CN102227972A - Intelligent harvesting equipment and method for table top cultured fruits - Google Patents
Intelligent harvesting equipment and method for table top cultured fruits Download PDFInfo
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- CN102227972A CN102227972A CN2011101081816A CN201110108181A CN102227972A CN 102227972 A CN102227972 A CN 102227972A CN 2011101081816 A CN2011101081816 A CN 2011101081816A CN 201110108181 A CN201110108181 A CN 201110108181A CN 102227972 A CN102227972 A CN 102227972A
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Abstract
The invention relates to the field of agricultural robots and in particular discloses intelligent harvesting equipment and a method for table top cultured fruits. The equipment comprises a moving platform, a mechanical arm and a controller, wherein the mechanical arm is installed on the moving platform; an end effector and a binocular image acquisition device are installed at the tail end of the mechanical arm; and the controller is arranged on the moving platform and is connected with the mechanical arm and the binocular image acquisition device. The equipment has the following beneficial effects: a large number of manpower and material resources are saved; the cost is lowered; and the equipment has strong adaptability to the environment and high operation efficiency and is suitable for efficient and non-destructive picking of the small fruits.
Description
Technical field
The present invention relates to the agricultural robot technical field, particularly a kind of high-level cultivating fruit intelligence gather equipment and collecting method.
Background technology
Strawberry, holy girl fruit etc. are the bigger minitype fruits of output, for guaranteeing fruit quality, need frequently pluck operation in the fructescence, and therefore the labour intensity of manually gathering is big, cost is higher.With the strawberry is example, and traditional strawberry cultivating is in the ridge culture mode, and when carrying out weeding, transplanting and plucking operation, people's crouched position of need bending over is gathered, and labour intensity is big, is unfavorable for health.Doomsday in last century originally begins to attempt high-level cultivating strawberry cultivating pattern, and has carried out large-scale popularization.China also begins to carry out the overhead vertical cultivation mode of strawberry at present, with when alleviating manual work intensity, improves agriculture space utilization efficient.
The strawberry of the Japan's development at present equipment (Strawberry harvesting robot forfruits grown on table top culture.2008ASABE Annual InternationalMeeting.Paper Number:084046) of gathering, adopt the carrying of rail mounted mobile platform as system, its motion path depends on whether the guide rail curve is identical; The picking mechanical arm adopts the Cartesian coordinate type structure, finishes the space orientation of fruit is plucked; Based on the fixed installation mode of vision fruit recognition system position, pluck and to carry out the identification of bilateral fruit in the operation process.
Adopt the equipment of gathering of above-mentioned rail mounted mobile platform to transform, and lay track increase use cost the agricultural environment of plantation strawberry; Visual identity navigation system fixed installation mode can only be gathered to a side fruit, and picking efficiency is low; It adopts Cartesian coordinate type picking mechanical arm on the other hand, and volume is too huge, can not satisfy the instructions for use under the small-sized planting environment.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is, how the fruit of the equipment both sides of gathering gathered, and improves the adaptive capacity of equipment to the operating environment road surface of gathering; And minimizing equipment is plucked the required space of operation, improves the utilization ratio in agricultural environment space, reduces the labour intensity that small-sized overhead fruit is repeatedly gathered, and improves the efficient of gathering, and reduces the harvest operation cost.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of high-level cultivating fruit intelligence equipment of gathering, comprising:
Mobile platform;
Mechanical arm is installed on the described mobile platform, and the end of described mechanical arm is equipped with end effector and binocular image collecting device;
Controller is arranged on the described mobile platform, is connected with described mechanical arm and binocular image collecting device.
Further, also comprise:
The sonar ranging device is arranged on the described mobile platform, is connected with described controller;
The sonar reflecting plate is arranged on below the cultivating stand of fruit.
Also comprise: the landmark identification device, be arranged on the described mobile platform, be connected with described controller.
Also comprise: the fruit case is arranged on the described mobile platform by bracing frame.
