CN102124866A - Wheel type mobile fruit picking robot and fruit picking method - Google Patents
Wheel type mobile fruit picking robot and fruit picking method Download PDFInfo
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Abstract
The invention discloses a picking method and picking robot device aiming at fruits which are in size of an apple and is similar to a sphere. The picking robot device comprises a mechanical actuating device, control system hardware and control system software. The mechanical actuating device comprises a picking mechanical arm, an underactuated manipulator, an electric sliding table and an intelligent mobile platform, wherein the control system hardware comprises an IPC (industrial personal computer), a motion control card, a data acquisition card, an AHRS (attitude and heading reference system), a coder, a monocular camera, a binocular camera, a force sensor, a slipping sensor and the like. During operation, the IPC fuses information of the coder, the AHRS, monocular camera components and an ultrasonic sensor to enable the mobile platform to independently navigate and avoid obstacles. A binocular vision system collects images of mature fruits and obstacles and extracts the characteristics of the images so as to realize obstacle avoidance of the mechanical arm and fruit positioning. Finally, the IPC fuses the information of the force sensor, the slipping sensor and the position sensor, thereby further reliably gripping the mature fruits and separating the fruits from fruit branches.
Description
Technical field
The present invention relates to the agricultural robot technical field, especially a kind of wheeled mobile fruit picking robot and fruit picking method.
Background technology
Fruit is the important economic crops of China, at present fruit oneself become the third-largest crops after grain, vegetables.The fruit industry has critical role in national economy.In the food consumption structure, along with the slow decline of staple food consumption proportion and the rising of non-staple food consumption proportion, the proportion that fruit is consumed in the whole food consumption is also progressively rising.Since China in 1978 carried out the agricultural restructuring policy, the fruit industry of China was rapidly developed, and suddenly became the first in the world fruit big producing country in 1997.Fruits output was from 6,570,000 tons of 5089.3 ten thousand tons of rising to 1997 in 1978.By 2006, oneself reached 9599.2 ten thousand tons Chinese fruit output, accounted for 18.1% of world's fruits output.Except having the total amount advantage, the output of Chinese many fruit all occupy prostatitis, the world, and Chinese apple in 2006 and pears output are 2605.9 ten thousand tons and 1198.6 ten thousand tons, account for 40.8% and 61.4% of world wide production respectively, all occupy the No. 1 in the world.Orange yield reaches 1591.9 ten thousand tons, accounts for 50.5% of world wide production, also occupy the No. 1 in the world.Above data show, apple, oranges and tangerines, pears are main varieties of plant of China's fruit, no matter are that area or output homogeneous are in line in front three.Therefore, wheeled mobile fruit picking robot of the present invention is mainly plucked liking at above several fruit.
Entered since 21 century, the Chinese people actinal surface faces the aging problem and is on the rise, and along with the developing rapidly of industry, the agricultural workforce shifts to industry and other industries gradually, and the serious and cost of agricultural workforce's cost shortage improves gradually.The fruit picking operation is a link the most consuming time during fruit is produced, that require great effort most, and its results belong to labour-intensive operation again.More than all factors brought very big difficulty for the results of fruit, it is imperative therefore to research and develop a kind of intelligentized fruit picking device.Wheeled mobile fruit picking robot not only can reduce orchard worker's labour intensity, reduction fruit tree harvesting cost, raising picking efficiency, assurance fruit and in time gather in the crops, guarantees fruit quality, and for promoting rural economic development, improve modernization, the intelligent level of Tendency of Agricultural Machinery in China, quickening the agricultural modernization process has great impetus.
With respect to developed country, China starts late in the research in fruit picking robot field, probably starts from the mid-90 in 20th century.At present domestic have many research institutions carrying out picking robot and the relevant research of reading intelligent agriculture machinery with research institute.
Chinese invention patent ZL200310118301.6, denomination of invention is " a kind of drives structure of mobile robot platform and a driving method ".This patent has been introduced a kind of drives structure that is used for wheel type mobile robot platform, the type of drive of adopt coordinating, and it comprises initiatively directive wheel and two driving wheel independently.Initiatively directive wheel is controlled the corner of directive wheel by the motor-driven of the higher speed reducing ratio of small-power; Two drive trailing wheel and are driven by the flat electric machine or the wheel hub motor of two low control accuracies respectively.The platform driving governor requires to be decomposed into control command to three motors to the motion of mobile platform according to body motor coordination algorithm, controls the differential to finish the motion of body of the rotation of directive wheel and two trailing wheels then.But do not describe detailed frame for movement in this patent, and do not design, so this structure is difficult to be applied to the harvesting of fruit at the orchard road environment.
