Intelligent equipment of tomato picking robot

Abstract

The utility model discloses tomato picking robot intelligent equipment, which belongs to the technical field of picking robots and is characterized in that the tomato picking robot intelligent equipment comprises a picking platform mechanism, a picking mechanical arm mechanism, a clamping jaw tail end executing mechanism and a visual system are arranged at the top of the picking platform mechanism, and a collecting frame is fixedly connected to the top of a picking robot. The picking mechanical arm mechanism comprises a plurality of rotary steering engines, two U-shaped connecting frames and an air cylinder, the air cylinder is arranged on the front side of the picking mechanical arm mechanism, the clamping jaw tail end executing mechanism comprises a plurality of mechanical arm jaws, a plurality of suction cups and a plurality of air outlets, the suction cups and the air outlets are evenly formed in the surfaces of the mechanical arm jaws, and the clamping jaw tail end executing mechanism is arranged on the clamping jaw tail end executing mechanism. The problems that some existing agricultural tomato picking robots are too large in size and inflexible in operation and often damage crops, most tomato picking robots cannot solve the problem of tomato shielding, the picking efficiency is low, and the enterprise cost is increased are solved.

Description

Technical Field

[0001] This utility model relates to the field of harvesting robot technology, and in particular to an intelligent tomato harvesting robot device. Background Technology

[0002] Harvesting robots are key equipment in the development of intelligent agriculture. They integrate technologies from multiple fields to automate crop harvesting, aiming to solve the problems of agricultural labor shortage and improve harvesting efficiency. Harvesting robots can be used for tomato harvesting.

[0003] Some existing agricultural tomato harvesting robots are too large and inflexible, often damaging crops. Moreover, most tomato harvesting robots cannot solve the problem of tomatoes being obstructed, resulting in low harvesting efficiency and increased costs for enterprises.

[0004] To address this, a smart tomato-harvesting robot device is proposed. Summary of the Invention

[0005] The purpose of this utility model is to provide an intelligent tomato harvesting robot that can solve the problems of existing agricultural tomato harvesting robots being too large, inflexible in operation, often damaging crops, and most tomato harvesting robots failing to solve the problem of tomatoes being obstructed, resulting in low harvesting efficiency and increased enterprise costs.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a tomato harvesting robot intelligent device, including a harvesting platform mechanism, a harvesting robotic arm mechanism, a gripper end effector mechanism, and a vision system are arranged on the top of the harvesting platform mechanism, a collection frame is fixedly connected to the top of the harvesting robot, the harvesting robotic arm mechanism includes several rotary servo motors, two U-shaped connecting frames, and a cylinder, the cylinder is arranged on the front side of the harvesting robotic arm mechanism, the gripper end effector mechanism includes several robotic arm claws, several suction cups, and several air outlets, the suction cups and air outlets are evenly arranged on the surface of the robotic arm claws, and the robotic arm claws are arranged on the front side of the cylinder extension end.

[0007] Preferably, the harvesting platform mechanism includes a robot chassis, a control chip, a power module, and a lidar sensor. The control chip is bolted to the bottom of the robot chassis, and the bottom of the power module is fixedly connected to the bottom of the robot chassis.

[0008] Preferably, the robot chassis is a wheeled mobile chassis with a wheel diameter of 103cm and a wheel track of 35cm.

[0009] Preferably, the connection of the harvesting robotic arm mechanism is movably connected by a rotary servo motor and a U-shaped connecting frame.

[0010] Preferably, the length of the U-shaped connecting frame is 50cm.

[0011] Preferably, the vision system consists of a depth camera, and the cylinder has two working modes: an intake mode and an exhaust mode.

