Prickly ash picking robot based on machine visionTechnical Field
The invention relates to the technical field of agricultural machinery, in particular to a pepper picking robot based on machine vision.
Background
The pepper is used as an important seasoning food material in daily life of people, can be used as a medicinal material to be added into medicines, and the market demand for the pepper is increased year by year, so that great pressure is brought to traditional pepper planting. At present, the pepper picking is basically carried out manually, namely, manual freehand picking or simple hand-held tool picking is adopted, the picking work is very difficult due to the growth characteristics of the pepper tree, the manual picking efficiency is low, the labor intensity is high, and the development of the pepper industry is severely restricted. Although picking modes such as high branch shearing and mechanical vibration appear, the method has the defects of damaging the branches and trunks of the peppers, has the problems of difficult picking in partial areas or troublesome collection of the peppers after picking, and the like, and has the defects of different degrees in the prior art, so that the picking effect is not ideal.
In recent years, agricultural automation equipment is rapidly developed, and picking robots corresponding to various occasions are gradually developed and applied; in the aspect of the agricultural picking robot, aiming at pepper picking, at present, only some manual auxiliary picking machines are applied, some intelligent pepper picking equipment is designed to be too ideal, the practicability is poor, and in the whole, the pepper picking operation equipment is still in a blank period, and no operation equipment capable of meeting the actual use appears. When the peppers are picked, the young buds near the peppers can affect the coming harvest of the peppers, so that the picking of the peppers is basically manual picking or is carried out by adopting a manual auxiliary picking machine, and the manual auxiliary picking machine on the market has two types of electric and manual picking machines, and the electric peppers picking machine mainly drives a cutting edge to vibrate through a motor to cut off the fine pepper branches for picking. Although the traditional pricklyash peel picker reduces the labor intensity of manual picking to a certain extent, a great deal of manual participation is still required in essence. Because the pepper fruits are numerous and dense, and the buds are protected during picking, the buds are prevented from being damaged, and the picking difficulty is high, no full-automatic pepper picking machine exists at present.
Comprehensive analysis, while the total yield and the planting area of the Chinese prickly ash are continuously increased, the Chinese prickly ash picking is limited by Chinese prickly ash planting requirements and agricultural mechanization and intellectualization technologies, and the current Chinese prickly ash picking still faces the restrictions of large picking labor intensity, low efficiency, labor shortage, immature mechanized picking technology and other problems, so that the picking cost is high, and the continuous and healthy development of the Chinese prickly ash industry is greatly influenced.
Therefore, there is an urgent need to develop an automated prickly ash picking robot.
Disclosure of Invention
The invention provides a pricklyash peel picking robot based on machine vision, which can realize full-automatic picking of pricklyash peel and solve the problem that the existing automatic picking machine can not ensure the quality of picking pricklyash peel.
The invention adopts the following specific technical scheme:
a prickly ash picking robot based on machine vision comprises a crawler-type movable chassis, a prickly ash picking device, a depth camera, a collecting frame and a control system;
the collecting frame is limited on the crawler-type movable chassis;
the pepper picking device comprises a servo lifting column, a mechanical arm, a pepper picker and a conveying pipeline; the bottom end of the servo lifting column is fixedly arranged at the top of the crawler-type movable chassis; the bottom end of the mechanical arm is fixedly arranged at the top end of the servo lifting column; the pepper picker is fixedly arranged at the tail end of the mechanical arm; one end of the conveying pipeline is fixedly connected with the pepper picker, and the other end of the conveying pipeline is positioned in the collecting frame and is used for conveying picked peppers into the collecting frame;
the depth camera is arranged at the top of the servo lifting column and is used for identifying pepper and determining position information;
the control system is in signal connection with the depth camera, the crawler-type movable chassis, the mechanical arm, the servo lifting column and the pepper picker, and controls the crawler-type movable chassis, the mechanical arm and the servo lifting column to act according to detection information of the depth camera so as to adjust the position of the pepper picker and control the pepper picker to pick.
