CN103481296A - Automatic fruit picking robot for hillsides - Google Patents
Automatic fruit picking robot for hillsides Download PDFInfo
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- CN103481296A CN103481296A CN201310423029.6A CN201310423029A CN103481296A CN 103481296 A CN103481296 A CN 103481296A CN 201310423029 A CN201310423029 A CN 201310423029A CN 103481296 A CN103481296 A CN 103481296A
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Abstract
The invention relates to an automatic fruit picking robot for hillsides. The automatic fruit picking robot mainly comprises a hillside tractor (1), a control box (2), servo motors (3, 5 and 8), position sensors (4, 6 and 9), a mechanical arm (7), a manipulator (10), a camera (11), an infrared distance sensor (12), a support frame (13), a storage battery (14) and the like. A diesel engine is taken as a power machine of the hillside tractor (1), a power generator is driven through the diesel engine to generate power so as to charge the storage battery (14), and then the storage battery (14) supplies power to the mechanical arm (7). The camera (11) is arranged in the middle of the manipulator (10), can capture images of fruits in front of the manipulator (10) and transmits the images to the control box (2); after processing the images, the control box (2) analyzes and decides by combining information of the infrared distance sensor (12), determines actions of the robot, and controls the tractor (1) and the mechanical arm (7) to move and the manipulator (10) to retract to pick the fruits. The robot mainly functions in picking the fruits growing in the hillsides and inconvenient to pick manually, and has high practicality and promotion value.
Description
Technical field
The present invention relates to a kind of picking robot, especially relate to the automatic picking robot of fruit for a kind of mountain region, belong to agricultural mechanical field.
Background technology
The invention of hillside tractor, greatly expanded the suitable application area of tractor, can operation on mountain region, but still need manpower to carry out execute-in-place, can not liberate well manpower, especially on the mountain region that is difficult for plucking at manpower, and study a kind of robot that replaces manpower to carry out field work, seem particularly important.The mountain region robot that mechanical arm is housed can replace manpower, carries out picking fruit work in mountain region, and can set auto-programming and automatically pluck.
Summary of the invention
For above-described needs, the object of the present invention is to provide the automatic picking robot of fruit for a kind of mountain region, it can pass through the camera collection image scene, then the control to mechanical arm to the processing of image and control box by control box, complete the running of mechanical arm, realize the replacement to manpower.
To achieve these goals, mountain region of the present invention comprises with the automatic picking robot of fruit: hillside tractor (1), control box (2), servomotor (3) (5) (8), position sensor (4) (6) (9), mechanical arm (7), manipulator (10), camera (11), infrared distance sensor (12), bracing frame (13), battery (14) etc.This hillside tractor be take diesel engine as engine, by diesel engine, drives the generator generating, accumulators (14) charging, then give mechanical arm (7) power supply by battery (14).Described camera (11) is contained in the middle of manipulator (10), can catch the image in manipulator (10) the place ahead; Described infrared distance sensor (12) is contained in camera (11) side; Described control box (2) is bolted on support (13); Described control box is equipped with arm processor in (2), arm processor is connected with dsp chip, driven by servomotor, position sensor (4) (6) (9), dsp chip is connected with camera (11), infrared sensor (12), dsp chip is processed and is passed to arm processor to image, arm processor is analyzed, and control turning to and the above rotation of motor of mechanical arm (7) of hillside tractor (1), realize the motion of mechanical arm (7) and the activity of manipulator (10); Described mechanical arm (7) is bolted on bracing frame (13); Described battery (14) is bolted on tractor frame beam; Support (13) is steel angle structure, and the left and right, bottom respectively has two supporting legs to be welded on vehicle frame; Support frame as described above (13) is bolted on tractor (1); Described manipulator has three fingers, and each finger has two dactylus, between dactylus, with servomotor, connects; Each servomotor is connected with control box (2) by wire; Above-mentioned hillside tractor is diesel tractor.
The present invention has the following advantages:
1) fill mechanical arm on hillside tractor, can pluck and be grown in mountain region and manpower is plucked inconvenient fruit, the liberation manpower.
2) first by camera, obtain the fruit position, then make manipulator accurately shift to fruit by fruit expansion of proportion in image, and position in conjunction with infrared distance sensor, catch fruit by manipulator subsequently.
The accompanying drawing explanation
Embodiments of the present invention are described below with reference to accompanying drawings.
Accompanying drawing 1 is the front view of a kind of mountain region of the present invention with the automatic picking robot of fruit.
Accompanying drawing 2 is front views of manipulator of the present invention.
Accompanying drawing 3 is structural representations in control box of the present invention.