[0012] Preferably, limit blocks are fixedly connected to the front and rear sides of both sides of the collection frame, and limit frames are fixedly connected to the front and rear sides of both sides of the top of the robot chassis. The limit blocks are movably engaged inside the limit blocks. A limit pin is provided at the top of the rear limit frame. The bottom of the limit pin passes through the rear limit block and extends into the interior of the rear limit block. A magnetic suction piece is fixedly connected to the top of the limit pin. The bottom of the magnetic suction piece is magnetically attracted to the top of the rear limit frame. Protective cotton is fixedly connected to the inner wall of the collection frame, and handles are fixedly connected to both sides of the collection frame.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] This application solves the problem that existing tomato harvesting robots cannot accurately harvest tomatoes that are obscured. By combining the air output of the cylinder with the suction cup of the end effector, the obstruction of leaves can be removed, which can effectively improve the success rate of harvesting tomatoes with obstructed leaves, reduce the labor cost of tomato harvesting, and increase the profit of tomato harvesting. Attached Figure Description

[0015] Figure 1 This is an overall structural diagram of the intelligent tomato harvesting robot device of this utility model;

[0016] Figure 2 This is a three-dimensional connection diagram of the harvesting platform mechanism in this utility model;

[0017] Figure 3 This is a three-dimensional connection diagram of the harvesting robotic arm mechanism in this utility model;

[0018] Figure 4 This is a three-dimensional connection diagram of the gripper end effector in this utility model;

[0019] Figure 5 This utility model Figure 2 A magnified view of a portion of point A in the middle.

[0020] In the diagram, 1. Harvesting platform mechanism; 101. Robot chassis; 102. Control chip; 103. Power module; 104. LiDAR sensor; 2. Harvesting robotic arm mechanism; 21. Rotary servo motor; 22. U-shaped connecting frame; 23. Cylinder; 3. Gripper end effector; 31. Robotic arm gripper; 32. Suction cup; 33. Air outlet; 4. Vision system; 5. Collection box; 6. Handle; 7. Protective cotton; 8. Limit block; 9. Magnetic suction plate; 10. Limit pin; 11. Limit frame. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1-5 The present invention provides the following technical solution:

[0023] A tomato harvesting robot intelligent device includes a harvesting platform mechanism 1. The top of the harvesting platform mechanism 1 is equipped with a harvesting robotic arm mechanism 2, a gripper end effector 3, and a vision system 4. A collection frame 5 is fixedly connected to the top of the harvesting robot. The harvesting robotic arm mechanism 2 includes several rotary servo motors 21, two U-shaped connecting frames 22, and cylinders 23. The cylinders 23 are located on the front side of the harvesting robotic arm mechanism 2. The gripper end effector 3 includes several robotic arm grippers 31, several suction cups 32, and several air outlets 33. The suction cups 32 and air outlets 33 are evenly distributed on the surface of the robotic arm grippers 31. The robotic arm grippers 31 are located on the front side of the extension end of the cylinders 23.

[0024] In this embodiment: Under the action of the picking platform mechanism 1, the wheeled mobile chassis travels stably in the greenhouse. The lidar sensor 104 and the depth camera of the vision system 4 collect environmental data and transmit it to the control chip 102. After the algorithm is used to plan the path, the chassis is driven to the target tomato. After reaching the vicinity of the target, the picking robotic arm mechanism 2 is activated. According to the target position, the control chip 102 controls the rotary servo motor 21 through inverse kinematics calculation, which drives the robotic arm to move through the two U-shaped connecting frames 22 to realize steering, pitch and other actions, so that the end effector 3 of the gripper is aligned with the tomato. The gripper selects the picking method according to the shading of the tomato. When there is no shading, the cylinder 23 exhausts air to extend the robotic arm gripper 31. The robot grabs the tomato, then inhales to clamp and harvest it. When the tomato is obstructed, the cylinder 23 exhausts air, allowing the robotic arm claw 31 to extend. After the air outlet 33 blows air for 5 seconds, it inhales to allow the suction cup 32 to adhere to the tomato and complete the harvest. After harvesting, the robotic arm places the tomato into the collection box 5. The collection box 5 is fixed by the limiting block 8, the limiting frame 11, the limiting pin 10, and the magnetic suction plate 9. The protective cotton 7 protects the tomato. When transporting the tomato, simply pull the magnetic suction plate 9, the limiting pin 10, and the handle 6 to disengage the limiting block 8 from the limiting frame 11. This solves the problems of existing agricultural tomato harvesting robots being too large, inflexible in operation, often damaging crops, and most tomato harvesting robots being unable to solve the problem of tomato obstruction, resulting in low harvesting efficiency and increased enterprise costs.

