Picking robot auxiliary device combining Beidou positioning and Internet of Things technology
Through the picking robot auxiliary device combining Beidou positioning and Internet of Things technology, the problem of difficulty in accurately judging the fruit maturity in large-scale planting areas is solved, and the fruit maturity and maturity area are accurately judged, which improves the efficiency and accuracy of picking operations.
Patent Information
- Application Number
- CN202421705715.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-18
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-07-18
AI Technical Summary
Before performing picking operations, a large amount of manual inspection and judgment of the fruit maturity is required, especially in planting areas with a vast area and complex terrain, and it is difficult to accurately judge the fruit maturity and ripe fruit areas.
The picking robot auxiliary device combining Beidou positioning and Internet of Things technology is adopted to capture fruit images in real time through a comprehensive visual acquisition and processing device, and to obtain positioning information in combination with Beidou positioning, judge the fruit maturity and transmit data to the terminal server in real time.
It realizes accurate judgment of the fruit maturity and ripe areas, reduces labor consumption of manual inspections, and improves the efficiency and accuracy of picking operations.
Smart Images
Figure CN222928854U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of agricultural artificial intelligence robots, in particular to an auxiliary device for a picking robot combining Beidou positioning and Internet of Things technology. Background Technique
[0002] With the development of industry and science and technology, the automation and intelligence of agricultural machinery are becoming more and more urgent in the process of modern agriculture. Fruit picking is an essential part of the fruit production and processing field. The application and upgrading of automated fruit picking machinery can liberate a large amount of labor, save production costs, and ensure the timely harvesting of fruits, with broad development prospects. At present, the development of foreign agricultural robots is rapid, and domestic similar products have quickly followed up and achieved phased results.
[0003] In 1968, American scholars Schertz and Brown first proposed the idea of using robots for fruit and vegetable picking. In 1983, the first picking robot was born in the United States. In the following more than thirty years, other countries have successively carried out research and development on agricultural robots. At present, robots for tomato, cucumber, and apple picking researched by developed countries such as Japan, the Netherlands, and the United States are at the international leading level. Compared with developed countries, the development level of agricultural robots in China lags behind and is relatively slow. Currently, agricultural robots developed and put into use include weeding robots, picking robots, cutting robots, and seedling-raising robots, and great progress has been made in production.
[0004] The Beidou satellite navigation system is a global satellite navigation system independently developed by China. It consists of three parts: a space segment, a ground segment, and a user segment. It has global positioning, navigation, and timing capabilities, can provide high-precision and highly reliable positioning, navigation, and timing services for various users all-weather and all-day long globally, and it has the ability of short message communication. The Beidou satellite positioning system has both positioning and communication functions, does not require the support of other communication systems, is independent and highly controllable, and provides strong technical support for the utility model.
[0005] The Internet of Things refers to the ubiquitous end devices and facilities, including sensors with "intrinsic intelligence", mobile terminals, industrial systems, numerical control systems, home intelligent facilities, video surveillance systems, etc., and "externally enabled" assets such as those affixed with RFID, individuals and vehicles carrying wireless terminals, etc. Through various wireless or wired long-distance or short-distance communication networks, they achieve interconnection and interoperability, large-scale application integration, and SaaS operation models based on cloud computing. In the intranet, private network, and Internet environments, appropriate information security guarantee mechanisms are adopted to provide secure, controllable, and even personalized real-time online monitoring, positioning and tracing, alarm linkage, dispatching and command, pre-plan management, remote control, security prevention, remote maintenance, online upgrade, statistical reports, decision support, leadership desktop and other management and service functions, realizing the "efficient, energy-saving, safe, and environmentally friendly" "management, control, and operation" integration of "all things". As early as 1999, the Chinese Academy of Sciences launched the research on sensor networks and has established some practical sensor networks. Compared with other countries, China's technology R & D level is at the forefront of the world, with the advantages of simultaneous development and significant influence.
[0006] According to the current development process, before the picking operation, in most cases, it is necessary for workers to conduct inspections in the planting area manually to judge the fruit maturity and control the robot to pick. For large-scale and complex terrained planting areas, it requires a large amount of labor, and it is difficult to accurately grasp the specific fruit maturity and the ripe fruit area. There is a lack of a technical device that can accurately judge the fruit maturity and the mature area and display the data in real time. Utility Model Content
[0007] Aiming at the deficiencies of the existing technology, the utility model provides an auxiliary device for a picking robot combining Beidou positioning and Internet of Things technology. It is used in conjunction with an agricultural intelligent robot to assist the agricultural robot in realizing park inspections, collecting fruit maturity information, fruit maturity rate, and positioning information within the visible area, and transmitting the data information to the terminal server in real time, further providing auxiliary functions for the intelligent agricultural robot.
