A suitable device for efficient and intelligent harvesting of greenhouse cucumbers in a shaded environment

Abstract

To provide a device suitable for efficient intelligent harvesting of greenhouse cucumbers under a shielded environment.SOLUTION: A sensor is arranged on both front and back sides of a travel device, and used to detect a real time situation of a ground surface, a visual recognition module is formed by a camera matrix, the camera matrix collects image information at different visual angles in real time, and transmits the image information to a cloud server, the cloud server executes image information processing and target positioning through a YoLoV5s model, outputs a determination signal to a control module, can control work of the travel device and a picking device, and performs self-completion of cucumber recognition, positioning, and a picking function, can achieve cucumber intelligent picking. The invention achieves cucumber efficient intelligent picking, and has wide availability and a very large use value.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an apparatus suitable for efficient and intelligent harvesting of greenhouse cucumbers under a shaded environment, and is particularly suitable for picking greenhouse cucumbers, which have small differences between fruits and stems and leaves, are difficult to distinguish, and involve a large workload. [Background technology]

[0002] Cucumber is one of the main vegetables on the dining table, and the market demand is continuously increasing, so the area of ​​cucumber planting in greenhouses is continuously expanding. Cucumber harvesting is mainly done by manual picking, which has a harsh picking environment, high work intensity, and low harvesting efficiency. At present, agricultural mechanization has entered the fast lane, and the use of advanced equipment to achieve intelligent and automated each stage of agricultural production has become mainstream, so it is necessary to develop and investigate harvesting equipment that can not only improve people's working environment and reduce labor intensity, but also improve picking efficiency. Cucumber cultivation is generally used in three-dimensional cultivation, so the cucumber is always shielded by the stem and leaves, and the impact of leaves and stems on recognition is large, and the recognition success rate is low. In this case, designing equipment suitable for efficient and intelligent harvesting of greenhouse cucumbers under shielding environment has important practical significance in harvesting cucumbers in real time and efficiently, reducing agricultural product harvesting costs and reducing staff labor intensity. Summary of the Invention [Problem to be solved by the invention]

[0003] In response to the shortcomings of the prior art, the present invention aims to provide an apparatus suitable for efficient and intelligent harvesting of greenhouse cucumbers in a shaded environment, which can be used to solve the problem of greenhouse fruit vegetable picking in which the fruits are shaded by stems and leaves and difficult to recognize, and can not only improve picking efficiency, but also reduce labor intensity and increase farmers' economic income. [Means for solving the problem]