[0025] Specifically, such as Figure 1 As shown, the harvesting platform mechanism 1 includes a robot chassis 101, a control chip 102, a power module 103, and a laser radar sensor 104. The control chip 102 is bolted to the bottom of the robot chassis 101, and the bottom of the power module 103 is fixedly connected to the bottom of the robot chassis 101.

[0026] Specifically, such as Figure 1 As shown, the robot chassis 101 is a wheeled mobile chassis with a wheel diameter of 103cm and a wheel track of 35cm.

[0027] In this embodiment: the control chip 102 is bolted to the bottom of the robot chassis 101, ensuring its stable installation. It can stably receive and process data from the lidar sensor 104 and the vision system 4, and accurately send control commands to the motors of the robot chassis 101 and the rotation servo motors 21 of the picking robotic arm mechanism 2, achieving precise motion control and picking operations for the robot. The power module 103 is fixed to the bottom of the robot chassis 101, providing stable power to the entire device and ensuring the continuous normal operation of all components. This avoids equipment failure or abnormal operation due to unstable power supply, thus protecting the tomato pickers. The design of 103cm wheel diameter and 35cm wheelbase ensures the continuity and stability of the robot chassis 101. When the robot travels on the relatively flat ground of the greenhouse, it has good passability and stability. The appropriate wheel diameter ensures that the wheels have sufficient contact area with the ground, distributing the robot's weight, reducing pressure on the ground, and preventing it from sinking into the soil when traveling on the greenhouse floor. The appropriate wheelbase enhances the robot's lateral stability, reducing the risk of tipping over during turning or traveling, and ensuring that the robot can smoothly move between tomato plants and efficiently complete the harvesting task.

[0028] Specifically, such as Figure 3 As shown, the connection of the harvesting robotic arm mechanism 2 is movably connected by a rotary servo motor 21 and a U-shaped connecting frame 22.

[0029] Specifically, such as Figure 3 As shown, the length of the U-shaped connecting bracket 22 is 50cm.

[0030] In this embodiment: Multiple rotary servos 21 work in concert to achieve flexible rotation of the robotic arm at multiple angles and directions. Through the movable connection between the rotary servos 21 and the U-shaped connecting frame 22, the harvesting robotic arm mechanism 2 can easily adjust its posture to adapt to the complex tomato growing environment inside the greenhouse. Whether weaving through the gaps between plants or precisely positioning tomatoes in different locations, it can handle the task with ease. A cylinder 23 is fixed to the surface of the robotic arm, providing power support for the action of the gripper end effector 3. During the switching between intake and exhaust modes, the cylinder 23 controls the opening and closing of the robotic arm gripper 31, the suction cup 32, and the airflow from the air outlet 33, enabling the harvesting operation to be adjusted according to the actual conditions of the tomatoes. The robotic arm mechanism 2 can react quickly to the actual situation, ensuring that the harvesting process is efficient and stable. Its 50cm length allows it to cover a large enough working area when extending and retracting, ensuring that tomatoes in different positions can be harvested. It also avoids instability of the robotic arm structure or inconvenience of operation in greenhouses due to excessive length. The appropriate length also optimizes the mechanical performance of the robotic arm. When the rotary servo motor 21 drives the robotic arm, it reduces the extra torque and vibration caused by the U-shaped connecting frame 22 being too long or too short, improves the smoothness of the robotic arm's movement and the accuracy of its positioning, thereby reducing the risk of damage to the tomato plants during the harvesting process, while improving harvesting efficiency and success rate.

[0031] Specifically, such as Figure 1 and Figure 3 As shown, the vision system 4 consists of a depth camera, and the cylinder 23 has two working modes: intake mode and exhaust mode.

[0032] Specifically, such as Figure 1 and Figure 5 As shown, limit blocks 8 are fixedly connected to the front and rear sides of both sides of the collection frame 5. Limit frames 11 are fixedly connected to the front and rear sides of the top of the robot chassis 101. The limit blocks 8 are movably engaged inside the limit blocks 8. The top of the rear limit frame 11 is provided with a limit pin 10. The bottom of the limit pin 10 passes through the rear limit block 8 and extends into the interior of the rear limit block 8. A magnetic suction piece 9 is fixedly connected to the top of the limit pin 10. The bottom of the magnetic suction piece 9 is magnetically attracted to the top of the rear limit frame 11. Protective cotton 7 is fixedly connected to the inner wall of the collection frame 5. Handles 6 are fixedly connected to both sides of the collection frame 5.

