Intelligent picking robot for pepper picking

Abstract

The utility model belongs to the technical field of robots, and particularly relates to an intelligent picking robot for pepper picking, which comprises a trolley body, a mechanical arm is mounted on the trolley body, a shearing component is mounted at the tail end of the mechanical arm, the shearing component comprises a support, the support is mounted on the mechanical arm, and the mechanical arm is mounted on the support. Two gears which are meshed with each other are installed on the support, a shearing steering engine is further installed on the support, an output shaft of the shearing steering engine is fixedly connected with the center of one gear, shearing claws are fixedly connected to the gears, a shearing blade is installed on the upper portion of one shearing claw, and the shearing blade is fixedly connected with the output shaft of the shearing steering engine. The special design is adopted for the shearing assemblies, the cutting edges and the grooves are arranged on the upper portions of the two clamping jaws respectively, and when the shearing assemblies are gathered together, the cutting edges cut pepper rhizomes to conduct picking work. And the reserved area at the lower part of the clamping jaw can be used for clamping the remained rhizomes of the peppers so as to finish the collection work of the peppers.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to an intelligent harvesting robot for picking chili peppers. Background Technology

[0002] With the advancement of agricultural modernization, agricultural output is continuously increasing, and the requirements for agricultural production efficiency and quality are also becoming increasingly stringent. In the process of chili pepper cultivation, the harvesting stage is the most time-consuming and labor-intensive, and the quality of the harvest directly affects the yield, storage, and processing of chili peppers. Currently, chili pepper harvesting is primarily done manually, which results in high labor costs and high labor intensity. Utility Model Content

[0003] This invention provides an intelligent harvesting robot for chili pepper picking to address the aforementioned problems.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A smart chili-picking robot includes a vehicle body with a robotic arm mounted on it. A shearing assembly is mounted at the end of the robotic arm. The shearing assembly includes a bracket mounted on the robotic arm. Two meshing gears are mounted on the bracket, and a shearing servo motor is also mounted on the bracket. The output shaft of the shearing servo motor is fixedly connected to the center of one of the gears to drive its rotation. Scissors are fixedly connected to the gears. A shearing blade is mounted on the upper part of one of the scissors, and a groove corresponding to the shearing blade is formed on the other scissor. A camera is also mounted on the bracket to collect image information and transmit it to a microcontroller. The microcontroller processes the information and identifies the chilies. A battery and an expansion board are also mounted on the vehicle body. A battery interface is connected to the expansion board. A microcontroller, a step-down module, and a gyroscope are mounted on the expansion board. One end of the battery is connected to the battery interface, and the other end of the battery interface is stepped down to 5V by the step-down module to power the microcontroller. The microcontroller then powers the gyroscope and camera through different pins.

[0006] Furthermore, the vehicle body includes an upper base plate and a lower base plate, which are fixedly connected by copper pillars. A drive motor is installed at each of the four corners of the lower surface of the lower base plate. A moving wheel is installed on the output shaft of the drive motor. A motor drive board is installed on the extension plate. The input and output ends of the motor drive board are electrically connected to the microcontroller and the drive motor, respectively. The robotic arm is installed in the middle of the upper surface of the upper base plate.

[0007] Furthermore, the moving wheel is a Mecanum wheel.

[0008] Furthermore, the robotic arm includes a gimbal, which is fixedly mounted on an upper base plate. A first servo motor is installed inside the gimbal, and a turntable is rotatably mounted on the gimbal. The output shaft of the first servo motor is fixedly connected to the center of the turntable to drive the turntable to rotate. A second servo motor is mounted on the turntable, and its output shaft is fixedly connected to one end of the first arm to drive the first arm to rotate. A third servo motor is mounted at the other end of the first arm, and its output shaft is fixedly connected to one end of the second arm to drive the second arm to rotate. A fourth servo motor is fixedly mounted at the other end of the second arm, and its output shaft is fixedly connected to a support frame to drive the support frame to rotate.

[0009] Furthermore, a collection box is provided on one side of the vehicle body.

[0010] Furthermore, a buzzer is also installed on the expansion board. The buzzer is electrically connected to the microcontroller and is used to emit a prompt sound after a chili pepper is detected.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] This invention uses a camera to capture images and a microcontroller to process them, identifying chili peppers. Simultaneously, it controls a robotic arm and a cutting component to automatically cut and grip the peppers, achieving automated chili pepper harvesting. The robot chassis uses Mecanum wheels, which, in conjunction with a gyroscope, allow for precise omnidirectional movement, offering unique flexibility and making it more suitable for various harvesting terrains. This invention features highly sensitive control performance and utilizes an integrated modular circuit design expansion board, integrating components onto a small circuit board for easy module installation and use. Furthermore, the robotic arm is a five-degree-of-freedom multi-joint manipulator, possessing high flexibility and fault tolerance, reducing manual labor costs and intensity, and improving production efficiency and economic benefits.

