Intelligent picking machine
阅读说明:本技术 智能采摘机 (Intelligent picking machine ) 是由 翟治芬 张建华 郭君 王丽丽 于 2019-09-26 设计创作,主要内容包括:本发明涉及农业信息设备技术领域,提供了一种智能采摘机,包括:移动小车、采摘机构以及传输分离机构;所述采摘机构安装于所述移动小车上,用于夹紧树干产生振动使果实掉落;所述传输分离机构安装于所述移动小车上,且位于所述采摘机构的下方,用于分离果实和杂物,实现果实的初步收集。该智能采摘机能够在一定程度上提高枸杞的自动采摘效率,从而降低了劳动强度。(The invention relates to the technical field of agricultural information equipment, and provides an intelligent picking machine, which comprises: the picking mechanism is arranged on the movable trolley; the picking mechanism is arranged on the movable trolley and is used for clamping the trunk to vibrate so as to enable the fruits to fall off; the conveying and separating mechanism is arranged on the movable trolley and positioned below the picking mechanism and used for separating fruits and sundries to realize the primary collection of the fruits. The intelligent picking machine can improve the automatic picking efficiency of the medlar to a certain extent, thereby reducing the labor intensity.)
1. An intelligent picking machine, comprising: the picking mechanism is arranged on the movable trolley; the picking mechanism is arranged on the movable trolley and is used for clamping the trunk to vibrate so as to enable the fruits to fall off; the conveying and separating mechanism is arranged on the movable trolley and positioned below the picking mechanism and used for separating fruits and sundries to realize the primary collection of the fruits.
2. The intelligent picking machine of claim 1, wherein the picking mechanism includes a mover, a vibration generator, a telescoping support, and a movable jaw;
the mover is slidably mounted on the movable trolley, the vibration generator and the fixed end of the telescopic support piece are mounted on the mover, and the movable end of the telescopic support piece is connected with the movable pliers.
3. The intelligent picking machine of claim 2, wherein the picking mechanism further comprises a picking controller and an RGB-D depth camera;
the RGB-D depth camera is installed on the moving device, the RGB-D depth camera is connected with the picking controller, and the moving device and the vibration generator are both connected with the picking controller.
4. The intelligent picking machine of claim 3, wherein the movable jaw comprises a movable motor, a jaw, and a pressure sensor;
the movable motor is arranged at the movable end of the telescopic support piece and is used for controlling the opening and closing of the jaw; the pressure sensor is arranged in a plastic block, and the plastic block is arranged on the inner side of the jaw; the movable motor and the pressure sensor are both connected with the picking controller.
5. The intelligent picking machine according to any one of claims 1 to 4, wherein the transmission and separation mechanism comprises a transmission and separation module, the transmission and separation module comprises a first transmission and separation unit and a second transmission and separation unit which are arranged side by side, and a collecting tank is arranged below the first transmission and separation unit and the second transmission and separation unit;
first transmission separating element includes a plurality of big threaded rods that set up side by side, second transmission separating element includes a plurality of little threaded rods that set up side by side, arbitrary big threaded rod corresponds and is provided with first drive unit, arbitrary little threaded rod corresponds and is provided with second drive unit.
6. The intelligent picking machine of claim 5, wherein the transport separation mechanism comprises two of the transport separation modules; the two transmission separation modules are symmetrically arranged relative to the traveling path of the moving trolley.
7. The intelligent picking machine of claim 1, further comprising a telescoping collection mechanism mounted on the mobile cart; the telescopic collecting mechanism is positioned below the picking mechanism and above the conveying and separating mechanism;
the telescopic collecting mechanism comprises a telescopic collecting module, and the telescopic collecting module comprises a first soft cushion, a telescopic rod, a second soft cushion and a telescopic rod controller;
the telescopic rod controller is arranged on the movable trolley and is used for controlling the extension and the shortening of the telescopic rod; the first soft cushion and the second soft cushion are respectively arranged on two opposite sides of the telescopic rod.
8. The intelligent picking machine of claim 7, wherein the telescoping collection mechanism comprises two telescoping collection modules; the two telescopic collection modules are symmetrically arranged relative to the traveling path of the moving trolley.