Below the label of each parts in figure:
The 1-hillside tractor, 2-control box, 3-servomotor, 4-position sensor, 5-servomotor, the 6-position sensor, 7-mechanical arm, 8-servomotor, 9-position sensor, 10-manipulator, the 11-camera, 12-infrared distance sensor, 13-bracing frame, 14-battery.
The specific embodiment
Below in conjunction with accompanying drawing, with concrete enforcement, the invention will be further described:
This mountain region comprises with the assembly of the automatic picking robot of fruit: hillside tractor (1), control box (2), servomotor (3) (5) (8), position sensor (4) (6) (9), mechanical arm (7), manipulator (10), camera (11), infrared distance sensor (12), bracing frame (13), battery (14) etc.
Mechanical arm (7) comprises on mechanical arm base, two joint mechanical arms, base and two joints all are equipped with servomotor, mechanical arm (7) end is equipped with manipulator (10), three mechanical fingers are housed on manipulator (10), every finger is comprised of two finger segments, servomotor is equipped with at each finger-joint place, servomotor on finger uses same control circuit, camera (11) is equipped with infrared distance sensor (12) in manipulator (10) center, and camera (10) is connected with the dsp chip in control box (2).Drive circuit, position sensor (4) (6) (9) are equipped with in each servomotor place.
Control box is equipped with control circuit in (2), comprises arm processor, dsp chip, and arm processor drives and is connected with motor, and dsp chip is connected with camera (11).
During work, first by camera (11), gather image, then pass to the dsp chip in control box (2), process picture signal by dsp chip, and image is processed and is passed to arm processor, arm processor is determined the position of fruit according to the difference of color in image, again according to the data of mechanical arm (7) Position Sensor (4) (6) (9), calculate the course of tractor and the manner of mechanical arm (7), then controlling tractor advances and turns to, then according to servomotor (3) (5) (8) in console signal controlling machinery arm (7), rotate, make mechanical arm (7) activity, by movement repeatedly, image proportion in the image gathered of fruit is enlarged gradually, by the time manipulator (10) is while approaching target, arm processor is controlled servomotor (3) (5) (8) again and is rotated, make manipulator (10) refer to tighten up, catch fruit.
According to above-mentioned description, the relevant staff can, in the scope that does not depart from this invention technological thought, carry out various change and modification fully.The technical scope of this invention is not limited to the content on specification, and all any modifications of making within the spirit and principles in the present invention are equal to replacement and improvement etc., within all should being included in protection scope of the present invention.
Claims (1)
1. the automatic picking robot of fruit for mountain region, it mainly comprises: hillside tractor (1), control box (2), servomotor (3) (5) (8), position sensor (4) (6) (9), mechanical arm (7), manipulator (10), camera (11), infrared distance sensor (12), bracing frame (13), battery (14) etc.This hillside tractor be take diesel engine as engine, by diesel engine, drives the generator generating, accumulators (14) charging, then give mechanical arm (7) power supply by battery (14).Described camera (11) is contained in the middle of manipulator (10), can catch the image in manipulator (10) the place ahead; Described infrared distance sensor (12) is contained in camera (11) side; Described control box (2) is bolted on support (13); Described control box is equipped with arm processor in (2), arm processor is connected with dsp chip, driven by servomotor, position sensor (4) (6) (9), dsp chip is connected with camera (11), infrared sensor (12), dsp chip is processed and is passed to arm processor to image, arm processor is analyzed, and control turning to and the above rotation of motor of mechanical arm (7) of hillside tractor (1), realize the motion of mechanical arm (7) and the activity of manipulator (10); Described mechanical arm (7) is bolted on bracing frame (13); Described battery (14) is bolted on tractor frame beam; Support (13) is steel angle structure, and the left and right, bottom respectively has two supporting legs to be welded on vehicle frame; Support frame as described above (13) is bolted on tractor (1); Described manipulator has three fingers, and each finger has two dactylus, between dactylus, with servomotor, connects; Each servomotor is connected with control box (2) by wire; Above-mentioned hillside tractor is diesel tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310423029.6A CN103481296A (en) | 2013-09-10 | 2013-09-10 | Automatic fruit picking robot for hillsides |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310423029.6A CN103481296A (en) | 2013-09-10 | 2013-09-10 | Automatic fruit picking robot for hillsides |