[0013] This utility model's cutting component adopts a special design, with blades and grooves respectively set on the upper part of the two grippers. When the cutting component is brought together, the blades cut the chili pepper roots and stems for harvesting, while the reserved area at the lower part of the grippers can clamp the remaining roots and stems of the chili peppers to complete the collection of the chili peppers. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the shearing component in this utility model;

[0016] Figure 3 This is a top view of the lower base plate of this utility model;

[0017] Figure 4 This is a schematic diagram of the expansion plate in this utility model;

[0018] Figure 5 This is a schematic diagram of the structure of this utility model;

[0019] In the diagram, the components are: 1. Car body; 2. Robotic arm; 3. Shearing assembly; 4. Camera; 5. Microcontroller; 6. Battery; 7. Motor drive board; 8. Collection box; 9. Buzzer; 10. Expansion board; 11. Gyroscope; 12. Step-down module; 13. Battery interface; 101. Upper base plate; 102. Lower base plate; 103. Copper column; 104. Drive motor; 105. Moving wheel; 201. Gimbal; 202. Servo motor 1; 203. Turntable; 204. Servo motor 2; 205. Arm 1; 206. Servo motor 3; 207. Arm 2; 208. Servo motor 4; 301. Bracket; 302. Gear; 303. Shearing servo motor; 304. Scissor claw; 305. Scissor blade; 306. Groove. Detailed Implementation

[0020] To further illustrate the technical solution of this utility model, the following embodiments will be used to further explain this utility model.

[0021] like Figures 1 to 4 As shown, an intelligent chili-harvesting robot includes a vehicle body 1, a collection box 8 on one side of the vehicle body 1, a robotic arm 2 mounted on the vehicle body 1, and a shearing assembly 3 mounted at the end of the robotic arm 2. The shearing assembly 3 includes a bracket 301 mounted on the robotic arm 2, two meshing gears 302 mounted on the bracket 301, and a shearing servo motor 303 mounted on the bracket 301. The output shaft of the shearing servo motor 303 is fixedly connected to the center of one of the gears 302 to drive the gear 302 to rotate. A shearing claw 304 is fixedly connected to the gear 302. A shearing blade 305 is mounted on the upper part of one of the shearing claws 304, and a shearing claw 305 is formed on the other shearing claw 304. Corresponding to groove 306, a camera 4 is also installed on the bracket 301 to collect image information and transmit it to the microcontroller 5. The microcontroller 5 processes the information and identifies the chili pepper. A battery 6 and an expansion board 10 are also installed on the trolley body. A battery interface 13 is connected to the expansion board 10. The microcontroller 5, a step-down module 12, and a gyroscope 11 are installed on the expansion board 10. One end of the battery 6 is connected to the battery interface 13. The other end of the battery interface 13 is stepped down to 5V by the step-down module 12 to supply power to the microcontroller 5. The microcontroller 5 then supplies power to the gyroscope 11 and the camera 4 through different pins. A buzzer 9 is also installed on the expansion board 10. The buzzer 9 is electrically connected to the microcontroller 5 and is used to emit a prompt sound after a chili pepper is identified.

[0022] The trolley body 1 includes an upper base plate 101 and a lower base plate 102, which are fixedly connected by copper pillars 103. A drive motor 104 is installed at each of the four corners of the lower surface of the lower base plate 102. A moving wheel 105 is installed on the output shaft of the drive motor 104. The moving wheel 105 is a Mecanum wheel. A motor drive board 7 is installed on the extension plate 10. The input and output ends of the motor drive board 7 are electrically connected to the microcontroller 5 and the drive motor 104, respectively. The robotic arm 2 is installed in the middle of the upper surface of the upper base plate 101.

[0023] The robotic arm 2 includes a gimbal 201, which is fixedly mounted on an upper base plate 101. A first servo motor 202 is installed inside the gimbal 201. A turntable 203 is rotatably mounted on the gimbal 201. The output shaft of the first servo motor 202 is fixedly connected to the center of the turntable 203 to drive the turntable 203 to rotate. A second servo motor 204 is mounted on the turntable 203. The output shaft of the second servo motor 204 is fixedly connected to one end of a first arm 205 to drive the first arm 205 to rotate. A third servo motor 206 is mounted at the other end of the first arm 205. The output shaft of the third servo motor 206 is fixedly connected to one end of a second arm 207 to drive the second arm 207 to rotate. A fourth servo motor 208 is fixedly mounted at the other end of the second arm 207. The output shaft of the fourth servo motor 208 is fixedly connected to a bracket 301 to drive the bracket 301 to rotate.