[0033] In this embodiment: the robotic gripper 31 can directly grasp tomatoes, suitable for tomatoes that are not obstructed and are in a convenient position for grasping. The suction cup 32 provides another harvesting method. When encountering tomatoes that are irregularly shaped, easily damaged, or difficult to grasp with the robotic gripper 31, the suction cup 32 can complete the harvesting by adsorption, reducing damage to the tomatoes and improving the harvesting success rate. The air outlets 33 are evenly distributed on the surface of the robotic gripper 31. When tomatoes are obstructed by branches or leaves, the air outlets 33 can blow air to remove the obstruction, creating favorable conditions for harvesting, broadening the robot's applicable scenarios, and ensuring that tomatoes can be harvested smoothly even in complex growing environments. The robotic gripper 31 is located on the front side of the extension end of the cylinder 23, so that the extension and retraction action of the cylinder 23 can be directly and efficiently transmitted to the robotic gripper 31, realizing rapid opening and closing actions and improving harvesting efficiency. The vision system 4 consists of a depth camera, which can... The robot can acquire three-dimensional spatial information of tomato plants and fruits, including their location, size, and shape. This allows the robot to accurately identify ripe tomatoes, precisely calculate their location, and plan the optimal harvesting path, greatly improving the accuracy and efficiency of harvesting. The cylinder 23 has two working modes: an intake mode and an exhaust mode. Different functions can be achieved in different modes. In the exhaust mode, the robotic arm claw 31 can be extended to allow the air outlet 33 to deliver air. In the intake mode, the robotic arm claw 31 can be closed and the suction cup 32 can be used to pick up tomatoes. This flexible switching of working modes allows the gripper end actuator 3 to perform corresponding operations according to the actual situation, better completing the harvesting task. When the collection box 5 is full of tomatoes, the magnetic suction plate 9 and the limiting pin 10 are pulled upwards, and the two handles 6 are pulled backwards, so that the limiting block 8 is disengaged from the limiting frame 11. The handles 6 on both sides make it easy to manually move the collection box 5 so as to pour out the tomatoes inside the collection box 5.

[0034] Working Principle: The harvesting robot achieves autonomous movement and positioning by relying on the harvesting platform mechanism 1. The robot chassis 101 adopts a wheeled mobile chassis with wheels of 103cm in diameter and a wheelbase of 35cm, enabling it to move stably on the relatively flat ground of the greenhouse. The lidar sensor 104 emits laser pulses and receives reflected light waves to obtain distance information of the surrounding environment and construct a 3D map. The depth camera in the vision system 4 simultaneously acquires environmental images. Both data are transmitted to the control chip 102. The control chip 102 uses a specific algorithm to fuse the data, plan the path to the target tomato, and drive the chassis motor, enabling the robot to accurately move towards the target. When the robot reaches the vicinity of the target tomato, the harvesting machinery... Arm mechanism 2 begins operation. Based on the target tomato's position, control chip 102, through robot inverse kinematics calculations, controls several rotary servo motors 21 to move. The rotary servo motors 21 drive the robotic arm to move. The connection point of the picking robotic arm mechanism 2 is movably connected to two 50cm long U-shaped connecting frames 22, enabling the overall turning, pitching, and other movements of the picking robotic arm mechanism 2. The robotic arm is adjusted to a suitable posture, aligning the gripper end effector 3 with the target tomato. The gripper end effector 3 selects the picking method based on the tomato's state. If the tomato is not obstructed, control chip 102 controls cylinder 23 to switch to exhaust mode. Cylinder 23 pushes the robotic arm gripper 31 to extend and grasp the tomato. Subsequently... When cylinder 23 switches to suction mode, the robotic arm claw 31 closes and clamps the tomato to complete the harvest. If the tomato is obstructed, the control chip 102 controls cylinder 23 to exhaust air, causing the robotic arm claw 31 to extend in front of the tomato. The air outlets 33 evenly distributed on the surface of the robotic arm claw 31 blow air to disperse the obstructing leaves. After 5 seconds, cylinder 23 switches to suction mode, the robotic arm claw 31 closes inward, and the suction cup 32 adsorbs the tomato. After suctioning again to ensure a firm adsorption, the harvest is completed. After harvesting, the harvesting robotic arm mechanism 2 places the tomato into the top collection frame 5. The limiting blocks 8 on both sides of the collection frame 5 are movably engaged with the limiting frame 11 on the top of the robot chassis 101. The limiting pin 10 on the rear limiting frame 11 passes through the limiting block 8. The magnetic suction plate 9 magnetically attracts the rear limiting frame 11, preventing the rear limiting pin 10 from disengaging from the rear limiting frame 11 and the rear limiting block 8, thus preventing the collection frame 5 from shifting. The protective cotton 7 on the inner wall of the collection frame 5 protects the tomatoes from collision damage. By pulling the magnetic suction plate 9 and the limiting pin 10 upwards, the two handles 6 are pulled backwards, causing the limiting block 8 to disengage from the limiting frame 11. The handles 6 on both sides facilitate manual handling of the collection frame 5 to pour out the tomatoes inside. This solves the problems of existing agricultural tomato harvesting robots being too large, inflexible in operation, often causing damage to crops, and most tomato harvesting robots being unable to solve the problem of tomato shading, resulting in low harvesting efficiency and increased enterprise costs.

