Full-automatic pumpkin picking robot based on visual identification

Abstract

The utility model discloses a full-automatic pumpkin picking robot based on visual identification, and relates to the technical field of picking robots, the full-automatic pumpkin picking robot comprises a chassis, the upper end of the chassis is fixedly provided with a fixing frame, the surface of the fixing frame is fixedly provided with a moving motor, and the surface of the moving motor is connected with a transmission belt; the surface of the transmission belt is connected with wheels, a lifting guide rod is arranged in the middle of the chassis, the upper end of the lifting guide rod is connected with a lifting frame in a sliding mode, and the surface of the lifting frame is connected with a lifting motor. The moving motor drives the wheels to move to change the position of the picking robot, the rotating motor, the lifting motor, the horizontal driving motor and the rotating motor change the positions of the clamping jaws, the finger air cylinder controls opening and closing of the clamping jaws, so that fruits are picked, the clamping jaws controlled by the multiple motors can move to more positions, and the fruits at different positions are conveniently grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of picking robots, in particular to a full-automatic pumpkin picking robot based on visual recognition. Background Art

[0002] A picking robot is an automated robotic system specifically designed for fruit and vegetable picking tasks in the agricultural sector. It uses machine vision to detect the path and fruit position, and a robotic arm grabs the fruit to complete the picking.

[0003] Existing picking robots pick fruits, but due to the inconsistent maturity of the fruits on the top of each plant, the picking robots can only pick the fruits selectively. However, due to the poor multi-angle movement of the robotic arms of existing robots and insufficient visual analysis capabilities, they are unable to selectively pick fruits. Therefore, a fully automatic pumpkin picking robot based on visual recognition is proposed to solve the above problems. Utility Model Content

[0004] The utility model provides a fully automatic pumpkin picking robot based on visual recognition, which solves the above technical problems.

[0005] In order to solve the above technical problems, the utility model provides a fully automatic pumpkin picking robot based on visual recognition, comprising a chassis, a fixed frame fixed on the upper end of the chassis, a mobile motor fixed on the surface of the fixed frame, a transmission belt connected to the surface of the mobile motor, a wheel connected to the surface of the transmission belt, a lifting guide rod is provided in the middle of the chassis, the upper end of the lifting guide rod is slidably connected to the lifting frame, the surface of the lifting frame is connected to the lifting motor, the lifting motor is transmission-connected to the lifting guide rod, the interior of the lifting frame is slidably connected to a slide rail, a positioning frame is fixed to one end of the slide rail, a locking frame is fixed to the other end of the slide rail relative to the positioning frame, and a belt clamp is fixed to the upper end of the lifting guide rod. The upper end of the positioning frame is fixed with a horizontal driving motor, and the surface transmission of the horizontal driving motor is connected to the moving belt, and the belt clamp is fixedly connected to the moving belt, and the upper end of the locking frame is fixed with a pulley, and the pulley is connected to the moving belt transmission, and the surface of the locking frame is rotatably connected to the rotating frame, and the surface of the rotating frame is fixed with a transmission wheel, and the surface of the positioning frame is fixed with a rotating motor, and the rotating motor and the transmission wheel are connected through a belt transmission, and the surface of the rotating frame is connected to a finger cylinder, and the lower end of the finger cylinder is fixed with a clamping claw, and the surface of the chassis is provided with a clamping frame, and a gas cylinder is provided inside the clamping frame, and the gas cylinder is connected to an air pump through a pipeline, and the air pump is connected to the finger cylinder through a pipeline.

[0006] Preferably, a laser radar is fixed to the side of the chassis, a control host is fixed to the upper end of the chassis, and a camera is fixed to the surface of the locking frame.

[0007] Preferably, the middle section of the chassis is connected to a rotating seat, and the upper end of the rotating seat is rotatably connected to a lifting guide rod.

[0008] Preferably, the outer surface of the rotating seat is toothed with a power gear, and the lower end of the power gear is transmission-connected to a rotating motor.

