CN105766220B - A kind of combing formula branch shape fruit picking robot - Google Patents
A kind of combing formula branch shape fruit picking robot Download PDFInfo
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- CN105766220B CN105766220B CN201610173577.1A CN201610173577A CN105766220B CN 105766220 B CN105766220 B CN 105766220B CN 201610173577 A CN201610173577 A CN 201610173577A CN 105766220 B CN105766220 B CN 105766220B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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Abstract
The present invention relates to a kind of combing formula branch shape fruit picking robots that the fruit of zonal distribution is tied on the branch of low latitude and presented for matrimony vine, fruit of glossy privet etc. and is efficiently picked, and belong to agricultural automation and robotic technology field.Including picking mobile platform, switch board, NI Vision Builder for Automated Inspection, picking mechanical arm, fruit-collecting box and combing picking disk, the picking mechanical arm, switch board, fruit-collecting box and NI Vision Builder for Automated Inspection are mounted on picking mobile platform, and the combing picking disk is mounted on picking mechanical arm.The present invention abandons existing general picking mechanical arm, and the combing picking disk for branch shape picking fruit of the independent development used realizes the picking to fruit, which simply, functions reliably and efficiently, can greatly improve picking efficiency.The present invention greatly facilitates rural economic development, improves modernizing, is intelligent, accelerating agricultural sciences progress with immeasurable meaning for China's agricultural.
Description
Technical field
The present invention relates to it is a kind of for the knot such as matrimony vine, fruit of glossy privet on the branch of low latitude and present the fruit of zonal distribution into
The combing formula branch shape fruit picking robot that row is efficiently picked, belongs to agricultural automation and robotic technology field.
Background technology
Matrimony vine is people to the general designation of species under the Lyciums such as the commodity fruit of Chinese wolfberry, plant lycium barbarum, Chinese matrimony vine.Ningxia
Matrimony vine is in Chinese cultivated area maximum.The limb of matrimony vine spreads all over hard wood thorn, increases the difficulty of picking, using special curved
The long scissors of mouth, the cautious cutting limb in the wood thorn to gather, retains carpopodium, will be intact, fast without damaged matrimony vine
Speed is collected, and scientific technology dry storage was utilized in 24 hours.But this picking efficiency and its low, and due to matrimony vine
Wood thorn distribution, easily picking personnel are damaged, considerably increase picking difficulty.The branches such as fruit of glossy privet shape is distributed
Fruit etc., have same picking problem.
Due to these fruit growths complexity and farm environment it is unstructured the features such as, the letter that uses in production at present
Single hand-held device for picking, picking head and vibration-type picking machine etc..
Application for a patent for invention 201510274940.4 discloses a kind of " medlar-picking machine ", and the invention discloses a kind of matrimony vines
Device for picking picks matrimony vine by two scraper collective effects, and replaces manual operations by mechanical structure, improves
Working efficiency, reduces labor intensity.But this equipment still needs the participation of picking personnel, for improving matrimony vine picking
Automation it is very limited.Meanwhile the equipment is that a string of matrimony vine branches are picked, easily easily by immature matrimony vine
It picks together, it is very unfavorable for the quality and yield that improve matrimony vine.
Patent of invention 201510068863.7 discloses a kind of " full-automatic matrimony vine harvester ", and the invention discloses one
The full-automatic matrimony vine harvester of kind, compared with existing technology, the inventive structure is simpler, can preferably collect and convey quilt
The fruit of harvesting, conveying effect are good.But the invention is bulky, needs additional other mobile platforms that could work, limits
The range of application.
Invention content
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to one kind is provided by picking mobile platform, switch board, machine
A kind of combing formula branch shape fruit picking robot that vision system, fruit-collecting box, picking mechanical arm and combing picking disk form,
Picking fruit is carried out for combing picking mode, so as to which the fruit to the distribution of branch shape carries out the picking of high efficiency and low cost.
