CN102873675A - Biomimetic crop picking robot - Google Patents
Biomimetic crop picking robot Download PDFInfo
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- CN102873675A CN102873675A CN2012103478590A CN201210347859A CN102873675A CN 102873675 A CN102873675 A CN 102873675A CN 2012103478590 A CN2012103478590 A CN 2012103478590A CN 201210347859 A CN201210347859 A CN 201210347859A CN 102873675 A CN102873675 A CN 102873675A
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Abstract
A biominetic crop picking robot comprises picking pipes based on pneumatic artificial muscle, a generator used for feeding air pressure into inner cavities of the picking pipes, pneumatic pressure rate control valves used for controlling the air pressure fed into the inner cavity of each picking pipe, a pressure sensor used for detecting air pressure fed into the inner cavity of each picking pipe, a pneumatic pressure rate controller used for coordinating and controlling each pneumatic pressure rate control valve, a pulse type vacuum generation module used for sucking picked objects, a picking control subsystem used for controlling and performing picking action, a container used for collecting the picked objects, a microprocessor used for intelligently analyzing a video, autonomously navigating and controlling the action of the picking pipes based on the pneumatic artificial muscle and a walking part used for the work of a picking robot in a picking crop area. The biominetic crop picking robot has the advantages of excellent natural flexibility, simple mechanism, low control complexity, high picking efficiency, excellent environmental adaptability, and low manufacturing and maintenance costs.
Description
Technical field
The invention belongs to the application aspect granular crops automation harvesting of Pneumatic artificial muscle technology, pneumatic servo control technology and picking robot technology, be particularly useful for the automatic harvesting of cotton.
Background technology
It is a link the most consuming time in the crops production chain, that require great effort most that crops are plucked operation.Simultaneously, the quality of harvesting operation quality also directly has influence on following process and the storage of product.To obtain high-quality product be the problem that must pay attention to and consider in the crops production link as how low-cost.Owing to plucking the complexity of operation, harvesting automation and the intelligent degree of China are still very low at present, basically crops to pluck operation all be manual carrying out, approximately need manually to pluck 8 hundred million of costs this every year with regard to cotton picking.Along with the aging of population and agricultural workforce's minimizing, agriculture production cost is corresponding raising also, can greatly reduce the competitiveness of product in market like this.Therefore picking robot is the developing direction of following Intelligent agricultural machinery.
Picking robot is operated under the highly non-structured environment, plucks liking lived organism.Compare with industrial robot, picking robot has following characteristics: 1) pluck object tender and lovely, easily crisp, the otherness between complex-shaped and individual is large; 2) pluck that object is most of to be covered by leaf, branch etc., increased the Robot visual location difficulty, reduce and pluck success rate, simultaneously the barrier of keeping away of picking mechanical arm is had higher requirement; 3) picking robot is operated under the non-structured environment, and environmental condition changes along with the variation of season, weather, and environmental information is unknown, open fully, and is high to the Based Intelligent Control level requirement of picking robot; 4) pluck to as if lived, easy crisp organism, requirement in the harvesting process to fruit without any damage, this has compliance, dexterity with regard to the end effector that requires robot; 5. owing to the research that lacks picking robot, continue to use the design philosophy of industrial robot, caused the expensive of picking robot.
Generally speaking, the at present body construction of picking robot research does not obtain enough attention, and many products and research are that manipulator by direct purchase industrial robot is as the basic machine of picking robot.From the picking robot model machine of delivering at present, the version of manipulator roughly has three kinds on rectangular co-ordinate structure, polar coordinates structure and joint type structure, and these three kinds of manipulators lack compliances and dexterity; The body construction of picking robot is than the complexity of general industry robot simultaneously.The version of picking robot manipulator, the free degree will directly affect the complexity of working space, performance and the control system of robot, and even manufacturing and maintenance cost.
The mode that a lot of animals of nature obtain food designs band to us and serves enlightenment, it is bionical crops picking robot design, nose such as elephant can be taken the fruit on the tree easily, ground grass can be uprooped, can draw the water in the pond, there is a special cartilage esophagus top, nasal cavity back of elephant, plays " valve " the same.When resembling suction, the contraction of muscle at throat position, " valve " closes, and water can enter esophagus smoothly, and the nose of elephant is flexible as staff.Studies show that, large trunk is that nearly 40,000 whippy little muscle form, and it is can the utmost point capable of expansion and contraction neatly, makes deftly action.When the design of bionical crops picking robot, crops are plucked pipeline be designed to nose such as elephant, be that the nasal cavity of elephant sucks the process of plucking object with plucking process simulation.
Harvesting process for cotton, at first control just as the cotton picking pipeline of large trunk and aim at cotton boll, then utilize the air extractor generation vacuum pulse in the cotton picking pipeline to suck cotton boll, the cotton boll that sucks at last automatically is slipped in the cotton picking case by pipeline, thereby finishes the harvesting process of whole cotton; The action of this harvesting cotton boll is to finish in moment, energy Effective Raise picking rate; Owing to having adopted the suction cotton boll of vacuum pulse formula, can prevent effectively that branches and leaves and other foreign material from sucking, improve the quality of the cotton boll of plucking, also reduced the energy consumption in the harvesting process simultaneously.
The end effector that a kind of desirable bionical crops picking robot design adopts artificial-muscle to realize has compliance, dexterity, and wherein the Pneumatic artificial muscle technology is simulated the selection design that the nose of elephant is a kind of the best.Pneumatic artificial muscle except the advantages such as the low cost that has the Pneumatic Transmission technology and have, cleaning, simple installation, also have high power/mass ratio, natural compliance, with the advantage such as the similar mechanical characteristic of biological muscles.
As far back as 1900, " father of theory of mechanisms " REULEAUX just mentioned the principle that adopts rubber tube simulation biological muscles in about the research of biometric mechanisms.1913, WILKINS invented the reliable tubular film driver of a kind of cheapness; The application study of real relevant artificial-muscle is since the eighties in 20th century; Japan Bridgestone company has released the Rubbertuator driver based on early stage McKibben type pneumatic muscles redesign, and be applied to Arm Flexible arm Soft arm, attracted some researchers' concern, from then on artificial-muscle has entered practical application area, its potential value is familiar with by people gradually, and application study work also is surging forward.The at present main research of artificial-muscle also only is confined to the aspects such as flexible arm, flexible hand and flexible leg, and the research with bionical crops picking robot of plucking function that is similar to large trunk is very rarely seen.