[0004] The object of the present invention is achieved by the following technical solutions: The present invention includes a traveling device, an execution device, a visual recognition module, a sensor and control module, and a driving module, the visual recognition module is composed of a camera matrix, the camera matrix is ​​composed of three pairs of binocular cameras, the camera matrix can perform real-time collection of image information of different visual angles, and then transmit the image information to a cloud server, the server performs image information processing and picking target positioning through YoLoV5s model, and outputs a decision signal to the control module, the control module controls the traveling device, the picking arm and the end effector to work, so as to achieve the picking purpose; The camera matrix is ​​composed of a first camera module, a second camera module, and a third camera module, among which the first camera module is fixed to the front of the first joint of the vertical telescopic arm and connected to the camera rotation base via a camera connecting rod, the first camera is fixed to the upper end of the rotation base, the first camera can rotate in a small range, and the camera can obtain image information at an optimal image acquisition position, the second camera is installed at the upper end of the second camera installation rod, one end of the second camera installation rod is connected to the second joint of the horizontal telescopic arm and the other end is connected to the actuator installation base, the third camera support is fixed to the traveling device, and the other end is connected to a vertical lifting rod, a rotary bearing is installed at the end of the vertical lifting rod, and the horizontal connecting rod can rotate around the vertical lifting rod through the rotary bearing; the other end of the horizontal connecting rod is connected to a horizontal tension rod, and the horizontal tension rod adopts an inverted "L" structure, and a third camera is installed at the end of the horizontal tension rod, so as to ensure that the third camera can collect cucumber image information on the other side of the cucumber cultivation frame; the first camera module, the second camera module and the third camera module jointly constitute a camera module, and the camera matrix can collect image information at different visual angles; The picking arm is composed of a vertical telescopic arm, a telescopic arm connecting shaft, a horizontal telescopic arm, and a mechanical arm rotating base, the mechanical arm rotating base is installed on a traveling device, a first joint of the vertical telescopic arm is installed on the mechanical arm rotating base, and is driven to rotate the mechanical arm under the driving of a mechanical arm rotating motor, and a second joint of the vertical telescopic arm moves under the action of a vertical telescopic arm driving motor, one end of the telescopic arm connecting shaft is connected to the second joint of the vertical telescopic arm, and the other end is connected to the first joint of the horizontal telescopic arm, a telescopic arm connecting shaft support push rod and a horizontal telescopic arm electric push rod are respectively installed on the telescopic arm connecting shaft, and the electric push of the horizontal telescopic arm is The rod is connected to a first joint of the horizontal telescopic arm, and the movement of the electric push rod of the horizontal telescopic arm drives the horizontal telescopic arm to adjust up and down; the first joint of the horizontal telescopic arm is connected to a second joint of the horizontal telescopic arm, and the motor drives the second joint of the horizontal telescopic arm to move along the inner surface of the first joint of the horizontal telescopic arm; the other end of the second joint of the horizontal telescopic arm is connected to a second camera installation rod, and the other end of the second camera installation rod is connected to an actuator installation base, and the actuator installation base can perform small rotations, so that the shears and flexible grippers installed thereon are vertically oriented to the position of the cucumber; Obstacle avoidance sensors are installed on both the front and rear sides of the traveling device, and the obstacle avoidance sensors transmit the collected road surface information to the control module, and the control module controls the drive module to operate according to the received information transmission command, and further moves the traveling device; the power supply module is embedded inside the traveling device and provides the electric energy required for the picking device when it works; the drive module is composed of a motor and an electric push rod, and provides the driving force required for the picking device when it works; the collection box is installed on the front side of the traveling device, and after the control module receives the cucumber position information, it first controls the movement of the traveling device to move the picking device to pick ripe cucumbers. The present invention is characterized in that the control module marches the mechanical arm to a picking point, then controls the picking movement, and makes the end effector reach the picking point; after the end effector reaches the working position, the control module first controls the motor inside the flexible gripper to operate to clamp the fruit, and then controls the motor inside the shearing machine to operate to shear the cucumber stem; after the shearing operation is completed, the control module controls the mechanical arm to retract, making the flexible gripper reach the position of a collection box, and the control module controls the motor inside the flexible gripper to operate to put the clamped cucumber into the collection box, thereby completing picking. Effect of the Invention

[0005] Compared with the prior art, the present invention is adapted to efficient and intelligent harvesting of fruits under obstructed environments. The installed visual recognition module collects image information from different visual angles, and the cloud server performs recognition and positioning, and outputs a decision signal to control the picking device to perform picking, thereby effectively reducing labor intensity and improving harvesting efficiency. [Brief description of the drawings]

[0006] [Figure 1] FIG. 2 is a schematic diagram of the overall structure of the picking device provided by the present invention; [Diagram 2]1 is a partial schematic diagram of a camera matrix and associated assembly provided in accordance with the present invention; [Diagram 3] FIG. 2 is a partial schematic view of a picking mechanical arm provided by the present invention. [Figure 4] 1 is a partial schematic view of an end effector provided by the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following clearly and completely describes the technical solutions in the embodiments of the invention with reference to the drawings of the present invention.