The technical scheme is that：A kind of combing formula branch shape fruit picking robot, including picking mobile platform 1,
Switch board 2, NI Vision Builder for Automated Inspection 3, picking mechanical arm 4, fruit-collecting box 5 and combing picking disk 6 etc..
The mobile platform 1 of picking is the four-wheel intelligent vehicle with power drive unit 1-1 and transfer 1-2, power
Driving device 1-1 driving picking robot make straight line moving, including at the uniform velocity, accelerate and slow down etc. movement；Transfer 1-2 is then
Control picking robot makees turning function, including turning left and turning right.The picking mobile platform further includes mobile platform sheet
Body and movable pulley etc..
The switch board 2 is that all electronic control modules of integrated picking robot include control module, drive module and power supply
Deng rain-proof cabinet, led including control iron case 2-1, main control module 2-2, image processing module 2-3, GPS difference block 2-4, inertia
Model plane block 2-5, mobile platform drive module 2-6, robot drives module 2-7, combing picking dish driving module 2-8, power supply
Module 2-9 and lithium battery 2-10.The combing picking drive module 2-8 includes three parts, and disc spins drive is born at respectively bottom
Dynamic model block, top comb reason disk comb drive module, lifting sliding table group drive module.Setting is multiple disconnected inside the control iron case 2-1
Layer, for placing these control modules, drive module and power supply etc..In detail, the connection relation between modules is：Lithium battery
2-10 is connect with power module 2-9, power module 2-9 and main control module 2-2, image processing module 2-3, GPS difference block 2-
4th, inertial navigation module 2-5, mobile platform drive module 2-6, robot drives module 2-7 and combing picking dish driving module
2-8 is connected and is provided electric energy for it respectively.Image processing module 2-3 and NI Vision Builder for Automated Inspection 3 connect, NI Vision Builder for Automated Inspection 3 into
It is sent on main control module 2-2 connected to it after acquisition, the processing of row image position and by data information.GPS difference blocks
2-4 is connected with inertial navigation module 2-5 with main control module 2-2 respectively, and the coordinate value of picking robot and navigation information are sent
It analyzes and processes and makes decisions for it to main control module 2-2.Meanwhile main control module 2-2 also connects with robot drives module 2-7
It connects, since driving picking mechanical arm 4 carries out the movement of space three-dimensional；Main control module 2-2 and combing picking dish driving module 2-8
Connection, driving combing picking disk are realized to controls such as the pickings of fruit.
The NI Vision Builder for Automated Inspection 3 is used as acquisition and external image and carries out processing analysis to image, parallel including two sets
High-precision video camera 3-1 acquires image binocular, and then realizes identifying and positioning for fruit branch, is subsequent picking mechanical
The picking of hand and combing picking disk provides accurate information.The NI Vision Builder for Automated Inspection 3, which further includes, is used to support two sets of video cameras
Stent 3-2.
Mechanical arm 4-1 of the picking mechanical arm 4 for a set of six degree of freedom, the carrier as the movement of combing picking disk
Platform.The end of picking mechanical arm 4 is fixedly connected on picking mobile platform 1, the body shaft of top connection combing picking disk 6
6-2。
The fruit-collecting box 5 is made of fruit case 5-1 and buffer 5-2, and fruit case 5-1 is mainly used for holding the fruit after picking,
Buffer 5-2 then mainly reduce even avoid fruit from combing picking disk 6 pour into fruit case 5-1 when collsion damage.
Core component of the combing picking disk 6 as picking mechanism, the main Softening using the formula that combs are realized
Picking to branch shape distribution fruit bears disk 6-1, body shaft 6-2, top comb reason disk 6-3, lifting sliding table group 6-4, bottom the bottom of including
Bear the rotation mechanism 6-5 that spirals.Disk 6-1 is born at the bottom and round, and top comb reason disk 6-3 is integrally presented in top comb reason disk 6-3
Diameter≤bottom bear the diameter of disk 6-1.