Chinese invention patent ZL200410053041.3, denomination of invention is " intelligent mobile robot ".This patent has been introduced a kind of intelligent mobile robot, comprises car body platform and brain two large divisions, adopts notebook computer as the robot brain.The robot brain is responsible for the acquisition process visual signal, be responsible for communicating by letter and decision of the senior level with objects outside, slave computer is responsible for the bottom control of robot actuating mechanism, and odometer information, ultrasonic sensor information and the energy storage status information that obtains is uploaded to the robot brain.This patent mainly is described the control system composition, but does not relate to the detailed description of the concrete frame for movement of robot.What this patent was used is common ultrasonic sensor, though low price, good economy performance, the common ultrasonic sensor angle of departure is big, and investigative range is big, its fatal shortcoming is that directionality is bad.And, use common ultrasonic sensor very easily to cause the erroneous judgement of barrier, so this platform and be not suitable in the environment of orchard, using for the orchard of road environment more complicated.
In addition, Agricultural University Of Nanjing is studied the vision system of eggplant results and the barrier of keeping away of mechanical arm; Shanghai Communications University plucks cucumber and studies; Jiangsu University carries out corresponding research to tomato harvester tool hand; Xibei Univ. of Agricultural ﹠ Forest Science ﹠ Technology controls the apple picking robot arm and studies; Zhejiang University has carried out kinematics analysis to tomato harvester tool hand.From above research as can be seen, done a large amount of exploration work, but the harvesting of fruit is an extremely complicated process, still has a lot of difficult problems to be difficult to solve at present the domestic scientific research personnel in picking robot field.Such as above research is to concentrate on intelligent family moving platform, picking mechanical arm, various end effector, visual sensor system, the various of fruit to cut apart and several one-side researchs such as recognizer mostly, because workload is too big, research difficulty height is so each link of almost having no talent picking fruit combines further investigation.This just brings some important problem, and the achievement that finds out is more scattered, and picking robot is carried out the assistance that the harvesting task still needs the people, can only realize semi-automation, and the efficient of plucking is generally lower.These problems at home and abroad all extensively exist.
Summary of the invention
The object of the present invention is to provide a kind of wheeled mobile fruit picking robot and fruit picking method, the present invention is exactly the problem that exists in the above research, with wheel type intelligent mobile platform, electronic slide unit, picking mechanical arm, owe to drive picking mechanical arm, sensing system combines, with the motion of picking mechanical arm, owe to drive the extracting of picking mechanical arm and several committed steps such as walking of wheel type intelligent mobile platform combine, realized that really the intellectuality of fruit is plucked.The integration of several committed steps of plucking not is the simple superposition of several steps, the walking of the motion of picking mechanical arm, the extracting of owing to drive picking mechanical arm and wheel type intelligent mobile platform is unusual complicated system engineering, not only frame for movement, software and algorithm need ideally merge, and the whole system running will be in conjunction with the harvesting working environment of orchard reality.Want to obtain good harvesting effect, more than several key factors indispensable.
Technical scheme of the present invention is:
A kind of wheeled mobile fruit picking robot comprises mechanical actuating unit and control system,
Described mechanical actuating unit comprises wheel type intelligent mobile platform, picking mechanical arm and owes to drive picking mechanical arm and electronic slide unit;
Described wheel type intelligent mobile platform comprises the first driving wheel assembly, the second driving wheel assembly, the first driven pulley assembly, the second driven pulley assembly, platform frame, motor controlling cabinet, fruit collecting box and side board, wherein adopt Bolt Connection between the first driving wheel assembly, the second driving wheel assembly, the first driven pulley assembly, the second driven pulley assembly and the platform frame, side board is with on the rivet platform frame, and motor controlling cabinet is fixed on the middle part of wheel type intelligent mobile platform; Fruit collecting box is between picking mechanical arm and motor controlling cabinet;
The described first driving wheel assembly and the second driving wheel assembly comprise driving shaft, bearing, decelerator, DC servo motor, encoder, bearing cap, flat key, bearing block mounting flange, bearing, bearing block, bearing cap and wheel hub connecting flange respectively, and the first driven pulley assembly and the second driven pulley assembly comprise axle, bearing, bearing block, bearing cap, bearing block mounting flange and wheel hub connecting flange respectively;
Described picking mechanical arm is fixed on the electronic slide unit of wheel type intelligent mobile platform front end, and the structure of picking mechanical arm comprises big arm, forearm, telescopic arm, two DC servo steering wheels, two DC servo motors, fruit downslide pipeline and funnel-form buffering joints;
The structure of described telescopic arm comprises that telescopic arm link, first sleeve, deep groove ball bearing, chute, deep groove ball bearing, second sleeve, linear bearing, manipulator connection box, deep groove ball bearing, linear bearing, slide bar, first round slider, deep groove ball bearing, fruit receive basket fixed mount, second round slider, two-way leading screw, deep groove ball bearing, bearing cap, shaft coupling, motor mounting flange and DC servo motor;
Described electronic slide unit comprises DC servo motor, shaft coupling, slide bar, screw rod, slide bar, bearing block, mechanical arm fixedly slide block, bearing block and motor fixing frame;
Describedly owe to drive picking mechanical arm and comprise first-hand articulations digitorum manus, first finger connecting rod, the second finger joint, palm, second finger connecting rod, connecting rod, driving rod, shaft coupling, lower support bar, low bottom-disc, DC servo motor, long connecting rod, upper support bar, spacer flanger and screw shaft; Palm connects by upper support bar with spacer flanger; Low bottom-disc connects by lower support bar with spacer flanger, and travel switch is installed in the junction of lower support bar and spacer flanger; Finger mounted is pointed parallel symmetric arrangement for two on palm; Shaft coupling is linked together screw shaft and DC servo motor axle, and servomotor rotates when making work, and the rotation of screw shaft then is converted into moving up and down of driving rod;
Described control system comprises industrial computer, 8 axis motion control cards, data collecting card, DC servo motor, encoder, AHRS attitude orientation frame of reference, monocular-camera assembly, binocular camera, technical grade ultrasonic sensor, power sensor, sliding feeling sensor, position sensor, control circuit and motor controlling cabinet.