[0009] Compared with related technologies, the fully automatic pumpkin picking robot based on visual recognition provided by the present invention has the following beneficial effects:

[0010] The utility model determines the position of the fruit through laser radar and camera, determines the maturity of the fruit, and judges the picking of different fruits. The position of the picking robot is changed by moving the wheels driven by a mobile motor, and the position of the clamp is changed by a rotating motor, a lifting motor, a horizontal drive motor and a rotary motor. The finger cylinder controls the opening and closing of the clamp to pick the fruit. The clamp controlled by multiple motors can move to more positions, making it convenient to grab fruits in different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is the main structure diagram of the utility model;

[0012] Figure 2 It is a side structural diagram of the utility model;

[0013] Figure 3 This is a back structure diagram of the present utility model.

[0014] Numbers in the figure: 1. Positioning frame; 2. Lifting motor; 3. Lifting frame; 4. Lifting guide rod; 5. Lifting radar; 6. Moving motor; 7. Fixed frame; 8. Wheel; 9. Chassis; 10. Rotating motor; 11. Gas cylinder; 12. Fixed frame; 13. Rotating seat; 14. Rotating frame; 15. Locking frame; 16. Slide rail; 17. Moving belt; 18. Belt clamp; 19. Horizontal drive motor; 20. Control host; 21. Camera; 22. Finger cylinder; 23. Gripper; 24. Rotating motor; 25. Transmission wheel. DETAILED DESCRIPTION

[0015] Example, by Figure 1-3The utility model includes a fully automatic pumpkin picking robot based on visual recognition, including a chassis 9, a fixed frame 7 is fixed on the upper end of the chassis 9, a mobile motor 6 is fixed on the surface of the fixed frame 7, a transmission belt is connected to the surface of the mobile motor 6, and a wheel 8 is connected to the surface of the transmission belt. A lifting guide rod 4 is provided in the middle of the chassis 9, the upper end of the lifting guide rod 4 is slidably connected to the lifting frame 3, the surface of the lifting frame 3 is connected to the lifting motor 2, the lifting motor 2 is transmission-connected to the lifting guide rod 4, the interior of the lifting frame 3 is slidably connected to a slide rail 16, one end of the slide rail 16 is fixed to a positioning frame 1, and the other end of the slide rail 16 relative to the positioning frame 1 is fixed to a locking frame 15, the upper end of the lifting guide rod 4 is fixed with a belt clip 18, and the upper end of the positioning frame 1 is fixed with a water pump. A flat drive motor 19, the surface transmission connection of the horizontal drive motor 19 is connected to the moving belt 17, the belt clamp 18 is fixedly connected to the moving belt 17, the upper end of the locking frame 15 is fixed with a pulley, the pulley is transmission-connected to the moving belt 17, the surface rotation connection of the locking frame 15 is connected to the rotating frame 14, the surface of the rotating frame 14 is fixed with a transmission wheel 25, the surface of the positioning frame 1 is fixed with a rotating motor 24, the rotating motor 24 and the transmission wheel 25 are connected by belt transmission, the surface of the rotating frame 14 is connected to the finger cylinder 22, the lower end of the finger cylinder 22 is fixed with a clamping claw 23, the surface of the chassis 9 is provided with a clamping frame 12, the inside of the clamping frame 12 is provided with a gas cylinder 11, the gas cylinder 11 is connected to an air pump through a pipeline, and the air pump is connected to the finger cylinder 22 through a pipeline.

[0016] A laser radar 5 is fixed to the side of the chassis 9 , a control host 20 is fixed to the upper end of the chassis 9 , and a camera 21 is fixed to the surface of the locking frame 15 .

[0017] The middle section of the chassis 9 is connected to a rotating seat 13 , and the upper end of the rotating seat 13 is rotatably connected to the lifting guide rod 4 .

[0018] The outer surface of the rotating seat 13 is toothed with a power gear, and the lower end of the power gear is transmission-connected to the rotating motor 10 .