Still further, the pepper picker comprises a shell, an electric push rod, a middle partition plate, a connecting rod, a first knife rest, a second knife rest, a first trapezoid pruning blade and a second trapezoid pruning blade;
the rear end of the shell is connected with the tail end of the mechanical arm;
the rear ends of the first tool rest and the second tool rest are positioned in the shell, and the front ends of the first tool rest and the second tool rest extend out of the shell; the second tool rest is fixedly arranged on the shell; the middle parts of the first tool rest and the second tool rest are rotationally connected through a rotating shaft, and a scissor-shaped structure is formed;
the front end of the first tool rest is fixedly connected with a first circular ring, and the outer end part of the first circular ring, which is away from the first tool rest, is fixedly provided with the first tool apron; the first trapezoidal pruning blade is fixedly arranged at the outer end part of the first tool apron;
the front end of the second tool rest is fixedly connected with a second circular ring, and the outer end part of the second circular ring, which is away from the second tool rest, is fixedly provided with a second tool apron; the second trapezoidal pruning blade is fixedly arranged at the outer end part of the second tool apron; the second circular ring is connected with the conveying pipeline at one end deviating from the first circular ring;
the electric push rod is fixedly arranged in the shell, the output end of the electric push rod is hinged with the rear end part of the first tool rest through the connecting rod and is used for driving the first tool rest to rotate relative to the second tool rest so as to enable the first trapezoidal pruning blade and the second trapezoidal pruning blade to realize the opening and closing actions of pruning;
the connecting rod is hinged with the tail end of the electric push rod through a central column, and the central column slides back and forth along the linear sliding groove of the shell.
Further, the shell is provided with a middle partition plate, a cover plate and push rod mounting frames fixedly mounted on two sides of the middle partition plate;
each push rod mounting frame is fixedly provided with one electric push rod; the output ends of the two electric push rods are hinged through the center column;
the linear chute is formed on the middle partition plate;
the second tool rest is fixedly arranged on one side of the middle partition plate through bolts;
cover plates are symmetrically arranged on two sides of the shell;
the first tool rest is positioned on the other side of the middle partition plate;
the shell is connected with the mechanical arm through a flange connector.
Furthermore, an independent power module is arranged in the shell, and the power module is electrically connected with the electric push rod and is in signal connection with the control system through a wireless communication module.
Further, the crawler-type mobile chassis comprises a bearing chassis and crawler-type travelling mechanisms fixedly arranged on two sides of the bearing chassis;
the bearing chassis is provided with a bearing box body; a walking driving motor of the crawler-type travelling mechanism and a motor controller thereof are arranged in the bearing box body; the motor controller is in signal connection with the control system;
the servo lifting column, the collecting frame and the control system are all installed on the bearing chassis.
Further, the crawler-type travelling mechanism further comprises a driving wheel, a supporting wheel, a travelling supporting wheel, a girder, a travelling triangle, a crawler belt and a riding wheel;
the driving wheel is rotatably arranged on the bearing chassis;
the walking driving motor is fixedly arranged on the bearing chassis, is in power connection with the driving wheel and is used for driving the driving wheel to rotate;
the driving wheel is meshed with the crawler belt;
the girder is fixedly arranged on the bearing chassis;
the supporting wheels are rotatably arranged at the bottom ends of the girders, and the bottoms of the supporting wheels are supported on the track;
the riding wheel is rotatably arranged at the top end of the girder, and the top of the riding wheel supports the crawler belt;
the top end of the swimming triangle is rotationally connected with the girder, and the bottom end of the swimming triangle is rotationally provided with two symmetrical swimming supporting wheels; the bottom of the swimming supporting wheel is supported on the track.
Still further, the crawler-type running mechanism further comprises a crawler tensioning device;
the crawler tensioning device consists of a tensioning vertical branch pipe, a tensioning fixed pipe, a tensioning fork, a tensioning positioning plate and a tensioning wheel;
the tensioning vertical branch pipe and the tensioning fixed pipe are fixedly connected to the girder;
the tensioning fork and the tensioning positioning plate are fixedly arranged on the tensioning fixed pipe through bolts and nuts;
the tensioning wheel is rotatably arranged on the tensioning fork and is abutted with the crawler belt;
the tensioning wheel and the driving wheel are oppositely arranged at two ends of the crawler belt;
the beam support plate is fixedly connected to the girder and the bearing chassis and used for supporting the bearing chassis.
