A new type of integrated tomato seed and harvesting device

Abstract

This utility model belongs to the field of agricultural equipment technology, specifically relating to a novel integrated tomato planting and harvesting device. It includes a frame, a mobile chassis system, a harvesting execution system, a sowing execution system, and an energy and control system. This utility model device integrates functions, allowing a single device to complete both harvesting and sowing. It features flexible operation, a gripper pressure sensor to prevent fruit damage, energy efficiency, and an integrated structure, making it simple and convenient to use and easy to promote. It solves the problems in traditional agriculture where tomato harvesting relies on manual labor, resulting in high labor intensity and low efficiency; and sowing operations often use single-function equipment, leading to low equipment utilization and high operating costs.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural equipment technology, specifically relating to a novel integrated tomato seed and harvesting device. Background Technology

[0002] In traditional agriculture, tomato harvesting relies heavily on manual labor, resulting in high labor intensity and low efficiency. Sowing operations often employ single-function equipment, leading to low equipment utilization and high operating costs. The core problems currently facing facility agriculture are: 1. Harvesting robots: These mostly use rigid robotic arms, easily damaging the fruit and lacking sowing functionality; the fruit damage rate of tomatoes is >30% (data from the *Transactions of the Chinese Society of Agricultural Engineering*, 2023), and rigid end effectors cause damage to the fruit surface; 2. Sowing equipment: These can only complete single processes such as furrowing, sowing, and covering with soil, and the current plant spacing qualification rate of seeders is ≤85% (GB / T 9478-2023 standard), and they cannot coordinate with harvesting equipment; 3. Energy system: Reliance on external power supply limits mobility and restricts continuous operation. CN114586568A (tomato harvesting robot) does not solve the problem of integrating sowing functionality; CN113099888B (seeder) lacks a fruit harvesting module; DE102022003789A1 (solar-powered agricultural robot) does not achieve flexible actuators. Therefore, there is an urgent need for integrated, flexible, and energy-self-sufficient agricultural operation equipment. Utility Model Content

[0003] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a new type of integrated tomato planting and harvesting device, which realizes functional integration and completes both harvesting and sowing with a single device, reducing equipment costs by more than 30%; moreover, the device has an integrated operation structure and is simple and convenient to use.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A novel integrated tomato seed and harvesting device includes a frame and also includes: The mobile chassis system includes a differential drive chassis mounted at the bottom of the frame and a two-dimensional motion platform mounted on the frame; the differential drive chassis has a set of driving wheels and a set of driven wheels mounted around its four sides, and the driving wheels are equipped with drive motors; The harvesting execution system includes a robotic arm and a fruit storage box. The base of the robotic arm is mounted on a two-dimensional motion platform, and the fruit storage box is mounted on the frame and located on one side of the robotic arm. The seeding execution system includes a feed inlet, a combined furrowing plow blade, and a covering wheel; one end of the feed inlet is connected to a hole-type feeding turntable, and the hole-type feeding turntable is connected to a feeding cylinder; a seed transport trough is connected between the hole-type feeding turntable and the feeding cylinder; the combined furrowing plow blade and the covering wheel are respectively fixedly connected to the frame; and pass through the differential drive chassis and are located at the bottom of the differential drive chassis.

[0005] Energy and control systems, including water and fertilizer management systems, photovoltaic systems, and control systems.

[0006] Specifically, the two-dimensional motion platform includes an X-axis moving device, which includes a linear optical axis and a first ball screw arranged on the left and right sides of the frame; one end of the ball screw is connected to a first stepper motor; a slider is connected to the linear optical axis and the ball screw, and the first stepper motor controls the movement of the screw, thereby causing the slider to move on the linear optical axis and the first ball screw.

[0007] More specifically, it also includes a Z-axis moving device; the Z-axis moving device includes a second stepper motor and a second ball screw, and a linear ball bearing; the second stepper motor is connected to the side of the slider, the output end of the second stepper motor is connected to one end of the second ball screw, and the other end of the second ball screw is equipped with a linear ball bearing and connected to the robot arm base.

[0008] Specifically, the first stepper motor and the second stepper motor are respectively connected to the control system.

[0009] Specifically, as one possible implementation, the water and fertilizer management system includes a water tank, which is fixedly installed on the frame, and a spray nozzle is provided on the side of the water tank.