In general, the crops picking robot relates generally to three technical fields: 1) body construction design; 2) independent navigation of robot; 3) fixation and recognition of target and harvesting.The present invention mainly solves the design of body construction design and picking end effector.
The key that realizes bionical crops picking robot is: 1) crops are plucked the design of pipeline, plucking pipeline can realize along the bending of flexible and any one direction of central shaft Z direction by the pressure that control passes into the pipeline internal cavity, to realize that plucking pipeline aims at the action of plucking object; 2) when plucking pipeline aligning harvesting object, can automatically produce vacuum pulse and suck the harvesting object; 3) different according to the growing environment of plucking object, length, the amount of bow of plucking pipeline are to realize by the combination of some Pneumatic artificial muscles.
Summary of the invention
Poor for the natural compliance that overcomes existing crops picker, mechanism is complicated, high, the manufacturing of control complexity and maintenance cost is expensive, easily object is plucked in damage, environmental suitability is poor and the not high deficiency of picking efficiency, the invention provides a kind ofly have that the nature compliance is good, mechanism simple, the control complexity is low, picking efficiency is high, good environmental adaptability, manufacturing and maintenance cost is low, do not damage the bionical crops picking robot of plucking object and crop in the harvesting process.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of bionical crops picking robot, comprise the harvesting pipeline based on Pneumatic artificial muscle, be used for passing into the air pressure generator of plucking the pipeline internal cavity, be used for the Pneumatic pressure proportional control valve controlled passing into the air pressure of respectively plucking the pipeline internal cavity, be used for the pressure sensor that detects passing into the air pressure of respectively plucking the pipeline internal cavity, for the Pneumatic pressure proportional controller that each Pneumatic pressure proportional control valve is coordinated to control, be used for sucking the pulsed vacuum generation module of plucking object, be used for control and carry out the harvesting RACS of plucking action, be used for collecting the harvesting object container, be used for carrying out intelligent video analysis, autonomous navigation and control is based on the microprocessor of the harvesting pipeline of Pneumatic artificial muscle action and be used for the running gear of the picking robot of walking in plucking the crops zone, wherein
Described binocular solid panoramic vision sensor, the full-view stereo vision video image for obtaining bionical crops picking robot periphery is connected with described microprocessor;
Described harvesting RACS in order to the action of the three degree of freedom of controlling described harvesting pipeline based on Pneumatic artificial muscle, is plucked object so that picking mouth is aimed at; Controlling described pulsed vacuum generation module action when picking mouth aim to be plucked object produces the pulsed vacuum pneumatic and will pluck object and be drawn in the harvesting pipeline;
Described microprocessor comprises panoramic stereo image acquiring unit, independent navigation subsystem and intelligent video analysis subsystem,
Described panoramic stereo image acquiring unit is used for obtaining initialization information and panoramic stereoscopic video image;
Described independent navigation subsystem for the full-view stereo vision video image that obtains from described binocular solid panoramic vision sensor, is resolved bionical crops picking robot territorial environment on every side, finishes path planning and keeps away the barrier task;
Described intelligent video analysis subsystem, for the full-view stereo vision video image that obtains from described binocular solid panoramic vision sensor, from full-view stereo vision video image, parse maturity, size and the residing locus of plucking object, be the spatial positional information that becomes more meticulous, intelligent harvesting provides picking mouth.
Further, described harvesting pipeline based on Pneumatic artificial muscle, the profile of described harvesting pipeline is pipe Three Degree Of Freedom muscle shape, be separated into three fan-shaped column cavitys that are mutually 120 ° in the pipe, realize realizing the control of three degree of freedom along the bending of flexible and any one direction of central shaft Z direction by the pressure of controlling respectively three cavitys; In the rubber matrix of the inside and outside tube wall of described harvesting pipeline based on Pneumatic artificial muscle, accompany the aromatic polyamide fortifying fibre, fiber orientation and muscle an angle α axially arranged, consider the flexibility of described harvesting pipeline based on Pneumatic artificial muscle, angle α is designed to 70 ° ~ 80 °; Because the fiber one direction strengthens the impact of effect, much easier along the machine direction distortion along the deformation ratio perpendicular to machine direction like this;
Described harvesting pipeline based on Pneumatic artificial muscle is divided into several parts, comprises duct end, duct end seal, pipeline body, sealing for tubing joints body, pipeline coupling flange and breather pipe; Its assembling process is: at first, described duct end seal is inserted an end of described pipeline body, then described duct end is covered described duct end seal and be fixed together with the end of tapping screw with described duct end seal and described pipeline body; Described sealing for tubing joints body is inserted the other end of described pipeline body, then three holes of described sealing for tubing joints body are aimed in three holes of described pipeline coupling flange and covered, then the other end with described sealing for tubing joints body and described pipeline body is fixed together, and at last three breather pipes is inserted respectively in three holes of described pipeline coupling flange; The ducted harvesting passage of described harvesting based on Pneumatic artificial muscle after the assembling is communicated with up and down; Ducted three cavitys of described harvesting based on Pneumatic artificial muscle only with respectively corresponding connections of three breather pipes, cavity and external world's maintenance sealing state.
Further, described harvesting pipeline based on Pneumatic artificial muscle is spliced into different length, in the junction that connects two described pipeline bodies, respectively two described sealing for tubing joints bodies are inserted the link of described pipeline body, then three of described pipeline coupling flange holes are aimed at three holes of described sealing for tubing joints body and are covered, then be fixed together with the other end of tapping screw with described sealing for tubing joints body and described pipeline body, at last three described breather pipes are inserted respectively in three holes of described pipeline coupling flange, corresponding cavity is communicated with in such two described pipeline bodies that link together, and at last two back-to-back described pipeline coupling flanges is fixed connection with screw; Described breather pipe, described pipeline coupling flange and described duct end are formed by the compacting of plastic material mould, and described duct end seal and described sealing for tubing joints body are formed by the compacting of elastomeric material mould; The entrance of described duct end becomes trumpet type.