Described end effector comprises:
Adsorption piece;
Screw rod, the one end is connected with described adsorption piece;
Fixed block is connected with described mechanical arm is terminal, and the other end of described screw rod passes from fixed block;
Driver part is positioned at the top of described fixed block and is connected with fixed block;
Two holding fingers are connected with described driver part respectively, are positioned at the top of described adsorption piece, folding under the control of described driver part;
Cutting part is connected with two described holding fingers.
Wherein, described cutting part comprises: be positioned at a fixed mount on the described holding finger, with the heating member that is erected on the described fixed mount, be positioned at the cutting backing plate on another described holding finger, described cutting backing plate offers groove corresponding to the part of heating member.
Two holding fingers are to fashionable, and described heating member is entrenched in the groove of cutting backing plate.
Described heating member is the nickel chromium triangle heater strip.
Described driver part is the gas pawl, and described gas pawl is connected with magnetic valve, and two described holding fingers are connected with the movable block of gas pawl respectively.
Described gas pawl is connected with fixed block by screw, and the distance between described gas pawl and the fixed block can be by the adjustment screw adjustment.
Described adsorption piece is the organ type sucker, and the one end is a sucker, and the other end is a connecting plate, and described connecting plate is connected with screw rod, and described adsorption piece is connected with the vacuum generator assembly.
The opposite end of two described holding fingers is respectively arranged with holding shim.
In order to solve the problems of the technologies described above, the present invention also provides a kind of intelligent collecting method, comprising:
Step D1, binocular image collecting device carry out dynamic scan and collecting fruit image with the motion of mechanical arm from different orientation to the fruit on the cultivating stand of both sides, and two width of cloth images that will collect send to described controller, described controller carries out space orientation to the objective fruit in two described images, and, make end effector arrive the position of fruit according to sterically defined Data Control manipulator motion;
Step D2, controller startup vacuum generator assembly provide negative pressure for adsorption piece, and adsorption piece adsorbs fruit to be gathered;
Step D3, the movable block activity by control solenoid control valve, thus make that two holding fingers are involutory, and heating member is chimeric with the groove of cutting backing plate, and carpopodium is clamped;
The power supply of step D4, connection heating member, the heating member of high temperature cuts off carpopodium with the cutting backing plate.
Also comprise:
Sonar reflecting plate under the sonar ranging device real-time detection cultivating stand and the distance between the described mobile platform, the signal that detects is sent to described controller, and described controller is according to the attitude that moves and adjust mobile platform of the signal controlling mobile platform that receives.
Also comprise after the described step D4:
Step D5, the activity of described controller control mechanical arm make described end effector move to the position of fruit case, and two holding fingers of described controller control open, and fruit falls into the fruit case.
Also comprise:
When not having ripening fruits in the visual field of described binocular image collecting device, described controller control mobile platform moves ahead, when described mobile platform is forwarded to the cultivating stand terminal point, the landmark identification device is gathered the road sign image and the image that collects is sent to controller, described controller is discerned this image and whether is the image that turns round, be then to control described mobile platform turning to a row cultivating stand corresponding, to proceed to pluck with road sign image indicated direction, if described controller is discerned this image for stopping image, then control described mobile platform and stop walking, finish to pluck operation.
(3) beneficial effect
Technique scheme has following beneficial effect:
1, the method that adopts sonar ranging and vision landmark identification to combine, the realization intelligence equipment of gathering is independently walked under agricultural environment, need not servicing units such as guide rail, has reduced cost, is easy to realize; And improved the adaptive capacity of road pavement environment;
2, fruit target identification location binocular vision camera is installed on the mechanical arm, can be with manipulator motion, thus be convenient to the both sides cultivating stand is carried out the extraction of fruit image, make things convenient for equipment that the fruit of both sides is plucked;
3, adopt the flexible end actuator that fruit is carried out lossless operation, owing to adopt joint type picking mechanical arm, its required working space is less;
4, the man-machine interaction mode that adopts remote tele-operation and voice suggestion to combine, need not artificial on-the-spot the intervention, the full AUTONOMOUS TASK of the operation complete series of gathering operation, a large amount of manpower and materials have been saved, and this equipment is strong to the adaptability of environment, operating efficiency is high, easy operation, has important society and economic worth.