[0010] Specifically, as another possible implementation, the photovoltaic system includes a solar panel, the solar panel is equipped with a dual-axis tracking mechanism, and the bracket of the solar panel is fixedly installed on the frame; one end of the solar panel is connected to a storage battery, and the storage battery is connected to the mobile chassis system, the harvesting execution system, the sowing execution system, the water and fertilizer management system, and the control system respectively.

[0011] As another possible implementation, a soil moisture and temperature detection device is also included, which is fixedly installed on one side of the frame to monitor soil moisture and temperature data.

[0012] Compared with the prior art, the present invention has the following beneficial effects through the above technical solution: (1) This utility model integrates functions, and a single device can complete harvesting and sowing, reducing equipment costs by more than 30%; flexible operation: the gripper pressure sensor prevents fruit damage, and the breakage rate is <5%; energy saving and high efficiency: solar power supply + self-contained 22V mobile power supply can meet 8 hours of continuous operation, and the sowing accuracy is ±1cm; intelligent adaptation: the soil sensor automatically adjusts the irrigation amount, and OpenMV realizes fruit maturity recognition.

[0013] (2) The device of this utility model has an integrated structure, is simple and convenient to use, is easy to promote and operate, and saves time and cost. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the device structure of this utility model; Figure 2 This is a schematic diagram of the left side of the device structure of this utility model; Figure 3 This is a schematic diagram of the bottom structure of the device of this utility model; Figure 4 This is a front view of the structure of the device of this utility model; Figure 5 This is a schematic diagram of the robotic arm structure of the device of this utility model; Figure 6 This is a schematic diagram of the X-axis moving device of this utility model. Figure 7 This is a schematic diagram of the Z-axis moving device of this utility model. Figure 8 This is a schematic diagram of the solar panel structure of the device of this utility model; Figure 9 This is a schematic diagram of the water tank structure of the device of this utility model; Figure 10 This is a schematic diagram of the soil moisture and temperature detection device of this utility model. Figure 11 This is a schematic diagram of the combined trenching plow blade structure of the present invention; Figure 12 This is a schematic diagram of the soil-covering wheel structure of the device of this utility model; In the diagram: 1. Frame; 2. Differential drive chassis; 3. X-axis moving device; 4. Z-axis moving device; 5. Robotic arm; 6. Fruit storage box; 7. Feed inlet; 8. Solar panel; 9. Drive wheel; 10. Driven wheel; 11. Control system; 12. Covering wheel; 13. Soil moisture and temperature detection device; 14. Water tank; 15. Feeding cylinder; 16. Seed transport trough; 17. Combined trenching plow; 18. Spray nozzle; 19. Robotic arm base; 20. Three-finger gripper; 21. Image sensor; 22. Slider; 23. First stepper motor; 24. First ball screw; 25. Linear optical axis; 26. Linear ball bearing; 27. Second ball screw; 28. Second stepper motor; 29. ​​Support; 30. Dual-axis tracking mechanism. Detailed Implementation

[0015] The present invention will now be described in detail with reference to the accompanying drawings.

[0016] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0017] The preferred embodiments of this utility model will be described below with reference to the accompanying drawings. It should be noted that the terms "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0018] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0019] To fully understand the embodiments of this utility model, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this utility model is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this utility model are described in detail below; however, in addition to these detailed descriptions, this utility model may have other embodiments.

[0020] This utility model provides a novel integrated tomato seed and harvesting device, including a frame 1 made of aluminum alloy, and further comprising: The mobile chassis system includes a differential drive chassis 2 mounted at the bottom of a frame 1 and a two-dimensional motion platform mounted on the frame 1. The differential drive chassis 2 has a set of driving wheels 9 and a set of driven wheels 10 mounted around its perimeter. The driving wheels 9 are equipped with drive motors and have rubber treads, while the driven wheels 10 are equipped with polyurethane hubs. The two-dimensional motion platform includes an X-axis moving device 3, which includes a linear optical axis 25 and a first ball screw 24 mounted on the frame 1. One end of the first ball screw 24 is connected to a first stepper motor 23. A slider 22 is connected to the linear optical axis 25 and the ball screw. The first stepper motor 23 controls the movement of the screw, thereby causing the slider 22 to move on the linear optical axis 25 and the first ball screw 24. More specifically, it also includes a Z-axis moving device 4; the Z-axis moving device 4 includes a second stepper motor 28 and a second ball screw 27, and a linear ball bearing 26; the stroke is ≥500mm. The second stepper motor 28 is connected to the side of the slider 22, and the output end of the second stepper motor 28 is connected to one end of the second ball screw 27. The other end of the second ball screw 27 is equipped with a linear ball bearing 26 and connected to the robotic arm base 19. The first stepper motor 23, the second stepper motor 28, and the drive motor are respectively connected to the control system 11. Omnidirectional movement of the device is achieved through differential drive chassis 2 and two-dimensional moving platform.

