CN104782326A - Intelligent agricultural robot moving platform - Google Patents
Intelligent agricultural robot moving platform Download PDFInfo
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- CN104782326A CN104782326A CN201510230596.9A CN201510230596A CN104782326A CN 104782326 A CN104782326 A CN 104782326A CN 201510230596 A CN201510230596 A CN 201510230596A CN 104782326 A CN104782326 A CN 104782326A
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Abstract
The invention relates to an intelligent agricultural robot moving platform, in particular to the moving robot platform which is based on the machine vision technology and applied to a farmland environment or an orchard environment. The moving platform comprises a four-wheel rear-drive moving platform body and an embedded type automatic control system. The embedded type automatic control system is capable of simultaneously controlling a rear-drive traveling mechanism to move forward, a front-mounted steering mechanism to divert directions and a grabbing mechanism to grab an object. The four-wheel rear-drive moving platform body comprises a carrier compartment, the rear-drive traveling mechanism, the front-mounted steering mechanism and the front-end grabbing mechanism. The intelligent agricultural robot moving platform can serve as a teaching experimental platform, a feasible implementation scheme and performance analysis are provided for research and development of intelligent machines for the facility agriculture, and greater possibility for accelerating the development of the facility agriculture is provided.
Description
One, technical field
The present invention relates to intelligent robot technology field, especially relate to a kind of mobile robot platform being adapted to farmland or orchard environment based on machine vision technique.
Two, background technology
Along with the progress of science and technology, automaticity improves day by day, and the robot automtion degree relating to agriculture field is also improving constantly.Agricultural robot belongs to robot category, is that the multiple technologies such as fusion detection sensing technology, automatic control technology, the information processing technology, Servo Drive Technology's, computer technology and precision machinery technology are in the cross discipline of one.Agricultural robot has promoted agricultural to automation, and intelligent direction develops, and along with the development of industrialized agriculture is as orchard picking, spray in farmland, Temperature and Humidity etc., has promoted the development of the Intelligent agricultural machinery with GPS location navigation function greatly." fundamental solution of agricultural is mechanization ", the agricultural robot that development is suitable for China's agricultural national conditions is beneficial to and improves Agriculture Production Modes, alleviates labour's pressure, to Development of Precision Agriculture, green agriculture, improve agricultural production efficiency, advance agricultural technology renovation significant.Different according to operation work post, agricultural robot can be divided into again the robot that hoes up weeds, dispenser rate fertilization robot, Bian to pluck robot etc., and there are respective feature and mission requirements in each robot.The present invention is just based on the operability improving operating personnel in agricultural production process, comfortableness, improve operating efficiency, and more competent exceedingly odious farm environments and study a multifunctional intellectual shifting agriculture robot platform meeting many job requirements of manufacture.
Three, summary of the invention
The object of this invention is to provide a kind of reading intelligent agriculture robot moving platform, this platform not only can do teaching experiment platform, more the research and development of industrialized agriculture intelligent machine provide practicable embodiment and performance evaluation, for the development accelerating industrialized agriculture plays a significant role.
A kind of reading intelligent agriculture robot moving platform, comprises four-wheel rear-guard mobile platform and embedded automatic control system.Embedded automatic controlling system can control rear-guard running gear simultaneously and advance, and preposition steering mechanism turns to, and grasping mechanism captures target.
Described four-wheel rear-guard mobile platform comprises carrier compartment, rear-guard running gear, preposition steering mechanism and front end grasping mechanism.