Further, the control system comprises an electrical control cabinet, an industrial personal computer, a display, a keyboard and a mouse;
the keyboard and the mouse are used for inputting control instructions;
the display is in signal connection with the industrial personal computer and is used for displaying the motion state of the mechanical arm and the working interface of the depth camera;
the industrial personal computer is in signal connection with the depth camera, the mechanical arm, the servo lifting column and the walking driving motor, and is used for receiving data from the depth camera and sending control instructions to the mechanical arm, the servo lifting column and the walking driving motor;
the electrical control cabinet comprises a start-stop button circuit and is electrically connected with the depth camera, the mechanical arm, the servo lifting column and the walking driving motor.
Still further, the utility model also comprises a storage frame and a generator fixedly arranged on the bearing chassis;
the generator is electrically connected with the electrical control cabinet;
the storage frame is arranged on the bearing chassis in a limiting mode.
Further, the bearing chassis further comprises a control cabinet mounting frame, a double-layer object placing platform, a lifting column mounting plate and a frame, wherein the control cabinet mounting frame is arranged on the top surface of the bearing box body;
the double-layer object placing platform is used for placing the industrial personal computer, the display, the keyboard and the mouse;
the electrical control cabinet is fixedly arranged on the control cabinet mounting frame;
the lifting column mounting plate is used for fixedly mounting the servo lifting column;
the frame is used for limiting the collecting frame and the storage frame.
The beneficial effects are that:
1. according to the pepper picking robot, the pepper picking device, the depth camera, the collecting frame and the control system are arranged on the crawler-type movable chassis, the depth camera is used for identifying peppers and determining position information, the control system controls the crawler-type movable chassis to move in a large range on the ground according to the pepper position information detected by the depth camera, meanwhile, the servo lifting column and the mechanical arm are combined to realize the position adjustment of the height and the angle, the pepper picking device is used for picking peppers, and the sheared peppers are conveyed into the collecting frame through the conveying pipeline; the Chinese prickly ash picking robot realizes the movement and picking from the identification and positioning of Chinese prickly ash clusters to the Chinese prickly ash picking robot through the mutual matching of the crawler-type movable chassis, the Chinese prickly ash picking device, the depth camera, the collecting frame and the control system, so that the labor intensity of manual picking is greatly reduced, the efficiency is ensured, and the quality of picking Chinese prickly ash fruits is also ensured.
2. The pepper picker adopts a scissor type structure to realize up-and-down opening and closing movement, picks the pepper clusters and the branches where the pepper clusters are positioned at the same time, does not need other auxiliary structures, has a simple structure, can pick the peppers with certain depth of the branches through the mechanical arm, has a good picking effect on the pepper clusters growing on the side surfaces of the branches through the trapezoid pruning blades, collects the peppers through the conveying pipeline after picking, avoids excessive operations when the pepper clusters are fresh and fragile, damages pepper oil cells and reduces the fruit quality; the pepper picker can effectively protect pepper buds during picking operation, avoid mechanical damage to pepper oil cells and effectively improve the quality of picked pepper fruits.
