US 11,653,597 B2
Device and method for picking and collecting Brasenia schreberi based on machine vision
Xianping Guan, Jiangsu (CN); Xiaokun Wu, Jiangsu (CN); Jin Zhuang, Jiangsu (CN); and Xinhua Wei, Jiangsu (CN)
Assigned to Jiangsu University, Jiangsu (CN)
Appl. No. 17/770,052
Filed by Jiangsu University, Jiangsu (CN)
PCT Filed Jul. 28, 2020, PCT No. PCT/CN2020/105130
§ 371(c)(1), (2) Date Apr. 19, 2022,
PCT Pub. No. WO2021/248654, PCT Pub. Date Dec. 16, 2021.
Claims priority of application No. 202010524197.4 (CN), filed on Jun. 10, 2020.
Prior Publication US 2022/0361406 A1, Nov. 17, 2022
Int. Cl. A01D 44/00 (2006.01); A01D 46/30 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 15/08 (2006.01)
CPC A01D 44/00 (2013.01) [A01D 46/30 (2013.01); B25J 9/104 (2013.01); B25J 9/12 (2013.01); B25J 9/1697 (2013.01); B25J 11/00 (2013.01); B25J 15/08 (2013.01)] 9 Claims
OG exemplary drawing
 
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.