Intelligent pepper picking robot

Abstract

The utility model relates to an intelligent pepper picking robot. The intelligent pepper picking robot comprises a robot body, a driving mechanism and a picking mechanism. The robot main body comprises a main body frame; the driving mechanism is arranged below the main body frame and is used for driving the intelligent pepper picking robot to move; an accommodating space is formed in the main body frame; the picking mechanism is arranged in the accommodating space and comprises a picking device, and the picking device comprises at least one picking mechanical arm and scissor type picking pliers; the rear end of the picking mechanical arm is connected with the top of the main body frame, and the front end of the picking mechanical arm faces downwards; the scissor type picking pliers are rotatably arranged at the front end of the picking mechanical arm. The intelligent pepper picking robot has the advantages of being capable of automatically picking and high in picking efficiency.

Description

Technical Field

[0001] The utility model relates to the field of agricultural harvesting devices, in particular to an intelligent chili picking robot. Background Art

[0002] At present, the picking of fruits and vegetables is mainly manual. However, the manual picking method requires a large amount of manpower and material resources, has low efficiency, or may cause damage to fruits and vegetables due to missing the harvest period, resulting in an increase in planting costs.

[0003] Taking the finger chili as an example, the finger chili has the reputation of "the spiciest in the world", has unique qualities and is extremely spicy. It is mainly distributed in Tiandeng County, Guangxi, China, Hunan and other places and is widely planted. The finger chili has relatively strong vitality and is a perennial herb of the Solanaceae family. It has bright colors, unique flavors, and certain economic and medical values, and is widely used in daily life. The finger chili has certain nutritional value and is loved by many people and is a common condiment.

[0004] Chilies can bear fruit continuously and be harvested multiple times. Timely harvesting is an important link to achieve high yield and high efficiency. The finger chili is mainly harvested when it is red. When the fruit is full and the peel is fully red, it can be harvested. Timely picking is beneficial to increase the yield. However, most of the existing picking methods are mainly manual, with slow picking speed, low picking efficiency and high cost. Summary of the Utility Model

[0005] Based on this, the purpose of the utility model is to provide an intelligent chili picking robot, which has the advantages of being able to automatically pick and having high picking efficiency.

[0006] An intelligent chili picking robot includes: a robot main body, a driving mechanism and a picking mechanism; the robot main body includes a main body frame; the driving mechanism is arranged below the main body frame and is used to drive the intelligent chili picking robot to move; the main body frame forms a receiving space; the picking mechanism is arranged in the receiving space and includes a picking device, and the picking device includes at least one picking robotic arm and a scissor-type picking clamp; the rear end of the picking robotic arm is connected to the top of the main body frame, and the front end of the picking robotic arm faces downward; the scissor-type picking clamp is rotatably arranged at the front end of the picking robotic arm.

[0007] In the intelligent chili picking robot of the utility model, the picking robotic arm is arranged below the main body frame, which can automatically pick chilies. When the intelligent chili picking robot moves in the field, since the main body frame is supported by a suspension and is higher than the plants and will not be blocked by the plants, the picking robotic arm below can directly pick the chilies, enabling the intelligent chili picking robot to adapt to more complex terrains.

[0008] Furthermore, the picking mechanism also includes a conveying device and a collecting box; the height of the collecting box from the ground is higher than the height of the scissor-type picking pliers from the ground, and the conveying device includes at least one climbing conveyor belt, and the higher end of the climbing conveyor belt is connected to the collecting box.

[0009] Furthermore, a plurality of transport baffles are provided on the climbing conveyor belt, and the transport baffles are arranged perpendicular to the surface of the climbing conveyor belt and perpendicular to the transport direction of the climbing conveyor belt.

[0010] Furthermore, the number of the climbing conveyor belts is two, and the two climbing conveyor belts are parallel to each other.

[0011] Furthermore, a funnel is provided at the bottom of the collection box, and a sliding switch door is provided between the funnel and the collection box.

[0012] Furthermore, it also includes a toggling device for pushing aside branches or leaves, the toggling device includes a toggling mechanical arm and a toggling baffle, the toggling mechanical arm is arranged on the front and rear sides below the main frame, and the toggling baffle is arranged at the front end of the toggling mechanical arm.

