Intelligent yellow peach picking robot based on machine vision

Abstract

The utility model discloses an intelligent yellow peach picking robot based on machine vision, which comprises a crawler-type walking chassis, a lifting workbench, a multi-degree-of-freedom mechanical arm arranged on a rotary table arranged at the top of the lifting workbench, a picking device arranged at the front end of the multi-degree-of-freedom mechanical arm, a visual identification module and a driving device arranged on the lifting workbench, the picking claw comprises a fixed seat, the fixed seat is rotationally sleeved with a rotating seat, three claw bases are evenly distributed on the rotating seat in the circumferential direction, grabhooks are hinged to the claw bases through first connecting rods, the driving rod movably penetrates through the fixed seat, three linkage claws corresponding to the three grabhooks are hinged to the front end of the driving rod, and the front ends of the linkage claws are hinged to the middles of the grabhooks. The middle of the linkage claw is hinged to the claw base through a second connecting rod, and the other end of the driving rod is connected with a driving mechanism pushing the driving rod to move front and back. The yellow peach picking machine can efficiently and accurately complete the picking task of yellow peaches, the labor intensity of manual picking is reduced, and the picking efficiency and quality are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery field, concretely is a kind of intelligent robot of yellow peach picking based on machine vision. BACKGROUND

[0002] Yellow peach harvesting link is one of the most important links in its production and processing. The picking process directly affects the quality and freshness of yellow peach, however, the picking process of yellow peach has high work intensity, high labor intensity, high labor cost, and the picking quality is difficult to guarantee, which brings a lot of challenges to the growers. At present, there are many types of pepper and eggplant harvesting machines at home and abroad, but most of them use large machinery for harvesting. Since the yellow peach planting area is mostly hilly terrain, the landform is relatively complex, and the large machinery is often limited in walking, and the equipment is easy to cause damage to the flesh during the harvesting process. Therefore, it has important practical value and commercial prospect to study a multifunctional fruit picking robot capable of yellow peach picking operation. SUMMARY

[0003] The utility model aims at providing a kind of intelligent robot of yellow peach picking based on machine vision, can efficiently, accurately complete the picking task of yellow peach, greatly reduce the labor intensity of artificial picking, improve picking efficiency and quality.

[0004] The technical scheme adopted by the utility model is as follows: a kind of intelligent robot of yellow peach picking based on machine vision, including tracked walking chassis, lifting workbench is installed on the tracked walking chassis, rotating platform is fixedly installed on the top of the lifting workbench, multiple degrees of freedom mechanical arm is installed on the rotating platform, picking device is installed at the front end of the multiple degrees of freedom mechanical arm, the picking device includes connecting arm connected with multiple degrees of freedom mechanical arm and picking claw and vision identification module installed on the connecting arm, the picking claw includes fixed seat, rotating seat is rotatably connected outside the fixed seat, transmission gear is fixed on the outer ring of the rotating seat, the transmission gear is engaged with driving gear, the driving gear is connected with the output end of driving motor for driving the rotating seat to rotate, three claw pedestals are uniformly distributed on the rotating seat, the claw pedestal is hingedly connected with gripper through first connecting rod, driving rod is movably penetrated through the fixed seat, three linkage claws are hingedly connected with the front end of the driving rod respectively corresponding three grippers, the front end of the linkage claw is hingedly connected with the middle part of the gripper, the middle part of the linkage claw is hingedly connected with the claw pedestal through second connecting rod, the other end of the driving rod is connected with driving mechanism, the driving mechanism pushes and pulls driving rod to move forward and backward to control gripper through linkage claw and first connecting rod, second connecting rod to complete the action of gripping and releasing.