The harvesting passage of described harvesting pipeline based on Pneumatic artificial muscle designs according to different harvesting crops object granular sizes, and the lowest calibre of plucking in the passage is slightly larger than the maximum gauge of plucking object, lowest calibre φ
RminDesign and calculation method formula (2) expression,
40mm>φ
rmin-φ
omax≥20mm （2）
In the formula, φ
RminFor plucking lowest calibre, the φ of passage
OmaxFor plucking the maximum gauge of object; For flexible particle shape crops, suitably dwindle the limited field value of formula (2) such as cotton boll etc.
Described pulsed vacuum generation module, being used for sending a kind of pulsed vacuum pneumatic realizes the negative pressure absorbing of plucking object is plucked, then suck by described harvesting pipeline based on Pneumatic artificial muscle and pluck object, and will pluck object along the harvesting pipeline and collect in the harvesting object container, its effect is similar to the finger of mechanical hand, cooperates with mechanical hand to finish whole harvesting action; Described pulsed vacuum generation module comprises two-position three way air valve, source of the gas and nozzle, described source of the gas is connected with described nozzle through described two-position three way air valve by tracheae, described nozzle direction is towards plucking object container, described source of the gas provides compressed air for described nozzle when described two-position three way air valve energising, according to the gas injection principle, at this moment in plucking pipeline, form negative pressure of vacuum; By controlling the Push And Release of described two-position three way air valve, in plucking pipeline, produce a kind of pulsed vacuum pneumatic.
Described harvesting RACS need to be aimed at the locus of the harvesting object behind described binocular solid panoramic vision sensor and the identification of intelligent video analysis subsystem and the location to pluck between the object space position with the picking mouth of described harvesting RACS control and set up mapping relations; Here with the viewpoint of the following panoramic vision sensor in the described binocular solid panoramic vision sensor initial point as visual coordinate system, and set up X
v, Y
vAnd Z
vThe three-dimensional panorama visual coordinate system that consists of; With the center of the running gear bearing of described harvesting pipeline based on Pneumatic artificial muscle and the picking robot origin of coordinates as picking mechanical arm, and set up X
a, Y
aAnd Z
aThe three-dimensional mechanical hand kinetic coordinate system that consists of; Because the binocular solid panoramic vision sensor and all be fixed on based on the harvesting pipeline of Pneumatic artificial muscle picking robot running gear above, therefore, set up the geometrical relationship of three-dimensional panorama visual coordinate system and three-dimensional picking mechanical arm kinetic coordinate system with formula (1);
In the formula, X
a, Y
aAnd Z
aRepresent respectively three-dimensional picking mechanical arm kinetic coordinate system, X
v, Y
vAnd Z
vRepresent respectively three-dimensional panorama visual coordinate system, x, y and z represent respectively the projector distance on three-dimensional coordinate between two coordinate origins.
Described harvesting RACS adopts the pressure (p that controls respectively ducted three cavitys of described harvesting based on Pneumatic artificial muscle
1, p
2, p
3) realize along the bending of flexible and any one direction of central shaft Z direction; For each group controlled pressure value (p
1, p
2, p
3) at the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle corresponding locus coordinate figure (x can be arranged all
a, y
a, z
a); Therefore, method is set up the force value (p of ducted three cavitys of described harvesting based on Pneumatic artificial muscle by experiment
1, p
2, p
3) with the locus coordinate figure (x of the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle
a, y
a, z
a) corresponding relation, we are called calibration process with this process; After setting up such mapping relations by demarcation, for the locus coordinate figure (x of the harvesting end of the described harvesting pipeline based on Pneumatic artificial muscle of some hope
a, y
a, z
a) just can calculate easily the controlled pressure value (p of three cavitys of needed one group of described harvesting pipeline based on Pneumatic artificial muscle
1, p
2, p
3); Because the mapping relations of setting up with experimental technique disperse, and locus coordinate figure (x
a, y
a, z
a) and the controlled pressure value (p of cavity
1, p
2, p
3) be continuous variable, therefore calculating needed one group of controlled pressure value (p
1, p
2, p
3) time need to adopt the mode of interpolation, here the locus with the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle is divided into several space lattices, if the locus coordinate figure of the harvesting end of the described harvesting pipeline based on Pneumatic artificial muscle of some not hope is in certain space networks center of a lattice, so just need to carry out interpolation arithmetic to the residing space lattice of this locus coordinate figure and three adjacent space lattices, obtain the accurate controlled pressure value of three cavitys; Perhaps adopt nerual network technique to come implementation space position coordinate value (x
a, y
a, z
a) and the controlled pressure value (p of cavity
1, p
2, p
3) mapping relations.
Described harvesting pipeline based on Pneumatic artificial muscle adopts the pneumatic proportional Pressure Control Technology to realize along the flexible bending control that reaches any one direction of central shaft Z direction; Source of the gas is connected with three cavitys of described harvesting pipeline based on Pneumatic artificial muscle respectively by three proportional pressure valves, detect the air pressure in three cavitys of described harvesting pipeline based on Pneumatic artificial muscle with the Three pressures sensor, pressure sensor links to each other with control appliance with calculating by A/D converter, calculates to link to each other with proportional pressure valve with power amplifier by D/A with control appliance; Behind the controlled pressure that calculates a certain cavity, calculating and control appliance are by the openings of sizes of a voltage control ratio pressure valve of D/A output, to regulate the air pressure in the cavity, simultaneously pressure sensor detects the air pressure in this cavity, if the air pressure in the cavity constant in the desired control pressure limit time control proportional pressure valve close to keep air pressure in the cavity in desired value; Therefore, the control of described harvesting pipeline based on Pneumatic artificial muscle will be decomposed into the proportion control of three cavity inner air pressures.