Described rear-guard running gear is made up of the hoofing part assembly of two the identical balanced configurations be arranged on the skeleton of rear portion, bottom surface, carrier compartment; Described hoofing part assembly comprises the fixed support be arranged on skeleton, the servomotor be arranged on fixed support, the wheel being arranged on fixed support bottom and the chain-drive mechanism be arranged on fixed support turning cylinder; Described preposition steering mechanism drives assembly to form by turning to of two the identical balanced configurations be arranged on the anterior fixation steel plate in bottom surface, carrier compartment; Described turning to drives assembly to comprise the turning rack be arranged on fixation steel plate, be arranged on the servomotor (speed reducing ratio 100 to 1) on turning rack top, be arranged on the wheel of turning rack bottom and be arranged on the chain-drive mechanism of the belt tensioner pulley on turning rack;
Front portion, bottom surface, described carrier compartment is provided with fixation steel plate for fixing preposition steering mechanism; Rear portion, bottom surface, carrier compartment is provided with fixing skeleton for fixing rear-guard running gear;
Described front end grasping mechanism comprises and is arranged on mechanical arm rotating disk that front end, carrier compartment drives by Timing Belt and is arranged on the three section type mechanical arm on mechanical arm rotating disk and is arranged on the four-degree-of-freedom mechanical paw of three section type mechanical arm tail end; Mechanical arm rotating disk and mechanical paw pass through driven by servomotor.
Described embedded automatic control system comprises the industrial computer be arranged in carrier compartment, the monocular cam of mechanical arm tail end, the binocular camera of carrier car body top separation both sides, it is control panel and the motor servo driver be connected with control panel respectively by CAN, GPS and the image information collecting card of core that industrial computer comprises with stm32F103zet6, image information collecting cartoon crosses the monocular cam of RS232 and above-mentioned mechanical arm tail end, the binocular camera of separation both sides, top, carrier compartment connects and gathers its image information and is uploaded to industrial computer, the GPS information of current mobile platform is uploaded to industrial computer by CAN by GPS, industrial computer the image information obtained comprehensively is analyzed with GPS information after by servo-driver corresponding to each servomotor respectively to rear wheel drive servomotor, front-wheel steer servomotor, mechanical arm rotates servomotor and manipulator grasping mechanism servomotor sends different pwm pulses, and adjust the work compound that finally realizes each mechanism of whole mobile platform according to the feedback signal of servomotor in real time and carry out farmland operation to reach setting running orbit, in addition, industrial computer and each servomotor are by being arranged on the accumulator of 60V50AH in carrier compartment by cable power supply, and wherein voltage is reduced to 5V by 60V by voltage reduction module and indirectly powered by industrial computer.
Four, accompanying drawing explanation
Fig. 1 agricultural robot mobile platform configured in one piece schematic diagram
Fig. 2 rear wheel drive system
Fig. 3 nose wheel steering
Fig. 4 grasping mechanism system
Fig. 5 control system
In figure:
1. fixed mount, 2. rolling bearing units erecting bed a, 3. rolling bearing units a, 4. sleeve a, 5. sprocket wheel, 6. chain, 7. flange sleeve, 8. wheel bearing, 9. bearing pin a, 10. sprocket wheel, 11. rear axles, 12. servomotor a, 13 trailing wheels, 14. multidiameters, 15. synchronous pulley a, 16. deep groove ball bearings, 17. turning rack fixtures, 18. turning rack fixture b, 19. jump ring annular grooves, 20. thrust ball bearings, 21. turning racks, 22. sleeve b, 23. wheel shafts, 24. front-wheels, 25. Timing Belt a, 26. Timing Belt regulating wheels, 27. Timing Belt regulating wheel holders, 28. sleeve c, 29. rolling bearing units b, 30. rolling bearing units erecting bed b, 31. synchronous pulley b, 32. carrier car bottom front end fixed heads, 33 servomotor b, 34. servomotor c, 35. synchronous pulley c, 36. Timing Belt c, 37. Timing Belt rotating disks, 38. mechanical arm mounting seat, 39. mechanical arm a, 40. large U type connector a, 41. servomotor d, 42. sleeve d, 43. rolling bearing units c, 44. little U-shaped connector a, 45. mechanical arm b, 46. large U type connector b, 47. rolling bearing units d, 48. servomotor e, 49. little U-shaped connector b, 50. mechanical arm c, 51. monocular cams, 52. mechanical paws
Five, embodiment