[0005] Further, the multi-degree-of-freedom mechanical arm comprises a first mechanical arm, a second mechanical arm, a first rotary motor for driving the first mechanical arm to rotate is connected to the lower end of the first mechanical arm, the upper end of the first mechanical arm is rotationally connected with the second mechanical arm, and the second rotary motor for driving the second mechanical arm to rotate is installed on the upper end of the first mechanical arm, and the front end of the second mechanical arm is rotationally connected with the connecting arm, and the third rotary motor for driving the connecting arm to rotate is installed on the front end of the second mechanical arm.

[0006] Further, the picking device further comprises a harvesting claw, the harvesting claw is located below the picking claw and is fixedly connected with the connecting arm through a connecting rod.

[0007] Further, the rotating table is fixedly connected with a collecting frame placing rack, and the collecting frame placing rack is placed with a collecting frame for containing fruits.

[0008] Further, the collecting frame placing rack is provided with two and is installed on the two sides of the rotating table respectively, and the collecting frame is placed on each collecting frame placing rack.

[0009] Further, the driving mechanism comprises a steering wheel, and the output end of the steering wheel is connected with the driving rod through a connecting rod mechanism.

[0010] Further, the lifting workbench is a scissor type lifting platform.

[0011] Further, the lifting workbench is installed with a solar panel.

[0012] The yellow peach picking intelligent robot of the utility model, through integration machine vision technology, robot can automatically identify the maturity and position of yellow peach, can operate flexibly in complex environment, picks yellow peach quickly and accurately, robot chassis adopts track type design, so that robot can walk stably on various terrains, especially uneven ground in orchard, lifting workbench is used for adjusting the height of whole robot, so that it can adapt to yellow peach trees of different heights more flexibly, the ingenious design of picking claw can ensure that fruits are not damaged in picking process, and keep intact and beautiful, the yellow peach picking intelligent robot of the utility model can complete the picking task of yellow peach efficiently and accurately, greatly reduces the labor intensity of manual picking, and improves picking efficiency and quality. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is the overall structure schematic view of the utility model.

[0014] Figure 2 It is the structure schematic view of the multi-degree-of-freedom mechanical arm and picking device of the utility model.

[0015] Figure 3 It is the structure schematic view of the picking claw of the utility model. Detailed Implementation

[0016] To facilitate understanding of this utility model, it will be described more comprehensively and in detail below with reference to the accompanying drawings and preferred embodiments. However, the scope of protection of this utility model is not limited to the following specific embodiments.

[0017] like Figure 1 As shown, this embodiment discloses a machine vision-based intelligent robot for harvesting yellow peaches. The overall structure mainly consists of a walking section, a harvesting section, and a controller module. The robot's walking system includes a tracked chassis 100. The tracked design allows the robot to walk stably on various terrains, especially uneven ground in orchards. A lifting platform 200 is mounted on the tracked chassis 100 to adjust the robot's overall height, enabling it to adapt more flexibly to yellow peach trees of different heights. In this embodiment, the lifting platform 200 is a scissor-type platform, providing stable and smooth lifting movements. A turntable 300 is fixedly mounted on the top of the lifting platform 200. The turntable 300 can rotate 360 ​​degrees, and a multi-degree-of-freedom robotic arm 400 is mounted on the turntable 300. A harvesting device 500 is mounted at the front end of the multi-degree-of-freedom robotic arm 400. The multi-degree-of-freedom robotic arm 400 can rotate at multiple angles, thereby increasing the working range of the harvesting device 500. A collection frame placement rack 600 is fixedly connected to both sides of the turntable 300. The collection frame placement rack 600 holds a collection frame 700 for holding the fruit, so as to receive the harvested yellow peaches. A solar panel 800 is also installed on the lifting worktable 200 to provide a green and sustainable energy supply for the robot.