Description of drawings
Fig. 1 is the gather structural representation of equipment of the high-level cultivating fruit intelligence of the embodiment of the invention;
Fig. 2 is gather another structural representation of equipment of the high-level cultivating fruit intelligence of the embodiment of the invention;
Fig. 3 is the structural representation of the end effector of the embodiment of the invention;
Fig. 4 is another structural representation of the end effector of the embodiment of the invention;
Fig. 5 is the flow chart of the intelligent collecting method of the embodiment of the invention.
Wherein, 1: mobile platform; 2: the sonar ranging device; 3: the landmark identification device; 4: mechanical arm; 5: the binocular image collecting device; 6: end effector; 7: bracing frame; 8: controller; 9: the fruit case; 11: cultivating stand; 12: the sonar reflecting plate; 61: adsorption piece; 611: sucker; 612: connecting plate; 62: screw rod; 63: fixed block; 64: the gas pawl; 65: holding shim; 66: holding finger; 67: heating member; 68: fixed mount; 69: the cutting backing plate; 691: groove; 610: adjustment screw; 13: fruit.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, 2, the high-level cultivating fruit intelligence equipment of gathering that provides of the embodiment of the invention comprises: mobile platform 1, sonar ranging device 2, landmark identification device 3, mechanical arm 4, binocular image collecting device 5, end effector 6, controller 8 and fruit case 9.
Wherein, mobile platform 1 is the autonomous travelling car of wheeled 4 wheel driven, and the end on the mobile platform 1 is equipped with sonar ranging device 2 and landmark identification device 3.The below of cultivated strawberry frame 11, position corresponding to sonar ranging device 2 is equipped with sonar reflecting plate 12, sonar ranging device 2 is used for gather distance between the equipment of real-time detection sonar reflecting plate 12 and intelligence, thereby adjusts the attitude of mobile platform 1, guarantees that intelligence gathers equipment along straight line moving.
The end of every Lysimachia sikokiana certain kind of berries cultivating stand 11 all is placed with the road sign (not shown), comprises the turning road sign and stops road sign.Landmark identification device 3 is used for gathering the road sign image and image being sent to controller 8 at mobile platform 1 cultivating stand 11 terminal points of walking.
Also be fixed with joint type mechanical arm 2 on the mobile platform 4, can under the control of controller 8, move.The terminal joint of mechanical arm 2 has been equipped with binocular image collecting device 5, end is equipped with flexible end actuator 6, binocular image collecting device 5 is specially binocular camera, can carry out dynamic scan and gather the objective fruit image from different orientation to the fruit on the cultivating stand of both sides with the motion of mechanical arm 2, and the objective fruit image that extracts carried out space orientation, the space orientation data are sent to controller 8, controller 8 arrives the position of objective fruit according to the end effector 6 of this space orientation Data Control mechanical arm 2, and control end effector 6 objective fruit of gathering, fruit 13 is put into fruit case 9.
The other end of mobile platform 1 is equipped with bracing frame 7, the top of bracing frame 7 is fruit case 9, be used to hold the fruit of gathering, the bottom is a controller 8, be used for being responsible for the obtaining of Navigation Control, picking fruit information of mobile platform 1, the control of mechanical arm etc., coordinate each functional module and realize plucking operation.
For another example shown in Fig. 3,4, the end effector of the embodiment of the invention comprises: adsorption piece 61, screw rod 62, fixed block 63, the gas pawl 64 as driver part, holding shim 65 and holding finger 66, and be used for heating member 67, fixed mount 68 and cutting backing plate 69 with carpopodium cutting.
Wherein, adsorption piece 61 is specially the organ type sucker, the one end is the absorption end, be sucker 611, the other end is a connecting plate 612, and connecting plate 612 is connected with screw rod 62, screw rod 62 passes fixed block 63 and passes, an end that passes is connected with vacuum generator assembly (not shown), can adjust the length that adsorption piece 61 stretches out fixed block 63 by adjusting screw(rod) 62, with the harvesting requirement of the fruit that adapts to the fruit that varies in size, different carpopodium length.Wherein fixed block 63 is connected with the end of mechanical arm 4.