[0008] An intelligent agricultural picking robot auxiliary device based on Beidou positioning and Internet of Things technology, including a comprehensive vision acquisition and processing device, a Beidou positioning device, an Internet of Things platform device, and a comprehensive control system;
[0009] The comprehensive vision acquisition and processing device includes an OpenMV machine vision device, an independent power supply module, and an LED fill light board. The OpenMV machine vision device and the LED fill light board are mounted on both sides in front of the picking cart together. They can capture fruit images and position information in real time through the camera, process the fruit images, judge the fruit maturity, and transmit it to the comprehensive control system; the LED fill light board and the OpenMV machine vision device are both connected to the independent power supply module.
[0010] The Beidou positioning device is installed on the top of the robot. When it receives the instruction sent by the integrated control system, it starts to receive the signals of the Beidou satellite navigation system and obtains the positioning information of the area where it is located in real time;
[0011] The integrated control system is installed inside the robot;
[0012] The Internet of Things platform device is installed in the internal compartment of the robot and is used to receive the fruit maturity information processed by the OpenMV machine vision device and the positioning information obtained by the Beidou locator, and transmit them to the wireless terminal;
[0013] Preferably, the Beidou positioning device includes a Beidou locator and a fixed protection compartment. The fixed protection compartment is installed on the top of the robot and is used to fix and protect the Beidou locator;
[0014] Preferably, the integrated control system includes a transmission controller. The transmission controller is connected to the OpenMV machine vision device, the Beidou positioning device, and the wireless terminal, and controls the Beidou locator to receive the satellite signals of the Beidou satellite navigation system and at the same time controls the OpenMV machine vision device to transmit the collected fruit image information, fruit maturity, and the fruit maturity rate information in the area to the wireless terminal;
[0015] Preferably, the Internet of Things platform device includes a wireless terminal, a mobile WiFi device, and a remote visualization display platform installed in the internal compartment of the robot. The wireless terminal is connected to the transmission controller and the Beidou positioning device, obtains the fruit maturity in the forest area, the data information of the area where ripe fruits can be picked, and the area positioning information, and quickly transmits them to the user through the Internet of Things;
[0016] The Beidou locator, the integrated control system, the wireless terminal, and the mobile WiFi device are all powered by the power supply device of the robot.
[0017] The beneficial effects of adopting the above technical solutions are as follows:
[0018] The utility model provides an auxiliary device for a picking robot that combines Beidou positioning and Internet of Things technology. By combining the two major technologies of Beidou positioning and Internet of Things and integrating them into agricultural mechanization and intelligence, the fruit harvesting function of the intelligent agricultural robot is further improved. Users can accurately and intuitively understand the specific situation and geographical location of large-scale planting areas, which is convenient for picking operations. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is the overall module diagram of the auxiliary device for the picking robot of the utility model;
[0020] Figure 2 It is the structural diagram of the integrated vision acquisition and processing device of the utility model;
[0021] Figure 3 This is the working flowchart of the transmission controller of the present utility model;
[0022] Figure 4 This is the overall global operation diagram of the Internet of Things platform device of the present utility model. Specific embodiments
[0023] The following combines the accompanying drawings and embodiments to further describe in detail the specific embodiments of the present utility model. The following embodiments are used to illustrate the present utility model, but are not used to limit the scope of the present utility model.
[0024] An auxiliary device for a picking robot that combines Beidou positioning and Internet of Things technology, as Figure 1 shown, includes a comprehensive vision acquisition and processing device, a Beidou positioning device, an Internet of Things platform device, and a comprehensive control system;
[0025] In this embodiment, an intelligent agricultural picking robot auxiliary device based on Beidou, machine vision, and Internet of Things technology is used in cooperation with an agricultural intelligent robot to assist the agricultural robot in realizing park inspection, collecting fruit maturity information, fruit maturity rate, and positioning information within the visible area, and transmitting the data information to the terminal server in real time, as Figure 1 shown. Specifically, it includes a comprehensive vision acquisition and processing device, a Beidou positioning device, an Internet of Things platform device, and a comprehensive control system. The intelligent agricultural robot conducts inspections in the planting area according to instructions. The comprehensive vision acquisition and processing devices mounted on both sides in front of the trolley can automatically capture high-definition fruit image information within the visible range in real time. After being compressed and processed by OpenMV, the fruit maturity rate and field geographical location in a specific area are quickly transmitted to the Internet of Things platform through the transmission controller in combination with the Beidou positioning system, and a fruit maturity rate area map is drawn. Users can accurately and intuitively understand the specific situation and geographical location of a large-scale planting area, facilitating the picking operation.
