Picking robot

Abstract

The utility model provides a picking robot which is characterized by comprising a movable base. The multi-axis mechanical arm is arranged on the movable base; the target detector comprises a camera, is arranged at the tail end of the multi-axis mechanical arm and is used for identifying fruits to be picked; the grabbing assembly is arranged at the tail end of the multi-axis mechanical arm and used for grabbing fruits; the cutting assembly is arranged at the tail end of the multi-axis mechanical arm and used for separating the fruits from the crops; the storage basket is arranged on the movable base and used for storing the picked fruits. In a word, the picking robot can efficiently pick fruits of crops.

Description

Technical Field

[0001] This utility model belongs to the field of crop harvesting, and specifically relates to a harvesting robot. Background Technology

[0002] Fruit harvesting, a traditional agricultural task, typically requires a significant amount of manual labor. Robots with corresponding functions can operate autonomously, reducing reliance on manual labor and thus lowering costs. Fruit-harvesting robots can complete large-scale harvesting tasks in a short time, improving orchard productivity. This is particularly important for large-scale fruit and vegetable cultivation. Furthermore, the robot-assisted harvesting process requires no human intervention, reducing the possibility of cross-contamination and improving food safety and hygiene standards. In today's society, with the aging rural population and the migration of young laborers to cities, robots can help address labor shortages.

[0003] However, existing fruit-picking robots still suffer from problems such as high picking losses, low efficiency, and complex and bulky design. Summary of the Invention

[0004] This invention was developed to solve the above-mentioned problems, and its purpose is to provide a harvesting robot.

[0005] This utility model provides a harvesting robot for harvesting fruits from crops, characterized by: a movable base; a multi-axis robotic arm mounted on the movable base; a target detector, including a camera, mounted at the end of the multi-axis robotic arm for identifying fruits to be harvested; a gripping component, mounted at the end of the multi-axis robotic arm for gripping fruits; a cutting component, mounted at the end of the multi-axis robotic arm for separating fruits from crops; and a storage basket, mounted on the movable base for storing the harvested fruits.

[0006] The harvesting robot provided by this utility model may also have the following features: the movable base includes: a chassis; moving wheels, which are disposed under the chassis; a first support frame, which is disposed on the chassis; a second support frame, which is disposed on the chassis; a multi-axis robotic arm, which is disposed on the first support frame; and the first support frame and the second support frame respectively support the two opposite edges of the storage basket.

[0007] The harvesting robot provided by this utility model may also include the following features: a traction rope and a retractor, wherein the edge supported by the second support frame is hinged to the second support frame, one end of the traction rope is connected to the storage basket, and the other end is connected to the retractor. The retractor is set on the first support frame and is used to retract the traction rope so that the storage basket tilts down to store the fruit.

[0008] The harvesting robot provided by this utility model may also have the following feature: one end of the traction rope is fixedly connected to the bottom of the storage basket.

[0009] The harvesting robot provided by this utility model may also have the following feature: the moving wheels are Mecanum wheels.

[0010] The harvesting robot provided by this utility model may also have the following feature: the movable base further includes an infrared sensor for detecting the distance to obstacles or crops.

[0011] The harvesting robot provided by this utility model may also have the following feature: the storage basket is made of transparent material.

[0012] The harvesting robot provided by this utility model may also have the following feature: the cutting component includes a first blade, a second blade, and a cutting drive motor, wherein the cutting drive motor is used to drive the blades of the first blade and the second blade to intersect each other, so as to separate the fruit from the crop.

[0013] The harvesting robot provided by this utility model may also have the following features: the gripping component includes a gripper and a gripper drive motor. The gripper includes multiple oppositely arranged arc-shaped claw pieces and fasteners. All claw pieces on the same side are fixedly connected by multiple fasteners that penetrate the claw pieces. The gripper drive motor is used to drive the claw pieces on both sides to move closer together and separate.

[0014] The harvesting robot provided by this utility model may also have the following feature: the edge of the claw facing the fruit is wavy.

[0015] The role and effect of invention

[0016] According to the harvesting robot of this utility model, the harvesting of agricultural products is integrated through a gripping component and a cutting component, and the harvested products are stored in a storage basket, achieving fully automatic and continuous harvesting. Therefore, the harvesting robot of this utility model can achieve efficient harvesting of agricultural products. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the harvesting robot in an embodiment of this utility model;

[0018] Figure 2 This is a structural schematic diagram of the gripping component and the cutting component in this utility model. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this utility model easy to understand, the following embodiments, in conjunction with the accompanying drawings, will specifically illustrate the harvesting robot of this utility model.

[0020] Figure 1 This is a schematic diagram of the harvesting robot in an embodiment of this utility model.

[0021] like Figure 1 As shown, the harvesting robot 100 includes a movable base 10, a multi-axis robotic arm 20, a gripping component 30, a cutting component 40, a storage basket 50, a target detector 60, a traction rope 70, and a condenser 80. In this embodiment, the movable base 10 is made of European standard 4040 industrial aluminum profile, which has the advantages of being lightweight, high-strength, and corrosion-resistant. In this embodiment, the harvesting robot 100 is controlled by an STM32F103C8T6 minimum system board.

