Sunflower pollination and picking integrated device

Abstract

The embodiment of the utility model provides a sunflower pollination and picking integrated device, which comprises: a mobile device, which comprises a vehicle body with an accommodating cavity, a mobile piece, an image collector and a controller, and the controller is electrically connected with the image collector; the mechanical arm comprises a base, a first section arm, a second section arm and a connecting piece. The pollination equipment comprises a circular pollination cake and a first fixing rod, the pollination cake is connected with the second end of the connecting piece through the first fixing rod, and a plurality of pollen grooves are formed in the pollination cake; the picking equipment comprises a first knife handle, a second knife handle, a knife rest and a second fixing rod, the first knife handle and the second knife handle are arranged at the top of the knife rest, a blade of the first knife handle and a blade of the second knife handle are oppositely arranged, and the second fixing rod is arranged at the bottom of the knife rest and connected with the second end of the connecting piece. The pollination mode or the picking mode is automatically switched according to the growth state of the target object, so that the workload of operators is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to an integrated sunflower pollination and picking device. Background Art

[0002] As an important agricultural product, sunflowers are planted in various regions. In most regions, manual labor is generally used for the pollination and picking operations of sunflowers; although in a few regions, agricultural machinery is also used for pollination or picking operations, different agricultural machinery needs to be equipped for pollination and picking operations respectively, and the existing pollination or picking machinery can only play an auxiliary role. During the pollination or picking operation, operators still need to enter the sunflower planting area to achieve the pollination or picking of sunflowers.

[0003] It can be seen that the existing sunflower pollination and picking machinery has the problem of low operation efficiency. Summary of the Utility Model

[0004] An embodiment of the utility model provides an integrated sunflower pollination and picking device to solve the problem of low operation efficiency of the existing sunflower pollination and picking machinery.

[0005] An embodiment of the utility model provides an integrated sunflower pollination and picking device, including:

[0006] A mobile device, the mobile device includes a vehicle body with a receiving cavity, a moving member is arranged at the bottom of the vehicle body, at least two image collectors are arranged around the vehicle body, and a controller is arranged in the receiving cavity of the vehicle body. The controller is electrically connected to the image collectors to obtain the image data collected by the image collectors;

[0007] A robotic arm, the robotic arm is electrically connected to the controller to receive a preset instruction of the controller. The preset instruction is an instruction generated by the controller according to the image data. The robotic arm includes a base, a first section of arm, a second section of arm and a connecting member. The first end face of the base is fixed on the top of the vehicle body, the second end face of the base is rotatably connected to the first end of the first section of arm, the first end face of the base and the second end face of the base are connected by a rotating shaft, the second end of the first section of arm is rotatably connected to the first end of the second section of arm, and the second end of the second section of arm is rotatably connected to the first end of the connecting member;

[0008] A pollination device, the pollination device includes a circular pollination cake and a first fixing rod. The pollination cake is detachably connected to the second end of the connecting member through the first fixing rod, and a plurality of powder grooves are arranged on the pollination cake;

[0009] Harvesting device, the harvesting device includes a first knife handle, a second knife handle, a knife rest and a second fixing rod, the first knife handle and the second knife handle are arranged on the top of the knife rest, and the cutting edges of the first knife handle and the second knife handle are arranged opposite to each other, the second fixing rod is arranged at the bottom of the knife rest, and the second fixing rod is detachably connected to the second end of the connecting piece;

[0010] Wherein, when the robotic arm receives the preset instruction, at least one of the first angle, the second angle, the third angle and the fourth angle is adjusted so that the pollination device or the harvesting device approaches the target object, the first angle is the rotation angle of the rotating shaft, the second angle is the included angle between the base and the first arm, the third angle is the included angle between the first arm and the second arm, and the fourth angle is the included angle between the second arm and the connecting piece.

[0011] Optionally, the pollination cake includes a first cake plate, a second cake plate and a vibrator, the first cake plate and the second cake plate are arranged in a stacked manner, the vibrator is arranged between the first cake plate and the second cake plate, the first cake plate is recessed towards the second cake plate to form the plurality of powder grooves, and the openings of the plurality of powder grooves all face away from the second cake plate, the second cake plate is connected to the connecting piece through the first fixing rod, the vibrator is electrically connected to the controller, and when the preset instruction is a pollination instruction, after the pollination device approaches the target object, the controller controls the vibrator to vibrate.