As shown in the rear wheel drive system scheme of installation that Fig. 2 provides, fixed mount (1) top is bolted and is fixed on the skeleton of bottom surface, carrier compartment, servomotor a (12) connects transverse horizontal by bolt to be installed to fixed mount (1) middle part, side is had between the sleeve a (4) of keyway with servomotor a (12) and is linked by key, sleeve a (4) opposite side is fixed by holding screw and rolling bearing units a (3) circumference, rolling bearing units a (3) is then bolted and is installed on the rolling bearing units erecting bed a (2) of fixed mount (1), this ensures that there the stationarity that sleeve a (4) rotates, guarantee without perturbing, sleeve a (4) installs sprocket wheel (5) in middle part, sprocket wheel (5) and sleeve a (4) leave screwed hole, its circumference is fixing is like this realized by holding screw.Trailing wheel (13) is fixed by bolt and rear axle (11), wheel bearing (8) inner ring is connected on rear axle (11) by interference, wheel bearing (8) outer ring is installed to flange sleeve (7) inner side with identical connected mode, flange sleeve (7) is then installed on fixed mount (1) by bolt, wheel shaft is equipped with sprocket wheel (10), the fixing screw-in in screwed hole by bearing pin (9) of circumference is realized.Sprocket wheel (5) and sprocket wheel (10) remain in same vertical plane, and the two forms chain-drive mechanism by chain (6), and power is transported to rear drive wheel by servomotor thus.Servo motor power supply line and control line are connected respectively to the storage battery source interface in carrier compartment by the cylinder channel of fixed mount top hollow, the RS232 interface of servo-driver.
As shown in the scheme of installation of Fig. 3 nose wheel steering, the upper cover in turning rack top multidiameter (14) has (20), turning rack fixture a (17) bolt be enclosed within multidiameter (14) is installed on carrier car bottom front end fixed head (32), wherein multidiameter (14) top has the jump ring recessed grain of annular (19), fluctuating of turning rack (8) is prevented by jump ring, turning rack fixture (4) embedded bearing (3), keep vertically without deflection when ensureing that front wheel bogie (21) rotates thus, turning rack multidiameter (14) topmost installs synchronous pulley (15) by holding screw, front-wheel (24) is by wheel shaft (23), sleeve b (22), bolt is installed on front wheel bogie (21), the servomotor b (33) controlling to turn to is installed on front end, bottom surface, carrier compartment fixed head (32) by bolt, the sleeve c (28) having keyway is transmitted by the output shaft of key connection servomotor c (33) and turns to driving force, deep groove ball bearing (16) is arranged on the turning rack fixture b (17) on carrier car bottom fixed head, synchronous pulley b (31) is installed with holding screw equally in sleeve c (28) middle part, adjustable Timing Belt tension pulley mechanism (26) (27) is installed on carrier car bottom front end fixed head (32) by bolt.Take this, servomotor b (33) realizes controlling front-wheel steer, adopts Timing Belt (25) transmission can avoid chaindriven perturbing, unsceptered and noise.
As shown in Fig. 4 grasping mechanism scheme of installation, bottom Timing Belt rotating disk (37) is bolted and is installed on the anterior fixed mount in carrier compartment, the Timing Belt other end is provided with synchronous pulley c (35), synchronous pulley c and servomotor (34) are connected by key and realize servomotor (34) and drive Timing Belt rotating disk (37), top three section type mechanical arm adopts the industrial aluminum profile manufacture of three kinds of different size specifications respectively, mechanical arm a (39) is installed on large U type connector a (40) by four T-shaped bolts that industrial aluminum profile is special, servomotor d (41) be bolted be installed to large U type connector a (40) side stud on, opposite side is equipped with rolling bearing units c (43), be connected by key between sleeve d (42) with servomotor d (41), it is fixing that sleeve d (42) and the front end sleeve of little U-shaped connector a (44) realize circumference by the holding screw in the two middle part screwed hole, the upper fitting machine mechanical arm b (45) of little U-shaped connector a (44), by this, servomotor d (41) realizes the function of synchrodrive mechanical arm b (45), same mode realizes connection between mechanical arm b (45) mechanical arm c (50) and transmission, mechanical arm c (50) end is equipped with mechanical paw (52), mechanical arm front end monocular cam (51) is arranged on the end of mechanical arm c, 6DOF grasping mechanism composition is complete since then, it is large that this mechanism has degree of freedom, servomotor d (41) and servomotor e (48) point of both sides are installed, rational in infrastructure, the advantage that manipulator captures without dead angle.
