Automatic color pepper collecting and classifying trolley
By combining a navigation system using a visual camera and an inertial navigation module with a robotic arm harvesting module, the problems of navigation accuracy and harvesting efficiency of automated harvesting equipment in greenhouse environments have been solved, enabling efficient and non-destructive harvesting and sorting of bell peppers.
Patent Information
- Application Number
- CN202520319733.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-26
- Publication Date
- 2026-01-20
- Estimated Expiration
- 2035-02-26
AI Technical Summary
Existing automated harvesting equipment lacks navigation accuracy in greenhouse environments, resulting in low harvesting efficiency, easy damage to fruits, and inability to effectively classify them.
High-precision navigation is achieved using a visual camera, photoelectric sensor, and inertial navigation module, combined with a robotic arm picking module, including grippers and fruit stem cutting device, to realize precise fruit picking and color classification.
It achieves a navigation error of less than ±2cm, a harvesting efficiency of 98%, a high fruit success rate, and a color recognition accuracy of 95%, thus avoiding fruit damage and subsequent processing costs.
Smart Images
Figure CN223810190U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to agricultural automation equipment technical field, concretely is a kind of automatic collection and classification trolley of colour pepper, suitable for fruit picking operation under the environment of greenhouse. BACKGROUND
[0002] In the development process of modern agriculture, improving production efficiency and reducing labor cost have become key factors to enhance the competitiveness of agriculture. Especially in facility agriculture, such as greenhouse planting, the picking operation of high-value vegetable crops such as color peppers has traditionally relied heavily on manual operation. However, this traditional picking mode not only has low efficiency, but also as the labor cost rises year by year, the cost of agricultural production increases significantly, which affects the overall benefit of agricultural production. Therefore, developing equipment that can automatically perform picking tasks, especially for crops such as color peppers that have specific picking difficulties (such as thick stems and easy damage), has become an important issue that needs to be addressed in the field of agricultural automation equipment technology.
[0003] Currently, there are some automatic picking devices on the market trying to solve this problem, but they still face many challenges in practical application. For example, traditional automated guided vehicle (AGV) navigation systems, although they achieve a certain degree of automation, their navigation accuracy is often insufficient to meet the picking needs of complex terrain. As described in patent CN20181012345.6, this system mainly relies on laser radar for navigation, and in complex and variable greenhouse environments, due to uneven ground and uneven distribution of obstacles, its navigation error can exceed ±5 centimeters, causing the trolley to frequently deviate from the predetermined path, affecting picking efficiency and accuracy. In addition, color peppers have thick stems, and existing robotic arm designs often cannot directly and non-destructively pick fruits from plants, often causing fruit damage due to improper clamping, reducing the value of the commodity. SUMMARY
[0004] To solve the problems of low navigation and positioning accuracy of picking robots, low picking efficiency, inability to classify picked fruits by color, and easy damage to fruits in the prior art, the utility model provides a color pepper automatic collection and classification trolley.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a color pepper automatic collection and classification trolley, a mechanical arm picking module, a main control board, a color pepper classification and storage device, a photoelectric sensor, and an inertial navigation module are arranged on the moving chassis of the trolley.
[0006] The mechanical arm picking module includes a mechanical arm assembly and an identification and picking assembly. One end of the mechanical arm assembly is fixed to the moving chassis through a gimbal, and the other end of the mechanical arm assembly is connected to the identification and picking assembly. The identification and picking assembly includes a gripper, a vision camera, and a stem cutting device arranged on the gripper.
[0007] The visual camera, the mechanical arm assembly and the main control board are connected to obtain the photo of the bell pepper, pick the bell pepper and place the bell pepper in the corresponding bell pepper classification storage device according to the color of the bell pepper.
[0008] The visual camera, the photoelectric sensor and the inertial navigation module are connected with the main control board to obtain the position of the plant and control the movement of the mobile chassis.
[0009] Further, the mobile chassis further comprises a chassis one, a chassis two and wheels, wherein the chassis one and the chassis two are fixed through a connecting piece, a plurality of wheels are connected with the chassis one through a shaft, a motor control board is arranged on the chassis one and connected with the motor on the wheel; a voltage reduction module and an inertial navigation module are arranged on the chassis two, and a photoelectric sensor is located at the front or side of the mobile chassis; the photoelectric sensor, the motor control board, the voltage reduction module and the inertial navigation module are connected with the main control board.
[0010] Further, the main control board is arranged in the chassis two.
[0011] Further, one end of the mechanical arm assembly is fixed with the mobile chassis through a holder.