[0018] like Figure 2 As shown, in this embodiment, the picking device 500 includes a connecting arm 510 connected to a multi-degree-of-freedom robotic arm 400, a picking claw 530 mounted on the connecting arm 510, and a vision recognition module 520. The vision recognition module 520 includes a high-definition camera for real-time capture of images of yellow peaches in the orchard, and a processing module for image processing and recognition, providing data support for the robotic arm's precise picking. The field of machine vision has developed various mature image processing and recognition algorithms, such as convolutional neural networks (CNNs) in deep learning. These algorithms have excellent performance in object recognition, classification, and localization. In this invention, the vision recognition module 520 adopts a yellow peach recognition algorithm based primarily on color features. By fully utilizing the color features of yellow peaches, it achieves fruit recognition and localization.

[0019] like Figure 3As shown, in the embodiment, the picking claw 530 comprises a fixed seat 531, the fixed seat 531 is rotatably sleeved with a rotating seat 532 outside, a transmission gear 533 is fixed on the outer ring of the rotating seat 532, the transmission gear 533 is engaged with a driving gear 534, the driving gear 534 is connected with the output end of a driving motor 535 for driving the rotating seat 532 to rotate, three claw bases 536 are uniformly distributed on the rotating seat 532 in the circumferential direction, the claw base 536 is hingedly connected with a grabbing claw 538 through a first connecting rod 537, a driving rod 539 is movably penetrated through the fixed seat 531, three linkage claws 5310 are hingedly connected with the front end of the driving rod 539 respectively corresponding to the three grabbing claws 538, the front end of the linkage claw 5310 is hingedly connected with the middle part of the grabbing claw 538, the middle part of the linkage claw 5310 is hingedly connected with the claw base 536 through a second connecting rod 5311, the other end of the driving rod 539 is connected with a driving mechanism, the driving mechanism pushes the driving rod 539 to move forward and backward to control the grabbing claw 538 to complete the actions of grabbing and releasing through the linkage claw 5310 and the first connecting rod 537 and the second connecting rod 5311. The driving mechanism comprises a rudder 5312, the output end of the rudder 5312 is connected with the driving rod 539 through a connecting rod mechanism 5313, and the driving rod 539 is rotationally matched with the connecting rod mechanism 5313.

[0020] Since the yellow peach is soft and easy to be damaged, the picking claw 530 of the utility model simulates the human finger joint, adopts a three-degree-of-freedom mechanical claw, when the picking action is performed, the yellow peach is in the cavity formed by the three linkage claws 5310, the rudder 5312 drives the driving rod 539 through the connecting rod mechanism 5313, and then drives the three grabbing claws 538 to close and clamp the fruit stem through the linkage claw 5310, then the driving motor 535 is started to drive the rotating seat 532 and the grabbing claw 538 clamping the fruit stem to rotate, so that the fruit stem is separated from the branch. The above design reduces the damage of the fruit in the picking process.

[0021] In the embodiment, the picking device 500 further comprises a harvesting claw 540, the harvesting claw 540 is located below the picking claw 530 and is fixedly connected with the connecting arm 510 through a connecting rod. After the yellow peach fruit stem is separated from the branch, it falls into the harvesting claw 540 below the picking claw 530.

[0022] As Figure 2As shown, in the embodiment, the multi-degree-of-freedom mechanical arm 400 comprises a first mechanical arm 420, a second mechanical arm 440, the lower end of the first mechanical arm 420 is connected with a first rotary motor 410 for driving the first mechanical arm 420 to rotate, the upper end of the first mechanical arm 420 is rotationally connected with the second mechanical arm 440 and is provided with a second rotary motor 430 for driving the second mechanical arm 440 to rotate, the front end of the second mechanical arm 440 is rotationally connected with a connecting arm 510 and is provided with a third rotary motor 450 for driving the connecting arm 510 to rotate, the first mechanical arm 420 and the second mechanical arm 440 can move in a vertical space of 150 degrees, which greatly improves the picking range of the mechanical arm.

