CN101273688A - Apparatus and method for flexible pick of orange picking robot - Google Patents
Apparatus and method for flexible pick of orange picking robot Download PDFInfo
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Abstract
The invention relates to a picking method and a device for spherical citrus fruits, combining various sensor information of force sense, temperature sense, sight and distance, etc., and sending information back promptly to realize that an executive component picks up fruits flexibly. A flexible picking device consists of a fruit picking hardware device and a software control system, and the fruit picking hardware device consists of a computer visual system, an industrial control system, a mechanical arm and an end executor; the picking device utilizes a solid visual system to detect and identify mature fruit that can be picked, calculates the specific position of the fruit under world coordinate, and carries out feature extraction for the information of the obtained fruit position and barrier position, after the picking device establishes a three-dimensional model and obtains the movement path of a robot in virtual environment, an industrial personal computer system controls the mechanical arm and paws to reach a designated position; at last, the end executor is controlled to extend out of a sucker for sucking and drawing the fruit, then the fruit is fixed by the paw, finally a cutting device is rotated to the designated position for cutting off the stems.
Description
Technical field
The present invention relates to a kind ofly pluck method and apparatus at the citrus spherical fruit, with multi-sensor information fusion such as power feel, the sense of heat, vision, distances, in time feedback information is to realize the flexibility harvesting of execution unit to fruit.
Background technology
In the fruit production operation, picking fruit accounts for 33～50% of entire job amount.Owing to pluck the complexity of operation, the harvesting automaticity is still very low.At present, the agricultural workforce will shift to social other industries gradually, countries in the world are faced with the problem of an aging population, the human resources deficiency will gradually become reality, fruit harvest machine people can reduce people's labour intensity as the important branch of agricultural machinery, raises labour productivity and product quality, guarantee the fruit timely collecting, have the potentiality that develop on a large scale very much.
When artificial oranges and tangerines are plucked, adopt " complex shears method " fruit picking, first cuts separating fruit base of a fruit 1cm vicinity cuts, and neat again base of fruit is cut second and cut, and requires base of fruit smooth, and sepal is complete.Because therefore the fructescence difference of same tree can not damage crude fruit and branches and leaves when plucking.
In the oranges and tangerines picking robot system, the end effector design is a difficult point, and fruit can be accurately grasped in requirement, realizes that fruit, tree separate, and how cutting off the short and hard carpopodium of oranges and tangerines is the key that fruit, tree separate.The Japan scholar has studied a kind of summer orange harvesting robot, and this device is caught fruit by the rubber finger, and cylinder drives scissors and cuts off carpopodium.If barrier such as branches and leaves between end effector and the fruit, rubber finger can be crooked too early during near fruit, can't grasp fruit, even catch fruit, when carpopodium can't not cut off in the shearing scope yet, this device paw is too heavy, influences the robot overall structure.The oranges and tangerines picking robot of American Studies personnel development, its end effector has a circular arc blade, can quick rotation 180 spend, cut off carpopodium, because the oranges and tangerines carpopodium is hard, if the not enough cutting edge of a knife or a sword of blade is strict, once cutting is difficult to cut off, this design is easy to injure fruit, causes 44% fruit damage when plucking according to reports, and visible this device lacks flexible.Through U.S. Patent search, Fruit Picker (5428947), Citrus Harvesting Machine (5666795), Dual Pressure Release Assembly For A Fruit HarvestingMachine (6006507), Continuously Advancing Fruit Harvesting Machine patents such as (US 6263652 B1), mainly utilize mechanically moving that the picking fruit arm of pectination is stretched into fruit tree, the hook that is installed on the Picker arm when arm is regained hooks carpopodium, and it is fractureed, realize that fruit, tree separate.This is a kind of simple harvest machinery, neither considers the fructescence, does not judge also whether what hook is carpopodium, therefore very easily damages fruit and fruit tree.Other citrus fruit pickers are to design for convenient artificial the harvesting mostly, and as Fruit Picking Apparatus (US 6182431 B1) etc., the patent of domestic relevant oranges and tangerines picker also is to be mainly artificial harvesting design.