Detailed, it is four parts that 6-1 points of disk is born at the bottom, including left individual layer chassis 6-1a, right double-layered base plate 6-1b,
Taper roll bearing 6-1c and outer rim involucrum 6-1d.The bottom bears have outer rim involucrum 6-1d protections on the outside of disk 6-1, prevents bottom
The fruit born on disk 6-1 slides along on the outside of disk.Wherein, left individual layer chassis 6-1a and right double-layered base plate 6-1b is that opening is
180 ° of sector structure, as semicircle shape structure, the circle centre position of the semicircle shape structure of left individual layer chassis 6-1a and taper roller axis
The outer ring for holding 6-1c is fixedly connected, and the lower end of body shaft 6-2 is fixedly connected with the inner ring of taper roll bearing 6-1c, and right double
The circle centre position of the semicircle shape structure of layer chassis 6-1b is fixedly connected with body shaft 6-2.The end of the body shaft 6-2 also with picking
The top of mechanical arm 4 connects and fixes.
Left individual layer chassis 6-1a is individual layer pie structure, and right double-layered base plate 6-1b is then double-deck pie structure, intermediate course
For hollow-core construction, the thickness of hollow distance >=left individual layer chassis 6-1a so that left individual layer chassis 6-1a can be embedded in right bilayer
Body shaft 6-2 can be surrounded among the interlayer of chassis 6-1b and among interlayer and pass through taper roll bearing 6-1c and rotate.
The upper surface of the left individual layer chassis 6-1a and the upper surface of right double-layered base plate 6-1b are provided with multiple height not
One rubber bumps 6-3a9 for the increasing friction force when combed to fruit, improves the efficiency of picking fruit.
Above-mentioned steps realize effect be：Body shaft 6-2 and right double-layered base plate 6-1b is fixed and is connected with picking mechanical arm 4
Fixation is connect, but left individual layer chassis 6-1a can be rotated by taper roll bearing 6-1c, it can so as to fulfill left individual layer chassis 6-1a
Be embedded among the interlayer of right double-layered base plate 6-1b and can in interlayer central rotational, finally realize left individual layer chassis 6-1a with
The change of angle between right double-layered base plate 6-1b.
Above structure is preferably：It is jagged in edge between left individual layer chassis 6-1a and right double-layered base plate 6-1b, i.e.,
When making left individual layer chassis 6-1a and right double-layered base plate 6-1b one closed circle plane of composition, left individual layer chassis 6-1a and right bilayer
There are one gaps between the 6-1b of chassis so that the major branch of plant, which is done, smoothly to be entered in the gap, so as to carry out subsequent picking.
Structures of the rotation mechanism 6-5 as the left individual layer chassis 6-1a spinfunctions of realization of spiraling is born at bottom, including：Rotate stepping
Motor 6-5a, stepping motor bracket 6-5b, pinion gear 6-5c and arc gear wheel 6-5d.Wherein, the rotation mechanism that spirals is born at a whole set of bottom
6-5 is located at the top that disk 6-1 is born at bottom.Rotating stepper motor 6-5a is fixed on body shaft 6-2 by stepping motor bracket 6-5b
On, the axis connection of pinion gear 6-5c and rotating stepper motor 6-5a, so as to drive the rotation of pinion gear 6-5c, arc gear wheel 6-5d
Substantially ordinary gear, shape is more special, and semicircle shape distribution is presented, it is close to be bolted on left individual layer chassis 6-1a
The center of circle and the outside in the center of circle.Pinion gear 6-5c and arc gear wheel 6-5d carries out mechanical engagement.