[0012] Further, the mechanical arm assembly comprises a first servo motor, a second servo motor, a first mechanical arm, a third servo motor, a second mechanical arm, a third mechanical arm, a fourth servo motor and a fifth servo motor which are connected in sequence, the first servo motor is fixed in the holder, the second servo motor is fixed on the top of the holder and connected with the first mechanical arm, the third mechanical arm is connected with the identification and picking assembly through the fourth servo motor and the fifth servo motor; the plurality of mechanical arms are connected with the main control board through the respective servo motors.
[0013] Further, a light supplement device is further arranged on the clamping jaw, and the light supplement device is connected with the main control board.
[0014] Further, the bell pepper classification storage device comprises fruit storage baskets representing different colors of bell peppers, and the fruit storage baskets are arranged at the rear of the mobile chassis.
[0015] Further, the main control board adopts an STM32 main control board.
[0016] Further, the holder is connected with the visual camera.
[0017] Further, a loudspeaker is further arranged, and the loudspeaker is arranged on the mobile chassis.
[0018] Compared with the prior art, the utility model has at least the following beneficial effects:
[0019] The utility model discloses a kind of automatic collection and classification trolley of multicolored pepper, 1) positioning navigation is carried out by visual camera, photoelectric sensor, inertial navigation module, navigation positioning precision is high, navigation error is ≤±2cm, obstacle avoidance response time is <0.3 seconds, it is applicable to the complex terrain environment of slope ≤15 °, solve the problem of navigation positioning precision low of prior art;2) visual camera is set on mechanical arm picking module, and picking efficiency is improved, fruit successful picking rate reaches 98%, meet the efficient demand of modern agricultural production, solve the problem of picking efficiency low of prior art;3) fruit classification function is realized by visual camera, different colors of fruit can be stored in different collection device, avoid the additional process and cost of subsequent processing;4) fruit stalk cutting device is attached on gripper, multicolored pepper can be picked intact, avoid bad fruit caused by tearing, reduce bad fruit rate.
[0020] Preferably, the utility model still sets up light supplement on gripper, and light supplement is cooperated with visual camera, and visual identification accuracy is high, through adaptive light source compensation technology, fruit color identification accuracy is promoted to 95% or more, and picking quality is improved. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 The utility model discloses a kind of automatic collection and classification trolley of multicolored pepper, including mobile chassis, main control board 20, mechanical arm picking module, multicolored pepper classification storage device;
[0022] In the drawings: 1, chassis one;2, chassis two;3, wheel;4, photoelectric sensor;5, motor control board;6, voltage reduction module;7, inertial navigation module;8, loudspeaker;9, first mechanical arm;10, second mechanical arm;11, third mechanical arm;12, holder;13, second steering wheel;14, third steering wheel;15, fourth steering wheel;16, fifth steering wheel;17, light supplement;18, gripper;19, first steering wheel;20, main control board;21, visual camera;22, motor;23, fruit stalk cutting device;24, fruit storage basket. DETAILED DESCRIPTION
[0023] The utility model is further described below in connection with the drawings and specific implementation.
[0024] The utility model discloses a kind of automatic collection and classification trolley of multicolored pepper, including mobile chassis, main control board 20, mechanical arm picking module, multicolored pepper classification storage device;
[0025] The moving chassis includes chassis one 1, chassis two 2, wheels 3, photoelectric sensors 4, motor control boards 5, voltage reduction modules 6, inertial navigation modules 7 and motors 22. Chassis one 1 and chassis two 2 are fixed together by connecting pieces to form a stable base of the trolley, supporting the weight of the entire trolley and providing an installation platform for other components. Wheels 3 are installed below chassis one 1 to provide the trolley with the ability to move. Multiple wheels 3 are connected to chassis one 1 by shafts and can rotate to achieve forward, backward and turning of the trolley. Motor control boards 5 are connected to motors 22 on wheels 3 to receive instructions from main control board 20, adjust the speed and direction of motors 22, and thus control the movement of the trolley. Photoelectric sensors 4 are located at the front or side of the trolley to detect obstacles or bell peppers in front. They feed the detected information back to the main control board so that the trolley can adjust the moving path in time or perform the collection task. Voltage reduction modules are located inside chassis two 2 to reduce the voltage provided by the power supply to the voltage range required by each component, ensuring that the trolley can work normally. Inertial navigation module 7 is arranged on chassis two 2 to measure the attitude and position information of the trolley, including inclination angle, acceleration, etc. It provides these information to the main control board to assist the trolley in precise positioning and stable control.
[0026] Main control board 20 is arranged in chassis two 2 to receive information transmitted by photoelectric sensors 4, motor control boards 5 and inertial navigation module 7.