[0012] Optionally, the harvesting device further includes a driver, the driver is arranged on the second fixing rod, the knife rest is provided with a first guiding groove and a second guiding groove, the first guiding groove and the second guiding groove are arranged in a V shape, the first knife handle and the second knife handle are respectively arranged in the first guiding groove and the second guiding groove, a first connecting rod is further arranged in the knife rest, the first end and the second end of the first connecting rod are respectively connected to the first knife handle and the second knife handle, one end of the second fixing rod passes through the bottom of the knife rest and is fixed between the first end and the second end of the first connecting rod, the driver is electrically connected to the controller, and when the preset instruction is a harvesting instruction, after the harvesting device approaches the target object, the controller controls the driver to drive the second fixing rod so as to drive the first knife handle and the second knife handle to move through the first connecting rod.

[0013] Optionally, a receiving groove is further provided at the top of the vehicle body. An electromagnet is provided in the connecting member. The electromagnet is electrically connected to a power supply through the controller. Both the first fixing rod and the second fixing rod are magnetic members having a first magnetism. When the controller controls the electromagnet to be energized, the electromagnet has a second magnetism. One of the pollination device and the picking device is magnetically connected to the electromagnet, and the other of the pollination device and the picking device is placed in the receiving groove.

[0014] Optionally, a two-way joint is provided at the second end of the connecting member. One interface of the two-way joint is connected to the first fixing rod, and the other interface of the two-way joint is connected to the second fixing rod. The first fixing rod and the second fixing rod are arranged in a staggered manner.

[0015] Optionally, the robotic arm further includes a turntable. The second end of the second arm is connected to the first end of the connecting member through the turntable.

[0016] Optionally, a first hydraulic rod is provided between the base and the first arm, and / or a second hydraulic rod is provided between the first arm and the second arm.

[0017] Optionally, drive motors are provided at the connection of the rotating shaft, the base and the first arm, the connection of the first arm and the second arm, and the connection of the second arm and the connecting member. The drive motors are electrically connected to the controller.

[0018] Optionally, the moving members are symmetrically arranged at the bottom of the vehicle body.

[0019] Optionally, distance sensors are respectively provided around the vehicle body. The distance sensors are electrically connected to the controller.

[0020] In the embodiment of the present invention, after the image collector in the mobile device collects image data, the controller can quickly locate the target object, drive the moving member to move towards the target object, and at the same time control the robotic arm to perform telescopic movement, so that the pollination device or the picking device approaches the target object, pour the pollen in the pollen trough of the pollination device into the flower plate of the target object, or cut the stalk of the target object through the picking device, realizing an automated pollination operation or picking operation, improving the operation efficiency; and the pollination device and the picking device can be disassembled and interchanged, automatically switching between the pollination or picking dual modes according to the growth state of the target object, reducing the workload of the operator and further improving the operation efficiency. Description of the Drawings

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 is a schematic structural diagram of the integrated sunflower pollination and picking device provided by the embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of the robotic arm of the integrated sunflower pollination and picking device provided by the embodiment of the present invention;

[0024] Figure 3 is a schematic structural diagram of the pollination device of the integrated sunflower pollination and picking device provided by the embodiment of the present invention;

[0025] Figure 4 is a schematic structural diagram of the picking device of the integrated sunflower pollination and picking device provided by the embodiment of the present invention. Detailed implementation manners

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0027] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such structures can be interchanged under appropriate circumstances so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0028] As Figures 1 to 4 shown, the embodiment of the present invention provides an integrated sunflower pollination and picking device, including:

[0029] A mobile device 10, the mobile device 10 includes a vehicle body 101 having a receiving cavity, a moving member 102 is provided at the bottom of the vehicle body 101, at least two image collectors 103 are provided around the vehicle body 101, and a controller is provided in the receiving cavity of the vehicle body 101. The controller is electrically connected to the image collector 103 to obtain image data collected by the image collector 103;