Gas pawl 64 is fixed on the top of fixed block 63 by adjustment screw 610, can regulate distance between adsorption piece 61 and the holding finger 66 by adjustment screw 610.The gas pawl 64 of present embodiment is specially parallelly opening-and-closing type gas pawl, and the unlatching closure of gas pawl 64 is controlled by the magnetic valve (not shown).At its end corresponding to adsorption piece 61, the movable block (not shown) of gas pawl 64 is connected with two holding fingers 66 by screw or bolt, when two holding fingers 66 near the time its end involutory, can be combined into the U type, be used to clamp and wait to pluck fruit 613.The top, end of a holding finger 66 is provided with fixed mount 68, and fixed mount 68 is provided with heating member 67.This fixed mount 68 can be the U type, the nichrome wire that its openend is used as heating member 67 connects, another holding finger 66 is provided with cutting backing plate 69, position corresponding to heating member 67 on the cutting backing plate 69 is provided with groove 691, the shape of the shape of this groove 691 and heating member 67 adapts, involutory when two holding fingers 66, heating member 67 just is entrenched in the groove 691 of cutting backing plate 69.Fixed mount 68 and cutting backing plate 69 all stretch out the end face of holding finger 66, so the end face of holding finger 66 also is provided with holding shim 65, are used to shorten the distance of two holding finger 66 ends, so that the more firm carpopodium of clamping fruit 13.
In the present embodiment, nichrome wire, magnetic valve and vacuum generator assembly all adopt same DC power supply, its separately state control by relay by controller.
The high-level cultivating fruit intelligence provided by the invention equipment of gathering adopts direct current lead-acid battery and two kinds of powering modes of extraneous AC power, can switch mutually according to the difference of operating environment.
Again as shown in Figure 5, be the flow chart of the intelligent collecting method of the embodiment of the invention, and the gather workflow of equipment of intelligence, as follows:
Distance between step S1, sonar ranging device real-time detection sonar reflecting plate and the mobile platform, the signal that detects is sent to controller, controller is according to the attitude of the mobile adjustment mobile platform of the signal controlling mobile platform that receives, guarantees that intelligence gathers equipment along straight line moving;
Step S2, binocular image collecting device carry out dynamic scan and gather the objective fruit image from different orientation to the fruit on the cultivating stand of both sides with the motion of mechanical arm, and two width of cloth images that will collect send to controller, controller is discerned two width of cloth images, extract the objective fruit image row space location of going forward side by side, obtain the spatial data of fruit, according to this spatial data control manipulator motion, make end effector arrive the position of objective fruit;
Step S3, controller startup vacuum generator assembly provide negative pressure for adsorption piece, and adsorption piece adsorbs fruit to be gathered;
Step S4, the movable block activity by control solenoid control valve, thus make that two holding fingers are involutory, and heating member is chimeric with the groove of cutting backing plate, and carpopodium is clamped;
The power supply of step S5, connection heating member, the heating member of high temperature cuts off carpopodium with the cutting backing plate;
Step S6, the activity of controller control mechanical arm make end effector move to the position of fruit case, and two holding fingers of controller control open, and fruit falls into the fruit case;
Step S7, when not having ripening fruits in the visual field of binocular image collecting device, controller control mobile platform moves ahead, when mobile platform is forwarded to the cultivating stand terminal point, the landmark identification device is gathered the road sign image and image is sent to controller, controller is discerned this image and whether is the image that turns round, be then to control the equipment turning of gathering to a row cultivating stand corresponding, to proceed to pluck with road sign image indicated direction, if controller is discerned this image for stopping image, then control mobile platform and stop walking, finish to pluck operation.