[0027] The mechanical arm picking module includes a gimbal 12, a mechanical arm assembly and an identification and picking assembly. The mechanical arm assembly is fixed to the moving chassis through the gimbal 12, and the identification and picking assembly is arranged at the other end of the mechanical arm assembly. The identification and picking assembly and the mechanical arm assembly cooperate to realize the identification, grabbing, moving and classified placing of bell peppers. The mechanical arm assembly includes a first servo 19, a second servo 13, a first mechanical arm 9, a third servo 14, a second mechanical arm 10, a third mechanical arm 11 and a fourth servo 15, a fifth servo 16 connected in sequence. The first servo 19 is fixed in the gimbal 12, the second servo 13 is fixed on the top of the gimbal 12 and connected with the first mechanical arm 9, and the third mechanical arm 11 is connected with the identification and picking assembly through the fourth servo 15 and the fifth servo 16. Multiple mechanical arms are connected with the main control board 20 through various servos. The mechanical arms are responsible for grabbing, moving and placing bell peppers. The first mechanical arm is responsible for large-scale movement, the second mechanical arm is responsible for fine adjustment, and the third mechanical arm directly grabs bell peppers. The above servos are responsible for controlling the rotation angle and speed of each mechanical arm. Through receiving instructions from the main control board 20, the position and attitude of each mechanical arm are accurately adjusted.
[0028] The recognition and picking assembly comprises a clamping jaw 18 mounted at the end of the mechanical arm assembly, and the fifth steering engine 16 opens or closes the clamping jaw 18 according to the instruction of the main control board 20 to grasp or release the bell pepper. A visual camera 21, a light compensator 17 and a fruit stem cutting device 23 are arranged on the clamping jaw 18. The visual camera 21 is used to identify the type, maturity and position information of the bell pepper, and it transmits the captured image to the main control board 20 for processing and analysis. The light compensator 17 provides additional light for the visual camera 21, ensuring that the image of the bell pepper can be clearly captured even in insufficient light. The fruit stem cutting device 23 is arranged inside the clamping jaw 18 and is used to cut the fruit stem of the bell pepper after the bell pepper is clamped. It ensures that the bell pepper can be completely placed into the bell pepper classification and storage device.
[0029] The main control board 20 is used to receive the information of the visual camera 21, process and analyze the information, and issue instructions to control the movement of the mechanical arm assembly and the identification and picking of the bell pepper by the recognition and picking assembly.
[0030] The bell pepper classification and storage device comprises four fruit storage baskets 24 for storing the red, green, yellow and other color bell peppers collected, and is arranged at the rear of the trolley.
[0031] Preferably, the main control board 20 of the utility model adopts an STM32 main control board.
[0032] Preferably, the holder 12 is connected with the visual camera 21 and is responsible for adjusting the shooting angle and position of the visual camera 21. It enables the visual camera to capture the image of the bell pepper at different heights and angles.
[0033] Preferably, the utility model further comprises a loudspeaker 8 which can emit an alarm sound or a prompt sound to remind the operator or warn the surrounding people or objects.
[0034] The utility model integrates a visual recognition system, a mechanical arm operation system and a motion control system to realize the automatic collection and classification of the bell pepper. The visual recognition system can accurately identify the position, type and maturity of the bell pepper, the mechanical arm operation system is responsible for accurately grasping and classifying and storing the bell pepper, and the motion control system enables the trolley to move autonomously to complete the picking work. At the same time, the classification and storage design avoids the classification process in the subsequent processing, thereby reducing the production cost. The application of the trolley not only greatly improves the picking efficiency and reduces the labor intensity, but also promotes the development of agricultural production towards automation and intelligence.
[0035] Embodiment one:
[0036] The utility model provides a kind of automatic collection and classification trolley of multicolour pepper, when the trolley moves, STM32 main control board according to the data that vision camera 21, inertial navigation module 7, photoelectric sensor 4 is transmitted back, signal is transmitted to four motor control boards 5, then the rotating direction of four wheels 3 is controlled by motor control board 5, to realize the action control of the utility model trolley;
[0037] When the trolley works:
[0038] First, STM32 main control board according to the data that vision camera 21, photoelectric sensor 4 is transmitted back, judges the approximate position of fruit, then signal is transmitted to four motor control boards 5, and the rotating direction of four wheels 3 is controlled by four motor control boards 5, so that the utility model trolley travels to suitable position.
[0039] Next, STM32 main control board sends signal to first steering gear 19, second steering gear 13, third steering gear 14, fourth steering gear 15, so that it turns to fixed angle respectively, so that mechanical arm approaches multicolour pepper fruit.