As shown in Fig. 5 control system schematic diagram, whole control system is powered by the high-capacity battery of 60V50AH, there is flying power strong, meet the requirement of farm work, the real-time monitor message of the moving image capture card acquisition process camera in industrial computer machine uploads to industrial computer by the RS232 of image pick-up card, simultaneously every dynamic regime of feeding back of the positional information determined in conjunction with current gps receiver of industrial computer and all servomotors, the corresponding pulse signal of each servomotor is sent to by CAN after integrated treatment, drive whole mobile platform coordinate operation to realize presetting pose, carry out operation, wherein industrial computer is the control system based on stm32F103zet6 chip, its internal memory is large, there is information processing rate fast, there is the feature of multiple task simultaneous work, the job requirements under farm environment can be better met.
The present invention has following innovative point:
(1) adopt front-wheel steer, rear wheel drive mode, makes mobile platform flexibility high, turn avoid the power redundancy of four wheel drive and turns to the features such as driving force repeats, fully meeting farmland operation requirement;
(2) all adopt driven by servomotor, closed-loop control, accuracy is higher, and power type selecting is 400w, and output torque is large, can load capacity high, meet farmland operation (spray insecticide, fertilising, plucks fruit etc.) requirement.
(3) have GPS navigation, machine vision, range sensor etc. ensure that optimality and the safety in mobile platform path.
(4) have 6DOF manipulator, can be competent at various farmland operation requirement, extensibility is strong.
(5) whole process omnidistance AUTONOMOUS TASK under industrial computer controls, reduce labour, labor productivity improves greatly.
(6) because increasing income property is strong, feasibility is provided for same domain personnel expand research.
The maximum feature of this reading intelligent agriculture robot moving platform is platform modularized design completely itself, each component is all detachably changed, for the follow-up renewal upgrading of platform provides possibility, peripheral hardware can be installed additional in conjunction with concrete teaching or requirement of experiment repacking, there is suitable flexibility, more adapt to all kinds of farmland operation requirement addition peripheral hardware and more possibilities are provided, extensibility is strong, for realizing all kinds of farmland operation machine people and related scientific research provides platform, adopt high strength, the industrial aluminum profile that quality is light, whole platform is made to have quality less, the feature that intensity is high, the high-capacity battery of 60V50AH is adopted to power, there is flying power strong, meet the requirement of farm work, control system take stm32F103zet6 as core, fully meet data handling capacity large, speed is fast, the requirement of multi-task parallel, intellectuality for agricultural robot mobile platform provides more possibilities.