9. The intelligent picking machine of claim 7, further comprising a loading mechanism comprising a lifter and a collection bin mounted on top of the mobile cart; the lifter is used for conveying the fruits collected by the conveying and separating mechanism to the collecting box.
10. The intelligent picking machine of claim 9, further comprising a master controller; the mobile trolley is provided with a vision sensor, a GPS positioner, an obstacle detector and a walking path setter; the vision sensor, the GPS positioner, the obstacle detector and the walking path setter are all in communication connection with the master controller, and the master controller is in communication connection with the picking mechanism, the transmission and separation mechanism, the telescopic collection mechanism and the loading mechanism.
Technical Field
The invention relates to the technical field of agricultural information equipment, in particular to an intelligent picking machine.
Background
Lycium barbarum belongs to the genus Lycium of the family Solanaceae, perennial dicotyledonous deciduous shrubs are distributed in warm temperate regions. The fructus Lycii has antiaging, antitumor, antifatigue, blood sugar controlling, and glaucoma preventing effects. With the continuous deep and wide understanding of the nutritive value of the medlar, the medlar industry in China has wide development prospect.
The wolfberry picking is work which is strong in seasonality and labor-intensive, the traditional wolfberry picking method is manual picking, the picking speed is low, the efficiency is low, the labor demand is huge, and once the wolfberry cannot be picked in time in bad weather such as rainy days, the wolfberry can be festered, so that serious economic loss is caused to fruit growers. Severely restricting the development of the medlar industry.
The intelligent Chinese wolfberry picking machine in China is mainly a small semi-mechanical machine and has the picking modes of vibration, combing and brushing, shearing, pneumatic and the like. Although some research institutions design and research intelligent wolfberry pickers, the problems of reliability, net picking rate, fruit damage rate, low intelligent degree, low leaf separation effect and the like are not well solved, so that the intelligent wolfberry pickers are not widely popularized in the market.
Disclosure of Invention
Technical problem to be solved
In view of above-mentioned technical defect and application demand, this application provides an intelligent picking machine to there are the low problem that separates the effect not good with the blade of intelligent degree in current intelligent picking machinery to solve.
(II) technical scheme
In order to solve the above problems, the present invention provides an intelligent picking machine, including: the picking mechanism is arranged on the movable trolley; the picking mechanism is arranged on the movable trolley and is used for clamping the trunk to vibrate so as to enable the fruits to fall off; the conveying and separating mechanism is arranged on the movable trolley and positioned below the picking mechanism and used for separating fruits and sundries to realize the primary collection of the fruits.
The picking mechanism comprises a mover, a vibration generator, a telescopic support and movable pincers;
the mover is slidably mounted on the movable trolley, the vibration generator and the fixed end of the telescopic support piece are mounted on the mover, and the movable end of the telescopic support piece is connected with the movable pliers.
Wherein the picking mechanism further comprises a picking controller and an RGB-D depth camera;
the RGB-D depth camera is installed on the moving device, the RGB-D depth camera is connected with the picking controller, and the moving device and the vibration generator are both connected with the picking controller.
The movable pliers comprise a movable motor, a jaw and a pressure sensor;
the movable motor is arranged at the movable end of the telescopic support piece and is used for controlling the opening and closing of the jaw; the pressure sensor is arranged in a plastic block, and the plastic block is arranged on the inner side of the jaw; the movable motor and the pressure sensor are both connected with the picking controller.
The conveying and separating mechanism comprises a conveying and separating module, the conveying and separating module comprises a first conveying and separating unit and a second conveying and separating unit which are arranged side by side, and collecting tanks are arranged below the first conveying and separating unit and the second conveying and separating unit;
first transmission separating element includes a plurality of big threaded rods that set up side by side, second transmission separating element includes a plurality of little threaded rods that set up side by side, arbitrary big threaded rod corresponds and is provided with first drive unit, arbitrary little threaded rod corresponds and is provided with second drive unit.
Wherein the transmission separation mechanism comprises two transmission separation modules; the two transmission separation modules are symmetrically arranged relative to the traveling path of the moving trolley.
The intelligent picking machine further comprises a loading mechanism, and the loading mechanism comprises a lifter and a collecting box arranged at the top of the movable trolley; the lifter is used for conveying the fruits collected by the conveying and separating mechanism to the collecting box.