Described harvesting RACS, when the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle is aimed at when plucking object, described microprocessor triggers described pulsed vacuum generation module by the I/O interface, send a kind of pulsed vacuum pneumatic and realize the negative pressure absorbing of plucking object is plucked, the harvesting object will be plucked object along described harvesting pipeline based on Pneumatic artificial muscle and collect in the described harvesting object container.
On the running gear of described picking robot, can configure a plurality of described harvesting pipelines based on Pneumatic artificial muscle, its length is different according to being plucked the different collocation methods of object growing height, allow long described harvesting pipeline based on Pneumatic artificial muscle be responsible for being grown in harvesting than the harvesting object on the higher position, allow shorter described harvesting pipeline based on Pneumatic artificial muscle be responsible for being grown in harvesting than the harvesting object on the lower position, to satisfy the efficient harvesting of crops in the different growing height scopes.
Beneficial effect of the present invention is mainly manifested in: 1, adopt the Pneumatic artificial muscle technology to realize plucking mechanical hand, thereby simple in structure, compliance, dexterity are good, do not damage in the harvesting process and pluck object and crop body; 2, adopt the Pneumatic artificial muscle production technology of modularized combination type, so that the control complexity is low, good environmental adaptability, manufacturing and maintenance cost are low; 3, adopt the pulsed vacuum pneumatic to realize the negative pressure absorbing of plucking object is plucked, thereby can in guaranteeing the harvesting process, not damage and pluck object and the crop body has preferably energy-saving effect simultaneously; 4, on picking robot, settle simultaneously a plurality of harvesting pipelines (harvesting mechanical hand), can realize comprehensive parallel harvesting operation, thereby can effectively improve picking efficiency; 5, use is wide, not only is applicable to fiber-like, the granular crops such as cotton picking, as long as will pluck pipeline revises a little, can also be competent at the various farm works such as weeding, fertilising and pesticide grown; 6, the classification in the harvesting process is processed and is conducive to realize the harvesting that becomes more meticulous of crops, such as the harvesting for cotton, the panoramic vision technology can effectively identify in any sheet ground or even which pole on cotton quality good, in any sheet ground with which pole on cotton quality poor, in the harvesting process, just the cotton of plucking is carried out high, medium and low minute storehouse and sort out, be convenient to realize that the high harvesting object of economic benefit preferentially plucks.In a word, the present invention will lead agricultural robot towards intelligent and diversified future development, simulate efficient bionical harvesting technology, guarantee to pluck quality and usefulness; Make biomorph try one's best homogenization, normalization by biotechnology, make agricultural machinery and agronomy combination, prevent that the picking robot structure is too complicated, make the reasonable price of picking robot, be convenient to agricultural extension; By changing end effector and the computer software of manipulator, accomplish a tractor serves several purposes, to raise the efficiency, to reduce cost.
Description of drawings
Fig. 1 is a kind of schematic diagram that adopts the Pneumatic artificial muscle technology to realize plucking mechanical hand;
Fig. 2 is that a kind of extensive Pneumatic artificial muscle of making of mould that is applicable to is made the mounting technology schematic diagram;
Fig. 3 is the schematic diagram that the Pneumatic artificial muscle technology realizes the bending of any one direction;
Fig. 4 is a kind of side view of bionical crops picking robot;
Fig. 5 is a kind of front view of bionical crops picking robot;
Fig. 6 is two schematic diagrames that splice based on the harvesting pipeline of Pneumatic artificial muscle;
Fig. 7 is the profile of plucking port based on the harvesting pipeline of Pneumatic artificial muscle;
Fig. 8 is a kind of bionical crops picking robot system block diagram.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Embodiment 1
With reference to Fig. 1～Fig. 8, a kind of bionical crops picking robot, comprise the harvesting pipeline based on Pneumatic artificial muscle, be used for passing into the air pressure generator of plucking the pipeline internal cavity, be used for the Pneumatic pressure proportional control valve controlled passing into the air pressure of respectively plucking the pipeline internal cavity, be used for the pressure sensor that detects passing into the air pressure of respectively plucking the pipeline internal cavity, for the Pneumatic pressure proportional controller that each Pneumatic pressure proportional control valve is coordinated to control, be used for sucking the pulsed vacuum generation module of plucking object, be used for control and carry out the harvesting RACS of plucking action, be used for plucking the identification of object and binocular solid panoramic vision sensor and the intelligent video analysis subsystem of location, be used for finishing path planning and keeping away binocular solid panoramic vision sensor and the independent navigation subsystem of barrier task, be used for collecting and pluck object container, be used for carrying out intelligent video analysis, autonomous navigation and control is based on the microprocessor of the harvesting pipeline of Pneumatic artificial muscle action and be used for the running gear of the picking robot of walking in plucking the crops zone;
Described harvesting pipeline based on Pneumatic artificial muscle, its effect is similar to mechanical hand, profile is pipe Three Degree Of Freedom muscle shape, be separated into three fan-shaped column cavitys that are mutually 120 ° in the pipe, controlling respectively the pressure of three cavitys realizes along the bending of flexible and any one direction of central shaft Z direction, thereby realize the control of three degree of freedom, shown in accompanying drawing 1 and accompanying drawing 3; In the rubber matrix of the inside and outside tube wall of described harvesting pipeline based on Pneumatic artificial muscle, accompany the aromatic polyamide fortifying fibre, fiber orientation and muscle an angle α axially arranged, consider the flexibility of described harvesting pipeline based on Pneumatic artificial muscle among the present invention, angle α is designed to 70 ° ~ 80 °, as shown in Figure 2; Because the fiber one direction strengthens the impact of effect, much easier along the machine direction distortion along the deformation ratio perpendicular to machine direction like this;