Summary of the invention
In view of the defective of existing apparatus and method existence, the purpose of this invention is to provide a kind of flexible picker and method of oranges and tangerines picking robot.
Technical scheme of the present invention is as follows:
The flexible picker of oranges and tangerines picking robot of the present invention is made up of two parts: picking fruit hardware unit and software control system.
The picking fruit hardware unit is made up of computer vision system, industrial control system, mechanical arm, several parts of end effector.
End effector partly comprises: vacuum absorption device, paw and cutter sweep.
1) mechanical arm: finish the work of end effector being delivered to assigned address.As shown in Figure 1, mechanical arm is made up of 5 degree of freedom rotary joints, and mechanical arm comprises base (1), waist joint (2), shoulder (3), shoulder joint (4), big arm (5), elbow joint (6), forearm (7), wrist joint (8,9), end effector installing rack (10), end effector (11).Wherein wrist joint has 2 degree of freedom, can realize rotating (8) and swinging up and down (9).Each joint is all connected to form by gear (16), flute profile band (17), coding disk (18), decelerator (19), motor (20) and motor driver (21).
2) vision system: mainly realize the signals collecting of unstructuredness working environment, finish target and background and cut apart, fruit maturity judgement and positioning function, as shown in Figure 1.Main hardware is the binocular tri-dimensional vision system (12) that is installed on the mechanical arm pedestal, links to each other with master computer (13) by USB interface, realizes the collection of environmental information.Bian Zhi computer software is finished ripening fruits identification, location voluntarily, barrier identification, planning robot's motion path.
3) industrial control system: realize the motion control of each parts.As shown in Figure 1, comprise industrial computer (14), a plurality of motion control cards of interpolation (15) are used to control each joint of mechanical arm (2,4,6,8,9) and end effector (11) motion.
4) vacuum absorption device: the function that realizes absorption and traction fruit.As shown in Figure 2, this device end is rubber suction cups (30), be installed on the sucker guide rod (47), the sucker guide rod is fixed on the sucker stand (48), sucker stand links to each other with screw rod (49), screw rod is terminal to be connected with sucker motor (27), and motor-driven realizes seesawing of sucker, and motor is fixed on the end effector installing rack (10).During fruit picking, sucker stretches out, and drives vavuum pump (29) and vacuumize, and when sucker held fruit, the pressure sensor (31) in the sucker detected the vacuum control sucker of undergoing mutation and reclaims, and can pull out the fruit in the branch, is convenient to pluck.
5) paw: finish fruit and grasp and fixed function.As shown in Figure 2, mainly constitute, be installed on the palm (22), refer to that the joint of root (44), finger tip (43) drives by referring to that root driver (46) and finger tip driver (24) drive, and realize folding, the Telescopic of finger by 3 two joint fingers (23).Refer to that root driver (46) refers to the root rotational angle by angular transducer (50) detection, motor (56), motor driver (57), decelerator (58) directly link to each other with the finger root to control and refer to root (44) motion; Finger tip driver (46) detects the finger tip rotational angle by angular transducer (59), and motor (54), motor driver (55), decelerator (53) connect driving wheel (52), drives finger tip rotating band (51) control finger tip (43) motion.Each finger tip has been installed proximity transducer (40) and has been prevented finger and barrier collision.Power sense sensor (41) is housed in each finger inboard and sense of heat sensor (42) is used for detecting in real time finger grip size, and detects the temperature that grasps thing.Sonac (25) is housed in the palm (22), is used to detect the distance that grasps object.