Claims (1)
1. a reading intelligent agriculture robot moving platform, is characterized in that comprising four-wheel rear-guard mobile platform and embedded automatic control system; Embedded automatic controlling system controls the advance of rear-guard running gear simultaneously, preposition steering mechanism turns to and grasping mechanism captures target;
Described four-wheel rear-guard mobile platform comprises carrier compartment, rear-guard running gear, preposition steering mechanism and front end grasping mechanism;
Described rear-guard running gear is made up of the hoofing part assembly of two the identical balanced configurations be arranged on the skeleton of rear portion, bottom surface, carrier compartment; Described hoofing part assembly comprises the fixed support be arranged on skeleton, the servomotor be arranged on fixed support, the wheel being arranged on fixed support bottom and the chain-drive mechanism be arranged on fixed support turning cylinder; Described preposition steering mechanism drives assembly to form by turning to of two the identical balanced configurations be arranged on the anterior fixation steel plate in bottom surface, carrier compartment; Described turning to drives assembly to comprise the turning rack be arranged on fixation steel plate, is arranged on the servomotor on turning rack top, is arranged on the wheel of turning rack bottom and is arranged on the chain-drive mechanism of the belt tensioner pulley on turning rack;
Front portion, bottom surface, described carrier compartment is provided with fixation steel plate for fixing preposition steering mechanism; Rear portion, bottom surface, carrier compartment is provided with fixing skeleton for fixing rear-guard running gear;
Described front end grasping mechanism comprises and is arranged on mechanical arm rotating disk that front end, carrier compartment drives by Timing Belt and is arranged on the three section type mechanical arm on mechanical arm rotating disk and is arranged on the four-degree-of-freedom mechanical paw of three section type mechanical arm tail end; Mechanical arm rotating disk and mechanical paw pass through driven by servomotor;
Described embedded automatic control system comprises the industrial computer be arranged in carrier compartment, the monocular cam of mechanical arm tail end, the binocular camera of carrier car body top separation both sides, it is control panel and the motor servo driver be connected with control panel respectively by CAN, GPS and the image information collecting card of core that industrial computer comprises with stm32F103zet6, image information collecting cartoon crosses the monocular cam of RS232 and above-mentioned mechanical arm tail end, the binocular camera of separation both sides, top, carrier compartment connects, the GPS information of current mobile platform is uploaded to industrial computer by CAN by GPS, industrial computer the image information obtained comprehensively is analyzed with GPS information after by servo-driver corresponding to each servomotor respectively to rear wheel drive servomotor, front-wheel steer servomotor, mechanical arm rotates servomotor and manipulator grasping mechanism servomotor sends different pwm pulses, and adjust mobile platform each mechanism work compound in real time according to the feedback signal of servomotor, industrial computer and each servomotor are by being arranged on the accumulator of 60V50AH in carrier compartment by cable power supply, and wherein voltage is reduced to 5V by 60V by voltage reduction module and indirectly powered by industrial computer.
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| CN107719513A (en) * | 2017-10-12 | 2018-02-23 | 广州市君望机器人自动化有限公司 | A kind of cross-country vehicle chassis component and robot assembly |
| CN108313715B (en) * | 2018-01-31 | 2019-12-24 | 上海理工大学 | Mark type civil soft bag grabbing and carrying robot |
| CN108313715A (en) * | 2018-01-31 | 2018-07-24 | 上海理工大学 | Making type civilian soft bag grasp handling robot |
| CN108405377B (en) * | 2018-05-24 | 2020-10-23 | 温州焕宏纺织品有限公司 | Multi-functional vegetables fruit letter sorting equipment |
| CN108405377A (en) * | 2018-05-24 | 2018-08-17 | 干鑫驰 | A kind of multi-functional vegetable and fruit sorting device |
| CN108966841A (en) * | 2018-07-10 | 2018-12-11 | 陕西智多搭智能科技有限公司 | A kind of fruit picking automatically walk intelligence fruit picking device |
| CN108582118A (en) * | 2018-07-12 | 2018-09-28 | 湖南超能机器人技术有限公司 | A kind of guiding inquiry robot |
| CN109328577A (en) * | 2018-09-27 | 2019-02-15 | 陶勇 | Shape fertilizer fertilizer applicator |
| CN109328577B (en) * | 2018-09-27 | 2022-07-22 | 陶勇 | Shape fertilizer applicator |
| CN111955164A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Safflower filament occlusion type parallel picking robot |
| CN113207439A (en) * | 2021-05-10 | 2021-08-06 | 芜湖职业技术学院 | Agricultural intelligent assistant vehicle |
| CN113400352A (en) * | 2021-06-18 | 2021-09-17 | 新疆农业大学 | Leveling mechanism of agricultural operation moving platform |
| CN115362773A (en) * | 2022-08-05 | 2022-11-22 | 中国农业科学院都市农业研究所 | Hilly agricultural robot device and method |
| CN115380684A (en) * | 2022-09-08 | 2022-11-25 | 甘肃农业大学 | Potato is planted with fertilizer injection unit who has multi-angle adjustable structure |
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Application publication date: 20150722 |