For the ease of large-scale industrialization production, the present invention adopts the Mold Making mode to make described harvesting pipeline based on Pneumatic artificial muscle, described harvesting pipeline based on Pneumatic artificial muscle is divided into several parts, comprises: duct end 1, duct end seal 2, pipeline body 3, sealing for tubing joints body 4, pipeline coupling flange 5 and breather pipe 6; The mode that consists of the simplest described harvesting pipeline based on Pneumatic artificial muscle is described duct end seal 2 to be inserted an end of described pipeline body 3, then described duct end 1 is covered described duct end seal 2 and is fixed together with the end of tapping screw 7 with described duct end seal 2 and described pipeline body 3; Further, described sealing for tubing joints body 4 is inserted the other end of described pipeline body 3, then three holes of described sealing for tubing joints body 4 are aimed in three holes of described pipeline coupling flange 5 and covered, then be fixed together with the other end of tapping screw 7 with described sealing for tubing joints body 4 and described pipeline body 3, at last three breather pipes 6 are inserted respectively in three holes of described pipeline coupling flange 5, as shown in Figure 2; The ducted harvesting passage 9 of described harvesting based on Pneumatic artificial muscle after the assembling is communicated with up and down; 8 of ducted three cavitys of described harvesting based on Pneumatic artificial muscle and 6 respectively corresponding connection of three breather pipes, cavity 8 and external world's maintenance sealing state;
Consider that bionical crops picking robot will be for different crops harvesting objects, some is plucked object and is grown on the higher tree, and then some harvesting object is grown on the shorter short plant rod; In order to be applicable to different demands of plucking object, the present invention is designed to the module combinations form with described harvesting pipeline based on Pneumatic artificial muscle, namely according to plucking the distance different combinations by module of object from bionical crops picking robot described harvesting pipeline based on Pneumatic artificial muscle is spliced into different length;
For described harvesting pipeline based on Pneumatic artificial muscle is spliced into different length, in the junction that connects two described pipeline bodies 3, respectively two described sealing for tubing joints bodies 4 are inserted the link of described pipeline body 3, then three of described pipeline coupling flange 5 holes are aimed at three holes of described sealing for tubing joints body 4 and are covered, then be fixed together with the other end of tapping screw 7 with described sealing for tubing joints body 4 and described pipeline body 3, at last three described breather pipes 6 are inserted respectively in three holes of described pipeline coupling flange 5, corresponding cavity is communicated with in such two described pipeline bodies 3 that link together, at last two back-to-back described pipeline coupling flange 5 usefulness screws are fixed connection, as shown in Figure 6; Described breather pipe 6, described pipeline coupling flange 5 and described duct end 1 are formed by the compacting of plastic material mould, and described duct end seal 2 and described sealing for tubing joints body 4 are formed by the compacting of elastomeric material mould; Pluck object in order to draw easily, the entry design of described duct end 1 becomes trumpet type, as shown in Figure 7;
In order to improve picking efficiency, at bionical one or more described harvesting pipeline based on Pneumatic artificial muscle of crops picking robot configuration, be bionical crops picking robot and configure a plurality of harvesting mechanical hands, shown in accompanying drawing 4 and accompanying drawing 5; When a plurality of described harvesting pipe condition based on Pneumatic artificial muscle of configuration, according to the different length that adopt different described harvesting pipelines based on Pneumatic artificial muscle of crop growth height, to satisfy the efficient harvesting that is grown in crops in some height zone;
In order to satisfy the harvesting of variable grain shape crops, the harvesting passage 9 of described harvesting pipeline based on Pneumatic artificial muscle designs according to different harvesting crops object granular sizes, the lowest calibre of plucking in the passage 9 is slightly larger than the maximum gauge of plucking object, lowest calibre φ
RminDesign and calculation method formula (2) expression,
40mm>φ
rmin-φ
omax≥20mm （2）
In the formula, φ
RminFor plucking lowest calibre, the φ of passage
OmaxFor plucking the maximum gauge of object; For flexible particle shape crops, suitably dwindle the limited field value of formula (2) such as cotton boll etc.;
Described pulsed vacuum generation module, being used for sending a kind of pulsed vacuum pneumatic realizes the negative pressure absorbing of plucking object is plucked, then suck by described harvesting pipeline based on Pneumatic artificial muscle and pluck object, and will pluck object along the harvesting pipeline and collect in the harvesting object container, its effect is similar to the finger of mechanical hand, cooperates with mechanical hand to finish whole harvesting action; Described pulsed vacuum generation module comprises two-position three way air valve, source of the gas and nozzle, described source of the gas is connected with described nozzle through described two-position three way air valve by tracheae, described nozzle direction is towards plucking object container, described source of the gas provides compressed air for described nozzle when described two-position three way air valve energising, according to the gas injection principle, at this moment in plucking pipeline, form negative pressure of vacuum; Therefore by the Push And Release of the described two-position three way air valve of control, in plucking pipeline, produce a kind of pulsed vacuum pneumatic, as shown in Figure 8;
Running gear about bionical crops picking robot, the present invention adopts the four-wheel walking robot, wherein two trailing wheels are driving wheel independently, two front-wheels are the active directive wheel, initiatively directive wheel is by the high motor-driven of slowing down of small-power, the corner of control directive wheel, two driving wheels are respectively by two In-wheel motor drivings; The running gear of picking robot requires to be decomposed into control command to three motors to the motion of running gear according to the motor coordination algorithm, controls at last the rotation of directive wheel and the differential motion that realizes running gear of two trailing wheels; The Breadth Maximum value of running gear body can not surpass narrow width between the ridge during design, and the design of running gear body designs according to industrial robot prior art standard;
Plucked the control problem of action about navigation problem, crops identification and the orientation problem of bionical crops picking robot, all need to have been realized by visual identity technology and control technology; 11 is the binocular solid panoramic vision sensor in the accompanying drawing 4,12 is the harvesting pipeline based on Pneumatic artificial muscle, here referred to as picking mechanical arm, 13 for plucking object, here pluck liking ripe cotton boll, 14 is the running gear of picking robot, the binocular solid panoramic vision sensor and all be fixed on based on the harvesting pipeline of Pneumatic artificial muscle picking robot running gear above, the binocular solid panoramic vision sensor is used for obtaining picking robot panoramic video information on every side, and the binocular solid panoramic vision sensor is connected with control appliance with calculating by USB interface; Because it often is non-structure, unknown with uncertain that crops are plucked the environment of work, plucking object is again random distribution; Therefore, the track route of picking robot is not the beeline that connects starting point and terminal point in the harvesting process, plucks territorial environment and has often narrow scope, the distance of growing and spread all over whole results zone; The work characteristics of picking robot is operation, moves and carry out simultaneously; Therefore, easily be subject to the impact of arable farming mode and the process of harvesting; So on the one hand, require the running gear of picking robot to have flexibility and steadily, can be adapted to the narrow environment that waits between soft and ridge, field, need to identify constantly to keep away and hinder and path planning i.e. self-navigation problem plucking territorial environment; On the other hand, optionally pluck according to the maturity of plucking object, just relate to visual identity and the orientation problem of plucking object here;