Left side, described wheel type intelligent mobile platform rear end is provided with industrial computer, right side, wheel type intelligent mobile platform rear end is provided with the lithium battery power supply case, be positioned in the middle of industrial computer and the lithium battery power supply case to the accumulator of industrial computer power supply and inverter, motion control card, data collecting card, be inserted in the PCI slot of industrial computer respectively, binocular camera is positioned at the upside of described manipulator connection box, and the intelligent family moving platform front end is provided with AHRS attitude orientation frame of reference and monocular-camera assembly.
The described material of owing to drive picking mechanical arm, screw shaft and driving rod is No. 45 steel, and the material of first-hand articulations digitorum manus, the first finger connecting rod, second finger joint, palm, second finger connecting rod, connecting rod, lower support bar, low bottom-disc, long connecting rod, upper support bar and spacer flanger is nylon.
Described fruit downslide pipe interior has a plurality of funnel-form buffering joints, and the buffering joint is made by soft rubber material.
Described telescopic arm is arranged on the terminal joint of picking mechanical arm, and telescopic arm also comprises transmission mechanism, and transmission mechanism is made up of two-way leading screw, round slider, chute and slide bar etc.Be in the same place with Bolt Connection by first sleeve and second sleeve in the outside of telescopic arm, the first sleeve upside has chute, and downside has waist typed through hole, and second sleeve all has chute in both sides up and down; The both sides up and down of first round slider are equipped with a deep groove ball bearing respectively, and the deep groove ball bearing bearing is stuck in the chute, and internal thread hole is arranged in the middle of first round slider; The second round slider upside is equipped with deep groove ball bearing, and bearing is stuck in the chute, and downside receives the basket fixed mount with fruit and is connected, and is provided with internal thread hole in the middle of second round slider.
A kind of fruit picking method of utilizing wheeled mobile fruit picking robot to carry out may further comprise the steps:
During fruit picking, mechanical arm is delivered to picking mechanical arm near the fruit;
Picking mechanical position sensor on hand detects the relative position of picking mechanical arm and fruit, when detecting fruit and entered picking mechanical arm and pluck scope, the DC servo motor forward rotation, picking mechanical arm begins to grasp fruit, pressure sensor detects the chucking power between finger and the fruit, and judges whether to reach the power threshold value that the given fruit of experiment can bear;
If reach the then picking mechanical arm stop motion of power threshold value, the mechanical arm simulation is artificial pluck on lift work, finish separating of fruit branch and carpopodium;
Next picking mechanical arm telescopic joint bounces back, and the finger of picking mechanical arm opens, and fruit is put into fruit receive basket, and last fruit is slipped in the fruit collecting box lentamente through fruits pipeline and buffering funnel.