6) cutter sweep: be used to cut off the hard carpopodium of oranges and tangerines and realize that fruit, tree separate.As shown in Figure 2, the support of cutter sweep (32) is fixed on the palm (22), drives the positive and negative rotation of blade holder (34) by whirligig (33) (referring to root driver (45) structure together).Motor (36), belt pulley (35) are installed on the blade holder, are driven rapidly rotation cutting carpopodium of blade (38) by belt (37).There is protective cover (39) the blade top, avoids switching to branches and leaves on every side.Because blade is to cut carpopodium under high speed rotating, therefore the promptly dynamics to paw requires less.
Software control system mainly comprises: stereoscopic vision is demarcated, and target information is obtained identification, location, Robot Path planning, and modules such as mechanical arm and end effector control, as shown in Figure 3.
1) stereoscopic vision demarcating module: because two camera baselines in the binocular stereo vision can change, camera lens can be adjusted, before detection, need system is demarcated, to obtain accurate camera inner parameter and external parameter, thereby calculate between oranges and tangerines and the camera three-dimensional information accurately, guarantee the positioning accuracy of robot hand.
2) locating module is obtained, discerned to target information: adopt various algorithms, remove image collection noise, revise the influence of light as the image preliminary treatment picture quality, aspect feature extraction, utilize picture shape feature, color characteristic to remove useless background under the natural scene, extract fruit information and obstacle information, realize that identification, location and the barrier three-dimensional position of ripening fruits calculates.
3) robot path planning's module: utilize the free space of bounding box technology at pose space search energy avoiding obstacles; By probability map algorithm (PRM), cook up a mechanical arm and can avoid barrier, the paw collisionless is moved to the motion path of mature fruit; Path planning is carried out smoothing processing, avoid manipulator motion speed and direction to undergo mutation, damage motor.
4) mechanical arm and paw control module: according to the free path that path planning obtains, control mechanical arm and end effector are by the movement locus motion of appointment.After end effector arrived at assigned address, the control vacuum absorption device stretched, holds and draws fruit, and control is pointed in accordance with regulations program and firmly grasped fruit, and cutter sweep rotation of control carpopodium and cutting carpopodium, finishes harvesting.
Oranges and tangerines of the present invention are plucked the method and technology scheme:
At first, the mature fruit that utilizes the stereo visual system detection and Identification to pluck.Mainly utilize color and information such as morphological differences recognition objective, barrier between ripe oranges and tangerines and the branches and leaves; Then under world coordinates, calculate the particular location of fruit, whether the disturbance in judgement object location influences fruit picking.
The fruit positional information and the barrier positional information that obtain are carried out feature extraction, under virtual environment, set up threedimensional model, utilize and carry out robot path planning's calculating, obtain the collisionless path based on probability map algorithm (PRM).After obtaining the robot motion path, arrive at assigned address by industrial computer system control mechanical arm and paw.
At last, the control end effector stretches out sucker and holds and draw fruit, then with the fixing fruit of paw, rotates to assigned address by cutter sweep again, the cut-out carpopodium.
Advantage of the present invention is to merge according to many heat transfer agents such as power feel, the sense of heat, vision, distance, the real-time perception environmental information, and the guided robot end effector realizes that at correct position fruit, tree separate.
Description of drawings
Fig. 1 oranges and tangerines picking machine apparatus structural representation
1-mechanical arm base, the 2-waist joint (comprising: 16-gear, 17-flute profile band, 18-coding disk, the 19-decelerator, 20-motor 21-motor driver), the 3-shoulder, 4-shoulder joint (the same waist joint of structure), the big arm of 5-, 6-elbow joint (the same waist joint of structure), 7-forearm, 8-rotates wrist joint (the same waist joint of structure), 9-swings wrist joint (the same waist joint of structure), 10-end effector installing rack, 11-end effector, the 12-stereo visual system, the 13-master computer, 14-industrial computer, 15-motion control card.