Drawings
FIG. 1 is a schematic perspective view of one side of a prickly ash picking robot according to the present invention;
fig. 2 is a schematic perspective view of the other side of the prickly ash picking robot in fig. 1;
FIG. 3 is a schematic view of the overall structure of the pricklyash peel picker of FIG. 1;
FIG. 4 is an internal structural view of the prickly ash picker of FIG. 3;
FIG. 5 is a schematic view of an exploded construction of the pricklyash peel picker of FIG. 3;
FIG. 6 is a schematic view of a single side structure of the prickly ash picker of FIG. 3;
FIG. 7 is a schematic view of the load-bearing chassis of FIG. 1;
FIG. 8 is a schematic view of the crawler travel mechanism of FIG. 1;
the device comprises a 1-crawler-type movable chassis, a 2-pepper picking device, a 3-depth camera, a 4-collecting frame, a 5-storing frame, a 6-electrical control cabinet, a 7-industrial personal computer, an 8-display and a 9-generator; 11-bearing chassis, 12-crawler-type travelling mechanism, 111-bearing box, 112-control cabinet mounting frame, 113-double-layer object placing platform, 114-lifting column mounting plate, 115-frame, 121-driving wheel, 122-supporting wheel, 123-travelling supporting wheel, 124-girder, 125-travelling triangle, 126-crawler, 127-supporting wheel, 128-tensioning vertical branch pipe, 129-tensioning fixed pipe, 130-tensioning fork, 131-tensioning positioning plate and 132-tensioning wheel; the lifting device comprises a lifting column, a 22-mechanical arm, a 23-pepper picker, a 24-conveying pipeline, a 221-mechanical arm control cabinet, a 231-shell, a 232-electric push rod, a 233-connecting rod, a 234-first tool rest, a 235-second tool rest, a 236-first trapezoid pruning blade, a 237-second trapezoid pruning blade, a 238-first tool rest, a 239-second tool rest, a 240-first circular ring, a 241-second circular ring, a 242-central column, a 243-rotating shaft, a 2311-middle partition plate, a 2312-cover plate, a 2313-push rod mounting frame, a 2314-linear chute and a 2315-flange connector.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in the structures of fig. 1 and 2, the present embodiment provides a prickly ash picking robot based on machine vision, which includes a crawler-type moving chassis 1, a prickly ash picking device 2, a depth camera 3, a collecting frame 4, and a control system;
the collecting frame 4 is limited on the crawler-type mobile chassis 1 through a frame 115;
the pepper picking device 2 comprises a servo lifting column 21, a mechanical arm 22, a pepper picker 23 and a conveying pipeline 24; the bottom end of the servo lifting column 21 is fixedly arranged at the top of the crawler-type mobile chassis 1; the bottom end of the mechanical arm 22 is fixedly arranged at the top end of the servo lifting column 21; the pepper picker 23 is fixedly arranged at the tail end of the mechanical arm 22; one end of the conveying pipeline 24 is fixedly connected with the pepper picker 23, and the other end of the conveying pipeline is positioned in the collecting frame 4 and is used for conveying picked peppers into the collecting frame 4;
the depth camera 3 is installed at the top of the servo lifting column 21 for recognizing pricklyash peel and determining position information; the depth camera 3 and the mechanical arm 22 are relatively fixed in position, so that kinematic solution is conveniently carried out according to the position information of visual identification, the control system can control the crawler-type movable chassis 1, the servo lifting column 21, the mechanical arm 22 and the pepper picker 23 to carry out movement and picking operation according to the positions of the pepper clusters identified by the visual system, and the pepper picker 23 is connected to the collecting frame 4 through the conveying pipeline 24, so that picking, transmission and collection of peppers are realized;
the control system is in signal connection with the depth camera 3, the crawler-type movable chassis 1, the mechanical arm 22, the servo lifting column 21 and the pepper picker 23, and controls the crawler-type movable chassis 1, the mechanical arm 22 and the servo lifting column 21 to act according to detection information of the depth camera 3 so as to adjust the position of the pepper picker 23 and control the pepper picker 23 to pick.
The pepper picking robot is characterized in that a pepper picking device 2, a depth camera 3, a collecting frame 4 and a control system are arranged on a crawler-type movable chassis 1, the depth camera 3 is used for identifying peppers and determining position information, the control system controls the crawler-type movable chassis 1 to move on the ground in a large range according to the pepper position information detected by the depth camera 3, meanwhile, the servo lifting column 21 and the mechanical arm 22 are combined to realize height and angle position adjustment, the peppers are picked by the pepper picker 23, and the sheared peppers are conveyed into the collecting frame 4 through a conveying pipeline 24; the prickly ash picking robot realizes the movement and picking from the identification and positioning of prickly ash clusters to the prickly ash picking robot through the mutual matching of the crawler-type movable chassis 1, the prickly ash picking device 2, the depth camera 3, the collecting frame 4 and the control system, thereby greatly reducing the labor intensity of manual picking, ensuring the efficiency and simultaneously ensuring the quality of picking prickly ash fruits.