The invention has the beneficial effects as follows:
Advantage of the present invention is as follows: (1) owes to drive the screw shaft of picking mechanical arm and the material of driving rod is 45 steel, the other parts material is nylon, quality picking mechanical arm gross weight by contrast reduces approximately 25%, and the weight reduction can directly cause the energy consumption of picking mechanical arm system to decrease about 25%; (2) design fruit receives basket and fruits pipeline below mechanical arm, when fruit with directly put into fruit after fruit branch separates and receive basket, fruit directly is slipped in the fruit collecting box through the whereabouts pipeline, will reduce the anglec of rotation in the most joints of mechanical arm when mechanical arm is worked so greatly, some joint in addition need not the action, and the efficient of plucking improves about 40%, and mechanical arm action part energy consumption also decreases about 40%; (3) fruit downslide pipe interior has a plurality of funnel-forms buffering joint, and the buffering joint is made by soft rubber material, can reduce the speed in the fruit downslide process, thereby reduces the damage that fruit causes because of collision or friction in the downslide process; (4) whole mechanical arm is fixed on the electronic slide unit, mechanical arm can horizontally slip on electronic slide unit when work, She Ji advantage is that intelligent family moving platform is in the ranks walked in the orchard and once just can have been plucked the fruit of its both sides like this, the distance of whole intelligent family moving platform walking can reduce by half, and the energy consumption of running gear can reduce 35%-40%; (5) the telescopic arm transmission mechanism in the terminal joint of mechanical arm partly is made up of two-way leading screw, round slider, chute and slide bar etc., when mechanical arm during at fruit-picking manipulator put in tree crown, fruit receives basket and withdraws from tree crown simultaneously, so both can reduce the collision of fruit downslide pipeline and fruit branch and damage fruit branch and fruit tire phenomenon, can prevent also that fruit downslide pipeline from being stopped the phenomenon that causes the fruit landing not smooth by fruit branch; (6) AHRS attitude orientation frame of reference, three angular speed, course heading, accekeration of exportable intelligent family moving platform.AHRS, technical grade ultrasonic sensor and binocular stereo vision system information have improved the intelligent family moving platform navigation accuracy greatly and have kept away the barrier ability after merging; (7) the wheel type intelligent mobile platform is driven by DC servo motor and reductor, feeds back current location information by encoder, can realize accurate position control; (8) the artificial action of appearing on the stage of plucking of the rotary joint of manipulator simulation, the realization fruit separates with fruit branch, design is exactly for fear of increasing complicated fruit separator at picking mechanical on hand, simplified the structure of activation lacking mechanical hand, having reduced the weight of mechanical arm end like this.(9) the picking mechanical arm is developed voluntarily according to the actual environment for use in orchard, though precision is compared distance in addition with the industrial machinery arm, but can satisfy the instructions for use of picking fruit fully, and the cost of whole mechanical arm only is about 25% of similar industrial machinery arm, greatly reduces orchard worker's use cost.(10) the wheel type intelligent mobile platform is driven by two driving wheels, speed difference and software steering model by two driving wheels are realized turning to, so just avoid using complex structure and heavy parallelogram steering mechanism, alleviated the weight of whole system, saved cost.
The present invention has improved fruit picking labor productivity, has reduced orchard worker's labour intensity, has reduced the fruit picking cost, has solved labor shortage and too high this problem of cost, has guaranteed that fruit in time gathers, guaranteed fruit quality.
The present invention improves modernization, the intelligent level of China's agricultural for promoting rural economic development, and it is significant to accelerate advance in agricultural science and technology.
Description of drawings
Fig. 1 is the side structure schematic diagram of one embodiment of the invention.
Fig. 2 is the structure vertical view of one embodiment of the invention.
Fig. 3 is that driving wheel assembly of the present invention and driven pulley assembly connect figure with the platform frame.
Fig. 4 is the structure left view of one embodiment of the invention.。
Fig. 5 is the structure chart of mechanical arm of the present invention.
Fig. 6 is the terminal joint of a mechanical arm of the present invention cutaway view.
Fig. 7 is one of electronic slide unit structure chart of the present invention.
Fig. 8 is two of an electronic slide unit structure chart of the present invention.
Fig. 9 is the structural representation of manipulator of the present invention.
Figure 10 is a drive system installation diagram of the present invention.
The main functional modules of Figure 11 control system of the present invention constitutes schematic diagram.
Among Fig. 1,1 for binocular camera, 2 for owe to drive picking mechanical arm, 3 for fruit receive basket, 4 for fruit downslide pipeline, 5 for the picking mechanical arm, 6 for the monocular-camera assembly, 7 for AHRS attitude orientation frame of reference, 8 for electronic slide unit, 9 for side board, 10 for driving wheel, 11 for driven pulley, 12 for industrial computer, 13 for the lithium battery power supply case, 14 for display, 15 be that motor controlling cabinet, 16 is a fruit collecting box.
Among Fig. 2,17 is that accumulator, 18 is inverter.
Among Fig. 3,19 is that driving wheel assembly 1,20 is that tire, 23 is that driven pulley assembly 1,24 is driven pulley assembly 2 for driving wheel assembly 2,21 for platform frame, 22.
Among Fig. 5,25 is that DC servo steering wheel, 26 is that the big arm of mechanical arm, 27 is that DC servo steering wheel, 28 is that mechanical arm forearm, 29 is that DC servo motor, 30 is that the funnel-form buffering saves.
Among Fig. 6,31 for telescopic arm link, 32 be first sleeve, 33 for deep groove ball bearing, 34 for chute, 35 for deep groove ball bearing, 36 be second sleeve, 37 for linear bearing, 38 for the manipulator connection box, 39 for deep groove ball bearing, 40 for linear bearing, 41 for slide bar, 42 be first round slider, 43 for deep groove ball bearing, 44 for fruit receive basket fixed mount, 45 be second round slider, 46 for two-way leading screw, 47 for deep groove ball bearing, 48 for bearing cap, 49 for shaft coupling, 50 for motor mounting flange, 51 be DC servo motor.