[0040] Then, vision camera 21 obtains multicolour pepper fruit photo, and is transmitted to STM32 main control board, and STM32 main control board sends signal to first steering gear 19, second steering gear 13, third steering gear 14, fourth steering gear 15 by the position of fruit that vision camera 21 is returned, so that mechanical arm action fine adjustment is made, until mechanical arm reaches suitable position for picking, at this time, STM32 main control board sends signal to fifth steering gear 16, and clamping jaw 18 executes picking action.
[0041] Finally, light supplement device 17 cooperates with vision camera 21, and the fruit color data that STM32 main control board is returned, and STM32 main control board controls first steering gear 19, second steering gear 13, third steering gear 14, fourth steering gear 15, fifth steering gear 16 rotates to specific angle, and the fruit storage basket 24 of corresponding color is placed, and picking is completed;
[0042] After picking all fruits of the plant, in the distance of driving to next picking plant, STM32 main control board controls four motor control boards 5 by the data of received photoelectric sensor 4, vision camera 21 and inertial navigation module 7, after algorithm processing, adjusts vehicle body posture until driving to next plant.
[0043] Example 2
[0044] The utility model provides a kind of automatic collection and classification trolley of multicolour pepper, before starting to pick, visual camera 21 is connected with computer first, by Open MV IDE, three standard photos of multicolour pepper (the photo of red multicolour pepper, green multicolour pepper, yellow multicolour pepper respectively) are transmitted to visual camera 21.When mechanical arm reaches appropriate position, ready to pick, visual camera 21 takes the photo of multicolour pepper, and compares with standard photo, judgment result includes:
[0045] Red accounts for multicolour pepper area ≥90%;
[0046] Green accounts for multicolour pepper area ≥90%;
[0047] Yellow accounts for multicolour pepper area ≥90%;
[0048] Visual camera 21 sends judgment result to STM32 mainboard, so that mechanical arm puts the multicolour pepper picked into corresponding "red multicolour pepper collecting basket", "green multicolour pepper collecting basket", "yellow multicolour pepper collecting basket" respectively;If it is other judgment result, visual camera 21 sends data to STM32 mainboard, so that mechanical arm puts the multicolour pepper picked into "multicolour pepper basket".
[0049] After picking all fruits of the plant, in the distance of driving to next picking plant, STM32 main control board controls four motor control boards 5 by the data of received photoelectric sensor 4, visual camera OV7725 and inertial navigation module MPU6050, adjusts vehicle body posture after algorithm processing, until driving to next plant.
Claims
1. A small car for automatic collection and classification of bell peppers, characterized in that, A mechanical arm picking module, a main control board (20), a bell pepper classification and storage device, a photoelectric sensor (4), and an inertial navigation module (7) are arranged on a mobile chassis of the trolley. The mechanical arm picking module comprises a mechanical arm assembly and an identification and picking assembly. The visual camera (21), the mechanical arm assembly, and the main control board (20) are connected to obtain bell pepper photos, pick bell peppers, and place the bell peppers in corresponding bell pepper classification and storage devices according to the colors of the bell peppers. The visual camera (21), the photoelectric sensor (4), and the inertial navigation module (7) are connected to the main control board (20) to obtain plant positions and control the movement of the mobile chassis.
2. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The mobile chassis further comprises a chassis one (1), a chassis two (2), and wheels (3).
3. The automatic harvesting and sorting trolley for multicolored peppers according to claim 2, characterized in that, The main control board (20) is arranged in the chassis two (2).
4. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The mechanical arm assembly is fixed to the mobile chassis through the gimbal (12).
5. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The mechanical arm assembly comprises a first servo (19), a second servo (13), a first mechanical arm (9), a third servo (14), a second mechanical arm (10), a third mechanical arm (11), a fourth servo (15), and a fifth servo (16) connected in sequence.
6. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The first servo (19) is fixed in the gimbal (12).
7. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The second servo (13) is fixed on the top of the gimbal (12) and connected to the first mechanical arm (9).
8. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The third mechanical arm (11) is connected to the identification and picking assembly through the fourth servo (15) and the fifth servo (16).
9. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The plurality of mechanical arms are connected to the main control board (20) through the respective servos.
10. The automatic harvesting and sorting trolley for multicolored peppers according to claim 1, characterized in that, The gripper (18) is further provided with a light supplement device (17) connected to the main control board (20). The bell pepper classification and storage device comprises fruit storage baskets (24) representing different bell pepper colors. The fruit storage baskets (24) are arranged at the rear of the mobile chassis. The main control board (20) adopts an STM32 main control board. The gimbal (12) is connected to the visual camera (21). A loudspeaker (8) is further arranged on the mobile chassis.