[0013] Furthermore, it also includes an energy mechanism; the energy mechanism includes a battery pack and a photovoltaic panel assembly; the battery pack is arranged on the main frame and is electrically connected to the driving mechanism and the picking mechanism; the photovoltaic assembly is arranged on the upper side of the main frame and is electrically connected to the battery pack.

[0014] Furthermore, it also includes a suspension, which is fixed below the main frame, the driving mechanism is fixed below the suspension, and the shifting device is located inside the suspension.

[0015] Furthermore, the number of the suspensions is four, and the four suspensions are respectively fixed at the four corners below the main frame. The number of the driving mechanisms is four, and each driving mechanism includes two driving wheels, a track and a hub motor. Each hub motor is respectively arranged below the suspension, and the two driving wheels are connected to the hub motor through the track to form a track drive wheel group.

[0016] Furthermore, it also includes a picking control system, which includes a first visual recognition unit and a second visual recognition unit; the first visual recognition unit is arranged on the picking robot arm, and is used to collect growth information and position information of peppers; the second visual recognition unit is arranged at the front end of the robot body, and is used to collect road condition information ahead of the intelligent pepper picking robot.

[0017] In order to better understand and implement the present invention, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional schematic diagram of an intelligent pepper picking robot according to an embodiment of the utility model;

[0019] Figure 2 This is a side view of the intelligent pepper picking robot according to an embodiment of the utility model;

[0020] Figure 3 A schematic diagram of a conveying device according to an embodiment of the utility model;

[0021] Figure 4 A schematic diagram of a picking device according to an embodiment of the utility model;

[0022] Figure 5 This is a schematic diagram of a scissor-type picking forceps according to an embodiment of the utility model;

[0023] Figure 6 Schematic diagram of a toggle device according to an embodiment of the utility model. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] In the description of the present invention, it should be noted that the terms "vertical direction", "upper", "lower", "horizontal" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a heat-conducting connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or a connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Embodiment

[0028] An intelligent pepper picking robot, comprising a robot main body 1, a driving mechanism 2, a picking mechanism 3 and an energy mechanism. The driving mechanism 2 is arranged below the robot main body 1 and is used to drive the intelligent pepper picking robot to move. The picking mechanism 3 and the energy mechanism are arranged on the robot main body 1. The picking mechanism 3 is used to pick peppers, and the energy mechanism is used to provide energy for the driving mechanism 2 and the picking mechanism 3.

[0029] In some embodiments, the robot main body 1 includes a main body frame 10 and a plurality of suspensions 11. The suspensions 11 are fixedly arranged below the main body frame 10, and the driving mechanism 2 is fixedly arranged below the suspensions 11. The arrangement of the suspensions 10 makes the robot easier to assemble, disassemble and maintain. In other embodiments, the driving mechanism 2 is fixedly arranged below the main body frame 10. Further, the main body frame 10 is a receiving space with an open lower end, and an installation groove is arranged in the receiving space; the picking mechanism 3 is arranged in the installation groove. In some embodiments, the energy mechanism includes a photovoltaic device, and the photovoltaic device is arranged above the main body frame 10.

[0030] Further, the driving mechanism 2 includes a plurality of crawler drive wheel sets 20, and the crawler drive wheel sets 20 are arranged below the suspensions 11. In some embodiments, the number of suspensions 11 is four, and the number of crawler drive wheel sets 20 is four; the suspensions 11 are respectively arranged at the four corners of the lower end of the main body frame 10, and the crawler drive wheel sets 20 are respectively arranged below each suspension 11. The four crawler drive wheel sets 20 can stably support the robot main body 1 and can move stably on the complex terrain of the field. Further, the crawler drive wheel set 20 includes two drive wheels 201, a crawler 202 and a hub motor 203. The hub motor 203 is arranged below the suspension 11, and the two drive wheels 201 are connected to the hub motor 203 through the crawler 202 to form the crawler drive wheel set 20. By individually driving each crawler drive wheel set 20 by each hub motor 203, the speed, forward and backward movement of each crawler drive wheel set 20 can be controlled respectively, thereby improving the steering control ability of the driving mechanism 2. The driving mechanism 2 of the embodiment of the present application can adapt to the rugged terrain environment in the field.