About the self-navigation problem, we will adopt the self-navigation technology based on panoramic vision to realize; About plucking visual identity and the orientation problem of object, we will adopt based on the identification of full-view stereo vision and location technology and solve; Above-mentioned two related realization methods will disclose in other patent documentations;
The below utilizes accompanying drawing 4 and accompanying drawing 8 to specifically describe the basic functional principle of the crops harvesting mechanical hand that the present invention proposes behind identification and location harvesting object, the present invention is the viewpoint of the following panoramic vision sensor in the binocular solid panoramic vision sensor initial point as visual coordinate system, and sets up X
v, Y
vAnd Z
vThe three-dimensional panorama visual coordinate system that consists of; Will be based on the center of the running gear bearing of the harvesting pipeline of Pneumatic artificial muscle and the picking robot origin of coordinates as picking mechanical arm, and set up X
a, Y
aAnd Z
aThe three-dimensional mechanical hand kinetic coordinate system that consists of; Because the binocular solid panoramic vision sensor and all be fixed on based on the harvesting pipeline of Pneumatic artificial muscle picking robot running gear above, therefore, set up the geometrical relationship of three-dimensional panorama visual coordinate system and three-dimensional picking mechanical arm kinetic coordinate system with formula (1);
In the formula, X
a, Y
aAnd Z
aRepresent respectively three-dimensional picking mechanical arm kinetic coordinate system, X
v, Y
vAnd Z
vRepresent respectively three-dimensional panorama visual coordinate system, x, y and z represent respectively the projector distance on three-dimensional coordinate between two coordinate origins;
Realize the control of the three degree of freedom of picking mechanical arm, adopt the pressure (p that controls respectively three cavitys among the present invention
1, p
2, p
3) realize along the bending of flexible and any one direction of central shaft Z direction; For each group controlled pressure value (p
1, p
2, p
3) at the harvesting end of picking mechanical arm corresponding locus coordinate figure (x can be arranged all
a, y
a, z
a); Therefore, method is set up the force value (p of three cavitys by experiment
1, p
2, p
3) with the locus coordinate figure (x of the harvesting end of picking mechanical arm
a, y
a, z
a) corresponding relation, we are called calibration process with this process; After setting up such mapping relations by demarcation, for the locus coordinate figure (x of the harvesting end of the picking mechanical arm of some hope
a, y
a, z
a) just can calculate easily needed one group of controlled pressure value (p
1, p
2, p
3); Because the mapping relations of setting up with experimental technique disperse, and locus coordinate figure (x
a, y
a, z
a) and the controlled pressure value (p of cavity
1, p
2, p
3) be continuous variable, therefore calculating needed one group of controlled pressure value (p
1, p
2, p
3) time need to adopt the mode of interpolation, here the locus with the harvesting end of picking mechanical arm is divided into several space lattices, if the locus coordinate figure of the harvesting end of the picking mechanical arm of some not hope is in certain space networks center of a lattice, so just need to carry out interpolation arithmetic to the residing space lattice of this locus coordinate figure and three adjacent space lattices, obtain the accurate controlled pressure value of three cavitys; Perhaps adopt nerual network technique to come implementation space position coordinate value (x
a, y
a, z
a) and the controlled pressure value (p of cavity
1, p
2, p
3) mapping relations, can be with reference to relevant paper and monograph about the concrete methods of realizing of nerual network technique;
Control for the pressure of each cavity, the present invention adopts the pneumatic proportional Pressure Control Technology to realize, as shown in Figure 8, source of the gas 16 is connected with three cavitys of described harvesting pipeline based on Pneumatic artificial muscle respectively by three proportional pressure valves 19, detect the air pressure in three cavitys of described harvesting pipeline based on Pneumatic artificial muscle with Three pressures sensor 20, pressure sensor 20 links to each other with control appliance with calculating by A/D converter, calculates to link to each other with proportional pressure valve 19 with power amplifier by D/A with control appliance; Behind the controlled pressure that calculates a certain cavity, calculating and control appliance are by the openings of sizes of a voltage control ratio pressure valve 19 of D/A output, to regulate the air pressure in the cavity, the air pressure that detects in these cavitys of pressure sensor 20 simultaneously, if the air pressure in the cavity constant in the desired control pressure limit time control proportional pressure valve 19 close to keep air pressure in the cavity in desired value; Therefore, the control of picking mechanical arm will be decomposed into the proportion control of three cavity inner air pressures;
When the harvesting end of picking mechanical arm has been aimed at the harvesting object, calculating and control appliance trigger described pulsed vacuum generation module by the I/O interface, send a kind of pulsed vacuum pneumatic realization the negative pressure absorbing of plucking object is plucked, the harvesting object will be plucked object along the harvesting pipeline and collect in the harvesting object container;
In order to improve picking efficiency, on the running gear of picking robot, can configure a plurality of harvesting mechanical hands, the length of its manipulator, the difference that namely also can configure based on the length of the harvesting pipeline of Pneumatic artificial muscle, to satisfy the efficient harvesting of crops in the different growing height scopes, configured respectively the harvesting pipeline based on Pneumatic artificial muscle of equal length such as accompanying drawing 5 left and right sides on the running gear of picking robot.
About binocular solid panoramic vision sensor and the intelligent video analysis subsystem of the identification of be used for plucking object and location be used for finishing path planning and keeping away binocular solid panoramic vision sensor and the independent navigation subsystem of barrier task, will in other patent documents from now on, disclose the detailed technology scheme.