[0030] A robotic arm 20, the robotic arm 20 is electrically connected to the controller to receive a preset instruction from the controller, the preset instruction is an instruction generated by the controller according to the image data, the robotic arm 20 includes a base 201, a first arm 202, a second arm 203 and a connecting member 204. The first end face of the base 201 is fixed to the top of the vehicle body 101, the second end face of the base 201 is rotatably connected to the first end of the first arm 202, the first end face of the base 201 and the second end face of the base 201 are connected by a rotating shaft, the second end of the first arm 202 is rotatably connected to the first end of the second arm 203, and the second end of the second arm 203 is rotatably connected to the first end of the connecting member 204;

[0031] A pollination device 30, the pollination device 30 includes a circular pollination cake 301 and a first fixing rod 302. The pollination cake 301 is detachably connected to the second end of the connecting member 204 through the first fixing rod 302, and a plurality of powder grooves 303 are provided on the pollination cake 301;

[0032] A picking device 40, the picking device 40 includes a first knife handle 401, a second knife handle 402, a knife rest 403 and a second fixing rod 404. The first knife handle 401 and the second knife handle 402 are provided on the top of the knife rest 403, and the blades of the first knife handle 401 and the second knife handle 402 are arranged opposite to each other. The second fixing rod 404 is provided at the bottom of the knife rest 403, and the second fixing rod 404 is detachably connected to the second end of the connecting member 204;

[0033] Wherein, when the robotic arm 20 receives the preset instruction, at least one of the first angle, the second angle, the third angle and the fourth angle is adjusted so that the pollination device 30 or the picking device 40 approaches the target object. The first angle is the rotation angle of the rotating shaft, the second angle is the included angle between the base 201 and the first arm 202, the third angle is the included angle between the first arm 202 and the second arm 203, and the fourth angle is the included angle between the second arm 203 and the connecting member 204.

[0034] Exemplarily, the vehicle body 101 can be a housing structure formed by surrounding with a metal material. The hollow cavity inside the housing structure is the accommodation cavity. The controller and the wires of each electrical component connected to the controller can be arranged in the accommodation cavity, which reduces the load of the mobile device 10 and also reduces the situation of scattered wires, avoiding the situation that the integrated sunflower pollination and picking device is tripped by the wires during operation.

[0035] Exemplarily, the moving members 102 are symmetrically arranged at the bottom of the vehicle body 101. In one example, the moving member 102 can be a crawler, which can provide a larger contact area, disperse the weight, reduce the compaction of the soil in the sunflower planting area, and is beneficial to the subsequent growth of sunflowers. In another example, the moving member 102 can be a tire group. The maintenance and replacement of the tires are relatively simple and do not require special tools. The tire group composed of multiple tires also disperses the weight and reduces the compaction of the soil in the sunflower planting area. Moreover, the moving members 102 are symmetrically arranged at the bottom of the vehicle body 101, ensuring the balance of the center of gravity during operation, improving the overall stability, reducing the risk of overturning. In addition, the symmetrically arranged moving members 102 can also turn more flexibly, improving the turning ability and the operation performance of the device in the sunflower planting area.

[0036] Exemplarily, two image collectors 103 can be arranged on the vehicle body 101. These two image collectors can be located on the same side of the vehicle body 101 or on different sides of the vehicle body 101. There is a certain distance between the image collectors 103, and the distance can be set according to the viewing angle range of the image collectors 103 and the size of the vehicle body 101 to improve the visual coverage range of the image collectors 103.

[0037] Furthermore, eight image collectors 103 can also be arranged on the vehicle body 101. These eight image collectors 103 are grouped in pairs and are respectively arranged around the vehicle body 101, which further improves the viewing angle range of the image collectors 103. Without moving the vehicle body 101, the environmental information around the vehicle body 101 can also be mastered, improving the efficiency of the collected image data.

[0038] Among them, the image collector 103 can be a Charge-Coupled Device (CCD) and a Complementary Metal-Oxide-Semiconductor (CMOS) image sensor camera, etc. The CCD can capture more brightness details and is suitable for the recognition of sunflowers; while the CMOS supports more image processing functions, such as noise reduction and HDR, etc., which can be directly implemented on the sensor, improving the efficiency of the collected image data.

