Intelligent fruit bagging robot

Abstract

The utility model discloses an intelligent fruit bagging robot, and relates to the field of robots. A bagging device is arranged at the end of the mechanical arm and comprises two hollow lantern rings with the same shape and size, clamping assemblies are arranged at the front ends of the hollow lantern rings, annular electric heating wires are arranged on the hollow lantern rings, and the two hollow lantern rings move oppositely or oppositely through a driving assembly. And when the two hollow lantern rings move relatively until the two hollow lantern rings abut against each other and are folded, an annular heating ring is formed. The multi-angle and multi-direction bagging and bag taking operation can be achieved, the multi-angle and multi-direction bagging and bag taking device can be suitable for different fruits, input of a large number of manpower resources can be reduced, and the management efficiency of a large-area orchard can be greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to an intelligent fruit bagging robot. Background Technology

[0002] To improve fruit yield and quality, fruit growers typically use fruit bagging during cultivation. Fruit bagging protects the fruit from birds, fruit flies, and bacteria without affecting or damaging its normal growth and ripening. It also prevents scratches from branches and direct sunlight. Furthermore, the bag's breathability and the resulting greenhouse effect help maintain suitable temperature and humidity, increasing sweetness, improving luster, increasing yield, and shortening the growth period. Since pesticides are not needed during growth, the fruit is of high quality and pollution-free. Therefore, fruit bagging is an important means of improving fruit appearance and reducing pesticide residues. However, currently, fruit growers mainly use manual bagging, which is not only labor-intensive and resource-intensive but also inefficient. Summary of the Invention

[0003] In view of the above-mentioned deficiencies of the prior art, the present invention provides an intelligent fruit bagging robot, including a control board and a base. A robotic arm is installed on the base, and a bagging device is provided at the end of the robotic arm. The bagging device includes two hollow rings of the same shape and size. A clamping component is provided at the front end of the hollow rings. An annular heating wire is provided on the hollow rings. The two hollow rings move relative to each other or away from each other through a driving component. When the two hollow rings move relative to each other until they come together to form an annular heating ring.

[0004] Furthermore, the clamping assembly includes a bag clamp and a clamping drive motor, with one end of the bag clamp mounted to the output end of the clamping drive motor.

[0005] Furthermore, the drive assembly includes a collar drive motor, two first links and two second links. The second links include a front link and a rear link that are hinged together. One end of each of the two first links is hinged to the end of the robotic arm, and the other end is fixedly connected to the hollow collar. The rear links of the two second links are connected to the output end of the drive motor, and the front links of the two second links are fixedly connected to the hollow collar.

[0006] Furthermore, the robot includes a camera mounted at the end of the robotic arm and located between two hollow collars, with the camera's transmission end connected to the control board.

[0007] Furthermore, the control board is equipped with a positioner.

[0008] Furthermore, the lower end of the base is provided with a track assembly.

[0009] Furthermore, the base is equipped with a three-axis accelerometer and a three-axis angular velocity sensor.

[0010] Compared with the prior art, the present invention has the following technical advantages:

[0011] This utility model's bagging robot features a robotic arm capable of bagging and unloading operations from multiple angles and directions. The bagging component utilizes heating wires to complete the bagging process, making it suitable for various fruits. This not only significantly reduces the need for manpower but also greatly improves the management efficiency of large-scale orchards, simplifying, automating, and increasing orchard management.

[0012] The following will further explain the concept, specific structure and technical effects of this utility model in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of this utility model. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of a specific embodiment of the present utility model;

[0014] Figure 2 This is a schematic diagram of the bagging device according to a specific embodiment of the present utility model;

[0015] Figure 3 yes Figure 2 The main view;

[0016] Figure 4 yes Figure 2 A bottom view;

[0017] Figure 5 This is a structural schematic diagram of the track portion of this utility model;

[0018] Figure 6 This is a bottom view of the track section of this utility model;

[0019] Figure 7 This is a schematic diagram of the control board principle of this utility model.

[0020] In the diagram, 1-2 are wooden pieces; 3-4 are clamping drive motors; 5-6 are bagging clamps; 7 is a hollow collar; 8 is a heating wire; 9 is a camera; 10 is a bagging drive motor; 11 is a gear; 12-15 are articulated servo motors; 16 is an articulated servo motor; 17 is a base; 18 is a track; 19 is a DC geared motor; 20 is a control board; 21 is the first connecting rod; 22 is the front connecting rod; and 23 is the rear connecting rod. Detailed Implementation

[0021] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0022] like Figure 1 As shown, in one specific embodiment, an intelligent fruit bagging robot is provided, including a base 17, a robotic arm mounted on the upper end of the base 17, and a control board 20 installed in the base 17. In this embodiment, the control board 20 uses a Raspberry Pi 4B+, which runs the embedded system Raspbian Pi OS and uses Geany as its driver IDE. Within the IDE, a lightweight deep learning model YOLOv5s is run for fruit target detection. The target detection uses a pinhole camera algorithm to obtain the depth information of the fruit. The control board 20 is also equipped with an Intel second-generation neural computing stick to improve the frame rate of target video stream recognition. Image data is transmitted to the control board 20 through an Intel RealSense camera 9.

