head (904); a micro motor (905) is fixedly mounted on the front end of the identification camera (8); and a swing plate (906) is fixedly connected to the driving end of the micro motor (905).
7. The device for accurately identifying nightshade vegetables by robot according to claim 6, characterized in that: A rubber scraper (907) is fixedly connected to the inner side of the swing plate (906), a guide plate (908) is fixedly connected to the top of the front side of the recognition camera (8), and the top of the swing plate (906) is slidably connected to the guide plate (908) via a connecting column (909).