[0039] Exemplarily, the robotic arm 20 includes a base 201, a first arm 202, a second arm 203, and a connecting member 204. When the robotic arm 20 receives a preset instruction, it can adjust at least one of the first angle, the second angle, the third angle, and the fourth angle according to the current position of the robotic arm 20 and the position of the target object (i.e., the sunflower), so that the pollination device 30 or the picking device 40 approaches the target object. In this way, the multi-degree of freedom enables the robotic arm to operate flexibly in a complex environment to achieve highly complex actions, such as rotation, grasping, and operations at various angles. Thus, in the case of different growth conditions of sunflowers, the robotic arm 20 can also complete the pollination or picking tasks for different sunflowers.

[0040] In the embodiment of the present utility model, a power supply device is further arranged in the accommodating cavity. The power supply device can provide electric energy for the integrated sunflower pollination and picking device. The moving member 102 is electrically connected to the power supply device through a controller. After the power supply device is turned on, the image collector 103 starts to collect images of the surrounding environment and sends the collected image data to the controller. The controller analyzes and processes the image data to locate the position of the target object (i.e., the sunflower plant), and at the same time determines the growth state of the target object (such as the pollination period or the mature period), and then generates corresponding preset instructions. Among them, the process of analysis and processing can be to analyze, identify and locate the sunflower plant through a deep learning algorithm. The preset instructions include the pre-planned movement path of the moving member 102 and the adjustment angles of the robotic arm 20. Exemplarily, when it is determined that the growth state of the target object is the pollination period, the preset instruction can be to control the robotic arm 20 to perform pollination operations on the target object through the pollination device 30; when it is determined that the growth state of the target object is the mature period, the preset instruction can be to control the robotic arm 20 to perform picking operations on the target object through the picking device 40. When the robotic arm 20 receives the preset instruction, it first controls the moving member 102 to move towards the target object. When it is at a preset distance (such as 10 cm) from the target object, it controls the robotic arm 20 to adjust at least one of the first angle, the second angle, the third angle and the fourth angle to realize the telescopic movement of the robotic arm, so that the pollination device 30 or the picking device 40 is further close to the target object to realize automatic pollination operations or picking operations. In this way, after the image collector 103 in the mobile device 10 collects the image data, the controller can quickly locate the target object, drive the moving member 102 to move towards the target object, and at the same time control the robotic arm 20 to perform telescopic movement, so that the pollination device 30 or the picking device 40 is close to the target object, pour the pollen in the pollen trough of the pollination device 30 into the flower disc of the target object, or cut the stem of the target object through the picking device 40, realizing automatic pollination operations or picking operations, improving the operation efficiency; and the pollination device 30 and the picking device 40 can be disassembled and interchanged, automatically switching between the pollination and picking dual modes according to the growth state of the target object, reducing the workload of the operator and further improving the operation efficiency.

[0041] Optionally, the pollination cake 301 includes a first cake tray, a second cake tray, and a vibrator. The first cake tray and the second cake tray are stacked. The vibrator is disposed between the first cake tray and the second cake tray. The first cake tray is recessed toward the second cake tray to form the plurality of powder grooves 303, and the openings of the plurality of powder grooves 303 all face away from the second cake tray. The second cake tray is connected to the connecting member 204 through the first fixing rod 302. The vibrator is electrically connected to the controller. When the preset instruction is a pollination instruction, after the pollination device 30 approaches the target object, the controller controls the vibrator to vibrate.

[0042] In this embodiment, the image collector 103 sends the collected image data to the controller. The controller analyzes and processes the image data based on the deep learning algorithm to locate the position of the target object. At the same time, when it is determined that the growth state of the target object is the pollination period, the controller generates a pollination instruction. The moving member 102 moves toward the target object according to the received pollination instruction. When at a preset distance from the target object, the robotic arm 20 adjusts at least one of the first angle, the second angle, the third angle, and the fourth angle according to the received pollination instruction to achieve the telescopic movement of the robotic arm 20, so that the pollination cake 301 of the pollination device 30 approaches the flower disc area of the target object. Then, the controller controls the vibrator to vibrate, so that the pollen in the powder grooves of the pollination cake 301 is poured into the flower disc of the target object, reducing the situation where pollen adheres to the powder grooves 303, realizing an automated pollination operation, and improving the efficiency of the pollination operation.