[0021] Harvesting execution system: includes robotic arm 5 and fruit storage box 6. The base of robotic arm 5 is mounted on a two-dimensional motion platform, and fruit storage box 6 is mounted on frame 1, located on one side of robotic arm 5. Robotic arm 5 is a 6-DOF serial robotic arm 5, with an OpenMV Cam H7 image sensor 21 on the top to identify ripe tomatoes by color. The three-finger gripper 20 of robotic arm 5 adopts a flexible gripper structure to avoid damaging the fruit. The three-finger gripper 20 is driven by tendon ropes, and the fingertips are embedded with FSR402 pressure sensors. The gripping force range is adjustable from 0.5-5N. Robotic arm 5 is equipped with a microcontroller to control the movement of robotic arm 5. The joint module of robotic arm 5 adopts DSR series serial bus servo motors with a rated torque of 24N·m.

[0022] The sowing execution system includes a feed inlet 7, a combined furrowing plow blade 17, and a covering wheel 12. One end of the feed inlet 7 is connected to a perforated feeding turntable, which is connected to a feeding cylinder 15. A seed transport trough 16 connects the perforated feeding turntable and the feeding cylinder 15. The combined furrowing plow blade 17 and the covering wheel 12 are fixedly connected to the frame 1. The perforated feeding turntable, in conjunction with a photoelectric encoder, achieves a sowing qualification index ≥92% (NY / T 1143-2023). The soil entry angle of the three sets of furrowing plow blades is 45°±5°, and the grounding pressure of the covering wheel 12 is adjustable. Soil moisture and temperature detection device 13 is fixedly installed on one side of the frame 1 to monitor soil moisture and temperature data.

[0023] Energy and control systems 11, including: Water and fertilizer management system: The water and fertilizer management system includes a water tank 14, which is fixedly installed on the frame 1. The side of the water tank 14 is provided with a water spray nozzle 18. The 304 stainless steel water tank 14 has a volume of 50L. The flow rate of the water spray nozzle 18 is adjustable from 0-2L / min by a solenoid valve. Photovoltaic System: The photovoltaic system includes a solar panel 8, which is equipped with a dual-axis tracking mechanism 30. The support 29 of the solar panel 8 is fixedly mounted on the frame 1. One end of the solar panel 8 is connected to a storage battery, which is connected to the mobile chassis system, harvesting execution system, sowing execution system, water and fertilizer management system, and control system 11. The monocrystalline silicon solar panel 8 has a conversion efficiency of ≥22%. The dual-axis tracking mechanism 30 is driven by a harmonic reduction stepper motor and can optimize light collection according to the real-time light direction via a direction conversion mechanism.

[0024] Control System 11: STM32H743VI MCU, running μC / OS-III real-time operating system.

[0025] Harvesting process: - OpenMV identifies ripe tomatoes, the robotic arm 5 adjusts its posture with a gimbal, the three-finger gripper 20 flexibly grasps the fruit, the pruning mechanism cuts off the fruit stem, and the fruit is stored in the fruit storage box 6.

[0026] Sowing operation process: - The furrowing plow creates planting furrows, seeds enter the transport trough through the feed inlet 7, the feeding turntable quantitatively distributes seeds, the feeding cylinder 15 accurately feeds the seeds, the covering wheel 12 covers and compacts the soil, and the water spray nozzle 18 irrigates.