The intelligence equipment of gathering provided by the invention can adopt straighforward operation man-machine interaction mode, by the system voice prompting operated from a distance of complete operation person that combine with remote-control handle to equipment, to satisfy production environment health conditions requiring in plant factor, reduce operation easier simultaneously, promote product promotion to use.
As can be seen from the above embodiments, gather equipment and collecting method of the high-level cultivating fruit intelligence that provides of the embodiment of the invention has following beneficial effect:
1, the method that adopts sonar ranging and vision landmark identification to combine, the realization intelligence equipment of gathering is independently walked under agricultural environment, need not servicing units such as guide rail, has reduced cost, is easy to realize; And improved the adaptive capacity of road pavement environment;
2, fruit target identification location binocular vision camera is installed on the mechanical arm, can be with manipulator motion, thus be convenient to the both sides cultivating stand is carried out the extraction of fruit image, make things convenient for equipment that the fruit of both sides is plucked;
3, adopt the flexible end actuator that fruit is carried out lossless operation, owing to adopt joint type picking mechanical arm, its required working space is less;
4, the man-machine interaction mode that adopts remote tele-operation and voice suggestion to combine, need not artificial on-the-spot the intervention, the full AUTONOMOUS TASK of the operation complete series of gathering operation, a large amount of manpower and materials have been saved, and this equipment is strong to the adaptability of environment, operating efficiency is high, easy operation, has important society and economic worth.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (16)
1. the high-level cultivating fruit intelligence equipment of gathering is characterized in that, comprising:
Mobile platform;
Mechanical arm is installed on the described mobile platform, and the end of described mechanical arm is equipped with end effector and binocular image collecting device;
Controller is arranged on the described mobile platform, is connected with described mechanical arm and binocular image collecting device.
2. the high-level cultivating fruit intelligence as claimed in claim 1 equipment of gathering is characterized in that, also comprises:
The sonar ranging device is arranged on the described mobile platform, is connected with described controller;
The sonar reflecting plate is arranged on below the cultivating stand of fruit.
3. the high-level cultivating fruit intelligence as claimed in claim 1 equipment of gathering is characterized in that, also comprises: the landmark identification device, be arranged on the described mobile platform, and be connected with described controller.
4. the high-level cultivating fruit intelligence as claimed in claim 1 equipment of gathering is characterized in that also comprise: the fruit case is arranged on the described mobile platform by bracing frame.
5. the high-level cultivating fruit intelligence as claimed in claim 1 equipment of gathering is characterized in that described end effector comprises:
Adsorption piece;
Screw rod, the one end is connected with described adsorption piece;
Fixed block is connected with described mechanical arm is terminal, and the other end of described screw rod passes from fixed block;
Driver part is positioned at the top of described fixed block and is connected with fixed block;
Two holding fingers are connected with described driver part respectively, are positioned at the top of described adsorption piece, folding under the control of described driver part;
Cutting part is connected with two described holding fingers.
6. the high-level cultivating fruit intelligence as claimed in claim 5 equipment of gathering, it is characterized in that, described cutting part comprises: be positioned at a fixed mount on the described holding finger, with the heating member that is erected on the described fixed mount, be positioned at the cutting backing plate on another described holding finger, described cutting backing plate offers groove corresponding to the part of heating member.
7. the high-level cultivating fruit intelligence as claimed in claim 6 equipment of gathering is characterized in that, two holding fingers are to fashionable, and described heating member is entrenched in the groove of cutting backing plate.
8. fruit harvesting end effector as claimed in claim 6 is characterized in that, described heating member is the nickel chromium triangle heater strip.
9. fruit harvesting end effector as claimed in claim 5 is characterized in that, described driver part is the gas pawl, and described gas pawl is connected with magnetic valve, and two described holding fingers are connected with the movable block of gas pawl respectively.
10. fruit harvesting end effector as claimed in claim 9 is characterized in that, described gas pawl is connected with fixed block by screw, and the distance between described gas pawl and the fixed block can be by the adjustment screw adjustment.
11. fruit harvesting end effector as claimed in claim 5 is characterized in that, described adsorption piece is the organ type sucker, and the one end is a sucker, and the other end is a connecting plate, and described connecting plate is connected with screw rod, and described adsorption piece is connected with the vacuum generator assembly.