[0022] The movable base 10 includes a chassis 11, casters 12, a first support frame 13, a second support frame 14, an auxiliary support frame 15, and an infrared sensor 16.

[0023] The moving wheels 12 are located under the chassis 11. The moving wheels 12 are Mecanum wheels. In this embodiment, the chassis 11 is a rectangular frame, and the harvesting robot has four moving wheels 12, which are respectively located at the four corners of the chassis 11. In this embodiment, the motor driving the moving wheels 12 in the harvesting robot 100 is a 57 closed-loop motor, and a corresponding closed-loop controller is configured.

[0024] The first support frame 13 is mounted on the chassis 11 and includes a vertically arranged rod-shaped first support member 131 and a horizontally arranged rod-shaped second support member 132. One end of the first support member 131 is fixedly connected to the second support member 132, and the two ends of the second support member 132 are fixedly connected to the opposite sides of the chassis 11, respectively.

[0025] The second support frame 14 is mounted on the chassis 11. In this embodiment, the two ends of the second support frame 14 are fixedly connected to the opposite sides of the chassis 11, thereby providing good stability.

[0026] The auxiliary support frame 15 includes a gantry-shaped support member 151, two first auxiliary support members 152, and a second auxiliary support member 153.

[0027] The two support ends of the gantry-shaped support member 151 are fixedly connected to the two sides opposite to the chassis 11.

[0028] One end of each of the two first auxiliary support members 152 is fixedly connected to the two support ends of the gantry-shaped support member 151, and the other end is fixedly connected to the two support ends of the second support frame 14, thereby further stabilizing the second support frame 14 and dispersing the force on the second support frame 14.

[0029] The second auxiliary support 153 is arranged horizontally, and its two ends are fixedly connected to the two support ends of the gantry-shaped support 151, respectively.

[0030] Infrared sensors 16 are used to detect the distance between the harvesting robot 100 and obstacles or crops. Each moving wheel 12 corresponds to an infrared sensor 16. The infrared sensors are set on the outside of the corresponding moving wheel 12 to prevent the moving wheel 12 from touching obstacles.

[0031] The multi-axis robotic arm 20 is mounted on the first support member 131. In this embodiment, the first support member 131 has a certain height and is a precision synchronous slide, which allows the multi-axis robotic arm 20 to slide up and down on the first support member 131, thereby enabling the multi-axis robotic arm 20 to stay at different heights and harvest the fruits of different crops at different heights.

[0032] Figure 2 This is a structural schematic diagram of the gripping component and the cutting component in this utility model.

[0033] like Figure 2 As shown, the gripping component 30 is located at the end of the multi-axis robotic arm 20 for gripping fruit, and includes a gripper 31 and a gripper drive motor 32.

[0034] The gripper 31 includes a plurality of oppositely arranged curved claw pieces 311 and fasteners 312.

[0035] The edge of the claw 311 facing the fruit is wavy for better gripping. All claws 311 on the same side are fixedly connected by multiple fasteners 312 that penetrate the claws. In this embodiment, the fasteners 312 penetrate the claws 311 in the middle layer at the wavy edge, thereby adjusting the gripping space of the claws 31 to adapt to the corresponding fruit size without changing the shape of the claws. Furthermore, the corresponding claws 311 on both sides are not on the same plane, allowing the claws 311 on both sides to interlock during gripping, which is beneficial for gripping smaller fruits.

[0036] The gripper drive motor 32 is used to drive the gripper plates 311 on both sides to move closer together and separate.

[0037] The cutting component 40 is located at the end of the multi-axis robotic arm 20 and is used to separate the fruit from the crop. It includes a first blade 41, a second blade 42 and a cutting drive motor. In this embodiment, the cutting drive motor is a gripper drive motor 32, that is, the gripper drive motor 32 drives the gripper 31 and the first blade 41 and the second blade 42 to move in sequence.

[0038] In this embodiment, both the first blade 41 and the second blade 42 are single-edged blades, and the cutting edges of the first blade 41 and the second blade 42 are arranged opposite to each other. In other embodiments, the first blade 41 and the second blade 42 can be configured as rotary cutting blades to further improve the cutting efficiency of tough crops.

[0039] The cutting drive motor is used to drive the blades of the first blade 41 and the second blade 42 to intersect each other, that is, the first blade 41 and the second blade approach each other and intersect, so as to separate the fruit from the crop.

[0040] The storage basket 50 is set on the movable base 10 and is used to store the harvested fruit.

[0041] The storage basket 50 is made of transparent material. In this embodiment, the storage basket 50 is made of transparent acrylic material, and the storage basket 50 is composed of two rectangular plates and two triangular plates spliced ​​together. The outer edge formed by the two rectangular plates is higher than the outer edge formed by the triangular plates, so that the cross-section of the storage basket 50 is triangular, thereby improving the space utilization rate, ensuring that the fruit will not fall out of the storage basket 50, and allowing for precise observation of the contents of the storage basket 50.