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| CN103481296A true CN103481296A (en) | 2014-01-01 |
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| CN201310423029.6A Pending CN103481296A (en) | 2013-09-10 | 2013-09-10 | Automatic fruit picking robot for hillsides |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105027834A (en) * | 2015-07-10 | 2015-11-11 | 平顶山工业职业技术学院 | Vegetable and fruit picking robot and control method thereof |
| CN105359726A (en) * | 2015-10-23 | 2016-03-02 | 钟山县橙浩水果种植专业合作社 | Citrus gonggan picking device and method for same |
| CN105706637A (en) * | 2016-03-10 | 2016-06-29 | 西北农林科技大学 | Autonomous-navigation crawler-type multi-mechanical-arm apple picking robot |
| CN105866028A (en) * | 2016-05-25 | 2016-08-17 | 宁夏大学 | Fruit-and-fruit-stem binding force testing device |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN106501019A (en) * | 2016-11-01 | 2017-03-15 | 无锡艾科瑞思产品设计与研究有限公司 | A kind of automobile-used fruit sampler of food inspection |
| CN107027434A (en) * | 2017-04-21 | 2017-08-11 | 格薪源生物质燃料有限公司 | Agriculture and forestry organic waste material picking up and bundling device |
| CN107333529A (en) * | 2017-08-14 | 2017-11-10 | 仲恺农业工程学院 | Blueberry picking device and system |
| CN108163094A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of mountain off-road robot car chassis |
| CN108516340A (en) * | 2018-04-16 | 2018-09-11 | 苏州阡晨金属包装设备有限公司 | A kind of pop can conveying carrying mechanism |
| CN109531533A (en) * | 2018-11-30 | 2019-03-29 | 北京海益同展信息科技有限公司 | A kind of computer room cruising inspection system and its working method |
| CN109685944A (en) * | 2018-11-15 | 2019-04-26 | 厦门攸信信息技术有限公司 | A kind of gate gate inhibition robot |
| CN110278777A (en) * | 2019-07-26 | 2019-09-27 | 郑州永丰生物肥业有限公司 | A kind of method of robot learning picking camellia oleifera fruit |
| CN110720311A (en) * | 2019-11-26 | 2020-01-24 | 徐州斯塬网络科技有限公司 | Real-time monitoring device for picking and packaging agricultural products |
| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
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| CN203650549U (en) * | 2013-09-10 | 2014-06-18 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
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| JPS60238189A (en) * | 1984-05-11 | 1985-11-27 | 株式会社クボタ | Fruit recognizer for robot hand for harvesting fruit |
| JPH02234608A (en) * | 1989-03-08 | 1990-09-17 | Yanmar Agricult Equip Co Ltd | Harvester for fruit and vegetable |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105027834A (en) * | 2015-07-10 | 2015-11-11 | 平顶山工业职业技术学院 | Vegetable and fruit picking robot and control method thereof |
| CN105359726A (en) * | 2015-10-23 | 2016-03-02 | 钟山县橙浩水果种植专业合作社 | Citrus gonggan picking device and method for same |
| CN105706637A (en) * | 2016-03-10 | 2016-06-29 | 西北农林科技大学 | Autonomous-navigation crawler-type multi-mechanical-arm apple picking robot |
| CN105866028A (en) * | 2016-05-25 | 2016-08-17 | 宁夏大学 | Fruit-and-fruit-stem binding force testing device |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN106501019A (en) * | 2016-11-01 | 2017-03-15 | 无锡艾科瑞思产品设计与研究有限公司 | A kind of automobile-used fruit sampler of food inspection |
| CN107027434A (en) * | 2017-04-21 | 2017-08-11 | 格薪源生物质燃料有限公司 | Agriculture and forestry organic waste material picking up and bundling device |
| CN107333529A (en) * | 2017-08-14 | 2017-11-10 | 仲恺农业工程学院 | Blueberry picking device and system |
| CN108163094A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of mountain off-road robot car chassis |
| CN108163094B (en) * | 2017-11-29 | 2020-08-25 | 昆明理工大学 | Mountain cross-country robot vehicle chassis |
| CN108516340A (en) * | 2018-04-16 | 2018-09-11 | 苏州阡晨金属包装设备有限公司 | A kind of pop can conveying carrying mechanism |
| CN109685944A (en) * | 2018-11-15 | 2019-04-26 | 厦门攸信信息技术有限公司 | A kind of gate gate inhibition robot |
| CN109531533A (en) * | 2018-11-30 | 2019-03-29 | 北京海益同展信息科技有限公司 | A kind of computer room cruising inspection system and its working method |
| CN109531533B (en) * | 2018-11-30 | 2019-11-05 | 北京海益同展信息科技有限公司 | A kind of computer room cruising inspection system and its working method |
| CN110278777A (en) * | 2019-07-26 | 2019-09-27 | 郑州永丰生物肥业有限公司 | A kind of method of robot learning picking camellia oleifera fruit |
| CN110720311A (en) * | 2019-11-26 | 2020-01-24 | 徐州斯塬网络科技有限公司 | Real-time monitoring device for picking and packaging agricultural products |
| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
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Application publication date: 20140101 |