[0008] The device suitable for efficient and intelligent harvesting of greenhouse cucumbers under a shielded environment, as shown in Figures 1 to 4, includes a vertical telescopic arm 1, a first camera module 2, a telescopic arm connecting shaft 3, a horizontal telescopic arm 4, a second camera module 5, an actuator installation base 6, a shearing machine 7, a flexible gripper 8, a third camera module 9, a collection box 10, an obstacle avoidance sensor 11, a traveling device 12, a power supply module 13, and a mechanical arm rotating base 14.

[0009] The camera matrix is ​​composed of a first camera module 2, a second camera module 5 and a third camera module 9, among which the first camera module 2 includes a first camera installation rod 201, a camera connecting rod 202, a rotating base 203 and a first camera 204. One end of the first camera installation rod 201 is fixed in front of the first joint 101 of the vertical telescopic arm, and the other end is connected to the camera connecting rod 202, which can rotate around a connecting bolt. The other end of the camera connecting rod 202 is connected to the rotating base 203. The first camera 204 is installed at the upper end of the rotating base 203, which ensures that the first camera 204 rotates within a certain range and allows the camera to capture image information at an optimal image capture position. The second camera 502 is installed on the upper end of the second camera installation rod 501, one end of the second camera installation rod 501 and the second joint 402 of the horizontal telescopic arm are connected by a movable bolt, and the other end of the second camera installation rod 501 is connected to the actuator installation base 6, so that the second camera installation rod 501 can make small swinging movements, and the shear 7 and flexible gripper 8 installed in front of the actuator installation base 6 can avoid interference with the fruit stems and leaves to ensure that the working position is reached.The third camera module 9 includes a third camera support 901, a vertical lifting rod 902, a horizontal connecting rod 903, a lateral tension rod 904, and a third camera 905. The third camera support 901 is fixed to the upper end of the traveling mechanism 12. The vertical lifting rod 902 is connected to the third camera support 901. The vertical lifting rod 902 moves along the inner surface of the third camera support 901. A rotary bearing is installed at the end of the vertical lifting rod 902. The rotary bearing is connected to the horizontal connecting rod 903. The horizontal connecting rod 903 can rotate around the vertical lifting rod 902. The other end of the horizontal connecting rod 903 is connected to the lateral tension rod 904. The lateral tension rod 904 adopts an inverted "L"-shaped structure. The lateral tension rod 904 moves along the inner surface of the horizontal connecting rod 903. The first camera module 2, the second camera module 5 and the third camera module 9 jointly form a camera matrix, which collects image information at different visual angles, and transmits the collected image information to the cloud server. The cloud server processes and calculates the image information according to the YoLoV5s model, and further obtains a set of comprehensive position information, which is transmitted to the control module 13. The control module 13 controls the shears 7 and the flexible gripper 8 according to the obtained position information to work in sequence, and the harvesting is completed.

[0010] The picking arm is composed of a vertical telescopic arm 1, a telescopic arm connecting shaft 3, a horizontal telescopic arm 4, and a mechanical arm rotating base 14, of which the vertical telescopic arm 1 includes a first joint 101 of the vertical telescopic arm, a vertical telescopic arm driving motor 102, and a second joint 103 of the vertical telescopic arm. The mechanical arm rotating base 14 is fixed to the traveling device 12, the first joint 101 of the vertical telescopic arm is installed on the mechanical arm rotating base 14, and is driven to rotate the mechanical arm under the driving of the mechanical arm rotating motor 1401, and the second joint 103 of the vertical telescopic arm moves along the inner surface of the first joint 101 of the vertical telescopic arm under the action of the vertical telescopic arm driving motor 102. One end of the telescopic arm connecting shaft 3 is connected to the second joint 103 of the vertical telescopic arm, and the other end is connected to the first joint 401 of the horizontal telescopic arm. The telescopic arm connecting shaft support push rod 301 and the horizontal telescopic arm electric push rod 302 are respectively installed on the front and rear sides of the telescopic arm connecting shaft 3, of which the telescopic arm connecting shaft support push rod 302 and the horizontal telescopic arm electric push rod 302 are respectively installed on the front and rear sides of the telescopic arm connecting shaft 3. The rod 301 mainly plays the role of supporting the telescopic arm connection shaft 3, the other end of the electric push rod 302 of the horizontal telescopic arm is connected to a first joint 401 of the horizontal telescopic arm, and the movement of the electric push rod 302 of the horizontal telescopic arm drives the horizontal telescopic arm to adjust up and down, the first joint 401 of the horizontal telescopic arm is connected to a second joint 402 of the horizontal telescopic arm, and the horizontal telescopic arm drive motor 403 installed in the first joint 401 of the horizontal telescopic arm works to drive the second joint 402 of the horizontal telescopic arm to move along the inner surface of the first joint 401 of the horizontal telescopic arm, the other end of the second joint 402 of the horizontal telescopic arm and the second camera installation rod 501 are connected by a movable bolt, and the other end of the second camera installation rod 501 is connected to an actuator installation base 6, and a small motor is installed inside the actuator installation base 6, which allows the actuator installation base 6 to perform small rotations, and accurately faces the shear 7 and the flexible gripper 8 to the working position.