Among Fig. 7,52 be DC servo motor, 53 for shaft coupling, 54 for slide bar, 55 for screw rod, 56 for slide bar, 57 for bearing block, 58 for mechanical arm fixedly slide block, 59 be that bearing block, 60 is a motor fixing frame.
Among Fig. 8,61 for first-hand articulations digitorum manus, 62 be that the first finger connecting rod, 63 is screw shaft for spacer flanger, 75 for upper support bar, 74 for long connecting rod, 73 for DC servo motor, 72 for low bottom-disc, 71 for lower support bar, 70 for shaft coupling, 69 for driving rod, 68 for connecting rod, 67 for second finger connecting rod, 66 for palm, 65 for second finger joint, 64.
Among Fig. 9,76 is that wheel hub connecting flange, 77 is that driving shaft, 78 is that bearing, 79 is that decelerator, 80 is that DC servo motor, 81 is that encoder, 82 is that bearing cap, 83 is that flat key, 84 is that bearing block mounting flange, 85 is that bearing, 86 bearing blocks, 87 are bearing cap.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described:
Contrast Fig. 1, the wheeled mobile fruit picking robot of present embodiment mainly by binocular camera 1, owe to drive picking mechanical arm 2, fruit and receive basket 3, fruit downslide pipeline 4, picking mechanical arm 5, monocular-camera assembly 6, AHRS attitude orientation frame of reference 7, electronic slide unit 8, side board 9, driving wheel 10, driven pulley 11, industrial computer 12, lithium battery power supply case 13, display 14, motor controlling cabinet 15, fruit collecting box 16 etc. and form.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the wheel type intelligent mobile platform comprises the first driving wheel assembly (19), the second driving wheel assembly (20), the first driven pulley assembly (23), the second driven pulley assembly (24), platform frame (21), and side board (9), the first driving wheel assembly (19) wherein, the second driving wheel assembly (20) and the first driven pulley assembly (23), adopt Bolt Connection between the second driven pulley assembly (24) and the platform frame (21), side board (9) is with on the rivet platform frame (21), and motor controlling cabinet (15) is fixed on the middle part of wheel type intelligent mobile platform; Fruit collecting box (16) is positioned between picking mechanical arm (5) and the motor controlling cabinet (15);
Contrast Fig. 5, picking mechanical arm (5) is fixed on the electronic slide unit (8) of wheel type intelligent mobile platform front end, the structure of picking mechanical arm comprises big arm (26), forearm (28), telescopic arm, two DC servo steering wheels (25,27), two DC servo motors (29,51), fruit downslide pipeline (4), funnel-form buffering joint (30).
Contrast Fig. 6, the structure of telescopic arm comprises that telescopic arm link 31, first sleeve 32, deep groove ball bearing 33, chute 34, deep groove ball bearing 35, second sleeve 36, linear bearing 37, manipulator connection box 38, deep groove ball bearing 39, linear bearing 40, slide bar 41, round slider 42, deep groove ball bearing 43, fruit receive basket fixed mount 44, round slider 45, two-way leading screw 46, deep groove ball bearing 47, bearing cap 48, shaft coupling 49, motor mounting flange 50, DC servo motor 51.
Contrast Fig. 7, electronic slide unit 8 comprises DC servo motor 52, shaft coupling 53, slide bar 54, screw rod 55, slide bar 56, bearing block 57, mechanical arm fixedly slide block 58, bearing block 59, motor fixing frame 60.
Contrast Fig. 8 owes to drive picking mechanical arm 2 and comprises first-hand articulations digitorum manus 61, the first finger connecting rod 62, second finger joint 63, palm 64, second finger connecting rod 65, connecting rod 66, driving rod 67, shaft coupling 68, lower support bar 69, low bottom-disc 70, DC servo motor 71, long connecting rod 72, upper support bar 73, spacer flanger 74, screw shaft 75.Palm 64 connects by upper support bar 73 with spacer flanger 74; Low bottom-disc 70 connects by lower support bar 69 with spacer flanger 74, and travel switch is installed in the junction of lower support bar 69 and spacer flanger 74.Finger mounted is pointed parallel symmetric arrangement for two on palm 64.Shaft coupling 68 is linked together screw shaft 75 and DC servo motor axle, and servomotor rotates during work, and the rotation of screw shaft 75 then is converted into moving up and down of driving rod 67.