Fig. 2 joint of mechanical arm schematic diagram
16-gear, 17-flute profile band, 18-coding disk, 19-decelerator, 20-motor, 21-motor driver
Fig. 3 end effector structural representation
Fig. 3 (1) front view
Fig. 3 (2) end view
Fig. 3 (3) two joints finger assembly schematic diagram
The 22-palm, 23-two joints finger assembly, 24-vacuum absorption device assembly, 25-supersonic sounding assembly of devices, 26-cutter sweep assembly, 10-end effector mounting bracket, 27-sucker motor, 28-vavuum pump flexible pipe, 29-vavuum pump, the 30-rubber suction cups, 31-baroceptor, 32-cutter sweep support, 33-blade holder whirligig, 34-blade holder, 35-belt pulley, the 36-motor, 37-belt, 38-blade, 39-protective blade cover, 40-proximity transducer, 41-power sense sensor, 42-sense of heat sensor, the 43-finger tip, 44-refers to root, 45-refers to that the root driver (comprising: 50-angular transducer, 56-motor, 57-driver, the 58-decelerator), 46-finger tip driver (comprising: 51-finger tip rotating band, 52-driving wheel, 53-decelerator, the 54-motor, the 55-motor driver, the 59-angular transducer), 47-sucker guide rod, the 48-sucker stand, the 49-screw rod
Fig. 4 oranges and tangerines picking robot software control module
Embodiment
The flexible method and apparatus of plucking of oranges and tangerines of the present invention has general applicability aspect the spherical picking fruit.Adopt three to refer to two articulation structures, can catch spherical fruit steadily, the force feedback system that finger is inboard can be implemented different grasps as required, is fit to thin skin fruit and the easily harvesting of one's water breaks fruit.Crucial difficult point of the present invention is that oranges and tangerines have hard carpopodium, must adopt sharp knife saw could realize that fruit, tree separate, and general blade is difficult to once cut off.If pluck the easily broken fruit of other carpopodium,, then can remove knife saw as tomato.
The present invention is according to the upgrowth situation of oranges and tangerines and vary in size, and the paw maximum of design is opened diameter 9cm, can hold most of citrus fruits.Because action of gravity, oranges and tangerines generally hang on the branch, and some is blocked by leaf.Can measure the exposed particular location of oranges and tangerines outside by stereo visual system.
Before IMAQ, need the inner parameter of stereo visual system be demarcated as focal length, lens distortion coefficient, and external parameter is also demarcated, obtain two camera parallax ranges, the position of video camera in world coordinates.For further location Calculation provides accurate parameters.
When operation is plucked by robot, at first take two width of cloth images by the binocular tri-dimensional vision system, carry out the image preliminary treatment through independently developed software, extract the color and the morphological feature of target, cut apart overlapping fruit, and carry out mating based on the solid of feature to extracting target with Hough conversion and minimum extraneous rectangle technology, adopt various constraintss during coupling, as polar curve constraint, unique constraints, isotonicity constraint, guarantee the uniqueness of mating, obtain the three-dimensional information of fruit and barrier.Behind the fruit location, obstacle information and target information are changed to the Virtual Space, and carried out path planning, the search free path in the pose space.For guaranteeing that manipulator motion is level and smooth, also must carry out smoothing processing, the counter-rotating when reducing motor and rotating, anxious stopping and phenomenon such as anxious acceleration to walking path.
After end effector arrived at assigned address, vavuum pump began to vacuumize, and started the drive motors of sucker, stretched out sucker and held fruit, and sucker outreach size is obtained by the distance measuring sensor in the palm.Vacuum can sharply rise in the sucker pipeline when fruit is held, when vacuum reaches certain threshold value, the counter-rotating of sucker drive motors, sucker traction fruit starts the finger actuation motor simultaneously to centre of the palm retraction, finger will be according to the promptly and fixing fruit of specified path, if in the finger motion process barrier is arranged, the proximity transducer of finger tip can send signal, stops finger and stretches out; The power sense sensor of surveying in the finger can detect the grasp size in real time, and the incident that causes fruit to come off inadequately with avoid scratching fruit or grasp takes place.After finger encased fruit, sucker and three fingers formed 4 fulcrums and fix fruit, and the position in the adjustment and the centre of the palm.After arriving at assigned position, just can start the cutting blade support and move to the centre of the palm, and the work of startup rotating blade, when blade ran into carpopodium, blade drive motors load increased and begins to cut carpopodium, showed that when load disappears carpopodium is cut off harvesting and finishes.If when running into the fruit size and exceeding scope of design, then can't start cutter sweep, effectively protect the finger of manipulator and fruit not to be hurt.After plucking end, blade is got back to original position, plucks fruit and is placed into assigned address, and finger is got back to original state.