[0043] Optionally, the picking device 40 further includes a driver. The driver is disposed on the second fixing rod 404. The tool holder 403 is provided with a first guiding groove and a second guiding groove. The first guiding groove and the second guiding groove are arranged in a V shape. The first tool handle 401 and the second tool handle 402 are respectively disposed in the first guiding groove and the second guiding groove. A first connecting rod 405 is further disposed in the tool holder 403. The first end and the second end of the first connecting rod 405 are respectively connected to the first tool handle 401 and the second tool handle 402. One end of the second fixing rod 404 passes through the bottom of the tool holder 403 and is fixed between the first end and the second end of the first connecting rod 405. The driver is electrically connected to the controller. When the preset instruction is a picking instruction, after the picking device approaches the target object, the controller controls the driver to drive the second fixing rod 404 to drive the first tool handle 401 and the second tool handle 402 to move through the first connecting rod 405.

[0044] In this embodiment, the image collector 103 sends the collected image data to the controller. The controller analyzes and processes the image data based on a deep learning algorithm to locate the position of the target object. When determining that the growth state of the target object is the mature stage, the controller generates a picking instruction. The moving member 102 moves towards the target object according to the received picking instruction. When at a preset distance from the target object, the robotic arm 20 controls at least one of the first angle, the second angle, the third angle, and the fourth angle to be adjusted according to the received picking instruction, so as to achieve the telescopic movement of the robotic arm 20, making the first tool handle 401 and the second tool handle 402 of the picking device 40 approach the stem region of the target object. Then, the controller controls the driver to drive the second fixing rod 404 to contract. The second fixing rod 404 drives the first tool handle 401 and the second tool handle 402 to move downward along the corresponding guide grooves respectively through the first connecting rod 405. The first guide groove and the second guide groove are arranged in a V shape. In this way, the blades of the first tool handle 401 and the second tool handle 402 approach each other under the traction of the second fixing rod 404 to shear the stem of the target object. After the shearing is completed, the controller controls the driver to drive the second fixing rod 404 to extend. The second fixing rod 404 drives the first tool handle 401 and the second tool handle 402 to move upward along the corresponding guide grooves respectively through the first connecting rod 405. In this way, the first tool handle 401 and the second tool handle 402 move away from each other under the pushing action of the second fixing rod 404, so as to facilitate shearing the stems of the next object. Thus, an automated picking operation is realized, improving the efficiency of the picking operation.

[0045] It should be understood that a storage area may also be provided on the vehicle body for storing the sheared target object. Through the clamping action of the mutual approach of the first tool handle 401 and the second tool handle 402, and the unloading action of the mutual separation of the first tool handle 401 and the second tool handle 402, the sheared target object can be stored in the storage area on the vehicle body, realizing an automated picking operation.

[0046] Optionally, a receiving groove 104 is further provided on the top of the vehicle body. An electromagnet is provided in the connecting member 204. The electromagnet is electrically connected to the power supply through the controller. The first fixing rod 302 and the second fixing rod 404 are both magnetic members with a first magnetism. When the controller controls the electromagnet to be powered on, the electromagnet has a second magnetism. One of the pollination device 30 and the picking device 40 is magnetically connected to the electromagnet, and the other of the pollination device 30 and the picking device 40 is placed in the receiving groove 104.