[0031] Further, the picking mechanism 3 includes a picking device 31, a conveying device 32, and a collection box 33. The picking device 31 is fixedly arranged within the main body frame 10 and is used for picking fruits; the conveying device 32 is used for transporting the picked fruits into the collection box 33. Further, the picking device 31 includes at least one picking robotic arm 311 and a scissor-type picking clamp 312. The scissor-type picking clamp 312 is rotatably arranged at the front end of the picking robotic arm 311 and is used for clamping off the stalk of the chili pepper and holding the chili pepper. In some embodiments, the picking robotic arm 311 is a six-axis picking robot manipulator. The rear end of the picking robotic arm 311 is connected to the top of the installation groove, and the front end faces downward. Further, the height of the collection box 33 from the ground is higher than the height of the scissor-type picking clamp 312 from the ground, thereby avoiding the collection box 33 touching the seedlings, flower buds, and fruits during the picking process. Further, the intelligent chili pepper picking robot of the present utility model further includes a picking control system. The picking control system includes a first vision recognition unit, a data processing unit, and a picking control unit. The first vision recognition unit is arranged on the picking robotic arm 311 and is used for collecting the growth information and position information of the chili peppers; the data processing unit is in signal connection with the first vision recognition unit and is used for processing the information collected by the first vision recognition unit and sending out a picking control signal according to the growth information and position information of the chili peppers; the picking control unit is in signal connection with the data processing unit, is electrically connected to the picking robotic arm 311 and the scissor-type picking clamp 312. The picking control unit controls the picking device 31 to pick according to the picking control signal sent by the data processing unit.

[0032] In some embodiments, the picking control system further includes a second vision recognition unit. The second vision recognition unit is arranged at the front end of the robot main body 1 and is in signal connection with the data processing unit. The picking control unit is also electrically connected to the driving mechanism 2; the second vision recognition unit is used for collecting the road condition information in front of the intelligent chili pepper picking robot. The data processing unit processes the road condition information in front and sends out a movement control signal to the picking control unit. The picking control unit controls the rotation speed of each crawler drive wheel set 20 according to the movement control signal sent by the data processing unit, and controls the forward and backward movement, stop, and turning of the intelligent chili pepper picking robot.

[0033] Further, the conveying device 32 includes at least one climbing conveyor belt, which is arranged in the installation groove, one end of the climbing conveyor belt is higher than the other end, and the higher end of the climbing conveyor belt is connected to the collection box 33. After the picking device 31 picks the peppers, it places the picked peppers on the climbing conveyor belt, and the climbing conveyor belt transports the peppers to the collection box 33. Further, the climbing conveyor belt is provided with a plurality of transport baffles 32a, which are arranged perpendicular to the surface of the climbing conveyor belt and perpendicular to the transport direction of the climbing conveyor belt; the transport baffles 32a can assist in transporting the peppers and prevent the peppers from slipping during the climbing process. In some embodiments, the number of climbing conveyor belts is two, and the two climbing conveyor belts are parallel to each other and are respectively arranged on both sides of the installation groove. By setting the climbing conveyor belt, the burden of the picking device 31 can be reduced, and the picking device 31 does not need to transport the peppers to the collection box 33, which reduces the moving distance of the mechanical arm and improves the picking efficiency.

[0034] In some embodiments, a funnel is provided at the bottom of the collecting box 33, and a sliding switch door is provided between the funnel and the collecting box 33. When the peppers collected in the collecting box 33 need to be taken out, the sliding switch door is opened to allow the peppers in the collecting box 33 to flow out of the funnel, thereby reducing the operation of collecting the peppers.

[0035] Furthermore, the intelligent pepper picking robot also includes a toggle device 4, which is used to push away branches or leaves that block the ripe fruits, so as to facilitate the picking device 31 to pick. After the branches or leaves that block the ripe fruits are pushed away by the toggle device 4, the peppers are automatically picked by the picking mechanism 3. In some embodiments, the toggle device 4 includes a toggle mechanical arm 41 and a toggle baffle 42. The toggle mechanical arm 41 is arranged on the front and rear sides below the main frame 10, and is electrically connected to the picking control unit. The toggle baffle 42 is arranged at the front end of the toggle mechanical arm 41; in some embodiments, the toggle mechanical arm 41 is a four-axis mechanical arm. When it is necessary to push away branches or leaves that block the ripe fruits, the toggle mechanical arm 41 imitates the action of a human hand to push away the blocking branches, pushes away the branches or leaves, and assists the picking device 31 to accurately pick the ripe peppers inside. Further, the number of the toggle mechanical arms 41 is four, and the four toggle mechanical arms 41 are respectively arranged on the inner side of each suspension 11.