[0035] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A tomato picking robot intelligent device, comprising a picking platform mechanism (1), characterized in that: The top of the picking platform mechanism (1) is provided with a picking mechanical arm mechanism (2), a clamping jaw end execution mechanism (3) and a vision system (4), the top of the picking robot is fixedly connected with a collection frame (5), the picking mechanical arm mechanism (2) comprises several rotating rudders (21), two U-shaped connecting frames (22) and a gas cylinder (23), the gas cylinder (23) is arranged on the front side of the picking mechanical arm mechanism (2), the clamping jaw end execution mechanism (3) comprises several mechanical arm claws (31), several suction cups (32) and several air outlets (33), the suction cups (32) and the air outlets (33) are evenly arranged on the surface of the mechanical arm claw (31), and the mechanical arm claw (31) is arranged on the front side of the telescopic end of the gas cylinder (23).

2. The tomato picking robot intelligent device according to claim 1, characterized in that: The picking platform mechanism (1) comprises a robot chassis (101), a control chip (102), a power module (103) and a laser radar sensor (104), the control chip (102) is bolted to the bottom of the robot chassis (101), and the bottom of the power module (103) is fixedly connected with the bottom of the robot chassis (101).

3. The tomato picking robot intelligent device according to claim 2, characterized in that: The robot chassis (101) is a wheeled mobile chassis, the wheel diameter is 103 cm, and the wheel track is 35 cm.

4. The tomato picking robot intelligent device according to claim 1, characterized in that: The connecting part of the picking mechanical arm mechanism (2) is movably connected through the rotating rudders (21) and the U-shaped connecting frames (22).

5. The tomato picking robot intelligent device according to claim 4, characterized in that: The length of the U-shaped connecting frame (22) is 50 cm.

6. The tomato picking robot intelligent device according to claim 4, characterized in that: The vision system (4) is composed of a depth camera, and the gas cylinder (23) has two working modes of suction mode and exhaust mode.

7. The tomato picking robot intelligent device according to claim 2, characterized in that: The front side and the rear side of the two sides of the collection frame (5) are fixedly connected with limiting blocks (8), the front side and the rear side of the two sides of the top of the robot chassis (101) are fixedly connected with limiting blocks (8), the limiting blocks (8) are movably clamped in the limiting blocks (8), the top of the rear limiting block (11) is provided with a limiting pin (10), the bottom of the limiting pin (10) penetrates through the rear limiting block (8) and extends into the rear limiting block (8), the top of the limiting pin (10) is fixedly connected with a magnetic sheet (9), the bottom of the magnetic sheet (9) is magnetically attracted to the top of the rear limiting block (11), the inner wall of the collection frame (5) is fixedly connected with protective cotton (7), and the two sides of the collection frame (5) are fixedly connected with handles (6).

Images