[0023] The robotic arm is a six-degree-of-freedom robotic arm. Its lower end is fixedly mounted on a base 17, with a base servo motor between the base 17 and the robotic arm. Each joint of the robotic arm is equipped with a 20kg shutdown servo motor 12-16, thus enabling control of the robotic arm. The end of the robotic arm is equipped with a bag-collecting device. During operation, the length, position, and angle of the robotic arm are adjusted via the base 17 servo motor and the shutdown servo motors 12-16, allowing the bag-collecting device to move back and forth between the bag-collecting station and the bag-collecting station. By combining a control program with a corresponding four-degree-of-freedom spherical control model, PID control algorithm, and other forward and inverse kinematic models, the robotic arm's corresponding extension, bag-collecting, rotation, and retraction actions are designed, achieving a highly flexible, highly free, and highly precise robotic arm control system.

[0024] like Figure 2-4As shown, the bagging device includes a clamping assembly and a bagging assembly. The clamping assembly is used to clamp and fix the bag, and the bagging assembly is used to fix the bag to the outside of the fruit. As shown, the bagging assembly includes a driving assembly, a wooden piece 1, and a wooden piece 2. Two hollow rings 7 of the same shape and size are respectively installed on the two wooden pieces 1 and 2. In this embodiment, the hollow rings 7 are circular. In specific applications, the shape of the hollow rings 7 can be designed according to the fruit that needs to be bagged, such as elliptical or rectangular. The inner wall of the hollow rings 7 is provided with a ring-shaped heating wire 8. In order to reduce heat loss and for safety considerations, the outside of the rings is covered with high-temperature adhesive tape. The output end of the driving assembly drives the hollow rings 7 to move relative to each other or away from each other. When the two hollow rings 7 move relative to each other through the driving assembly until they come into contact and form a ring heating ring, the bag will seal the fruit in the circular area under the action of the heating ring.

[0025] In one specific embodiment, the bagging assembly includes a relay. The heating power supply is connected to the heating wire 8 via the relay. The control board 20 controls the closing and opening of the relay to control the heating time. During the bagging operation, a signal is input through the IN port of the relay connected to the expansion board to control the relay to close and energize the heating wire 8, thereby heating the nickel-chromium electric heating flat strip. After energizing for 2-3 seconds, the relay is disconnected, and the bagging device releases the bag.

[0026] The drive assembly is used to adjust the relative position of the two hollow collars 7. As shown in the figure, the drive assembly in this embodiment includes a collar drive motor 10, two first connecting rods, and two second connecting rods. The second connecting rods include a front connecting rod and a rear connecting rod that are hinged together. One end of each of the two first connecting rods is hinged to the end of the robotic arm, and the other end is fixedly connected to the hollow collars 7. The rear connecting rods of the two second connecting rods are connected to the output end of the drive motor, and the front connecting rods of the two second connecting rods are fixedly connected to the hollow collars 7. The rear connecting rods of the two second connecting rods have a gear structure, and the two gears 11 mesh with each other. The output end of the collar drive motor 10 is fixed at the center of the gear 11. The rotation of the output shaft of the collar drive motor 10 drives one of the gears 11 to rotate. Under the action of meshing, it drives the other gear 11 to rotate. The rotating gear 11 drives the hollow collars 7 to rotate through the second connecting rods. Since one end of the first connecting rod is installed at the end of the robotic arm, the two hollow collars 7 reciprocate within a fixed trajectory.

[0027] In this embodiment, the clamping components are installed at the front end of the wooden sheet. The two sets of clamping components have the same structure, including bag clamps 5 and 6 and clamping drive motors 3 and 4. One end of the bag clamp 5 is installed to the output end of the clamping drive motor 3, and one end of the bag clamp 6 is installed to the output end of the clamping drive motor 4. The control board 20 inputs a signal to the enable terminal of L298N, so that it drives the N20 reduction motor after being enabled, thereby controlling the bag clamping motor on the bag clamp. The clamping drive motor drives the bag clamp to rotate, completing the bag taking and bag opening operations.

[0028] The robot includes a camera 9, which serves as its vision system, enabling rapid and intelligent identification and positioning of fruit. The camera 9 is mounted at the end of the robotic arm, positioned between two hollow collars 7. In this embodiment, the camera 9 is an Intel RealSense depth camera 9, capable of depth perception and 3D vision applications, providing high-resolution RGB images (1080p) and depth images, with a maximum depth measurement range of 10 meters. The data port of the camera 9 is connected to a control board 20, which controls image capture and video recording. This camera 9 allows the robot to acquire images both day and night. The robot can skip rotten fruit and complete bagging only when qualified fruit is detected. Specific target detection can also be performed according to user needs.