The effect of above structure is：The main axis of rotating stepper motor 6-5a drives the rotation of pinion gear 6-5c, due to
Pinion gear 6-5c and arc gear wheel 6-5d engagements, but rotating stepper motor 6-5a passes through stepping motor bracket 6-5b and body shaft 6-
2 connections, therefore arc gear wheel 6-5d can be rotated, and arc gear wheel 6-5d at this time is engaged and left individual layer chassis 6-1a is to pass through
What bolt was fixedly connected, therefore drive the rotation of left individual layer chassis 6-1a.However, left individual layer chassis 6-1a can be embedded in right pair
And can be in interlayer central rotational among the interlayer of layer chassis 6-1b, therefore finally realize left individual layer chassis 6-1a and right bilayer
The controllable of angle sexually revises between the 6-1b of chassis.
The top comb reason disk 6-3 combs picking structure for branch shape fruit, main to include combing transmission belt wheel group 6-3a, top
Disk ontology 6-3b, transmission belt wheel group driving mechanism 6-3c.
The transmission belt wheel group 6-3a that combs is multigroup, and presentation is radial to be distributed outward from the center of top plate, is combed and is passed
Feed roller group 6-3a includes：Belt 6-3a1, driving wheel 6-3a2, driven wheel 6-3a3, drive wheel bracket 6-3a4, driven wheel support
6-3a5.Wherein drive wheel bracket 6-3a4 is connected by bearing arrangement with driving wheel 6-3a2, and drive wheel bracket 6-3a4 is mounted on
On the top plate ontology 6-3b of body shaft 6-2；Driven wheel support 6-3a5 connects again by bearing arrangement and driven wheel 6-3a3
It connects, driven wheel support 6-3a5 is mounted remotely from the ontology 6-3b of the top plate of body shaft 6-2.It is highly important that：Different drives
Driving wheel 6-3a2 arranges due to surrounding body shaft 6-2 respectively, it is clear that the axis of different driving wheel 6-3a2 is not in same straight line
On, therefore connected using shaft coupling 6-3a8, such effect is：When one of driving wheel 6-3a2 is rotated, can lead to
The induced effect of shaft coupling 6-3a8 is crossed, all driving wheel 6-3a2 are driven.
There is radial shell 6-3a6 on the outside of driving wheel 6-3a2, inclination angle is 45 °, prevents belt deviation.In addition, driving wheel
The narrower width of 6-3a2, the wider width of driven wheel 6-3a3.Meanwhile pass through among driving wheel 6-3a2 and driven wheel 6-3a3
Belt 6-3a1 connections.The belt 6-3a1 outer surfaces are provided with the rubber bumps 6-3a9 that multiple height differ, for carrying out
Increasing friction force when being combed to fruit improves the efficiency of picking fruit.The wider width of the belt 6-3a1, width and driven
The width of wheel 6-3a3 remains basically stable, but is made of among belt 6-3a1 parallel structure sections soft nylon 6-3a7, i.e., by phase
Belt with width forms side by side, and is connected between each belt by soft nylon, when belt 6-3a1 turns to driven wheel 6-
It, can complete spread apart since the overall width of belt and the width of driven wheel 6-3a3 remain basically stable when at 3a3；But work as
When belt is at driving wheel 6-3a2, since the width of driving wheel 6-3a2 is far smaller than the overall width of belt, at this time belt it
Between soft nylon 6-3a7 and driving wheel 6-3a2 on the outside of radial shell 6-3a6 play a role, when belt is in driving wheel
When at 6-3a2, under the influence of the trend at 45 ° of inclination angles of shell 6-3a6, extra belt, i.e.,：Than driving wheel 6-3a2 width
The belt that has more flips outward, and waits by after driving wheel 6-3a2, since belt moves, and driven wheel 6- towards driven wheel 6-3a3
The wider width of 3a3, at this time belt understand spread apart again.The meaning of above structure is：It is due to combing transmission belt wheel group 6-3a
It is multigroup, it is radial due to combing the 6-3a presentations of transmission belt wheel group if the equivalent width of driving wheel 6-3a2 and driven wheel 6-3a3
It is distributed outward from the center of top plate, then it needs to ensure that the width of driving wheel 6-3a2 and driven wheel 6-3a3 is minimum, but it is right
In a circular top plate ontology 6-3b, the radius of inner circle is small, and the radius of outer circle is big, and top plate ontology 6-3b cannot be carried out in this way
Covering well so that have large area during picking does not comb region, and picking efficiency is low., whereas if soft nylon is not used
Radial shell 6-3a6 on the outside of 6-3a7 and driving wheel 6-3a2, due to the overall width of belt and the width base of driven wheel 6-3a3
This maintains an equal level, thus can complete spread apart, but when belt is at driving wheel 6-3a2, due to the width of driving wheel 6-3a2
Packing phenomenon, strong influence picking efficiency can occur at this time for the far smaller than overall width of belt, belt.