[0011] The end effector is composed of a shear 7 and a flexible gripper 8. When the control module 13 receives the cucumber position information sent from the cloud server, it first controls the motor inside the flexible gripper 8 to operate to clamp the fruit, and then controls the motor of the shear 7 to operate to shear the cucumber stem. After the shearing operation is completed, the control module 13 controls the mechanical arm to retract, causing the flexible gripper 8 to reach the position of the collection box 10. The control module 13 controls the motor inside the flexible gripper 8 to operate to put the clamped cucumber into the collection box 10, and the picking is completed.

[0012] The picking arm and the collecting box 10 are installed on a traveling device 12, and obstacle avoidance sensors 11 are installed on the front and rear sides of the traveling device 12, respectively. The obstacle avoidance sensors 11 transmit the collected road surface information to a control module 13, and the control module 13 transmits commands according to the received road surface information to move the traveling device 12 under the cooperation of the power supply module and the drive module. The power supply module 13 is embedded inside the traveling device 12 and provides the picking device with the electric energy required during operation. The drive module is composed of a motor and an electric push rod and provides the driving force required during operation for picking. The collecting box is installed in front of the traveling device and is used to collect the picked cucumber fruits. This device can efficiently harvest cucumbers in real time, effectively reduce the harvesting cost, and also reduce the labor intensity, which is of great practical importance to the greenhouse fruit and vegetable harvesting. [Explanation of symbols]

[0013] 1 Vertical telescopic arm 2 First camera module 3 Telescopic arm connection shaft 4 Horizontal telescopic arms 5 Second Camera Module 6 Actuator installation stand 7 Shearing Machine 8 Flexible Grippers 9Third camera module 10 Collection Box 11 Obstacle Avoidance Sensor 12 Running gear 13 Control Module 14 Mechanical arm rotating table 101 First joint of vertical telescopic arm 102 Vertical telescopic arm drive motor 103 Second joint of vertical telescopic arm 201 First camera installation rod 202 Camera connecting rod 203 rotation base 204 Camera 1 301 Telescopic arm connection shaft support push rod 302 Horizontal telescopic arm electric push rod 401 First joint of horizontal telescopic arm 402 Second joint of horizontal telescopic arm 403 Horizontal telescopic arm drive motor 501 Second camera installation rod 502 2nd Camera 901 3rd Camera Post 902 Vertical Lifting Rod 903 horizontal connecting rod 904 Horizontal tension rod 905 3rd Camera 1401 Mechanical Arm Rotation Motor