[0026] The comprehensive vision acquisition and processing device includes an OpenMV machine vision device, an independent power supply module, and an LED fill light board. The OpenMV machine vision device and the LED fill light board are both mounted on both sides in front of the picking trolley. The fruit image and position information are captured in real time through the camera, and the fruit image can be quickly processed to judge the fruit maturity degree and transmitted to the comprehensive control system; the LED fill light board and the OpenMV machine vision device are both connected to the independent power supply module.
[0027] In this embodiment, the comprehensive vision acquisition and processing device is as Figure 2As shown in the figure, it includes an OpenMV machine vision device, an LED fill light board, and an independent power module. The independent power module supplies power to the OpenMV machine vision module and the LED fill light board. The OpenMV machine vision device is divided into an OpenMV machine vision acquisition device and an OpenMV machine vision processing device, which are interconnected and work together. The OpenMV machine vision processing device is connected to the transmission controller. When the OpenMV machine vision acquisition module performs color recognition, it has certain requirements for the ambient light. The change of light intensity will directly affect the recognition. Therefore, to avoid the influence of environmental light changes, an LED fill light board is added in this design. It is installed on both sides of the front end of the trolley together with the OpenMV machine vision device, which can capture a wider picture range during robot patrol and quickly focus to ensure a clear picture during moving shooting. The independent power module uses an 8000mAh battery to independently supply power to the OpenMV machine vision device and the LED fill light board, and can support its normal operation for more than four hours. The STM32F427 used in the OpenMV machine vision module has rich hardware resources, and interfaces such as UART, I2C, SPI, PWM, ADC, DAC, and GPIO are led out to facilitate the expansion of peripheral functions. In addition, the OpenMV machine vision device comes with Color Tracking algorithm, which can realize automatic color recognition of color pictures and infrared color recognition; Feature Detection algorithm, which can realize edge recognition and template matching, easily obtain fruit image information and various processed data, judge whether the fruit maturity meets the standard, and transmit the obtained various information to the terminal server via the transmission controller. In this embodiment, the 8000mAh battery of the independent power module can work independently when the battery is fully charged. When the battery is insufficient, the power can be supplemented through the power supply module of the agricultural intelligent robot to ensure the continuous operation of field operations.
[0028] The Beidou positioning device is installed on the top of the robot. When it receives the instruction sent by the integrated control system, it starts to receive the Beidou satellite navigation system signal and obtains the positioning information of the area where it is located in real time;
[0029] The integrated control system is installed inside the robot;
[0030] The Internet of Things platform device is installed in the internal compartment of the robot, and is used to receive the fruit maturity information processed by the OpenMV machine vision device and the positioning information obtained by the Beidou locator, and quickly transmit it to the wireless terminal; as long as the user is in an online state, they can obtain a large amount of data in real time.
[0031] Preferably, the Beidou positioning device includes a Beidou locator and a fixed protection compartment. The fixed protection compartment is installed on the top of the robot and is used to fix and protect the Beidou locator;
[0032] In this embodiment, the Beidou positioning device is a real-time positioning device developed based on the Beidou satellite navigation system. The Beidou satellite navigation system is a global satellite navigation system independently developed by China. It uses two-way ranging technology. Compared with other systems such as GPS, the Beidou system has higher positioning accuracy and can meet the high-precision positioning requirements. The Beidou locator is installed in the roof box. When the OpenMV machine vision device starts to identify the fruit maturity in the area, the transmission controller controls the locator to receive the signals of the Beidou satellite system. The remote Beidou positioning platform can lock the real-time geographical location of the locator. These information are then converted into digital signals, and the detection data are transmitted using the Beidou short message. The collected data are transmitted to the Internet of Things platform device in real time. Through the Internet of Things platform device, the user can clearly identify the fruit maturity rate and its specific regional location in the planting area. In addition to obtaining positioning information, the Beidou satellite navigation system receiving device can also convert satellite signals into digital signals and use the Beidou short message to transmit detection data. This means that this module can not only track location information in real time, but also be used to transmit other important data information. During the data transmission process, the module realizes reliable data transmission by converting satellite signals into digital signals. This digital transmission method has characteristics such as high reliability, high stability and low error rate, thus ensuring the accuracy and integrity of the data. This technology is applied to the agricultural production field to achieve refined management of plots and improve the yield and quality of crops.