Claims (2)
1. the flexible picker of oranges and tangerines picking robot, it is characterized in that forming by picking fruit hardware unit and software control system two parts, the picking fruit hardware unit is made up of computer vision system, industrial control system, mechanical arm, end effector, and end effector partly comprises: vacuum absorption device, paw and cutter sweep;
1) mechanical arm: form by 5 degree of freedom rotary joints, mechanical arm comprises base (1), waist joint (2), shoulder (3), shoulder joint (4), big arm (5), elbow joint (6), forearm (7), wrist joint (8,9), end effector installing rack (10), wherein wrist joint has 2 degree of freedom, and each joint is all connected to form by gear (16), flute profile band (17), coding disk (18), decelerator (19), motor (20) and motor driver (21);
2) vision system: for being installed in the binocular tri-dimensional vision system (12) on the mechanical arm pedestal, link to each other with master computer (13), realize the collection of environmental information by USB interface;
3) industrial control system: comprise industrial computer (14), a plurality of motion control cards (15) that are used to control each joint of mechanical arm (2,4,6,8,9) and end effector (11) of interpolation;
4) vacuum absorption device: be rubber suction cups (30), be installed on the sucker guide rod (47), the sucker guide rod is fixed on the sucker stand (48), and sucker stand links to each other with screw rod (49), screw rod is terminal to be connected with sucker motor (27), and motor is fixed on the end effector installing rack (10);
5) paw: constitute by 3 two joint fingers (23), be installed on the palm (22), the joint that refers to root (44), finger tip (43) drives by referring to that root driver (46) and finger tip driver (24) drive, refer to that root driver (46) refers to the root rotational angle by angular transducer (50) detection, motor (56), motor driver (57), decelerator (58) directly link to each other with the finger root to control and refer to root (44) motion; Finger tip driver (46) detects the finger tip rotational angle by angular transducer (59), motor (54), motor driver (55), decelerator (53) connect driving wheel (52), drive finger tip rotating band (51) control finger tip (43) motion, each finger tip has been installed proximity transducer (40), power sense sensor (41) and sense of heat sensor (42) are equipped with in each finger inboard, and sonac (25) is housed in the palm (22);
6) cutter sweep: its support (32) is fixed on the palm (22), links to each other with whirligig (33), and motor (36), belt pulley (35) are installed on the blade holder, and there is protective cover (39) the blade top;
Software control system comprises: stereoscopic vision is demarcated, and target information is obtained identification, location, Robot Path planning, mechanical arm and end effector control module.
2. the harvesting method of the flexible picker of oranges and tangerines picking robot according to claim 1 is characterized in that: at first, and the mature fruit that utilizes the stereo visual system detection and Identification to pluck; Utilize color and information such as morphological differences recognition objective, barrier between ripe oranges and tangerines and the branches and leaves; Then under world coordinates, calculate the particular location of fruit, whether the disturbance in judgement object location influences fruit picking;
The fruit positional information and the barrier positional information that obtain are carried out feature extraction, under virtual environment, set up threedimensional model, utilization is carried out robot path planning's calculating based on the probability map algorithm, obtain the collisionless path, after obtaining the robot motion path, arrive at assigned address by industrial computer system control mechanical arm and paw;
At last, the control end effector stretches out sucker and holds and draw fruit, then with the fixing fruit of paw, rotates to assigned address by cutter sweep again, the cut-out carpopodium.
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