A composite robot for agricultural production

Abstract

The utility model discloses a compound robot for agricultural production, and the compound robot comprises a robot body, picking device and watering device, the picking device, watering device and robot body are detachably connected. When performing picking task, the picking device is fixed on the robot body, and when performing watering task, the watering device is fixed on the robot body. The picking device and the watering device greatly reduce the automatic planting cost of fruits through the reuse of the robot body.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural robot technology, and more specifically, it relates to a composite robot for agricultural production. Background Technology

[0002] The rapid development of the fruit industry has increased the market demand for orchard machinery. Harvesting operations account for 33% to 50% of the total labor force used in the entire production process, and currently, the vast majority of fruit harvesting in my country is still done manually.

[0003] Harvesting operations are complex and highly seasonal. Manual harvesting is not only inefficient and labor-intensive, but existing manual harvesting methods can no longer meet the requirements of modern production.

[0004] With the development of technology, the increasing demand, and the continuous development of automated fruit harvesting technology, agricultural production is moving towards automation and intelligence. Currently, harvesting robots on the market can only perform harvesting tasks and have limited functions. Utility Model Content

[0005] This invention provides a composite robot for agricultural production, aiming to improve the above-mentioned problems.

[0006] This invention is implemented as follows: a composite robot for agricultural production, the composite robot comprising:

[0007] Robot body (1), harvesting device (2) and watering device (3);

[0008] The picking device (2), the watering device (3), and the robot body (1) are detachably connected.

[0009] Furthermore, the harvesting device (2) includes:

[0010] The fruit diameter separation mechanism (21) and the robotic arm (22) are integrated on the main body of the picking device (2), and a laser radar is integrated on the robot body (1), and a depth camera (221) is integrated on the robotic arm (22); a processor is connected to the laser radar and the depth camera (221) for communication, wherein the fruit diameter separation mechanism (21) includes:

[0011] The cavity has a separation plate inside it, and the separation plate has several separation grooves (212). The width of the separation grooves (212) increases along the rolling direction of the fruit.

[0012] The inlet area (211) has one end of the separation plate connected to the inlet area (211) and the other end connected to the side wall of the cavity;

[0013] Several collectors (213) are set on one side of the separation plate near the bottom of the cavity, and the collectors (213) are arranged in sequence along the rolling direction of the fruit;

[0014] A guide plate (214) is provided on the bottom plate between adjacent separation tanks (212), and the guide plate (214) is set perpendicular to the separation plate.

[0015] Furthermore, the separation plate is inclined, and the height of the separation plate from the bottom of the cavity decreases along the extension direction of the separation groove (212).

[0016] Furthermore, the inlet area (211) is inclined, and the end connected to the separation plate is at a low height from the bottom of the cavity.

[0017] Furthermore, the sprinkler device (3) includes:

[0018] Water tank (31), water inlet located on top of water tank (31), and water tank cover (32) adapted to the water inlet;

[0019] An electronic water pump is installed in the water tank (31). The outlet of the electronic water pump is connected to the nozzle (33) through the water outlet pipe. The electronic water pump is connected to the processor.

[0020] Furthermore, the bottom of the harvesting device (2) and the water tank (31) is provided with a locking block; the robot body (1) is provided with a slot that matches the locking block.

[0021] When performing the picking task, the picking device (2) is fixed on the robot body (1). When performing the watering task, the watering device (3) is fixed on the robot body (1). By reusing the robot body (1), the picking device (2) and the watering device (3) greatly reduce the cost of automated fruit planting. Attached Figure Description

[0022] Figure 1 A schematic diagram of the structure of the composite robot for the assembly and picking device (2) provided in this embodiment of the utility model;

[0023] Figure 2 A schematic diagram of the mechanism of the composite robot that assembles the water spraying device (3) provided in the embodiment of this utility model;

[0024] Figure 3 A schematic diagram of the structure of the harvesting device (2) provided in this embodiment of the utility model;

[0025] Figure 4 A schematic diagram of the structure of the water sprinkler device (3) provided in this embodiment of the utility model;

[0026] 1. Robot body; 2. Harvesting device; 21. Fruit diameter separation mechanism; 211. Entrance area; 212. Separation tank; 213. Collector; 214. Guide plate; 22. Robotic arm; 221. Depth camera; 222. End gripper; 3. Sprinkling device; 31. Water tank; 32. Water tank cover; 33. Sprinkler head; Detailed Implementation

[0027] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0028] The composite robot for agricultural production provided in this embodiment of the utility model includes:

[0029] Robot body (1), harvesting device (2) and watering device (3);

[0030] The harvesting device (2), the watering device (3), and the robot body (1) are detachably connected;

[0031] When performing the harvesting task, the harvesting device (2) is fixed to the robot body (1), such as Figure 1 As shown, when performing the watering task, the watering device (3) is fixed to the robot body (1), as follows: Figure 2 As shown, the picking device (2) and watering device (3) greatly reduce the cost of automated fruit planting by reusing the robot body (1).