The intelligent picking machine further comprises a telescopic collecting mechanism arranged on the movable trolley; the telescopic collecting mechanism is positioned below the picking mechanism and above the conveying and separating mechanism;
the telescopic collecting mechanism comprises a telescopic collecting module, and the telescopic collecting module comprises a first soft cushion, a telescopic rod, a second soft cushion and a telescopic rod controller;
the telescopic rod controller is arranged on the movable trolley and is used for controlling the extension and the shortening of the telescopic rod; the first soft cushion and the second soft cushion are respectively arranged on two opposite sides of the telescopic rod.
The telescopic collecting mechanism comprises two telescopic collecting modules; the two telescopic collection modules are symmetrically arranged relative to the traveling path of the moving trolley.
The intelligent picking machine further comprises a master controller; the mobile trolley is provided with a vision sensor, a GPS positioner, an obstacle detector and a walking path setter; the vision sensor, the GPS positioner, the obstacle detector and the walking path setter are all in communication connection with the master controller, and the master controller is in communication connection with the picking mechanism, the transmission and separation mechanism, the telescopic collection mechanism and the loading mechanism.
(III) advantageous effects
According to the intelligent picking machine provided by the invention, the mobile trolley moves to the target wolfberry tree, the wolfberry tree is positioned in the mobile trolley, the picking mechanism clamps the trunk of the wolfberry tree, the wolfberry falls to the conveying and separating mechanism positioned below the picking mechanism in a vibration mode, fruits and sundries are separated through the conveying and separating mechanism, and the fruits are collected preliminarily. The intelligent picking machine can improve the automatic picking efficiency of the medlar to a certain extent, thereby reducing the labor intensity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a side view of an intelligent picking machine provided by an embodiment of the present invention;
fig. 2 is a front view of an intelligent picking machine provided by an embodiment of the present invention;
fig. 3 is a top view of the interior of the intelligent picking machine provided by the embodiment of the invention;
fig. 4 is an interior elevation view of an intelligent picking machine provided by an embodiment of the present invention;
fig. 5 is a top view of a transmission separation module of the intelligent picking machine provided by the embodiment of the invention;
fig. 6 is a top view of a telescoping collection module of the intelligent picking machine provided by the embodiment of the invention;
wherein, 1, a baffle; 2. a touch screen; 3. a vision sensor; 4. a GPS locator; 5. an antenna; 6. a collection box; 7. a lifter; 8. moving the trolley; 9. a battery; 10. an obstacle detector; 11. a wheel; 12. a drive motor; 13. an RGB-D depth camera; 14. a guide rail; 15. a vibration generator; 16. a telescopic support; 17. movable pliers; 18. a mover; 19. a transport separation mechanism; 20. an LED lamp; 21. a Chinese wolfberry tree; 22. a small threaded rod; 23. a first cushion; 24. a telescopic rod controller; 25. a second cushion; 26. a drive unit; 27. collecting tank; 28. a large threaded rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The intelligent picking machine provided by the embodiment of the invention is used for picking medlar as an example, but is not limited to be used for picking medlar.
Fig. 1 is a side view of an intelligent picking machine provided in an embodiment of the present invention, as shown in fig. 1, including: the
It will be appreciated that the picking mechanism is mounted inside the travelling
It should be noted that, as shown in fig. 2, the
According to the intelligent picking machine provided by the embodiment of the invention, the
On the basis of the above described embodiment, as shown in fig. 3 and 4, the picking mechanism comprises a
the
It can be understood that the guide rail is fixed on the right side inside the moving
the
the
the
The
In the embodiment of the present invention, the
On the basis of the above embodiment, the picking mechanism further comprises a picking controller and an RGB-
the RGB-
In the embodiment of the present invention, the RGB-
the picking controller comprises an edge calculation development board and a control circuit board; the edge calculation development board is BM1880 type and consists of a low-power-consumption deep learning AI chip, three video interfaces and a signal output interface; the control circuit board consists of an ARM processor chip, a signal access interface and six control interfaces; and connecting the signal output interface of the edge calculation development board with the signal access interface of the control circuit board by using a data flat cable.
The direct current vibration motor is connected with a control circuit board of the picking controller through a lead, and the telescopic support motor is connected with the control circuit board of the picking controller through a lead; connecting the RGB-D depth camera with an edge calculation development board of the picking controller by using a data line; the mobile motor is connected with a control circuit board of the picking controller through a lead.