Claims (10)
1. bionical crops picking robot, it is characterized in that: comprise the harvesting pipeline based on Pneumatic artificial muscle, be used for passing into the air pressure generator of plucking the pipeline internal cavity, be used for the Pneumatic pressure proportional control valve controlled passing into the air pressure of respectively plucking the pipeline internal cavity, be used for the pressure sensor that detects passing into the air pressure of respectively plucking the pipeline internal cavity, for the Pneumatic pressure proportional controller that each Pneumatic pressure proportional control valve is coordinated to control, be used for sucking the pulsed vacuum generation module of plucking object, be used for control and carry out the harvesting RACS of plucking action, be used for collecting the harvesting object container, be used for carrying out intelligent video analysis, autonomous navigation and control is based on the microprocessor of the harvesting pipeline of Pneumatic artificial muscle action and be used for the running gear of the picking robot of walking in plucking the crops zone, wherein
Described binocular solid panoramic vision sensor, the full-view stereo vision video image for obtaining bionical crops picking robot periphery is connected with described microprocessor;
Described harvesting RACS in order to the action of the three degree of freedom of controlling described harvesting pipeline based on Pneumatic artificial muscle, is plucked object so that picking mouth is aimed at; Controlling described pulsed vacuum generation module action when picking mouth aim to be plucked object produces the pulsed vacuum pneumatic and will pluck object and be drawn in the harvesting pipeline;
Described microprocessor comprises panoramic stereo image acquiring unit, independent navigation subsystem and intelligent video analysis subsystem,
Described panoramic stereo image acquiring unit is used for obtaining initialization information and panoramic stereoscopic video image;
Described independent navigation subsystem for the full-view stereo vision video image that obtains from described binocular solid panoramic vision sensor, is resolved bionical crops picking robot territorial environment on every side, finishes path planning and keeps away the barrier task;
Described intelligent video analysis subsystem, for the full-view stereo vision video image that obtains from described binocular solid panoramic vision sensor, from full-view stereo vision video image, parse maturity, size and the residing locus of plucking object, be the spatial positional information that becomes more meticulous, intelligent harvesting provides picking mouth.
2. bionical crops picking robot as claimed in claim 1, it is characterized in that: described harvesting pipeline based on Pneumatic artificial muscle, the profile of described harvesting pipeline is pipe Three Degree Of Freedom muscle shape, be separated into three fan-shaped column cavitys that are mutually 120 ° in the pipe, realize realizing the control of three degree of freedom along the bending of flexible and any one direction of central shaft Z direction by the pressure of controlling respectively three cavitys; In the rubber matrix of the inside and outside tube wall of described harvesting pipeline based on Pneumatic artificial muscle, accompany the aromatic polyamide fortifying fibre, fiber orientation and muscle an angle α axially arranged, consider the flexibility of described harvesting pipeline based on Pneumatic artificial muscle, angle α is designed to 70 ° ~ 80 °; Because the fiber one direction strengthens the impact of effect, much easier along the machine direction distortion along the deformation ratio perpendicular to machine direction like this;
Described harvesting pipeline based on Pneumatic artificial muscle is divided into several parts, comprises duct end, duct end seal, pipeline body, sealing for tubing joints body, pipeline coupling flange and breather pipe; Its assembling process is: at first, described duct end seal is inserted an end of described pipeline body, then described duct end is covered described duct end seal and be fixed together with the end of tapping screw with described duct end seal and described pipeline body; Described sealing for tubing joints body is inserted the other end of described pipeline body, then three holes of described sealing for tubing joints body are aimed in three holes of described pipeline coupling flange and covered, then the other end with described sealing for tubing joints body and described pipeline body is fixed together, and at last three breather pipes is inserted respectively in three holes of described pipeline coupling flange; The ducted harvesting passage of described harvesting based on Pneumatic artificial muscle after the assembling is communicated with up and down; Ducted three cavitys of described harvesting based on Pneumatic artificial muscle only with respectively corresponding connections of three breather pipes, cavity and external world's maintenance sealing state.
3. bionical crops picking robot as claimed in claim 1 or 2, it is characterized in that: described harvesting pipeline based on Pneumatic artificial muscle is spliced into different length, in the junction that connects two described pipeline bodies, respectively two described sealing for tubing joints bodies are inserted the link of described pipeline body, then three of described pipeline coupling flange holes are aimed at three holes of described sealing for tubing joints body and are covered, then be fixed together with the other end of tapping screw with described sealing for tubing joints body and described pipeline body, at last three described breather pipes are inserted respectively in three holes of described pipeline coupling flange, corresponding cavity is communicated with in such two described pipeline bodies that link together, and at last two back-to-back described pipeline coupling flanges is fixed connection with screw; Described breather pipe, described pipeline coupling flange and described duct end are formed by the compacting of plastic material mould, and described duct end seal and described sealing for tubing joints body are formed by the compacting of elastomeric material mould; The entrance of described duct end becomes trumpet type.
4. bionical crops picking robot as claimed in claim 1 or 2, it is characterized in that: the harvesting passage of described harvesting pipeline based on Pneumatic artificial muscle designs according to different harvesting crops object granular sizes, the lowest calibre of plucking in the passage is slightly larger than the maximum gauge of plucking object, lowest calibre φ
RminDesign and calculation method formula (2) expression,
40mm>φ
rmin-φ
omax≥20mm （2）
In the formula, φ
RminFor plucking lowest calibre, the φ of passage
OmaxFor plucking the maximum gauge of object; For flexible particle shape crops, suitably dwindle the limited field value of formula (2) such as cotton boll etc.
5. bionical crops picking robot as claimed in claim 1 or 2, it is characterized in that: described pulsed vacuum generation module, being used for sending a kind of pulsed vacuum pneumatic realizes the negative pressure absorbing of plucking object is plucked, then suck by described harvesting pipeline based on Pneumatic artificial muscle and pluck object, and will pluck object along the harvesting pipeline and collect in the harvesting object container, its effect is similar to the finger of mechanical hand, cooperates with mechanical hand to finish whole harvesting action; Described pulsed vacuum generation module comprises two-position three way air valve, source of the gas and nozzle, described source of the gas is connected with described nozzle through described two-position three way air valve by tracheae, described nozzle direction is towards plucking object container, described source of the gas provides compressed air for described nozzle when described two-position three way air valve energising, according to the gas injection principle, at this moment in plucking pipeline, form negative pressure of vacuum; By controlling the Push And Release of described two-position three way air valve, in plucking pipeline, produce a kind of pulsed vacuum pneumatic.
