Device and method for picking and collecting Brasenia schreberi based on machine vision

Patent metadata

Field	Value
Publication number	US-11653597-B2
Application number	US-202017770052-A
Country	US
Kind code	B2
Filing date	Jul 28, 2020
Priority date	Jun 10, 2020
Publication date	May 23, 2023
Grant date	May 23, 2023

Abstract

A device and a method for picking and collecting Brasenia schreberi based on a machine vision. The device includes a supporting mechanical arm, a collection device, two working mechanical arms, a picking manipulator, a grasping manipulator, a control box, and a visual system. The supporting mechanical arm is fixed on a front end of a boat; the two working mechanical arms are fixed on a front end of the supporting mechanical arm; the picking manipulator and the grasping manipulator are mounted on tail ends of the two working mechanical arms, respectively; and the collection device is fixed on the boat; the visual system determines a location of Brasenia schreberi and sends the location to the control box; the control box controls the two working mechanical arms, the grasping manipulator, and the picking manipulator to complete the grasping and picking of Brasenia schreberi; and the collection device collects Brasenia schreberi.

First claim

What is claimed is:

1. A device for picking and collecting Brasenia schreberi based on a machine vision, characterized by comprising a supporting mechanical arm, a collection device, two working mechanical arms, a picking manipulator, a grasping manipulator, a control box, and a visual system, wherein the supporting mechanical arm is fixed on a front end of a boat; the two working mechanical arms are fixed on a front end of the supporting mechanical arm; the picking manipulator and the grasping manipulator are mounted on tail ends of a first working mechanical arm and a second working mechanical arm of the two working mechanical arms, respectively; and the collection device is fixed on the boat;
the supporting mechanical arm comprises a supporting arm bottom plate, supporting arm side plates, a supporting arm rotary arm, a connecting plate, and a supporting arm supporting plate; the supporting arm bottom plate is fixed on the front end of the boat, the supporting arm side plates are respectively mounted on two sides of the supporting arm bottom plate, stepper motors are respectively mounted on the supporting arm side plates, and the stepper motors are connected to a first connecting shaft; a first end of the supporting arm rotary arm is fixed to the first connecting shaft, and a second end of the supporting arm rotary arm is connected to the connecting plate through a second connecting shaft to form a revolving pair; the connecting plate is fixed to the supporting arm supporting plate; the supporting arm supporting plate is fixed on a first end of a push rod, and a second end of the push rod is fixed on the boat;
the collection device comprises a fixing frame, a third motor, a conveyor belt, a transmission mechanism, and a net bag; the fixing frame is mounted on the boat; the conveyor belt is fixed on the fixing frame through a conveyor belt rack; the third motor drives the conveyor belt to turn through the transmission mechanism; the net bag is mounted below the fixing frame;
the picking manipulator comprises a first cylinder, a first connecting part, a plurality of supporting joints, and mechanical fingers; the first cylinder and the first connecting part are mounted on the tail end of the first working mechanical arm; the plurality of supporting joints are uniformly disposed; a first end of each of the plurality of supporting joints is fixedly connected to the first connecting part, and a second end of the each of the plurality of supporting joints is connected to a mechanical finger of the mechanical fingers through a first joint connecting rod and a second joint connecting rod; the first joint connecting rod and the second joint connecting rod are rotatably connected to the each of the plurality of supporting joints, and the first joint connecting rod and the second joint connecting rod are fixedly connected to the mechanical finger; the first cylinder is connected to a first transmission block; a first end of a first transmission connecting rod is connected to the first transmission block, and a second end of the first transmission connecting rod is connected to the first joint connecting rod;
the grasping manipulator comprises a second cylinder, a second connecting part, and clamping arms; the second cylinder and the second connecting part are mounted on the tail end of the second working mechanical arm; each of the clamping arms is connected to the second connecting part to form a revolving pair; the second cylinder is fixedly connected to a second transmission block; two ends of a second transmission connecting rod are rotatably connected to the second transmission block and the each of the clamping arms, respectively;
the stepper motors, the push rod, the first cylinder, the second cylinder, the third motor, and the visual system are in a signal connection with the control box; and
each of the two working mechanical arms comprises a bearing seat, a first motor, a reducer, a second motor, first main mechanical arms, a second main mechanical arm, and a steering engine seat.

2. The device for picking and collecting the Brasenia schreberi based on the machine vision according to claim 1 , wherein the bearing seat is fixedly connected to the supporting arm supporting plate, and the bearing seat is fixedly connected to the first motor; the first motor is connected to a working mechanical arm base, and the working mechanical arm base is fixedly connected to the reducer; an input end of the reducer is connected to the second motor, and an output shaft of the reducer is connected to the first main mechanical arms, the steering engine seat is fixedly connected to the second main mechanical arm, and a steering engine inside the steering engine seat is connected to the first main mechanical arms; and the first motor, the second motor, and the steering engine are in a signal connection with the control box.

3. The device for picking and collecting the Brasenia schreberi based on the machine vision according to claim 2 , wherein the bearing seat comprises a bearing base, a bearing stand, a bearing, a bearing sleeve, a gasket, and a flange; the bearing base is connected to the supporting arm supporting plate, the bearing base is coaxially fixed to the bearing stand, the bearing is sleeved on the bearing stand, and the bearing is attached to the gasket; an output shaft of the first motor sequentially passes through the bearing base, the bearing stand, the bearing, and the gasket to be fixed to the flange; the bearing sleeve is sleeved on a periphery of the bearing; and the flange and the bearing sleeve are fixedly connected to the working mechanical arm base.

4. The device for picking and collecting the Brasenia schreberi based on the machine vision according to claim 1 , wherein a surface of each of the mechanical fingers is made of a rubber material and is provided with a texture, and the each of the mechanical fingers is provided with a curved groove in a middle.

5. The device for picking and collecting the Brasenia schreberi based on the machine vision according to claim 1 , wherein a sponge is fixed on a tail end of the each of the clamping arms.

6. The device for picking and collecting the Brasenia schreberi based on the machine vision according to claim 1 , wherein first stopper plates are fixed on two sides of the conveyor belt rack, and a second stopper plate is mounted on a tail end of the conveyor belt rack.

7. The device for picking and collecting the Brasenia schreberi based on the machine vision according to claim 1 , wherein the conveyor belt is provided with equally-spaced baffle plates, and the equally-spaced baffle plates are each provided with drainage holes.

8. The device for picking and collecting the Brasenia schreberi based on the machine vision according to claim 1 , wherein the visual system comprises an overwater camera and an underwater camera; the overwater camera is located above the picking manipulator and the grasping manipulator; and the underwater camera is mounted on the supporting arm supporting plate and located between the two working mechanical arms.

9. A method for picking and collecting the Brasenia schreberi based on a machine vision using the device according to claim 1 , wherein the control box adjusts an operating angle of the supporting arm supporting plate through the stepper motors and the push rod; the visual system determines a location of the Brasenia schreberi and sends the location to the control box; the control box controls the second working mechanical arm to drive the grasping manipulator to grip stems of the Brasenia schreberi ; the control box controls the first working mechanical arm to drive the picking manipulator to pick the Brasenia schreberi ; the control box controls the pickin

Assignees

• Univ Jiangsu

Inventors

• Guan Xianping
• Wu Xiaokun
• Zhuang Jin
• Wei Xinhua

Classifications

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• B25J9/12

  electric · CPC title

• A01D46/30

  Robotic devices for individually picking crops · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title