CN102523839A - Sightseeing picking robot - Google Patents
Sightseeing picking robot Download PDFInfo
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- CN102523839A CN102523839A CN2011104358888A CN201110435888A CN102523839A CN 102523839 A CN102523839 A CN 102523839A CN 2011104358888 A CN2011104358888 A CN 2011104358888A CN 201110435888 A CN201110435888 A CN 201110435888A CN 102523839 A CN102523839 A CN 102523839A
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Abstract
The invention discloses a sightseeing picking robot and relates to the technical field of agricultural machinery. The sightseeing picking robot comprises a moving platform system (1) for bearing the robot, a navigation system (2) for enabling the moving platform system (1) to avoid a barrier and positioning the moving platform system (1), a picking execution mechanism (3) for carrying out picking movement and a control system (4) for controlling the moving platform system (1), the navigation system (2) and the picking execution mechanism (3). A sightseeing picking ride-instead-of-walk touring tool is provided by utilizing robot technologies, the problem that the area of an orchard is large so that touring on foot is not appropriate is solved, the robot technologies are creatively adopted to integrate picking harvesting activities into the field of creative agriculture while convenience is provided for tourists, interest and high-technology content of touring are further increased, and the sightseeing picking robot is favorable for promoting common development of orchard sightseeing agriculture, orchard creativity agriculture and the robot technologies.
Description
Technical field
The present invention relates to agricultural machinery technological field, relate in particular to a kind of sightseeing picking robot.
Background technology
Sight-seeing agriculture and intention agricultural are the important directions that improves farmers' income, promotes the agricultural industry upgrading.Existing sight-seeing agriculture is many to be main to pluck on foot, only is suitable in small size planting environments such as booth, carrying out.The orchard is receiving certain restriction because area is big, walking distance is far away aspect the development sight-seeing agriculture.Simultaneously, the thinking of current intention agricultural is confined to the plantation stage more, relates to less for plucking, gather in the crops the intention type activity in stage.
Summary of the invention
The technical problem that (one) will solve
The technical problem that the present invention will solve is: how to be convenient for people in large-area orchard, go sight-seeing, and how will to pluck the results activity and incorporate the intention agriculture field.
(2) technical scheme
For addressing the above problem; The invention provides a kind of sightseeing picking robot, comprising: be used to carry said robot the mobile platform system, be used to make said mobile platform system's avoiding barrier and to its navigation system that positions, be used to carry out the harvesting executing agency of plucking action, be used for control system that said mobile platform system, navigation system, harvesting executing agency are controlled.
Preferably; Said navigation system comprises keeps away barrier acquisition sensor and location navigation subsystem; The said barrier acquisition sensor of keeping away comprises that said location navigation subsystem comprises external position signal transducer and inner inertial sensor in order to find the active probe sensor of barrier.
Preferably, said control system comprises the intelligent decision module, is used for robot is carried out intelligent decision control.
Preferably, said harvesting executing agency comprises lifting means and picking mechanical arm.
Preferably, said external position signal transducer comprises the GPS receiver of confirming the robot location through longitude and latitude.
Preferably, said inner inertial sensor comprises encoder, inclinator, compass and accelerometer.
Said active probe sensor comprises machine vision camera, laser range finder.
Preferably, said mobile platform system comprises car body.
Preferably, said lifting means is the electric hydaulic platform.
(3) beneficial effect
The present invention utilizes Robotics to provide a kind of sightseeing to pluck the visit instrument of riding instead of walk; Solved orchard area more greatly, the problem of suitable walking visit; Creationary again employing Robotics will be plucked the results activity and incorporated the intention agriculture field when providing convenience for the visitor; Further increase the interest and the high-tech content of visit, helped promoting the common development of orchard sight-seeing agriculture, orchard intention agricultural and Robotics.
Description of drawings
Fig. 1 is the structural representation of sightseeing picking robot described in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.