Claims

1. 1. A picking device suitable for harvesting greenhouse cucumbers in a sheltered environment, comprising: The system includes a running gear, a picking arm, an end effector, a visual recognition module, a sensor and control module, and a drive module; The picking arm has a base fixed to the traveling device and includes a vertical telescopic arm on a side close to the base; The vertical telescopic arm includes a first connecting portion on a side closer to the base portion for connecting with an adjacent component, The end effector is provided at a tip of the picking arm and includes a gripper that clamps a cucumber and a shear that shears a stem of the cucumber clamped by the gripper, The drive module provides the end effector with a driving force required for operation, The visual recognition module is configured with a camera matrix, and the camera matrix can collect image information of different visual angles in real time; the camera matrix is ​​comprised of a first camera module including a first camera, a second camera module including a second camera, and a third camera module including a third camera; The first camera module is fixed to a front of a first connecting portion of the vertical telescopic arm and is connected to a rotation base via a connecting rod; The first camera is installed on an upper end of a rotating base, The second camera is installed at an upper end of a second camera installation rod, The third camera support is fixed to the traveling device, a vertical lift rod connected to the third camera column; The vertical lift rod extends and retracts along the inner surface of the third camera support, and a rotary bearing is installed at the tip of the vertical lift rod; One end of the horizontal connecting rod is connected to the rotary bearing, The other end of the horizontal connecting rod is connected to a lateral tension rod, The horizontal tension rod adopts an inverted "L" shaped structure, and a third camera is installed at the end of the horizontal tension rod; The third camera may collect cucumber image information on a side of the cucumber cultivation frame opposite to a side on which the second camera collects cucumber image information, the first camera module, the second camera module and the third camera module together constitute a visual recognition module; The visual recognition module transmits the collected cucumber image information to a cloud server, which processes the image information and performs target positioning through the YoLoV5s model, and outputs a decision signal to the control module to control the running device, the picking arm, and the end effector to operate, and the picking is completed. A picking device suitable for harvesting greenhouse cucumbers in a shaded environment, characterized in that

2. The picking arm is composed of a vertical telescopic arm, a telescopic arm connecting shaft, a horizontal telescopic arm, and a mechanical arm rotating base; The mechanical arm rotating platform is mounted on the traveling device, The vertical telescopic arm is installed on the mechanical arm rotating platform, and is driven by a mechanical arm rotating motor to rotate the picking arm; the second connecting portion of the vertical telescopic arm moves along an inner surface of the first connecting portion of the vertical telescopic arm under the action of a vertical telescopic arm drive motor; One end of the telescopic arm connection shaft is connected to the second connection part of the vertical telescopic arm, and the other end is connected to the first connection part of the horizontal telescopic arm, The first connection portion of the horizontally extendable arm is connected to the second connection portion of the horizontally extendable arm, and drives a horizontally extendable arm drive motor to drive the second connection portion of the horizontally extendable arm to move along an inner surface of the first connection portion of the horizontally extendable arm. A picking device suitable for harvesting greenhouse cucumbers in a shaded environment according to claim 1.

3. The end effector is composed of a shear and a gripper. After receiving the cucumber position information, the control module first controls the movement of the picking arm to make the end effector reach the picking point. After the end effector reaches the picking point, the control module first controls a motor inside the gripper to operate to clamp the cucumber, and then controls a motor of the shear to operate to shear the stalk of the cucumber. After the shearing operation is completed, the control module controls the picking arm to retract and the gripper to reach the position of a collection box. The control module controls a motor inside the gripper to operate to put the clamped cucumber into the collection box, and picking is completed. A picking device suitable for harvesting greenhouse cucumbers in a shaded environment according to claim 1.

4. Obstacle avoidance sensors are installed on both the front and rear sides of the traveling device, The obstacle avoidance sensor transmits road surface information to the control module; The control module controls the movement of the traveling device in response to road surface information; a power supply module embedded inside the running gear for providing the picking gear with the electrical energy required during operation; the drive module is composed of a motor and an electric push rod, and provides the necessary driving force for the picking device during operation; The collection box is installed in front of the running device and is used to collect the picked cucumbers. A picking device suitable for harvesting greenhouse cucumbers in a shaded environment according to claim 1.

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