[0024] After power-on, the intelligent harvesting robot initializes. The gyroscope 11 initializes the zero angle based on the robot's position. Servo motor 202 rotates turntable 203 to make the robotic arm face forward. The output shaft of servo motor 204 controls arm 205 to be at its maximum backward tilt angle. The output shaft of servo motor 206 makes arm 207 be in its lowest drooping position. Servo motor 208 controls bracket 301 to make shearing assembly 3 vertical. Shearing servo motor 303 makes shear claw 304 open. Thus, the five-degree-of-freedom robotic arm maintains standby action. After all modules are ready, the robot travels along the prescribed route. It adjusts for path interference caused by road conditions through a straight-line algorithm, and records the robot's motion state in real time through drive motor 104. It also controls the robot's speed loop and position loop through PID algorithm, thereby controlling the robot's forward speed and target position. Upon reaching the vicinity of the target location, the robot sends a message to activate camera 4 via microcontroller 5. Servo motor 202 rotates turntable 203, causing gimbal 201 to rotate omnidirectionally, allowing camera 4 to scan and capture images from all directions. Camera 4 transmits the captured images to microcontroller 5 for processing. The orientation of gimbal 201 controlled by servo motor 202 is mapped to the X-axis coordinate, and the orientation of shearing component 3 controlled by shearing servo motor 303 is mapped to the Y-axis coordinate. Once the chili pepper is captured, microcontroller 5 controls servo motor 202 and shearing servo motor 303 to align camera 4 with the center coordinates of the target chili pepper. After locking onto the target, servo motors 204 and 206 interact to control arms 1 and 207, causing the robotic arms to approach the target chili pepper. Through real-time coordination of the four servo motors, the target chili pepper remains centered on camera 4. Once the image of chili peppers in camera 4 fills the set value, the robotic arm, having approached and pointed at the target chili pepper, will stop approaching and activate the shearing component 3 to harvest the chili pepper. After harvesting, the robotic arm will place the chili pepper into the collection box 8, completing one harvesting cycle. If camera 4 captures multiple chili peppers in the same location, after the first harvest, the robot will adjust its position based on the number of chili peppers recorded by camera 4 and their specific locations to perform a second capture and harvest. After harvesting in that location, the robot will continue to move omnidirectionally along the prescribed route using the Mecanum wheel 105 and repeat the above actions until all chili peppers have been harvested. The robotic arm will then return to standby mode, and the chili pepper harvesting robot will return to the starting area along the same route.

[0025] The foregoing has shown and described the main features and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model.

[0026] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent picking robot for picking chillies, characterized in that: The utility model relates to a pepper cutting robot, including trolley body (1), install mechanical arm (2) on trolley body (1), install cutting assembly (3) on the end of mechanical arm (2), cutting assembly (3) includes support (301), support (301) is installed on mechanical arm (2), install two mutually meshing gear (302) on support (301), still install cutting steering gear (303) on support (301), cutting steering gear (303) output shaft and the center of one gear (302) fixed connection, for driving gear (302) to carry out rotation, fixedly connected with shear jaw (304) on gear (302), install shear blade (305) on the upper portion of one shear jaw (304), open the recess (306) corresponding with shear blade (305) on the other shear jaw (304), still install camera (4) on support (301), for gathering image information and transmission to singlechip (5), by singlechip (5) processing information, the identification of hot pepper, still install battery (6) and expansion board (10) on trolley body, connect battery interface (13) on expansion board (10), install singlechip (5), voltage reducing module (12) and gyroscope (11) on expansion board (10), battery (6) is connected with one end of battery interface (13), the other end of battery interface (13) is powered to singlechip (5) after voltage reduction to 5V through voltage reducing module (12), and then by singlechip (5) through different pins power supply to gyroscope (11) and camera (4); The mechanical arm (2) includes a holder (201), the holder (201) is fixedly installed on the upper bottom plate (101), a first steering gear (202) is installed in the holder (201), a rotating disc (203) is rotatably installed on the holder (201), the output shaft of the first steering gear (202) is fixedly connected with the center of the rotating disc (203), so as to drive the rotating disc (203) to rotate, a second steering gear (204) is installed on the rotating disc (203), the output shaft of the second steering gear (204) is fixedly connected with one end of a first arm (205), so as to drive the first arm (205) to rotate, a third steering gear (206) is installed at the other end of the first arm (205), the output shaft of the third steering gear (206) is fixedly connected with one end of a second arm (207), so as to drive the second arm (207) to rotate, a fourth steering gear (208) is fixedly installed at the other end of the second arm (207), the output shaft of the fourth steering gear (208) is fixedly connected with the support (301), so as to drive the support (301) to rotate.

2. The intelligent picking robot for picking hot pepper according to claim 1, characterized in that: The trolley body (1) comprises an upper bottom plate (101) and a lower bottom plate (102), the upper bottom plate (101) and the lower bottom plate (102) are fixedly connected through copper columns (103), driving motors (104) are installed on four corners of the lower surface of the lower bottom plate (102), moving wheels (105) are installed on the output shafts of the driving motors (104), a motor driving board (7) is installed on the expansion board (10), the input end and the output end of the motor driving board (7) are electrically connected with a single-chip microcomputer (5) and the driving motors (104) respectively, and the mechanical arm (2) is installed on the middle part of the upper surface of the upper bottom plate (101).

3. The intelligent picking robot for picking hot pepper according to claim 2, characterized in that: The moving wheels (105) are Mecanum wheels.

4. The intelligent picking robot for picking hot pepper according to claim 1, characterized in that: A collecting box (8) is arranged on one side of the trolley body (1).

5. The intelligent picking robot for picking hot pepper according to claim 1, characterized in that: A buzzer (9) is further installed on the expansion board (10), the buzzer (9) is electrically connected with the single-chip microcomputer (5), and is used for emitting a prompt sound after a pepper is identified.

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