[0047] In some embodiments, the first magnetism and the second magnetism are opposite magnetisms, and the magnetic members with different magnetisms can attract each other to achieve magnetic connection. An electromagnet is arranged in the connecting member 204, and the pollination device 30 or the picking device 40 can be assembled / disassembled flexibly and quickly. Specifically, when it is determined that the growth state of the target object is the pollination period, the controller generates a pollination instruction; the robotic arm 20 adjusts the angles between the base 201, the first arm 202, and the second arm 203 according to the received pollination instruction to move the connecting member 204 to the position of the pollination device 30 in the receiving groove 104; then, the controller controls the electromagnet to be energized so that the electromagnet has the second magnetism. In this way, when the connecting member 204 approaches the pollination device 30, the pollination device 30 can be magnetically connected to the electromagnet in the connecting member 204 through the first fixing rod 302, improving the assembly efficiency of the pollination device 30, and thus improving the efficiency of the subsequent pollination operation on the target object. Then, when it is determined that the growth state of another object is the mature period, the controller generates a picking instruction; the robotic arm 20 first adjusts the angles between the base 201, the first arm 202, and the second arm 203 according to the received picking instruction to move the connecting member 204 equipped with the pollination device 30 to the position of the receiving groove 104; the controller controls the electromagnet to be de-energized so that the electromagnet does not have the second magnetism. In this way, the pollination device 30 can be automatically disassembled from the second end of the connecting member 204 to the receiving groove 104, improving the disassembly efficiency of the pollination device 30; then, the angles between the base 201, the first arm 202, and the second arm 203 are adjusted again to move the connecting member 204 to the position of the picking device 40 in the receiving groove 104; then, the controller controls the electromagnet to be energized again so that the electromagnet has the second magnetism again. In this way, when the connecting member 204 approaches the picking device 40, the picking device 40 can be magnetically connected to the electromagnet in the connecting member 204 through the second fixing rod 404, realizing the magnetic connection between the picking device 40 and the electromagnet, and at the same time, the pollination device 30 is placed in the receiving groove 104. In this way, the assembly / disassembly efficiency of the pollination device 30 and the picking device 40 is improved, and the efficiency of the subsequent pollination / picking operation on the target object is improved.

[0048] It should be understood that the pollination device 30 is magnetically connected to the electromagnet through the first fixing rod 302, and at the same time, the picking device 40 is placed in the receiving groove 104, and the same technical effect can be achieved. To avoid repetition, it will not be elaborated here.

[0049] Optionally, a two-way joint is arranged at the second end of the connecting member 204. One interface of the two-way joint is connected to the first fixing rod 302, and the other interface of the two-way joint is connected to the second fixing rod 404. The first fixing rod 302 and the second fixing rod 404 are arranged in a staggered manner.

[0050] In some other embodiments, a two-way joint is provided at the second end of the connecting member 204. The two joints of the two-way joint are spaced apart, and the orientations of the joints are misaligned, so that the first fixing rod 302 and the second fixing rod 404 fixed in the two joints are misaligned. In this way, when the pollination device 30 and the picking device 40 are simultaneously arranged on the connecting member 204, the interference between the pollination device 30 and the picking device 40 is reduced. Exemplarily, when it is determined that the growth state of the target object is the pollination period, the controller generates a pollination instruction; according to the received pollination instruction, the robotic arm 20 adjusts the angles between the base 201, the first arm 202 and the second arm 203, so that the connecting member 204 approaches the target object, and adjusts the angle between the connecting member 204 and the two-way joint, so that the pollination cake 301 of the pollination device 30 approaches the flower disc area of the target object; then, the controller controls the vibrator to vibrate, so that the pollen in the pollen groove of the pollination cake 301 is poured into the flower disc of the target object, reducing the situation where the pollen adheres to the pollen groove 303, realizing an automated pollination operation and improving the efficiency of the pollination operation. Then, when it is determined that the growth state of another object is the mature period, the controller generates a picking instruction; according to the received picking instruction, the robotic arm 20 adjusts the angles between the base 201, the first arm 202 and the second arm 203, so that the connecting member 204 approaches the object, and adjusts the angle between the connecting member 204 and the two-way joint again, so that the first knife handle 401 and the second knife handle 402 of the picking device 40 approach the stem area of the target object; then, the controller controls the driver to drive the second fixing rod 404 to contract, and the second fixing rod 404 drives the first knife handle 401 and the second knife handle 402 to move downward along the corresponding guide grooves respectively through the first connecting rod 405, and the blades of the first knife handle 401 and the second knife handle 402 approach each other under the traction of the second fixing rod 404 to cut the stem of the target object, thereby realizing an automated picking operation and improving the efficiency of the picking operation. In this way, by simultaneously arranging the pollination device 30 and the picking device 40 on the connecting member 204, the interference between the pollination device 30 and the picking device 40 is reduced, and the pollination or picking dual-mode switching can be automatically performed according to the growth state of the target object, reducing the workload of the operator and further improving the operation efficiency.