12. fruit harvesting end effector as claimed in claim 5 is characterized in that the opposite end of two described holding fingers is respectively arranged with holding shim.
13. intelligent collecting method is characterized in that, comprising:
Step D1, binocular image collecting device carry out dynamic scan and collecting fruit image with the motion of mechanical arm from different orientation to the fruit on the cultivating stand of both sides, and two width of cloth images that will collect send to described controller, described controller carries out space orientation to the objective fruit in two described images, and, make end effector arrive the position of fruit according to sterically defined Data Control manipulator motion;
Step D2, controller startup vacuum generator assembly provide negative pressure for adsorption piece, and adsorption piece adsorbs fruit to be gathered;
Step D3, the movable block activity by control solenoid control valve, thus make that two holding fingers are involutory, and heating member is chimeric with the groove of cutting backing plate, and carpopodium is clamped;
The power supply of step D4, connection heating member, the heating member of high temperature cuts off carpopodium with the cutting backing plate.
14. intelligent collecting method as claimed in claim 13 is characterized in that, also comprises:
Sonar reflecting plate under the sonar ranging device real-time detection cultivating stand and the distance between the described mobile platform, the signal that detects is sent to described controller, and described controller is according to the attitude that moves and adjust mobile platform of the signal controlling mobile platform that receives.
15. intelligent collecting method as claimed in claim 13 is characterized in that, also comprises after the described step D4:
Step D5, the activity of described controller control mechanical arm make described end effector move to the position of fruit case, and two holding fingers of described controller control open, and fruit falls into the fruit case.
16. intelligent collecting method as claimed in claim 13 is characterized in that, also comprises:
When not having ripening fruits in the visual field of described binocular image collecting device, described controller control mobile platform moves ahead, when described mobile platform is forwarded to the cultivating stand terminal point, the landmark identification device is gathered the road sign image and the image that collects is sent to controller, described controller is discerned this image and whether is the image that turns round, be then to control described mobile platform turning to a row cultivating stand corresponding, to proceed to pluck with road sign image indicated direction, if described controller is discerned this image for stopping image, then control described mobile platform and stop walking, finish to pluck operation.
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| CN102873675A (en) * | 2012-09-19 | 2013-01-16 | 浙江工业大学 | Biomimetic crop picking robot |
| CN102873675B (en) * | 2012-09-19 | 2014-11-12 | 浙江工业大学 | Biomimetic crop picking robot |
| CN103529855A (en) * | 2013-10-11 | 2014-01-22 | 华南农业大学 | Rotary adjustable binocular vision target recognition and positioning device and application thereof in agricultural fruit harvesting machinery |
| CN103688662B (en) * | 2013-12-24 | 2016-11-02 | 昆明理工大学 | A kind of flower field edible rose petal automatic go-no-go robot |
| CN103688662A (en) * | 2013-12-24 | 2014-04-02 | 昆明理工大学 | Automatic sorting robot for edible rose petals in flower field |
| CN103926926A (en) * | 2014-04-24 | 2014-07-16 | 南京农业大学 | Low-cost agricultural visual four-wheel robot of movable type gateway |
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| CN107980339A (en) * | 2017-12-25 | 2018-05-04 | 华侨大学 | A kind of pineapple device for picking with the low infection of notch |
| CN107980339B (en) * | 2017-12-25 | 2023-09-29 | 华侨大学 | Pineapple picker with incision low infection |
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN113112504A (en) * | 2021-04-08 | 2021-07-13 | 浙江大学 | Plant point cloud data segmentation method and system |
| CN113112504B (en) * | 2021-04-08 | 2023-11-03 | 浙江大学 | Plant point cloud data segmentation method and system |
| CN113924861A (en) * | 2021-11-05 | 2022-01-14 | 广东省农业科学院蔬菜研究所 | Automatic harvesting system for greenhouse vegetable cultivation |
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Application publication date: 20111102 |