In one embodiment, as shown in fig. 3, 4, 5 and 6, pepper picker 23 includes housing 231, electric push rod 232, intermediate partition 2311, link 233, first knife block 234, second knife block 235, first trapezoidal pruning blade 236 and second trapezoidal pruning blade 237; the pricklyash peel picker 23 finishes picking of pricklyash peel clusters by virtue of shearing motion;
the rear end of the housing 231 is connected to the end of the robot arm 22; housing 231 may be coupled to the end of robotic arm 22 by a flange connection 2315;
the rear ends of the first and second tool holders 234, 235 are located within the housing 231, and the front ends each extend outside of the housing 231; the second tool post 235 is fixedly mounted to the housing 231; the middle parts of the first knife rest 234 and the second knife rest 235 are rotationally connected through a rotating shaft 243 and form a scissor-shaped structure;
the front end of the first tool post 234 is fixedly connected with a first circular ring 240, and a first tool post 238 is fixedly arranged at the outer end part of the first circular ring 240, which is away from the first tool post 234; first trapezoidal pruning blade 236 is fixedly mounted to an outer end portion of first blade holder 238;
the front end of the second tool holder 235 is fixedly connected with a second circular ring 241, and a second tool holder 239 is fixedly arranged at the outer end part of the second circular ring 241, which is away from the second tool holder 235; the second trapezoidal pruning blade 237 is fixedly arranged at the outer end part of the second tool apron 239; the second ring 241 is connected with a conveying pipeline 24 at one end facing away from the first ring 240; the conveying pipeline 24 is connected with the second circular ring 241 through a throat hoop, and the pepper fruits after being picked directly fall into the collecting frame 4 at the other end through the conveying pipeline 24, so that the collection of the pepper fruits is completed;
the electric push rod 232 is fixedly arranged in the shell 231, and the output end of the electric push rod 232 is hinged with the rear end part of the first knife rest 234 through a connecting rod 233 and is used for driving the first knife rest 234 to rotate relative to the second knife rest 235 so as to enable the first trapezoidal pruning blade 236 and the second trapezoidal pruning blade 237 to realize the opening and closing actions of pruning; the linear motion of the electric push rod 232 is converted into the rotary motion of the first tool rest 234 through the connecting rod 233 and the center rod, so that the relative motion of the two tool rests is further realized, and the shearing purpose is achieved; the connecting rod 233 is hinged with the tail end of the electric push rod 232 through the central column 242, the central column 242 slides back and forth along the linear chute 2314 of the shell 231, the first trapezoidal pruning blade 236 and the second trapezoidal pruning blade 237 are arranged oppositely, the connecting rod 233 is driven to move through the expansion and contraction of the electric push rod 232, the first knife rest 234 is driven to rotate around the rotating shaft 243 through the connecting rod 233, so that the first knife rest 234 moves towards or away from the second knife rest 235, shearing is realized when the first knife rest 234 drives the first trapezoidal pruning blade 236 to move towards the second trapezoidal pruning blade 237, and pepper picking actions are completed.
The pepper picker 23 adopts a scissor type structure to realize up-and-down opening and closing movement, and performs picking on pepper clusters and the positioned branches simultaneously through the involution action of the first trapezoidal pruning blade 236 and the second trapezoidal pruning blade 237, so that the pepper picker is simple in structure, the mechanical arm 22 can be used for picking pepper with a certain depth on the branches, the trapezoidal pruning blade also has a good picking effect on pepper clusters growing on the side surfaces of the branches, and the pepper clusters are collected through the conveying pipeline 24 after picking, so that excessive operations are avoided when the pepper clusters are fresh and fragile, pepper oil cells are damaged, and the fruit quality is reduced; the pepper picker 23 can effectively protect pepper buds during picking operation, avoid mechanical damage to pepper oil cells and effectively improve the quality of picked pepper fruits.