The disk of generally one large area hollow out of the top plate ontology 6-3b, hollow-out part are used to installing and fixing combing
Transmit belt wheel group 6-3a and transmission belt wheel group driving mechanism 6-3c etc..The disk center of gravity of top plate ontology 6-3b for hollow-core construction and
Two sliding block 6-4a3 of lifting sliding table group 6-4 are fixedly connected, so that when sliding block 6-4a3 is moved, drive a whole set of top plate
Ontology 6-3b is moved, and carries out driving associated mechanisms movement.
Transmission belt wheel group driving mechanism 6-3c is that the driving wheel 6-3a2 that driving is combed in transmission belt wheel group 6-3a is rotated
Mechanism.Mainly include：Servo motor 6-3c1, main angular wheel 6-3c2, from angular wheel 6-3c3 and servo motor stent 6-
3c4 etc..Main angular wheel 6-3c2 and carry out mechanical engagement from angular wheel 6-3c3 by gear.The master of servo motor 6-3c1
Axis is connected with main angular wheel 6-3c2, from angular wheel 6-3c3 and combs a driving wheel 6- in transmission belt wheel group 6-3a
The axis connection of 3a2 is known by above-mentioned：Different driving wheel 6-3a2 arranges due to surrounding body shaft 6-2 respectively, uses shaft coupling
Device 6-3a8 is connected, and such effect is：When one of driving wheel 6-3a2 is rotated, it can pass through shaft coupling 6-3a8's
All driving wheel 6-3a2 are driven by induced effect.Equally, servo motor stent 6-3c4 and servo motor 6-3c1 consolidate
Fixed connection, then, servo motor stent 6-3c4 is fixed on the suitable position of top plate ontology 6-3b.Whole effect in this way
It is：Main angular wheel 6-3c2 is driven to rotate when servo motor rotates, is engaged at this time by gear, from angular wheel 6-3c3
Corresponding rotation, however angular wheel 6-3c3 and the axis connection for combing a driving wheel 6-3a2 in transmission belt wheel group 6-3a, from
And the shaft rotation of some driving wheel 6-3a2 is driven to move.And then since present invention uses shaft coupling 6-3a8 by all driving wheels
The axis of 6-3a2 is connected, therefore all driving wheel 6-3a2 start to rotate, so as to drive belt 6-3a1 and driven wheel 6-
3a3 is rotated.
Lifting sliding table group 6-4 is two individual straight line lifting sliding table 6-4a, vertical to place.The straight line lifting sliding table 6-
4a includes：Slide unit ontology 6-4a1, slide unit stepper motor 6-4a2, sliding block 6-4a3 etc..Slide unit ontology 6-4a1 is put down with body shaft 6-2
Row is fixed, and two individual straight line lifting sliding table 6-4a are separately fixed at the offside placement of body shaft 6-2, i.e.,：Two sliding block 6-
4a3 radially towards placing outward.In addition, two individual straight line lifting sliding table 6-4a of the lifting sliding table group 6-4 are whole
It is placed on the upside that disk 6-1 is born at bottom.