[0027] Example 1: Harvesting Operation Process 1. Color threshold for visual system recognition of ripe fruit: a > 25, L < 50, CIE LAB standard; 2. Kinematics calculation of robotic arm using the DH parameter method: θ_i = arccos[(x^2+y^2+l1^2-l2^2) / (2 l1 sqrt(x^2+y^2))] + arctan(y / x) Example 2: Sowing Operation Process 1. Trenching depth control: H = k F_down / (ρ g A) / / H: Depth, F_down: Hydraulic cylinder pressure, ρ: Soil density 2. Ranking logic: - The rotational speed n of the feeding turntable and the travel speed v satisfy the following: n = v / (π D η) / / D: Eye diameter, η: Plant spacing factor Example 3: Energy Management Strategy - When sunlight intensity is >80,000 lux: direct photovoltaic drive + battery float charging; - When the light intensity is less than 20,000 lux: the battery pack discharges and the SOC is less than 20%, it will automatically return to the home terminal.

[0028] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of the invention.

[0029] Terms such as “component” as used herein may refer to a single part or a combination of multiple parts. Terms such as “installation” or “installation” as used herein may refer to a component being directly attached to another component or a component being attached to another component via an intermediary. Features described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or otherwise stated.

[0030] This invention is not limited to the specific embodiments described above. This invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A novel integrated tomato seed and harvesting device, comprising a frame (1), characterized in that, Also includes: The mobile chassis system includes a differential drive chassis (2) installed at the bottom of the frame (1) and a two-dimensional motion platform installed on the frame (1); the differential drive chassis (2) has a set of driving wheels (9) and a set of driven wheels (10) installed around its perimeter, and the driving wheels (9) are equipped with drive motors; The harvesting execution system includes a robotic arm (5) and a fruit storage box (6). The base of the robotic arm (5) is mounted on a two-dimensional motion platform, and the fruit storage box (6) is mounted on the frame (1) and located on one side of the robotic arm (5). The seeding execution system includes a feed inlet (7), a combined furrowing plow (17), and a covering wheel (12); one end of the feed inlet (7) is connected to a hole-type feeding turntable, and the hole-type feeding turntable is connected to a feeding cylinder (15); a seed transport trough (16) is connected between the hole-type feeding turntable and the feeding cylinder (15); the combined furrowing plow (17) and the covering wheel (12) are respectively fixedly connected to the frame (1); and pass through the differential drive chassis and are located at the bottom of the differential drive chassis; Energy and control systems, including water and fertilizer management systems, photovoltaic systems and control systems (11).

2. The novel tomato seed and harvesting integrated device according to claim 1, characterized in that, The two-dimensional motion platform includes an X-axis moving device (3), which includes a linear optical axis (25) and a first ball screw (24) arranged on the left and right sides of the frame (1); one end of the ball screw is connected to a first stepper motor (23); a slider (22) is connected to the linear optical axis (25) and the ball screw, and the first stepper motor (23) controls the movement of the screw, thereby causing the slider (22) to move on the linear optical axis (25) and the first ball screw (24).

3. The novel tomato seed and harvesting integrated device according to claim 2, characterized in that, It also includes a Z-axis moving device (4); the Z-axis moving device (4) includes a second stepper motor (28) and a second ball screw (27), and a linear ball bearing (26); the second stepper motor (28) is connected to the side of the slider (22), the output end of the second stepper motor (28) is connected to one end of the second ball screw (27), and the other end of the second ball screw (27) is equipped with a linear ball bearing (26) and connected to the robot arm base (19).

4. The novel tomato seed and harvesting integrated device according to claim 3, characterized in that, The first stepper motor (23) and the second stepper motor (28) are respectively connected to the control system (11).

5. A novel integrated tomato seed and harvesting device according to claim 1, characterized in that, The water and fertilizer management system includes a water tank (14), which is fixedly installed on the frame (1), and a spray nozzle (18) is provided on the side of the water tank (14).

6. The novel tomato seed and harvesting integrated device according to claim 1, characterized in that, The photovoltaic system includes a solar panel (8), which is equipped with a dual-axis tracking mechanism (30). The bracket (29) of the solar panel (8) is fixedly installed on the frame (1). One end of the solar panel (8) is connected to a storage battery, which is connected to the mobile chassis system, the harvesting execution system, the sowing execution system, the water and fertilizer management system, and the control system (11).

7. A novel integrated tomato seed and harvesting device according to claim 1, characterized in that, It also includes a soil moisture and temperature detection device (13), which is fixedly installed on one side of the frame (1) to monitor soil moisture and temperature data.

Images