Contrast Fig. 9, the first driving wheel assembly 19 and the second driving wheel assembly 20 comprise, driving shaft 77, bearing 78, decelerator 79, DC servo motor 80, encoder 81, bearing cap 82, flat key 83, bearing block mounting flange 84, bearing 85, bearing block 86, bearing cap 87 and wheel hub connecting flange 76, and driven pulley assembly 23 and driven pulley assembly 24 comprise axle, bearing, bearing block, bearing cap, bearing block mounting flange and wheel hub connecting flange;
The control system of wheeled mobile fruit picking robot comprises industrial computer, 8 axis motion control cards, data collecting card, DC servo motor, encoder, AHRS attitude orientation frame of reference, monocular-camera assembly, binocular camera, technical grade ultrasonic sensor, power sensor, sliding feeling sensor, position sensor, control circuit and motor controlling cabinet etc.
Owing to drive picking mechanical arm 2 links to each other with the telescopic arm of mechanical arm by manipulator connection box 38, fruit receives basket 3 and links by the bolt of its fixed mount 44 with round slider 45 downsides, the funnel-form buffering joint 30 that a plurality of soft rubber material are arranged in the fruit downslide pipeline on the fruit reception basket, buffering joint 30 can reduce the speed that fruit glides when fruit glides, thereby reduces in the fruit downslide process because of the damage of colliding and friction causes.Whole picking mechanical arm 5 is fixed on the electronic slide unit 8 of front end of intelligent family moving platform, and mechanical arm 5 can horizontally slip on electronic slide unit 8 when work.
Industrial computer 12 is positioned at left side, intelligent family moving platform rear end, lithium battery power supply case 13 is positioned at right side, intelligent family moving platform rear end, be positioned in the middle of industrial computer and the lithium battery power supply case for the accumulator 17 and the inverter 18 of industrial computer 12 power supplies, motion control card, data collecting card, be inserted in the PCI slot of industrial computer respectively, binocular camera 1 is positioned at the upside of manipulator connection box 38, AHRS attitude orientation frame of reference) and monocular-camera assembly 6 be positioned at the intelligent family moving platform front end.
The telescopic arm transmission mechanism in the terminal joint of mechanical arm is made up of two-way leading screw, round slider, chute and slide bar, the outside of telescopic arm by first sleeve 32, second sleeve, 36 usefulness Bolt Connection together, first sleeve, 32 upsides have chute, downside has waist typed through hole, and second sleeve all has chute in both sides about in the of 36.Deep groove ball bearing 35, deep groove ball bearing 43 are equipped with in the both sides up and down of round slider 42, bearing is stuck in the chute, internal thread hole is arranged in the middle of the round slider 42, round slider 45 upsides are equipped with deep groove ball bearing 33, bearing is stuck in the chute, downside and fruit receive basket fixed mount 44 and are connected, and internal thread hole is also arranged in the middle of the round slider 45, and DC servo motor 51 rotates the indentation inward simultaneously or stretch out motion simultaneously outward in chute of two round sliders making on the two-way leading screw.
The operation principle of the present invention and the course of work are as follows:
During picking robot work, monocular-camera assembly 6 detects the road surface navigation information, and AHRS attitude orientation frame of reference 7 detects course heading, the accekeration of intelligent family moving platform, the translational speed of encoder feedback intelligent family moving platform and moving distance information.Binocular camera 1 detects the position of waiting to pluck fruit tree, and when detecting when within sweep of the eye fruit tree being arranged, industrial computer 12 sends the instruction that halts of wheel type intelligent mobile platform to 8 axis motion control cards.Binocular camera 1 is used for gathering the image information of fruit tree, fruit and the barrier image information in the picking mechanical arm harvesting path, next the master controller industrial computer looks like to discern to ripening fruits image and obstructions chart, and calculate the locus coordinate of the relative mechanical arm basis coordinates of fruit, obtain fruit and grasp required posture information, plan in 13 pairs of harvestings of industrial computer path then, and send the picking fruit instruction to the controller (8 axis motion control card) of picking mechanical arm 5.When picking mechanical arm 2 is delivered to by mechanical arm 5 when waiting to pluck near the fruit, position sensor on the picking mechanical arm 2 detects the relative position of picking mechanical arm and apple, when detecting fruit and entered picking mechanical arm and pluck scope, DC servo motor 71 forward rotation, picking mechanical arm 2 begins to grasp fruit, pressure sensor detects the chucking power between finger and the fruit, and judges whether to reach the power threshold value that the given fruit of experiment can bear.If reach the power threshold value then DC servo motor 71 stop operating, mechanical arm simulation is artificial pluck on lift work, finish separating of fruit branch and carpopodium.Next picking mechanical arm telescopic joint bounces back, and the finger of picking mechanical arm opens, and fruit is put into fruit receive basket 3, and last fruit is slipped in the fruit collecting box 16 lentamente through fruits pipeline 4 and funnel buffering joint 30.