The present invention not only proposes a kind of combing formula branch shape fruit picking robot, it is also proposed that a kind of corresponding combing
Formula branch shape picking fruit method.It is as follows：
A kind of combing formula branch shape fruit picking robot, including picking mobile platform 1, switch board 2, NI Vision Builder for Automated Inspection
3rd, picking mechanical arm 4, fruit-collecting box 5 and combing picking disk 6 etc..
S1：The coordinate position of the picking robot of acquisition is sent to main control module 2-2 by GPS difference blocks 2-4 first, together
When inertial navigation module navigation information is also sent to main control module 2-2.
S2：Main control module 2-2 is described by the way that mobile platform drive module 2-6 driving picking mobile platforms 1 is controlled to move
Picking mobile platform 1 has power drive unit 1-1 and transfer 1-2, is a four-wheel intelligent vehicle, is driven first by power
Before dynamic device 1-1 driving picking robots make straight line moving to plant to be picked；In the process, transfer 1-2 is then controlled
Picking robot processed makees turning function.
S3：Picking mobile platform 1 is moved to before and after band picking plant, control main control module 2-2 control image processing modules
Two sets of parallel high-precision video camera 3-1 in 2-3 carry out two-path video acquisition, processing, and then realize the identification of fruit branch
And positioning, the picking for subsequent picking mechanical arm and combing picking disk provide accurate information.After image procossing, will have
The information of effect, the information such as the D coordinates value of the branch including plant and the maturity of fruit are sent to main control module 2-2.Master control
Module control 2-2 connect with robot drives module 2-7, so control machinery hand drive module 2-7 drive picking mechanical arm 4 into
The movement of row space three-dimensional is sent the combing picking disk 6 being connected with picking mechanical arm 4 before picking plant to band.
S4：Since main control module 2-2 is connect with combing picking dish driving module 2-8, main control module passes through decision at this time
Information, by the way that combing picking dish driving module 2-8 control driving combing pickings disk 6 is controlled to carry out relevant movement realization pair
The picking of fruit, is as follows on branch：
S4a：Main control module 2-2 is first by controlling bottom to bear disc spins drive module, and then drive rotating stepper motor
6-5a is rotated, due to the axis connection of pinion gear 6-5c and rotating stepper motor 6-5a, so as to drive the rotation of pinion gear 6-5c, arc
Shape gear 6-5d is substantially ordinary gear, and shape is more special, and semicircle shape distribution is presented, is bolted on left individual layer chassis
6-1a close to the center of circle and in the center of circle outside.Pinion gear 6-5c and arc gear wheel 6-5d carries out mechanical engagement.So as to fulfill
Effect is：The main axis of rotating stepper motor 6-5a drives the rotation of pinion gear 6-5c, due to pinion gear 6-5c and arc-shaped gear
6-5d engagements are taken turns, but rotating stepper motor 6-5a is connected, therefore arc gear wheel by stepping motor bracket 6-5b with body shaft 6-2
6-5d can be rotated, and arc gear wheel 6-5d engagements at this time are bolted to connection with left individual layer chassis 6-1a, because
This drives the rotation of left individual layer chassis 6-1a.However, left individual layer chassis 6-1a can be embedded in the interlayer of right double-layered base plate 6-1b
Centre simultaneously can be in interlayer central rotational, therefore finally realizes angle between left individual layer chassis 6-1a and right double-layered base plate 6-1b
Controllable sexually revise.Since above structure is preferably：In edge between left individual layer chassis 6-1a and right double-layered base plate 6-1b
It is jagged, even if left individual layer chassis 6-1a and right double-layered base plate 6-1b forms a closed circle plane, left individual layer chassis 6-
There are one gaps between 1a and right double-layered base plate 6-1b so that the major branch of plant, which is done, smoothly to be entered in the gap, after carrying out
Continuous picking.
Also, in the step, the circle centre position of the semicircle shape structure of right double-layered base plate 6-1b is fixedly connected with body shaft 6-2.