[0051] Optionally, the robotic arm 20 further includes a turntable, and the second end of the second arm 203 is connected to the first end of the connecting member 204 through the turntable.

[0052] In this embodiment, a turntable is further provided on the robotic arm 20. The second end of the second arm 203 is connected to the first end of the connecting member 204 through the turntable. In this way, the degree of freedom between the second arm 203 and the connecting member 204 is increased, enabling more precise position and attitude control, improving the execution efficiency and quality, and performing outstandingly in delicate pollination / picking operations.

[0053] Optionally, a first hydraulic rod 205 is provided between the base 201 and the first arm 202, and / or a second hydraulic rod is provided between the first arm 202 and the second arm 203.

[0054] In this embodiment, the hydraulic rod can increase the movement range and operation flexibility of the robotic arm, and the hydraulic rod provides smooth and progressive force transmission, reducing the impact and vibration during the movement of the robotic arm and improving the operation accuracy. By providing the first hydraulic rod 205 between the base 201 and the first arm 202, and / or providing the second hydraulic rod between the first arm 202 and the second arm 203, the robotic arm 20 can quickly respond to preset commands, effectively shortening the action time and improving the work efficiency.

[0055] Optionally, drive motors are provided at the connection of the rotating shaft, the base 201 and the first arm 202, the connection of the first arm 202 and the second arm 203, and the connection of the second arm 203 and the connecting member 204, and the drive motors are electrically connected to the controller.

[0056] In this embodiment, motors are independently installed at each joint, enabling high-precision position and angle control to meet the requirements of complex movements. Multiple drive motors enable the robotic arm 20 to execute various motion modes, including rotation, lifting, etc., improving the operation flexibility. Through the controller, coordinated actions between the motors can be achieved, and different arm segments can smoothly cooperate in pollination / picking operations according to different preset commands, improving the operation efficiency.

[0057] Optionally, distance sensors are respectively provided around the vehicle body 101, and the distance sensors are electrically connected to the controller.

[0058] In this embodiment, the distance sensors can continuously monitor the surrounding environment, providing information about obstacles, boundaries, and other objects, enhancing the device's perception ability of the surrounding space. The distance sensors, in cooperation with the controller and the image collector 103, can support the autonomous navigation function, enabling the device to intelligently plan paths and avoid obstacles, achieving efficient movement. This improves its automation, safety, and flexibility, and enhances its interaction ability with the surrounding environment.

[0059] It should be noted that in this text, the term "comprising", "including" or any other variants thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising such element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present utility model is not limited to performing functions in the order discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0060] The embodiments of the present utility model have been described above in conjunction with the accompanying drawings. However, the present utility model is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present utility model, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present utility model, and all of them fall within the protection scope of the present utility model.

Claims

1. An integrated sunflower pollination and harvesting device, characterized in that, Comprising: A mobile device, the mobile device includes a vehicle body having an accommodation cavity, a moving member is provided at the bottom of the vehicle body, at least two image collectors are provided around the vehicle body, and a controller is provided in the accommodation cavity of the vehicle body. The controller is electrically connected to the image collectors to obtain image data collected by the image collectors; A robotic arm, the robotic arm is electrically connected to the controller to receive a preset instruction from the controller. The preset instruction is an instruction generated by the controller according to the image data. The robotic arm includes a base, a first arm, a second arm and a connecting member. The first end face of the base is fixed to the top of the vehicle body, the second end face of the base is rotatably connected to the first end of the first arm, the first end face of the base and the second end face of the base are connected by a rotating shaft, the second end of the first arm is rotatably connected to the first end of the second arm, and the second end of the second arm is rotatably connected to the first end of the connecting member; A pollination device, the pollination device includes a circular pollination cake and a first fixing rod. The pollination cake is detachably connected to the second end of the connecting member through the first fixing rod, and a plurality of powder grooves are provided on the pollination cake; A picking device, the picking device includes a first knife handle, a second knife handle, a knife rest and a second fixing rod. The first knife handle and the second knife handle are provided on the top of the knife rest, and the blades of the first knife handle and the second knife handle are arranged opposite to each other. The second fixing rod is provided at the bottom of the knife rest, and the second fixing rod is detachably connected to the second end of the connecting member; Wherein, when the robotic arm receives the preset instruction, at least one of a first angle, a second angle, a third angle and a fourth angle is adjusted so that the pollination device or the picking device approaches a target object. The first angle is the rotation angle of the rotating shaft, the second angle is the included angle between the base and the first arm, the third angle is the included angle between the first arm and the second arm, and the fourth angle is the included angle between the second arm and the connecting member.