As shown in Figure 1; Sightseeing picking robot of the present invention comprises: be used to carry said robot the mobile platform system, be used to make said mobile platform system's avoiding barrier and to its navigation system that positions, be used to carry out the harvesting executing agency of plucking action, be used for control system that said mobile platform system, navigation system, harvesting executing agency are controlled.
Wherein, Said navigation system comprises keeps away barrier acquisition sensor and location navigation subsystem; The said barrier acquisition sensor of keeping away comprises in order to find the active probe sensor of barrier; Said active probe sensor guarantees the safe collision-free motion of robot in order to find barrier (trunk, rock etc.), the monitoring robot surrounding environment on the sightseeing picking robot forward march, comprises machine vision camera, laser range finder.
Said location navigation subsystem comprises external position signal transducer and inner inertial sensor.Said external position signal transducer comprises the GPS receiver of confirming the robot location through longitude and latitude.Said inner inertial sensor relies on principle of inertia to measure the body movement state, and then calculating robot's positional information, comprises encoder, inclinator, compass and accelerometer.
Said mobile platform system comprises car body; Said car body can adopt the heavy burden battery truck; And in the battery truck dynamical system, increase automatic control link; Be about to turn to, quicken, operating element such as brake is connected with the control system, realizes utilizing the control system to send the purpose of action command control battery truck action, for using the intelligent barrier avoiding navigation algorithm hardware foundation is provided.
Said control system comprises the intelligent decision module, is used for robot is carried out intelligent decision control.The control system is the system that entire machine people's operation and action are controlled, mainly comprise vehicle-mounted computer and with each sensor, actuator between the communication bus that is connected etc.When the sightseeing picking robot moved, the intelligent decision module was carried out the computing of intelligent algorithm, generated control instruction, and robot is carried out intelligent decision control.For the real-time of the picking robot decision-making reaction that guarantees to go sightseeing, real time operating system real-time, good stability that vehicle-mounted computer will be installed is like VxWorks or QNX.
The control system comprises human-computer interaction interface; The human-computer interaction interface person of being to use and sightseeing picking robot instruct the media with information interchange such as executing state; It mainly acts on is the control platform that simple and fast is provided for the user, thereby the sightseeing picking robot is realized controlling flexibly.Control end can adopt panel computer, integrated google earth map, in real time display device people speed, course, with data such as impact point distance, peripheral obstacle detection case, next step operation behaviour, the decision-making foundation of abundance is provided for the operator.
Said harvesting executing agency comprises lifting means and picking mechanical arm.Said lifting means adopts the electric hydaulic platform, can lift-launch personnel and mechanical arm partly reach suitable harvesting highly down in the control of control system.The picking mechanical arm portion adopts light-duty multi-joint mechanism, has enough degree of freedom and redundancy, can hide branch flexibly and block, and arrives smoothly and plucks setting.
Above embodiment only is used to explain the present invention; And be not limitation of the present invention; The those of ordinary skill in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also be made various variations and modification; Therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (9)
1. sightseeing picking robot; It is characterized in that, comprising: be used to carry said robot mobile platform system (1), be used to make said mobile platform system's (1) avoiding barrier and to its navigation system that positions (2), be used to carry out the harvesting executing agency (3) of plucking action, be used for, pluck the control system (4) that executing agency (3) controls said mobile platform system (1), navigation system (2).
2. sightseeing picking robot as claimed in claim 1; It is characterized in that; Said navigation system (2) comprises keeps away barrier acquisition sensor (5) and location navigation subsystem (6); The said barrier acquisition sensor (5) of keeping away comprises that said location navigation subsystem (6) comprises external position signal transducer (8) and inner inertial sensor (9) in order to find the active probe sensor (7) of barrier.
3. sightseeing picking robot as claimed in claim 1 is characterized in that, said control system comprises intelligent decision module (10), is used for robot is carried out intelligent decision control.
4. sightseeing picking robot as claimed in claim 1 is characterized in that, said harvesting executing agency comprises lifting means (11) and picking mechanical arm (12).
5. sightseeing picking robot as claimed in claim 2 is characterized in that, said external position signal transducer comprises the GPS receiver of confirming the robot location through longitude and latitude.