[0033] Preferably, the comprehensive control system includes a transmission controller that executes the communication process control with the communication network. The transmission controller is connected to the OpenMV machine vision device, the Beidou positioning device, and the wireless terminal, and controls the Beidou locator to receive the satellite signals of the Beidou satellite navigation system, and at the same time controls the OpenMV machine vision device to transmit the collected fruit image information, fruit maturity, and fruit maturity rate information in the area to the wireless terminal;
[0034] In this embodiment, the transmission controller of the comprehensive control system uses STM32 as the core control board. Figure 3 When collecting image information, it automatically sends a signal to control the Beidou locator to receive the signals of the Beidou satellite system, quickly obtains the real-time field geographical location of the area, and at the same time transmits the image information collected by the machine vision device such as the growth situation of fruit trees, and data information such as fruit maturity and fruit maturity rate in the area to the wireless terminal.
[0035] Preferably, the Internet of Things platform device includes a wireless terminal installed in the internal box of the robot, a mobile WiFi device, and a remote visualization display platform. The wireless terminal is connected to the transmission controller and the Beidou positioning device, obtains the fruit maturity, the data information of the pickable ripe fruit area, and the regional positioning information in the forest area, and quickly transmits them to the user through the Internet of Things;
[0036] The Beidou locator, integrated control system, wireless terminal and mobile WiFi device are all powered by the power supply device of the robot.
[0037] In this embodiment, the Internet of Things platform device is an open platform and ecological environment built based on the Internet of Things technology and industrial characteristics, adapting to various network environments and protocol types, and supporting the rapid access of various sensors and intelligent hardware and big data services. For example Figure 4 As shown, when the user is in the network connection state, they can easily obtain the data information collected by the wireless terminal and the Beidou positioning information, and can analyze and process the data, and carry the remote platform to visually display the obtained results, realizing the real-time detection and analysis of the fruit ripening area in the planting area. In addition, after in-depth research, the platform can also be used to remotely control and manage the robot, such as adjusting the inspection route, switching the working mode, etc., providing great convenience for agricultural intelligent picking.
[0038] The above description is only the preferred embodiment of the present disclosure and the explanation of the applied technical principles. Those skilled in the art should understand that the scope of the utility model involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above utility model concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure.
Claims
1. A picking robot auxiliary device combining Beidou positioning and Internet of Things technology, characterized in that: Including comprehensive visual acquisition and processing device, Beidou positioning device, Internet of Things platform device, and comprehensive control system; The comprehensive visual acquisition and processing device includes an OpenMV machine vision device, an independent power supply module and an LED fill light board. The OpenMV machine vision device and the LED fill light board are mounted on both sides of the front of the picking cart. The camera of the OpenMV machine vision device can capture the fruit image and position information in real time and process the fruit image, determine the maturity of the fruit and transmit it to the comprehensive control system; the LED fill light board and the OpenMV machine vision device are both connected to the independent power supply module; The Beidou positioning device is installed on the top of the robot. When receiving the command sent by the integrated control system, it starts to receive the Beidou satellite navigation system signal and obtains the positioning information of the area in real time; the integrated control system is installed inside the robot; the Internet of Things platform device is installed in the robot's internal magazine to receive the fruit maturity information processed by the OpenMV machine vision device and the positioning information obtained by the Beidou locator, and transmit them to the wireless terminal.
2. According to claim 1, a picking robot auxiliary device combining Beidou positioning and Internet of Things technology is characterized in that: The Beidou positioning device comprises a Beidou locator and a fixed protection magazine. The fixed protection magazine is installed on the top of the robot and is used to fix and protect the Beidou locator.
3. According to claim 1, a picking robot auxiliary device combining Beidou positioning and Internet of Things technology is characterized in that: The integrated control system includes a transmission controller, which is connected to the OpenMV machine vision device, the Beidou positioning device, and the wireless terminal. The transmission controller controls the Beidou locator to receive satellite signals from the Beidou satellite navigation system and controls the OpenMV machine vision device to transmit the collected fruit image information, fruit maturity, and fruit maturity rate information in the area to the wireless terminal.
4. According to claim 1, a picking robot auxiliary device combining Beidou positioning and Internet of Things technology is characterized in that: The Internet of Things platform device includes a wireless terminal installed in the robot's internal magazine, a mobile WiFi device, and a remote visualization display platform. The wireless terminal is connected to the transmission controller and the Beidou positioning device to obtain data information on the maturity of fruits in the forest area, the area where ripe fruits can be picked, and the regional positioning information, and transmit it to the user through the Internet of Things.
5. According to claim 1, a picking robot auxiliary device combining Beidou positioning and Internet of Things technology is characterized in that: The Beidou locator, integrated control system, wireless terminal and mobile WiFi device are all powered by the robot's power supply device.