Repeat above process, the fruit in the harvesting scope is all plucked and is finished, and mobile platform moves on, and repeats above walking and picking fruit process.Monocular-camera assembly 6 and technical grade ultrasonic sensor detect on the intelligent family moving platform direction of advance barrier are arranged in the process if advance, and the barrier size information that industrial computer 12 will detect monocular-camera assembly 6, ultrasonic sensor carry out integrated treatment calculating with the picking robot that monocular-camera assembly 6 detects apart from the depth information of barrier, the course heading of AHRS attitude orientation frame of reference 7 detected intelligent family moving platforms and the environmental information on road surface.If result of calculation shows picking robot and can keep away barrier, then system starts at once and keeps away the barrier program, if show can not the cut-through thing for result of calculation, picking robot just stops at the original place at once and gives the alarm.Lose when monocular-camera assembly 6 detects road surface fruit tree row feature, promptly picking robot arrives the edge of a field, starts the turning program at once, and when detecting fruit tree row feature once more, picking robot continues to follow the tracks of the row feature, and repeats above fruit picking process.
Since this century, China's problem of an aging population is on the rise, and along with the developing rapidly of industry, the agricultural workforce shifts to industry and other industries gradually, and agricultural workforce's shortage is on the rise and cost improves constantly.The harvesting of fruit is one of effort and link consuming time during fruit is produced, and the harvesting of fruit belongs to labour-intensive operation again.More than multiple factor brought very big difficulty for the results of fruit, it is imperative therefore to research and develop a kind of intelligentized fruit picking device.The present invention is exactly in order to solve an above difficult problem, the present invention gathers in the crops in time, guarantees that to the labour intensity, reduction fruit tree harvesting cost, raising picking efficiency, the assurance fruit that reduce the orchard worker fruit quality is significant, and for promoting rural economic development, improve modernization, the intelligent level of Tendency of Agricultural Machinery in China, quickening the agricultural modernization process has great impetus.
Embodiment recited above is described preferred implementation of the present invention; be not that design of the present invention and scope are limited; do not breaking away under the design concept prerequisite of the present invention; common engineers and technicians make technical scheme of the present invention in this area various modification and improvement; all should fall into protection scope of the present invention, the technology contents that the present invention asks for protection all is documented in claims.
Claims (6)
1. a wheeled mobile fruit picking robot comprises mechanical actuating unit and control system, it is characterized in that:
Described mechanical actuating unit comprises wheel type intelligent mobile platform, picking mechanical arm (5) and owes to drive picking mechanical arm (2) and electronic slide unit (8);
Described wheel type intelligent mobile platform comprises the first driving wheel assembly (19), the second driving wheel assembly (20), the first driven pulley assembly (23), the second driven pulley assembly (24), platform frame (21), motor controlling cabinet (15), fruit collecting box (16) and side board (9), the first driving wheel assembly (19) wherein, the second driving wheel assembly (20), the first driven pulley assembly (23), adopt Bolt Connection between the second driven pulley assembly (24) and the platform frame (21), side board (9) is with on the rivet platform frame (21), and motor controlling cabinet (15) is fixed on the middle part of wheel type intelligent mobile platform; Fruit collecting box (16) is positioned between picking mechanical arm (5) and the motor controlling cabinet (15);
The described first driving wheel assembly (19) and the second driving wheel assembly (20) comprise driving shaft (77), bearing (78), decelerator (79), DC servo motor (80), encoder (81), bearing cap (82), flat key (83), bearing block mounting flange (84), bearing (85), bearing block (86), bearing cap (87) and wheel hub connecting flange (76) respectively, and the first driven pulley assembly (23) and the second driven pulley assembly (24) comprise axle, bearing, bearing block, bearing cap, bearing block mounting flange and wheel hub connecting flange respectively;
Described picking mechanical arm (5) is fixed on the electronic slide unit (8) of wheel type intelligent mobile platform front end, and the structure of picking mechanical arm (5) comprises big arm (26), forearm (28), telescopic arm, two DC servo steering wheels (25,27), two DC servo motors (29,51), fruit downslide pipeline (4) and funnel-form buffering joint (30);
The structure of described telescopic arm comprises telescopic arm link (31), first sleeve (32), deep groove ball bearing (33), chute (34), deep groove ball bearing (35), second sleeve (36), linear bearing (37), manipulator connection box (38), deep groove ball bearing (39), linear bearing (40), slide bar (41), first round slider (42), deep groove ball bearing (43), fruit receives basket fixed mount (44), second round slider (45), two-way leading screw (46), deep groove ball bearing (47), bearing cap (48), shaft coupling (49), motor mounting flange (50) and DC servo motor (51);
Described electronic slide unit (8) comprises DC servo motor (52), shaft coupling (53), slide bar (54), screw rod (55), slide bar (56), bearing block (57), mechanical arm fixedly slide block (58), bearing block (59) and motor fixing frame (60);
Describedly owe to drive picking mechanical arm (2) and comprise first-hand articulations digitorum manus (61), first finger connecting rod (62), second finger joint (63), the palm (64), second finger connecting rod (65), connecting rod (66), driving rod (67), shaft coupling (68), lower support bar (69), low bottom-disc (70), DC servo motor (71), long connecting rod (72), upper support bar (73), spacer flanger (74) and screw shaft (75); Palm (64) connects by upper support bar (73) with spacer flanger (74); Low bottom-disc (70) connects by lower support bar (69) with spacer flanger (74), and travel switch is installed in the junction of lower support bar (69) and spacer flanger (74); Finger mounted is pointed parallel symmetric arrangement for two on palm (64); Shaft coupling (68) is linked together screw shaft (75) and DC servo motor axle, and servomotor rotates when making work, and the rotation of screw shaft (75) then is converted into moving up and down of driving rod (67);
Described control system comprises industrial computer (12), 8 axis motion control cards, data collecting card, DC servo motor, encoder, AHRS attitude orientation frame of reference (7), monocular-camera assembly (6), binocular camera (1), technical grade ultrasonic sensor, power sensor, sliding feeling sensor, position sensor, control circuit and motor controlling cabinet.