On the basis of the above embodiment, the
the movable motor is arranged at the movable end of the
In the embodiment of the invention, six plastic blocks are uniformly arranged on the inner side of the jaw; the pressure sensor is connected with the edge calculation development board of the picking controller by a data line; the movable motor is connected with a control circuit board of the picking controller by a lead.
On the basis of the above embodiment, as shown in fig. 5, the conveying and separating
the first transmission separation unit comprises a plurality of large threaded
The working process of the
In the embodiment of the present invention, the first transmission and separation unit includes four large threaded
On the basis of the above embodiment, the
In the embodiment of the invention, the two transmission separation modules are respectively fixed in the
On the basis of the above embodiment, the intelligent picking machine further comprises a loading mechanism, wherein the loading mechanism comprises a
In the embodiment of the invention, the
the lifter comprises a conveyor belt and a tray fixed on the conveyor belt and is used for conveying the medlar in the collecting tank to the top of the movable trolley;
the collecting box comprises an aluminum box, an output hose, a switch and a weighing sensor; the aluminum box is fixed on the top of the movable trolley; the output hose is fixed at the bottom of the left side of the aluminum box by screws and is used for outputting the medlar; the switch is arranged at the top end of the output hose and used for controlling the opening and closing of the output hose; the weighing sensor is arranged at the bottom of the outer side of the aluminum box and used for sensing the weight of the medlar in the aluminum box in real time.
On the basis of the above embodiment, as shown in fig. 6, the intelligent picking machine further includes a telescopic collecting mechanism mounted on the moving trolley; the telescopic collecting mechanism is positioned below the picking mechanism and above the conveying and separating
the telescopic collecting mechanism comprises a telescopic collecting module, and the telescopic collecting module comprises a first
the telescopic rod controller is arranged on the
In the embodiment of the invention, the telescopic rod controller is arranged at one side of the interior of the
a first soft cushion with a certain inclination angle is fixed on the right side of the telescopic rod, and a second soft cushion with a certain inclination angle is connected on the left side of the telescopic rod; the
On the basis of the embodiment, the telescopic collecting mechanism comprises two telescopic collecting modules; the two telescopic collection modules are symmetrically arranged about the travelling path of the travelling trolley.
In the embodiment of the invention, one telescopic collection module is arranged corresponding to one transmission separation module, and the other telescopic collection module is arranged corresponding to the other transmission separation module.
On the basis of the embodiment, the intelligent picking machine further comprises a master controller; the
In the embodiment of the invention, the master controller comprises a master information monitoring circuit board and a master system control circuit board;
the general information monitoring circuit board is connected with the
the total system control circuit board is connected with the steering gear, the driving motor, the edge calculation development board of the picking controller, the driving
the weighing sensor is connected with the total information monitoring circuit board, and when the weight of the medlar in the sensing aluminum box reaches the upper limit, the total system control circuit board controls the movable trolley to stop advancing;
the walking path setter comprises a
the master controller also comprises a communication module; the communication module is a GPRS/3G/4G/5G module, is connected with the antenna and is used for sending out the information acquired by the total information monitoring circuit board and receiving various instruction information.
According to the intelligent picking machine provided by the embodiment of the invention, the automatic walking route of the mobile trolley is set through the walking route setter, and the intelligent picking machine can realize automatic walking; the automatic positioning of the tree trunk is realized by the RGB-D depth camera, the tree trunk is clamped by the movable clamp, and the vibration is generated by the vibration generator, so that the tree trunk of the Chinese wolfberry is shaken to enable Chinese wolfberry fruits to fall off, and the falling Chinese wolfberry fruits firstly pass through the telescopic collection module, so that the fruit picking damage rate is reduced; the medlar on the telescopic collection module moves downwards to the transmission separation module, and medlar fruits and medlar leaves can be automatically separated through the transmission separation module, so that the picking rate of the medlar is improved; the lifter conveys the fruits collected in the collecting tank to the collecting tank, and the medlar is obtained through the collecting tank. This intelligent picking machine not only realizes the accurate of matrimony vine and picks, can also separate impurity such as leaf, has effectively improved the precision and the integrity that the matrimony vine was picked.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:一种基于线驱动调节倾角的机械臂及果品采摘装置