[0019] The laser radar 5 detects the surrounding environment, and the control host 20 controls the mobile motor 6 to rotate according to the surrounding environment. The rotating movement click drives the wheels 8 to rotate, and the steering is performed by the speed difference between the wheels 8. The rotating motor 10 drives the rotating seat 13 to rotate, and the rotating seat 13 rotates to change the angle of the lifting guide rod 4. The lifting motor 2 rotates to drive the lifting frame 3 to move up and down on the surface of the lifting guide rod 4, so that the height of the slide rail 16 changes, and the horizontal drive motor 19 is started. The horizontal drive motor 19 drives the moving belt 17 to rotate. Since the belt clip 18 is fixed, the slide rail 16 slides inside the lifting frame 3. The rotating motor 24 drives the transmission wheel 25 to rotate, and the angle of the transmission wheel 25 changes, thereby driving the rotating frame 14 to rotate relative to the locking frame 15, and the clamp 23 moves to both sides of the fruit. The camera 21 takes a picture of the fruit and corrects the angle of the clamp 23. The air pump extracts the gas in the gas cylinder 11 into the finger cylinder 22, and the finger cylinder 22 drives the clamp 23 to close to grab the fruit.

Claims

1. A fully automatic pumpkin picking robot based on visual recognition, comprising a chassis (9), characterized in that: A fixed frame (7) is fixed to the upper end of the chassis (9), a mobile motor (6) is fixed to the surface of the fixed frame (7), a transmission belt is connected to the surface of the mobile motor (6), a wheel (8) is connected to the surface of the transmission belt, a lifting guide rod (4) is provided in the middle of the chassis (9), the upper end of the lifting guide rod (4) is slidably connected to the lifting frame (3), the surface of the lifting frame (3) is connected to the lifting motor (2), the lifting motor (2) is transmission-connected to the lifting guide rod (4), the interior of the lifting frame (3) is slidably connected to a slide rail (16), one end of the slide rail (16) is fixed to a positioning frame (1), the other end of the slide rail (16) relative to the positioning frame (1) is fixed to a locking frame (15), the upper end of the lifting guide rod (4) is fixed to a belt clip (18), the upper end of the positioning frame (1) is fixed to a horizontal drive motor (19), the horizontal drive motor (1 9) is connected to the surface transmission of a moving belt (17), the belt clamp (18) is fixedly connected to the moving belt (17), the upper end of the locking frame (15) is fixed with a pulley, the pulley is transmission-connected to the moving belt (17), the surface of the locking frame (15) is rotationally connected to the rotating frame (14), the surface of the rotating frame (14) is fixed with a transmission wheel (25), the surface of the positioning frame (1) is fixed with a rotating motor (24), the rotating motor (24) and the transmission wheel (25) are connected through a belt transmission, the surface of the rotating frame (14) is connected to a finger cylinder (22), the lower end of the finger cylinder (22) is fixed with a clamping claw (23), the surface of the chassis (9) is provided with a clamping frame (12), the interior of the clamping frame (12) is provided with a gas cylinder (11), the gas cylinder (11) is connected to an air pump through a pipeline, and the air pump is connected to the finger cylinder (22) through a pipeline.

2. The fully automatic pumpkin picking robot based on visual recognition according to claim 1, characterized in that: A laser radar (5) is fixed on the side of the chassis (9), a control host (20) is fixed on the upper end of the chassis (9), and a camera (21) is fixed on the surface of the locking frame (15).

3. The fully automatic pumpkin picking robot based on visual recognition according to claim 1, characterized in that: The middle section of the chassis (9) is connected to a rotating seat (13), and the upper end of the rotating seat (13) is rotatably connected to a lifting guide rod (4).

4. The fully automatic pumpkin picking robot based on visual recognition according to claim 3 is characterized in that: The outer surface of the rotating seat (13) is toothed with a power gear, and the lower end of the power gear is transmission-connected to a rotating motor (10).

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