6. bionical crops picking robot as claimed in claim 1 or 2, it is characterized in that: described harvesting RACS, the locus of the harvesting object behind described binocular solid panoramic vision sensor and the identification of intelligent video analysis subsystem and the location need to be aimed to pluck between the object space position with the picking mouth of described harvesting RACS control and set up mapping relations; Here with the viewpoint of the following panoramic vision sensor in the described binocular solid panoramic vision sensor initial point as visual coordinate system, and set up X
v, Y
vAnd Z
vThe three-dimensional panorama visual coordinate system that consists of; With the center of the running gear bearing of described harvesting pipeline based on Pneumatic artificial muscle and the picking robot origin of coordinates as picking mechanical arm, and set up X
a, Y
aAnd Z
aThe three-dimensional mechanical hand kinetic coordinate system that consists of; Because the binocular solid panoramic vision sensor and all be fixed on based on the harvesting pipeline of Pneumatic artificial muscle picking robot running gear above, therefore, set up the geometrical relationship of three-dimensional panorama visual coordinate system and three-dimensional picking mechanical arm kinetic coordinate system with formula (1);
In the formula, X
a, Y
aAnd Z
aRepresent respectively three-dimensional picking mechanical arm kinetic coordinate system, X
v, Y
vAnd Z
vRepresent respectively three-dimensional panorama visual coordinate system, x, y and z represent respectively the projector distance on three-dimensional coordinate between two coordinate origins.
7. bionical crops picking robot as claimed in claim 6 is characterized in that: described harvesting RACS, adopt the pressure (p that controls respectively ducted three cavitys of described harvesting based on Pneumatic artificial muscle
1, p
2, p
3) realize along the bending of flexible and any one direction of central shaft Z direction; For each group controlled pressure value (p
1, p
2, p
3) at the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle corresponding locus coordinate figure (x can be arranged all
a, y
a, z
a); Therefore, method is set up the force value (p of ducted three cavitys of described harvesting based on Pneumatic artificial muscle by experiment
1, p
2, p
3) with the locus coordinate figure (x of the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle
a, y
a, z
a) corresponding relation, we are called calibration process with this process; After setting up such mapping relations by demarcation, for the locus coordinate figure (x of the harvesting end of the described harvesting pipeline based on Pneumatic artificial muscle of some hope
a, y
a, z
a) just can calculate easily the controlled pressure value (p of three cavitys of needed one group of described harvesting pipeline based on Pneumatic artificial muscle
1, p
2, p
3); Because the mapping relations of setting up with experimental technique disperse, and locus coordinate figure (x
a, y
a, z
a) and the controlled pressure value (p of cavity
1, p
2, p
3) be continuous variable, therefore calculating needed one group of controlled pressure value (p
1, p
2, p
3) time need to adopt the mode of interpolation, here the locus with the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle is divided into several space lattices, if the locus coordinate figure of the harvesting end of the described harvesting pipeline based on Pneumatic artificial muscle of some not hope is in certain space networks center of a lattice, so just need to carry out interpolation arithmetic to the residing space lattice of this locus coordinate figure and three adjacent space lattices, obtain the accurate controlled pressure value of three cavitys; Perhaps adopt nerual network technique to come implementation space position coordinate value (x
a, y
a, z
a) and the controlled pressure value (p of cavity
1, p
2, p
3) mapping relations.
8. bionical crops picking robot as claimed in claim 6, it is characterized in that: described harvesting pipeline based on Pneumatic artificial muscle, adopt the pneumatic proportional Pressure Control Technology to realize along the flexible bending control that reaches any one direction of central shaft Z direction; Source of the gas is connected with three cavitys of described harvesting pipeline based on Pneumatic artificial muscle respectively by three proportional pressure valves, detect the air pressure in three cavitys of described harvesting pipeline based on Pneumatic artificial muscle with the Three pressures sensor, pressure sensor links to each other with control appliance with calculating by A/D converter, calculates to link to each other with proportional pressure valve with power amplifier by D/A with control appliance; Behind the controlled pressure that calculates a certain cavity, calculating and control appliance are by the openings of sizes of a voltage control ratio pressure valve of D/A output, to regulate the air pressure in the cavity, simultaneously pressure sensor detects the air pressure in this cavity, if the air pressure in the cavity constant in the desired control pressure limit time control proportional pressure valve close to keep air pressure in the cavity in desired value; Therefore, the control of described harvesting pipeline based on Pneumatic artificial muscle will be decomposed into the proportion control of three cavity inner air pressures.
9. bionical crops picking robot as claimed in claim 1, it is characterized in that: described harvesting RACS, when the harvesting end of described harvesting pipeline based on Pneumatic artificial muscle is aimed at when plucking object, described microprocessor triggers described pulsed vacuum generation module by the I/O interface, send a kind of pulsed vacuum pneumatic and realize the negative pressure absorbing of plucking object is plucked, the harvesting object will be plucked object along described harvesting pipeline based on Pneumatic artificial muscle and collect in the described harvesting object container.
10. bionical crops picking robot as claimed in claim 1, it is characterized in that: on the running gear of described picking robot, can configure a plurality of described harvesting pipelines based on Pneumatic artificial muscle, its length is different according to being plucked the different collocation methods of object growing height, allow long described harvesting pipeline based on Pneumatic artificial muscle be responsible for being grown in harvesting than the harvesting object on the higher position, allow shorter described harvesting pipeline based on Pneumatic artificial muscle be responsible for being grown in harvesting than the harvesting object on the lower position, to satisfy the efficient harvesting of crops in the different growing height scopes.
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| CN106584507A (en) * | 2016-05-19 | 2017-04-26 | 北京卫星环境工程研究所 | Fully compliant pneumatic mechanical arm structure |
| CN107182448A (en) * | 2017-06-13 | 2017-09-22 | 庞川 | A kind of cotton picking robot |
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