2. The integrated sunflower pollination and picking device according to claim 1, characterized in that, The pollination cake includes a first cake plate, a second cake plate and a vibrator. The first cake plate and the second cake plate are stacked. The vibrator is arranged between the first cake plate and the second cake plate. The first cake plate is recessed towards the second cake plate to form the plurality of powder grooves, and the openings of the plurality of powder grooves all face away from the second cake plate. The second cake plate is connected to the connecting member through the first fixing rod, and the vibrator is electrically connected to the controller. When the preset instruction is a pollination instruction, after the pollination device approaches the target object, the controller controls the vibrator to vibrate.

3. The integrated sunflower pollination and picking device according to claim 1, wherein, The picking device further includes a driver, which is arranged on the second fixed rod. The tool rest is provided with a first guide groove and a second guide groove, and the first guide groove and the second guide groove are arranged in a V shape. The first tool handle and the second tool handle are respectively arranged in the first guide groove and the second guide groove. A first connecting rod is further arranged in the tool rest, and the first end and the second end of the first connecting rod are respectively connected to the first tool handle and the second tool handle. One end of the second fixed rod passes through the bottom of the tool rest and is fixed between the first end and the second end of the first connecting rod. The driver is electrically connected to the controller. When the preset instruction is a picking instruction, after the picking device approaches the target object, the controller controls the driver to drive the second fixed rod, so as to drive the first tool handle and the second tool handle to move through the first connecting rod.

4. The integrated sunflower pollination and picking device according to claim 1, characterized in that, A receiving groove is further arranged at the top of the vehicle body. An electromagnet is arranged in the connecting member, and the electromagnet is electrically connected to a power supply through the controller. The first fixed rod and the second fixed rod are both magnetic members with a first magnetism. When the controller controls the electromagnet to be energized, the electromagnet has a second magnetism. One of the pollination device and the picking device is magnetically connected to the electromagnet, and the other of the pollination device and the picking device is placed in the receiving groove.

5. The integrated sunflower pollination and picking device according to claim 1, wherein, A two-way joint is arranged at the second end of the connecting member. One interface of the two-way joint is connected to the first fixed rod, and the other interface of the two-way joint is connected to the second fixed rod. The first fixed rod and the second fixed rod are arranged in a staggered manner.

6. The integrated sunflower pollination and picking device according to claim 1, characterized in that The robotic arm further includes a turntable, and the second end of the second arm is connected to the first end of the connecting member through the turntable.

7. The integrated sunflower pollination and picking device according to any one of claims 1 to 6, characterized in that A first hydraulic rod is arranged between the base and the first arm, and / or a second hydraulic rod is arranged between the first arm and the second arm.

8. The integrated sunflower pollination and picking device according to any one of claims 1 to 6, characterized in that Drive motors are arranged at the joints of the rotating shaft, the base and the first arm, the first arm and the second arm, and the second arm and the connecting member. The drive motors are electrically connected to the controller.

9. The integrated sunflower pollination and picking device according to any one of claims 1 to 6, characterized in that, The moving members are symmetrically arranged at the bottom of the vehicle body.

10. The integrated sunflower pollination and picking device according to any one of claims 1 to 6, characterized in that, Distance sensors are respectively arranged around the vehicle body, and the distance sensors are electrically connected to the controller.

Images