6. sightseeing picking robot as claimed in claim 2 is characterized in that, said inner inertial sensor comprises encoder, inclinator, compass and accelerometer.
7. sightseeing picking robot as claimed in claim 2 is characterized in that, said active probe sensor comprises machine vision camera, laser range finder.
8. sightseeing picking robot as claimed in claim 1 is characterized in that, said mobile platform system comprises car body.
9. sightseeing picking robot as claimed in claim 4 is characterized in that, said lifting means (11) is the electric hydaulic platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104358888A CN102523839A (en) | 2011-12-22 | 2011-12-22 | Sightseeing picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104358888A CN102523839A (en) | 2011-12-22 | 2011-12-22 | Sightseeing picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102523839A true CN102523839A (en) | 2012-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011104358888A Pending CN102523839A (en) | 2011-12-22 | 2011-12-22 | Sightseeing picking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN102523839A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102754538A (en) * | 2012-07-13 | 2012-10-31 | 北京农业智能装备技术研究中心 | Robot for multi-span greenhouse |
| CN103749090A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Fruit picking service robot monkey |
| CN104155975A (en) * | 2014-06-23 | 2014-11-19 | 浙江亚特电器有限公司 | System and method for controlling robot |
| CN104216405A (en) * | 2013-06-04 | 2014-12-17 | 内蒙古大学 | Navigation method and equipment for field robot |
| CN106313062A (en) * | 2016-08-25 | 2017-01-11 | 河南林业职业学院 | Multifunctional intelligent robot suitable for dwarf closely-planted fruit-harvest forest |
| CN107291079A (en) * | 2017-06-19 | 2017-10-24 | 中国烟草总公司广东省公司 | The ambulation control method and traveling control system of agricultural intelligent system |
| CN107796390A (en) * | 2017-10-21 | 2018-03-13 | 长沙展朔轩兴信息科技有限公司 | Sightseeing picking robot |
| CN108447572A (en) * | 2018-01-16 | 2018-08-24 | 深圳市智能机器人研究院 | Nuclear reactor safety shell steel lining hollowing automatic checkout system and method |
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| CN201135036Y (en) * | 2007-09-07 | 2008-10-22 | 南京工程学院 | Cotton intelligent picking harvester |
| CN101412217A (en) * | 2008-12-04 | 2009-04-22 | 南京农业大学 | Autonomous field robot |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102754538A (en) * | 2012-07-13 | 2012-10-31 | 北京农业智能装备技术研究中心 | Robot for multi-span greenhouse |
| CN102754538B (en) * | 2012-07-13 | 2015-09-09 | 北京农业智能装备技术研究中心 | For the robot of attached-greenhouse |
| CN104216405A (en) * | 2013-06-04 | 2014-12-17 | 内蒙古大学 | Navigation method and equipment for field robot |
| CN103749090A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Fruit picking service robot monkey |
| CN104155975A (en) * | 2014-06-23 | 2014-11-19 | 浙江亚特电器有限公司 | System and method for controlling robot |
| CN106313062A (en) * | 2016-08-25 | 2017-01-11 | 河南林业职业学院 | Multifunctional intelligent robot suitable for dwarf closely-planted fruit-harvest forest |
| CN107291079A (en) * | 2017-06-19 | 2017-10-24 | 中国烟草总公司广东省公司 | The ambulation control method and traveling control system of agricultural intelligent system |
| CN107796390A (en) * | 2017-10-21 | 2018-03-13 | 长沙展朔轩兴信息科技有限公司 | Sightseeing picking robot |
| CN108447572A (en) * | 2018-01-16 | 2018-08-24 | 深圳市智能机器人研究院 | Nuclear reactor safety shell steel lining hollowing automatic checkout system and method |
| CN108447572B (en) * | 2018-01-16 | 2020-10-27 | 深圳市智能机器人研究院 | Automatic detection system and method for hollowing of steel lining of containment vessel of nuclear reactor |
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Application publication date: 20120704 |