[0042] One edge of the storage basket 50 is supported by the first support member 131 and / or the second auxiliary support member 153 of the first support frame 13, and the other opposite edge is supported by the second support frame 14. The edge of the storage basket 50 supported by the second support frame 14 is hinged to the second support frame 14. Furthermore, when the storage basket 50 is used to store fruit, the second support frame 14 has a large contact area with the edge of the storage basket 50, thereby dispersing the force on the edge of the storage basket 50 and solving the problem of the storage basket 50 deforming under pressure due to excessive fruit storage.

[0043] The target detector 60 includes a camera, positioned at the end of the multi-axis robotic arm 20, for identifying the fruit to be picked. In this embodiment, the camera is an OpenMV. In OpenMV, color recognition primarily relies on image analysis to match a preset color template, thereby identifying the color of the target object. The camera captures the RGB color space. The target color to be identified is selected. For example, to identify red fruit, the RGB range of red needs to be defined, determining the upper and lower boundaries of the target color. In the image captured by the camera, the color range is used to filter out the portion of the target color. In the filtered image, contour detection or other target detection methods are used to find the target region. Once the target region is found, its position can be tracked. These steps are integrated into a loop to identify the target color in the camera in real time.

[0044] One end of the traction rope 70 is fixedly connected to the bottom of the storage basket 50, and the other end is connected to the coiler 80.

[0045] A catcher 80 is mounted on the first support frame 13 and is used to catch the traction rope 70, causing the storage basket 50 to tip over the stored fruit. In this embodiment, the catcher 80 is mounted on the first support member 131 and is higher than the highest point that the bottom of the storage basket 50 can reach when it rotates around the hinge, so that the storage basket 50 can completely tip over the fruit inside when it is subjected to the traction rope 70.

[0046] The role and effect of the embodiments

[0047] The harvesting robot described in this embodiment integrates the harvesting of agricultural products through a gripping component and a cutting component, and stores the harvested products in a storage basket, achieving fully automated and continuous harvesting. In summary, this device enables efficient harvesting of agricultural products.

[0048] Furthermore, by setting a traction rope at the bottom of the storage basket and combining it with a retractor, the fruit stored in the basket can be easily and conveniently emptied.

[0049] Furthermore, by making the storage baskets transparent, the harvesting process can be clearly observed, allowing for a decision on whether to empty the fruit or adjust the harvesting settings.

[0050] Furthermore, by making the side of the claw that contacts the fruit wavy, the contact area with the fruit can be increased, thereby improving the stability of grasping the fruit.

[0051] Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A picking robot for picking fruits of a crop, characterized in that, The picking robot comprises: a movable base; a multi-axis robot arm arranged on the movable base; a target detector comprising a camera arranged at the end of the multi-axis robot arm for identifying the fruit to be picked; a gripping assembly arranged at the end of the multi-axis robot arm for gripping the fruit; a cutting assembly arranged at the end of the multi-axis robot arm for separating the fruit from the crop; a storage basket arranged on the movable base for storing the picked fruit.

2. The picking robot of claim 1, The picking robot is characterized in that: the movable base comprises: a base plate; moving wheels arranged under the base plate; a first support frame arranged on the base plate; a second support frame arranged on the base plate, the multi-axis robot arm is arranged on the first support frame, the first support frame and the second support frame respectively support two opposite edges of the storage basket.

3. The picking robot according to claim 2, characterized in that, The picking robot further comprises: a traction rope and a buncher, the edge supported by the second support frame is hinged to the second support frame, one end of the traction rope is connected to the storage basket and the other end is connected to the buncher, the buncher is arranged on the first support frame for bunching the traction rope to make the storage basket dump the stored fruit.

4. The picking robot according to claim 3, wherein: wherein, one end of the traction rope is fixedly connected to the bottom of the storage basket.

5. The picking robot according to claim 2, wherein: wherein the moving wheels are Mecanum wheels.

6. The picking robot according to claim 2, wherein: wherein, the movable base further comprises an infrared sensor for detecting the distance to an obstacle or the crop.

7. The picking robot according to claim 1, wherein: wherein the storage basket is made of transparent material.

8. The picking robot according to claim 1, wherein: wherein the cutting assembly comprises a first blade, a second blade and a cutting drive motor, the cutting drive motor is used to drive the cutting edges of the first blade and the second blade to interleave with each other to separate the fruit from the crop.

9. The picking robot according to claim 1, wherein: wherein, the gripping assembly comprises a gripper and a gripper drive motor, the gripper comprises a plurality of oppositely arranged curved gripper blades and fasteners, all the gripper blades on the same side are fixedly connected by a plurality of fasteners penetrating the gripper blades, the gripper drive motor is used to drive the gripper blades on both sides to move closer to each other and separate.

10. The picking robot according to claim 9, wherein: wherein the edge of the side of the gripper blade facing the fruit is wavy.

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