[0029] like Figure 5-6 As shown, the lower end of the base 17 is equipped with a track 18 assembly, and the bottom adopts a track 18 type mobile base 17, which enables the robot to move freely in the complex environment of the orchard. The track 18 type mobile base 17 is driven by two high torque motors. The main control board and auxiliary function modules such as power supply are installed inside the base 17, thereby increasing the weight of the base 17, improving the stability of the robot, and avoiding interference with the robotic arm and bagging device.

[0030] like Figure 7 As shown, the robot includes a locator, a tipping detection module, a power detection module, and an automatic obstacle avoidance module. The locator, tipping detection module, power detection module, and automatic obstacle avoidance module are respectively connected to corresponding ports on the control board 20.

[0031] In this embodiment, the locator is an ATK-S1216F8-BD module, a high-performance GPS / BeiDou dual-mode positioning module. The module has a built-in IPX interface for connecting various active antennas and a rechargeable backup battery, allowing it to retain ephemeris data even when power is off, thus reflecting and recording the robot's current position in real time. The positioning module uses the TCP transmission control protocol, which provides a reliable end-to-end byte stream over unreliable internet networks. This communication protocol can also establish long-lived connections between devices. During connection establishment, the server and client need to perform a three-way handshake, effectively preventing erroneous connections.

[0032] In this embodiment, the tipping detection module uses an MPU6050 three-axis accelerometer and a three-axis angular velocity sensor to monitor the robot's pitch and roll angles in real time. When the robot is in operation, if the robot's pitch or roll angle is greater than 60° for more than 2 seconds, the main control board will send a tipping alarm to the server. When the robot is in operation, if the robot's pitch or roll angle is greater than 60° for more than 2 seconds, the main control board will send a tipping alarm to the server (indicated by a red light and an alarm sound).

[0033] The power detection module is essentially a voltage detection circuit, which can be implemented using a simple operational amplifier circuit. The main control board converts the voltage signal into a power percentage signal based on the voltage signal range and sends it to the server in real time. When the power level drops below 30%, a low power alarm signal is simultaneously sent to the server.

[0034] The automatic obstacle avoidance module uses an HC-SR04 ultrasonic sensor with an operating frequency of 40Hz. It can measure distances from 2 to 350cm with an accuracy of 3mm. It generates high-frequency sound waves and receives the reflected sound waves. The sensor calculates the time interval between sending the signal and receiving the echo to determine the position of the object at that distance.

[0035] When the battery level drops below 30%, a low battery alarm signal is sent to the server.

[0036] This utility model of intelligent fruit bagging robot consists of a fruit bagging mechanical part, a motor drive part, a wireless communication part, a core control part, a machine vision part, and an auxiliary function part. The GPS module, the tipping detection module, and the power detection module constitute the auxiliary part. In actual use, the operator can complete the bagging work of the entire orchard simply by sitting at home.

[0037] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. An intelligent fruit bagging robot, characterized in that, It includes a control board and a base, on which a robotic arm is mounted. The end of the robotic arm is equipped with a bagging device, which includes two hollow rings of the same shape and size. The front end of the hollow rings is equipped with a clamping component, and the hollow rings are equipped with annular heating wires. The two hollow rings move relative to each other or away from each other through a driving component. When the two hollow rings move relative to each other until they come together to form annular heating rings.

2. The intelligent fruit bagging robot according to claim 1, characterized in that, The clamping assembly includes a bag clamp and a clamping drive motor, with one end of the bag clamp installed to the output end of the clamping drive motor.

3. The intelligent fruit bagging robot according to claim 1, characterized in that, The drive assembly includes a collar drive motor, two first links and two second links. The second links include a front link and a rear link that are hinged together. One end of each of the two first links is hinged to the end of the robotic arm, and the other end is fixedly connected to the hollow collar. The rear links of the two second links are connected to the output end of the drive motor, and the front links of the two second links are fixedly connected to the hollow collar.

4. The intelligent fruit bagging robot according to claim 1, characterized in that, The robot includes a camera mounted at the end of the robotic arm and located between two hollow collars. The camera's transmission end is connected to the control board.

5. The intelligent fruit bagging robot according to claim 1, characterized in that, The control panel is equipped with a positioner.

6. The intelligent fruit bagging robot according to claim 1, characterized in that, The lower end of the base is provided with a track assembly.

7. The intelligent fruit bagging robot according to claim 1, characterized in that, The base is equipped with a three-axis accelerometer and a three-axis angular velocity sensor.

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