[0032] Figure 3 This is a schematic diagram of the harvesting device provided in an embodiment of the present utility model. For ease of explanation, only the parts related to the embodiment of the present utility model are shown. The harvesting device (2) includes:

[0033] The fruit diameter separation mechanism (21) and the robotic arm (22) are integrated on the main body of the picking device (2); a laser radar is integrated on the robot body (1), and a depth camera (221) is integrated on the robotic arm (22); a processor is connected to the laser radar and the depth camera (221). The laser radar is used to perceive the environment and plan the driving path of the robot body (1). During the driving process, the robot body (1) identifies nearby fruits through the depth camera (221) and picks them through the robotic arm (22). After picking, fruits of different diameters are separated by the fruit diameter separation mechanism (21). The fruit diameter separation mechanism (21) includes:

[0034] The cavity contains a separation plate with several separation grooves (212) and the width of the separation grooves (212) gradually increases along the rolling direction of the fruit. The entrance area (211) is connected to the entrance area (211) at one end of the separation plate and to the side wall of the cavity at the other end. Several collectors (213) are arranged on the side of the separation plate near the bottom of the cavity and are arranged in sequence along the rolling direction of the fruit. A guide plate (214) is provided on the bottom plate between adjacent separation grooves (212) and is perpendicular to the separation plate.

[0035] The adjacent guide plates (214) on the separation plate form a fruit diameter separation channel with the separation groove (212) between the adjacent guide plates (214). The robotic arm (22) places the collected fruit in the entrance area (211) of the fruit diameter separation mechanism (21). The fruit enters each separation channel through the entrance area (211). As the fruit rolls along the separation channel, the fruit with a smaller diameter falls into the collector (213) at the bottom first, while the fruit with a larger diameter continues to roll and then falls into other collectors (213) at the bottom, thus realizing the automatic separation of fruits with different diameters.

[0036] In this embodiment of the utility model, the separation plate is inclined and the height of the separation plate from the bottom of the cavity gradually decreases along the extension direction of the separation groove (212). After the fruit enters each separation channel from the entrance area (211), it automatically rolls down along the separation channel, reducing the risk of the fruit blocking the separation channel.

[0037] In the utility model embodiment, the entrance area (211) is inclined and the end connected to the separation plate is low in height from the bottom of the cavity. After the robotic arm (22) puts the fruit into the entrance area (211), the fruit will automatically roll to one side of the separation plate and then enter different separation channels.

[0038] In this embodiment of the utility model, a card block is provided at the bottom of the picking device (2) body, and a card slot adapted to the card block is provided on the robot body (1). When picking, the card block on the picking device (2) body is inserted into the card slot on the robot body (1) to fix the picking device (2) on the robot body (1).

[0039] Figure 4 This is a schematic diagram of the structure of the sprinkler device provided in the embodiment of the present utility model. For ease of explanation, only the parts related to the embodiment of the present utility model are shown. The sprinkler device (3) includes:

[0040] Water tank (31), water inlet located on top of water tank (31), and water tank cover (32) adapted to the water inlet;

[0041] An electronic water pump is installed in the water tank (31). The outlet of the electronic water pump is connected to the nozzle (33) through the water outlet pipe. The electronic water pump is connected to the processor.

[0042] First, fill the water tank (31) with an appropriate amount of water through the inlet. When spraying water, start the electronic water pump. The water in the water tank (31) is pumped into the outlet pipe through the electronic water pump and sprayed out through the nozzle (33).

[0043] In this embodiment of the utility model, a protruding locking block is provided at the bottom of the water tank (31), and a slot adapted to the locking block is provided on the robot body (1). When performing water spraying operations, the locking block of the water tank (31) is inserted into the slot on the robot body (1) to fix the water spraying device (3) on the robot body (1).

[0044] This utility model has been described by way of example. Obviously, the specific implementation of this utility model is not limited to the above-described manner. Any non-substantial improvements made by adopting the inventive concept and technical solution of this utility model, or the direct application of the inventive concept and technical solution of this utility model to other occasions without modification, are all within the protection scope of this utility model.

Claims

1. A composite robot for agricultural production, characterized in that, The composite robot includes: Robot body, harvesting device and watering device; The harvesting device, watering device, and robot body are detachably connected; The harvesting device includes: The fruit diameter separation mechanism and robotic arm are integrated into the main body of the harvesting device, and a LiDAR integrated into the robot body and a depth camera integrated into the robotic arm; a processor is connected to the LiDAR and depth camera for communication. The fruit diameter separation mechanism includes: The cavity contains a separation plate with several separation grooves, the width of which increases along the rolling direction of the fruit. In the inlet area, one end of the separation plate is connected to the inlet area, and the other end is connected to the side wall of the cavity; Several collectors are set on one side of the separation plate near the bottom of the cavity, and the collectors are arranged in sequence along the rolling direction of the fruit; A guide plate is provided on the bottom plate between adjacent separation tanks, and the guide plate is set perpendicular to the separation plate; The sprinkler system includes: A water tank, an inlet located on the top of the water tank, and a matching water tank cover for the inlet; An electronic water pump is installed inside the water tank. The outlet of the electronic water pump is connected to the nozzle through the water outlet pipe. The electronic water pump is also connected to the processor.

2. The composite robot for agricultural production as described in claim 1, characterized in that, The separation plate is inclined, and the height of the separation plate from the bottom of the cavity decreases along the extension direction of the separation groove.

3. The composite robot for agricultural production as described in claim 1, characterized in that, The inlet area is tilted, and the end connected to the separation plate is low to the bottom of the cavity.

4. The composite robot for agricultural production as described in claim 1, characterized in that, The bottom of the harvesting device and water tank is equipped with locking blocks; the robot body is equipped with slots that fit the locking blocks.

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