In order to improve the reliable and stable action of the trapezoidal pruning blade, as shown in fig. 5, the housing 231 is provided with a middle partition 2311, a cover 2312 and push rod mounting frames 2313 fixedly mounted at both sides of the middle partition 2311; an electric push rod 232 is fixedly mounted on each push rod mounting frame 2313; the output ends of the two electric push rods 232 are hinged through a center column 242; a linear chute 2314 is formed in the middle partition 2311; second tool post 235 is fixedly mounted to one side of intermediate spacer 2311 by bolts; cover plates 2312 are symmetrically installed at both sides of the housing 231; first tool post 234 is positioned on the other side of intermediate shelf 2311. The cover plate 2312 enables a semi-closed cavity to be formed in the shell 231, so that interference and blocking of pepper branches to actions of the electric push rod 232, the connecting rod 233 and the first tool rest 234 are avoided;
two electric push rods 232 are fixedly arranged through push rod mounting frames 2313 symmetrically arranged on two sides of the middle partition 2311, the electric push rods 232 are symmetrically arranged and connected through the center column 242, and synchronously control and act, so that stress on two sides of the center column 242 is balanced, the action is reliable, and reliable picking of the pepper picker 23 is improved. The first cutter frame 234 is ensured to have enough shearing force and stable action, the cover plates 2312 are symmetrically arranged on two sides of the shell 231, and the structural integrity of the pepper picker 23 is ensured while the internal structure is prevented from being influenced by the outside.
In order to reduce the connection of cables, an independent power module is arranged in the shell 231 of the pepper picker 23, and the power module is electrically connected with the electric push rod 232 and is in signal connection with a control system through a wireless communication module. Through the wireless communication between wireless communication module and the control system, the physical connection between electric putter 232 and the control system has been cancelled, connecting cable has been reduced, avoids because of the influence such as picking work interruption, interference that the cable winding, disconnection produced.
As shown in fig. 7 and 8, the crawler-type mobile chassis 1 comprises a bearing chassis 11 and crawler-type travelling mechanisms 12 fixedly arranged on two sides of the bearing chassis 11; the bearing chassis 11 has a bearing box 111; a traveling driving motor of the crawler traveling mechanism 12 and a motor controller thereof are arranged in the bearing box body 111; the motor controller is in signal connection with the control system; the servo lifting column 21, the collection frame 4 and the control system are all mounted on the carrying chassis 11.
The crawler travel mechanism 12 further comprises a driving wheel 121, a supporting wheel 122, a traveling supporting wheel 123, a girder 124, a traveling triangle 125, a crawler 126, a supporting wheel 127 and a crawler tensioning device; the driving wheel 121 is rotatably mounted on the bearing chassis 11; the walking driving motor is fixedly arranged on the bearing chassis 11, is in power connection with the driving wheel 121 and is used for driving the driving wheel 121 to rotate; the driving wheel 121 is meshed with the crawler belt 126 and is used for driving the crawler belt 126 to rotate so as to realize the position movement of the whole pepper picking robot; the girder 124 is fixedly installed on the bearing chassis 11; support wheels 122 are rotatably mounted to the bottom ends of girders 124, the bottoms being supported on tracks 126; the riding wheel 127 is rotatably installed at the top end of the girder 124, and the top supports the crawler 126; the top end of the travelling triangle 125 is rotationally connected with the girder 124, and the bottom end is rotationally provided with two symmetrical travelling supporting wheels 123; the bottom of the free bearing wheel 123 is supported on the crawler 126. The crawler travel mechanism 12 further includes; the crawler tensioning device consists of a tensioning vertical branch pipe 128, a tensioning fixed pipe 129, a tensioning fork 130, a tensioning positioning plate 131 and a tensioning wheel 132; the tensioning vertical branch pipe 128 and the tensioning fixed pipe 129 are fixedly connected to the girder 124; the tensioning fork 130 and the tensioning positioning plate 131 are fixedly mounted on the tensioning fixed tube 129 through bolts and nuts; the tensioning wheel 132 is rotatably mounted on the tensioning fork 130 and is abutted with the crawler 126; the tensioning wheels 132 are arranged at two ends of the crawler 126 opposite to the driving wheels 121; the beam support plate is fixedly connected to the girder 124 and the bearing chassis 11 and is used for supporting the bearing chassis 11.