[0023] Many modifications and other embodiments of the applications set forth herein will come to mind to one skilled in the art to which the present application pertains having the benefit of the teachings presented in the foregoing description and the associated drawings. Therefore, it is to be understood that the application is not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A machine vision-based intelligent robot for picking yellow peaches, comprising a tracked walking chassis (100), characterized in that: The caterpillar walking chassis (100) is provided with a lifting workbench (200), a rotary table (300) is fixedly installed on the top of the lifting workbench (200), a multi-degree-of-freedom mechanical arm (400) is installed on the rotary table (300), a picking device (500) is installed at the front end of the multi-degree-of-freedom mechanical arm (400), the picking device (500) comprises a connecting arm (510) connected with the multi-degree-of-freedom mechanical arm (400), and a picking claw (530) and a visual identification module (520) are installed on the connecting arm (510), the picking claw (530) comprises a fixed seat (531), a rotating seat (532) is rotatably sleeved outside the fixed seat (531), a transmission gear (533) is fixedly installed on the outer ring of the rotating seat (532), a driving gear (534) is engaged with the transmission gear (533), the driving gear (534) is connected with the output end of a driving motor (535) and used for driving the rotating seat (532) to rotate, three claw bases (536) are uniformly distributed on the rotating seat (532) in the circumferential direction, a gripper (538) is hingedly connected to the claw base (536) through a first connecting rod (537), a driving rod (539) is movably penetrated through the fixed seat (531), three linkage claws (5310) are hingedly connected to the front end of the driving rod (539) respectively and correspondingly to the three grippers (538), the front end of the linkage claw (5310) is hingedly connected to the middle part of the gripper (538), the middle part of the linkage claw (5310) is hingedly connected to the claw base (536) through a second connecting rod (5311), and the other end of the driving rod (539) is connected with a driving mechanism, the driving mechanism drives the driving rod (539) to move forward and backward, thereby controlling the gripper (538) to complete the actions of gripping and releasing through the linkage claw (5310), the first connecting rod (537) and the second connecting rod (5311).

2. The machine vision-based intelligent robot for picking yellow peaches according to claim 1, characterized in that: The multi-degree-of-freedom mechanical arm (400) comprises a first mechanical arm (420) and a second mechanical arm (440), the lower end of the first mechanical arm (420) is connected with a first rotating motor (410) used for driving the first mechanical arm (420) to rotate, the upper end of the first mechanical arm (420) is rotatably connected with the second mechanical arm (440) and is provided with a second rotating motor (430) used for driving the second mechanical arm (440) to rotate, and the front end of the second mechanical arm (440) is rotatably connected with the connecting arm (510) and is provided with a third rotating motor (450) used for driving the connecting arm (510) to rotate.

3. The machine vision-based intelligent robot for picking yellow peaches according to claim 1, characterized in that: The picking device (500) further comprises a harvesting claw (540), the harvesting claw (540) is located below the picking claw (530) and is fixedly connected with the connecting arm (510) through a connecting rod.

4. The machine vision-based intelligent robot for picking yellow peaches according to claim 1, characterized in that: The rotary table (300) is fixedly connected with a collecting frame placing rack (600), and the collecting frame placing rack (600) is placed with a collecting frame (700) used for containing fruits.

5. The machine vision-based intelligent robot for picking yellow peaches according to claim 4, characterized in that: The collecting frame placing rack (600) is provided with two and is installed at two sides of the rotating table (300) respectively, and each collecting frame placing rack (600) is placed with a collecting frame (700).

6. The machine vision-based intelligent robot for picking yellow peaches according to claim 1, characterized in that: The driving mechanism comprises a steering wheel (5312), and an output end of the steering wheel (5312) is connected with the driving rod (539) through a connecting rod mechanism (5313).

7. The machine vision-based intelligent robot for picking yellow peaches according to claim 1, characterized in that: The lifting workbench (200) is a scissor type lifting platform.

8. The machine vision-based intelligent robot for picking yellow peaches according to claim 1, characterized in that: The lifting workbench (200) is provided with a solar panel (800).

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