2. a kind of wheeled mobile fruit picking robot according to claim 1, it is characterized in that left side, described wheel type intelligent mobile platform rear end is provided with industrial computer (12), right side, wheel type intelligent mobile platform rear end is provided with lithium battery power supply case (13), be positioned in the middle of industrial computer (12) and the lithium battery power supply case (13) for the accumulator (17) and the inverter (18) of industrial computer (12) power supply, motion control card, data collecting card, be inserted into respectively in the PCI slot of industrial computer (12), binocular camera (1) is positioned at the upside of described manipulator connection box (38), and the intelligent family moving platform front end is provided with AHRS attitude orientation frame of reference (7) and monocular-camera assembly (6).
3. a kind of wheeled mobile fruit picking robot according to claim 1, it is characterized in that the described material of owing to drive picking mechanical arm (2), screw shaft (75) and driving rod (67) is No. 45 steel, the material of first-hand articulations digitorum manus (61), the first finger connecting rod (62), second finger joint (63), palm (64), second finger connecting rod (65), connecting rod (66), lower support bar (69), low bottom-disc (70), long connecting rod (72), upper support bar (73) and spacer flanger (74) is nylon.
4. a kind of wheeled mobile fruit picking robot according to claim 1 is characterized in that there are a plurality of funnel-form buffering joints described fruit downslide pipeline (4) inside, and the buffering joint is made by soft rubber material.
5. a kind of wheeled mobile fruit picking robot according to claim 1, it is characterized in that described telescopic arm is arranged on the terminal joint of picking mechanical arm (5), telescopic arm also comprises transmission mechanism, and transmission mechanism is made up of two-way leading screw, round slider, chute and slide bar etc.; The outside of telescopic arm by first sleeve (32) and second sleeve (36) together with Bolt Connection, first sleeve (32) upside has chute, downside has waist typed through hole, second sleeve (36) both sides up and down all has chute; The both sides up and down of first round slider (42) are equipped with a deep groove ball bearing (35,43) respectively, and the deep groove ball bearing bearing is stuck in the chute, and internal thread hole is arranged in the middle of first round slider (42); Second round slider (45) upside is equipped with deep groove ball bearing (33), and bearing is stuck in the chute, and downside receives basket fixed mount (44) with fruit and is connected, and is provided with internal thread hole in the middle of second round slider (45).
6. fruit picking method of utilizing a kind of wheeled mobile fruit picking robot as claimed in claim 1 to carry out is characterized in that may further comprise the steps:
During fruit picking, mechanical arm is delivered to picking mechanical arm near the fruit;
Picking mechanical position sensor on hand detects the relative position of picking mechanical arm and fruit, when detecting fruit and entered picking mechanical arm and pluck scope, the DC servo motor forward rotation, picking mechanical arm begins to grasp fruit, pressure sensor detects the chucking power between finger and the fruit, and judges whether to reach the power threshold value that the given fruit of experiment can bear;
If reach the then picking mechanical arm stop motion of power threshold value, the mechanical arm simulation is artificial pluck on lift work, finish separating of fruit branch and carpopodium;
Next picking mechanical arm telescopic joint bounces back, and the finger of picking mechanical arm opens, and fruit is put into fruit receive basket, and last fruit is slipped in the fruit collecting box lentamente through fruits pipeline and buffering funnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110021812 CN102124866B (en) | 2011-01-19 | 2011-01-19 | Wheel type mobile fruit picking robot and fruit picking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110021812 CN102124866B (en) | 2011-01-19 | 2011-01-19 | Wheel type mobile fruit picking robot and fruit picking method |
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| Publication Number | Publication Date |
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| CN102124866A true CN102124866A (en) | 2011-07-20 |
| CN102124866B CN102124866B (en) | 2013-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110021812 Expired - Fee Related CN102124866B (en) | 2011-01-19 | 2011-01-19 | Wheel type mobile fruit picking robot and fruit picking method |
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