The track 126 may be a rubber track; the driving wheel 121, the supporting wheel 122, the supporting wheel 127 and the free supporting wheel 123 can be rubber wheels; the walking driving motor can be connected with the driving wheel 121 through a speed reducer, a transmission shaft and a flange plate to drive the whole mechanism to move; the support wheel 122 may be composed of three rubber wheels of 36.5mm thickness and 140mm diameter; the girder 124 may be formed of two square tubes of 20×40mm welded and mounted on the shaft of the supporting wheel 122; the supporting wheel 127 is made of rubber wheels with the same size as the supporting wheel 122, is arranged on the upper side of the girder 124 through square tubes, and plays a role in supporting the crawler 126; in order to improve the throughput of the pepper picking robot on complex terrains, two groups of movable supporting wheels 123 are designed, the movable supporting wheels 123 are rubber wheels with the thickness of 36.5mm and the diameter of 140mm, the movable supporting wheels 123 are hinged through movable cams 125, and the two movable cams 125 are hinged and fixed on two sides of a girder 124 through square pipes to form one group of movable supporting wheels 123. The installation and maintenance of the crawler 126 are guaranteed through the crawler tensioning device, the service life of the crawler 126 is prolonged, and the tensioning structure mainly comprises a tensioning wheel 132, a tensioning vertical branch pipe 128, a tensioning fixing pipe 129, a tensioning fork 130 and a tensioning positioning plate 131; 4 square tubes with the length of 20 multiplied by 40mm are used as tensioning vertical branch tubes 128 and are respectively fixed on the girder 124; the tensioning fixed pipe 129 is transversely arranged on the tensioning fixed pipe, the tensioning fork 130 is nested in the tensioning fixed pipe 129, the front end of the tensioning fork 130 is connected with the tensioning wheel 132, the rear end of the tensioning fork is connected with the tensioning positioning plate 131 through a threaded structure, looseness of nuts in the walking process is avoided, the double-nut structure is adopted to prevent looseness, and the tensioning wheel 132 can be moved forwards and backwards through an adjusting nut during use, so that tensioning of the crawler 126 is achieved. 4 sets of beam brackets are spaced on the girder 124 for placement of the beams to mount the load-bearing chassis 11 thereon. The driving wheel 121 with large torque is matched with the plurality of groups of supporting wheels 122 and the movable supporting wheels 123, so that the pepper picking robot has extremely strong passing capability and obstacle surmounting capability, has high adaptability to hilly and mountain areas, and can realize in-situ steering by matching the two crawler-type travelling mechanisms 12, so that the pepper picking robot has flexible steering capability.
In the pepper picking robot, the control system comprises an electrical control cabinet 6, an industrial personal computer 7, a display 8, a keyboard and a mouse; the keyboard and the mouse are used for inputting control instructions; the display 8 is in signal connection with the industrial personal computer 7 and is used for displaying the motion state of the mechanical arm 22 and the working interface of the depth camera 3; the industrial personal computer 7 is in signal connection with the depth camera 3, the mechanical arm 22, the servo lifting column 21 and the walking driving motor, and is used for receiving data from the depth camera 3 and sending control instructions to the mechanical arm 22, the servo lifting column 21 and the walking driving motor;
the electrical control cabinet 6 comprises a start-stop button circuit and is electrically connected with the depth camera 3, the mechanical arm 22, the servo lifting column 21 and the walking driving motor.