[0036] Furthermore, the energy mechanism includes a battery pack and a photovoltaic panel assembly 5. The battery pack is arranged on the main frame 10 and is electrically connected to the driving mechanism 2 and the picking mechanism 3; the photovoltaic assembly is arranged above the main frame 10 and is electrically connected to the battery pack. The intelligent pepper picking robot of the embodiment of the present application has a larger space above the main frame 10 to accommodate the photovoltaic panel assembly 5 because its picking mechanical arm 311 and the conveying device 32 are arranged in the main frame 10, which can increase the output of photovoltaic power generation.

[0037] The above-described embodiments merely represent several implementation manners of the present utility model. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and the present utility model also intends to cover these modifications and variations.

Claims

1. An intelligent pepper picking robot, characterized in that: include: A robot body, a driving mechanism and a picking mechanism; the robot body includes a main frame; the driving mechanism is arranged below the main frame, and is used to drive the intelligent pepper picking robot to move; the main frame forms a containing space; the picking mechanism is arranged in the containing space, and includes a picking device, and the picking device includes at least one picking mechanical arm and a scissor-type picking forceps; the rear end of the picking mechanical arm is connected to the top of the main frame, and the front end of the picking mechanical arm faces downward; the scissor-type picking forceps are rotatably arranged at the front end of the picking mechanical arm.

2. The intelligent pepper picking robot according to claim 1 is characterized in that: The picking mechanism also includes a conveying device and a collecting box; the height of the collecting box from the ground is higher than the height of the scissor-type picking tongs from the ground, and the conveying device includes at least one climbing conveyor belt, and the higher end of the climbing conveyor belt is connected to the collecting box.

3. The intelligent pepper picking robot according to claim 2 is characterized in that: A plurality of transport baffles are fixedly arranged on the climbing conveyor belt, and the transport baffles are perpendicular to the surface of the climbing conveyor belt and perpendicular to the transport direction of the climbing conveyor belt.

4. The intelligent pepper picking robot according to claim 3 is characterized in that: The number of the climbing conveyor belts is two, and the two climbing conveyor belts are parallel to each other.

5. The intelligent pepper picking robot according to claim 2 is characterized in that: A funnel is provided at the bottom of the collecting box, and a sliding switch door is provided between the funnel and the collecting box.

6. The intelligent pepper picking robot according to any one of claims 2 to 5, characterized in that: It also includes a toggling device for pushing away branches or leaves, the toggling device includes a toggling mechanical arm and a toggling baffle, the toggling mechanical arm is arranged on the front and rear sides below the main frame, and the toggling baffle is arranged at the front end of the toggling mechanical arm.

7. The intelligent pepper picking robot according to claim 6, characterized in that: It also includes an energy mechanism; the energy mechanism includes a battery pack and a photovoltaic panel assembly; the battery pack is arranged on the main frame and is electrically connected to the driving mechanism and the picking mechanism; the photovoltaic panel assembly is arranged on the upper side of the main frame and is electrically connected to the battery pack.

8. The intelligent pepper picking robot according to claim 6, characterized in that: It also includes a suspension, which is fixed below the main frame, the driving mechanism is fixed below the suspension, and the toggle device is located inside the suspension.

9. The intelligent pepper picking robot according to claim 8, characterized in that: There are four suspensions, and the four suspensions are respectively fixed at the four corners below the main frame. There are four drive mechanisms, and each drive mechanism includes two drive wheels, tracks and hub motors. Each hub motor is respectively arranged below the suspension, and the two drive wheels are connected to the hub motors through the tracks to form a track drive wheel set.

10. The intelligent pepper picking robot according to claim 9, characterized in that: It also includes a picking control system, which includes a first visual recognition unit and a second visual recognition unit; the first visual recognition unit is arranged on the picking robot arm, and is used to collect growth information and position information of peppers; the second visual recognition unit is arranged at the front end of the robot body, and is used to collect road condition information ahead of the intelligent pepper picking robot.

Images