The pepper picking robot also comprises a storage frame 5 and a generator 9 fixedly arranged on the bearing chassis 11; the generator 9 is electrically connected with the electrical control cabinet 6; the storage frame 5 is mounted on the bearing chassis 11 in a limiting manner. The bearing chassis 11 further comprises a control cabinet mounting frame 112, a double-layer object placing platform 113, a lifting column mounting plate 114 and a frame 115, wherein the control cabinet mounting frame 112 is arranged on the top surface of the bearing box body 111; the double-layer object placing platform 113 is used for placing the industrial personal computer 7, the display 8, the keyboard and the mouse; the electrical control cabinet 6 is fixedly arranged on a control cabinet mounting frame 112; the lifting column mounting plate 114 is used for fixedly mounting the servo lifting column 21; the frame 115 is used to limit the collection frame 4 and the storage frame 5.
The frame 115 of the bearing chassis 11 can be composed of square tubes and steel plates and mainly comprises a control cabinet mounting frame 112, a double-layer object placing platform 113, a bearing box 111 and lifting column mounting plates 114 which are arranged in a front-back symmetrical mode, mounting holes of corresponding devices are reserved in the middle of the bearing chassis 11, the lifting column mounting plates 114 can be detached and opened to facilitate maintenance of the internal devices of the bearing box 111, reinforcing columns are arranged at the bottom of the lifting column mounting plates 114 in consideration of the loads of the installation and working of the servo lifting columns 21 and the mechanical arms 22, a main control switch, an electric quantity display screen and a lithium battery charging interface are arranged at one end of a walking driving motor of the bearing box 111, an opening and closing mechanism is arranged at the other end of the lifting column mounting plates, a flange plate mounting position for connecting the driving wheels 121 is reserved on the side face of the double-layer object placing platform 113 is arranged in the middle of the bearing chassis 11 and used for placing upper computer elements such as an industrial personal computer 7, a display 8 and a key mouse.
The working principle and the working flow of the pepper picking robot are as follows: an operator turns on a master control switch of a crawler-type travelling mechanism 12 on a bearing box 111, before a pepper picking robot moves to a pepper tree to be picked, it is determined that all system lines are normally connected, all system scram buttons are in a loosening state, a generator 9 is started, after the generator 9 works stably, the master control switch in an electrical control cabinet 6 is turned on, a control switch which is a mechanical arm 22, a servo lifting column 21, an industrial personal computer 7 and various sensor circuits is started, a data line of a depth camera 3 is connected to the industrial personal computer 7, a control system is started, after the depth camera 3 transmits an identified target point position to the industrial personal computer 7, the industrial personal computer 7 performs kinematics solving, after all joint movement parameters are solved, the pepper picker 23 is controlled to be in an opening state, the mechanical arm 22 drives the pepper picker 23 to move to the target point position, the pepper picker 23 performs shearing picking, all pepper clusters meeting picking conditions in the field of view of the depth camera 3 are picked, and the mechanical arm 22 and the pepper picker 23 returns to an initial state; when the pepper picking robot moves to another picking position through the crawler-type travelling mechanism 12 and a pepper cluster target point meeting picking control conditions appears in the visual field of the depth camera 3, the control system automatically repeats the processes of identification, resolving, control and picking, the process is completely automatic, no intervention of operators is needed, automatic picking is realized to the maximum extent, picked pepper fruits enter the collecting frame 4 through the conveying pipeline 24, after the collecting frame 4 is filled, the operators can pour the peppers in the collecting frame 4 into the storing frame 5 or replace the collecting frame 4, the transfer of the pepper fruits is convenient when the collection of the pepper fruits is realized, the freshly picked pepper fruits are protected from being damaged in the most effective mode, and the quality of the pepper fruits is ensured. After picking operation is finished, the industrial personal computer 7, the mechanical arm 22 and the servo lifting column 21 are powered off, control switches of corresponding circuits are disconnected, after the normal closing of all systems is confirmed, a master switch is disconnected, and the master switch of the driving system of the crawler type travelling mechanism 12 on the generator 9 and the bearing box 111 is closed.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.