The end of the body shaft 6-2 also connect and fixes with the top of picking mechanical arm 4.In addition, left individual layer chassis 6-1a is individual layer
Pie structure, right double-layered base plate 6-1b are then double-deck pie structure, and intermediate course is hollow-core construction, hollow distance >=left individual layer bottom
The thickness of disk 6-1a so that left individual layer chassis 6-1a can be embedded among the interlayer of right double-layered base plate 6-1b and can be in interlayer
Centre surrounds body shaft 6-2 and passes through taper roll bearing 6-1c and rotates.
S4b：After above-mentioned step, the bottom come into combing picking disk 6 is done etc. due to the major branch of plant and is held
By in disk 6-1, the total height of the plant is apparent from by the image procossing in step S3 at this time.At this point, main control module 2-2 passes through control
Lifting sliding table group drive module processed and then drive cunning in two individual straight line lifting sliding table 6-4a in lifting sliding table group 6-4
Platform stepper motor 6-4a2 is moved, due to the vertical placements of two individual straight line slide unit 6-4a and fixation parallel with body shaft 6-2,
The offside that two individual straight line lifting sliding table 6-4a are separately fixed at body shaft 6-2 is placed, i.e.,：Two sliding block 6-4a3 are radially
It is placed towards outside.The sliding block 6-4a3 in two straight line lifting sliding table 6-4a is moved down simultaneously at this time.Then, top plate ontology
The disk center of gravity of 6-3b is fixedly connected for hollow-core construction with two sliding block 6-4a3 of lifting sliding table group 6-4, so that when sliding
When block 6-4a3 is moved, a whole set of top plate ontology 6-3b movements are driven, carry out driving associated mechanisms movement.The effect of this step is：
Lifting sliding table group 6-4 movements are controlled, and then a whole set of top plate ontology 6-3b is driven to move downward by main control module 2-2, at this time
Branch gradually pushed, be distributed in a closed circle plane being made of left individual layer chassis 6-1a and right double-layered base plate 6-1b
On.
S4c：Main control module 2-2 combs drive module so as to drive transmission belt wheel group driving mechanism by the way that top comb is controlled to manage disk
Servo motor 6-3c1 rotations in 6-3c, specially：Since the transmission belt wheel group 6-3a that combs is multigroup, present radial
Be distributed outward from the center of top plate, due to different driving wheel 6-3a2 axis and be not arranged on the same straight line, in front
Shaft coupling 6-3a8 is used to connect in step, such effect is：When one of driving wheel 6-3a2 is rotated, can lead to
The induced effect of shaft coupling 6-3a8 is crossed, all driving wheel 6-3a2 are driven.The top plate ontology 6-3b generally one
The disk of a large area hollow out, hollow-out part transmit belt wheel group 6-3a and transmission belt wheel group driving machine for installing and fixing combing
Structure 6-3c etc..Since the disk center of gravity of top plate ontology 6-3b is hollow-core construction and two sliding block 6-4a3 of lifting sliding table group 6-4
It is fixedly connected, so that when sliding block 6-4a3 is moved, drives a whole set of top plate ontology 6-3b movements, driven and mutually shut down
Structure moves.
Transmission belt wheel group driving mechanism 6-3c is that the driving wheel 6-3a2 that driving is combed in transmission belt wheel group 6-3a is turned
Dynamic mechanism.Since the main shaft of servo motor 6-3c1 is connected with main angular wheel 6-3c2, from angular wheel 6-3c3 and biography is combed
The axis connection of a driving wheel 6-3a2 in feed roller group 6-3a, such effect are：When one of driving wheel 6-3a2 turns
When dynamic, all driving wheel 6-3a2 can be driven by the induced effect of shaft coupling 6-3a8.When servo motor rotates
Main angular wheel 6-3c2 is driven to rotate, is engaged by gear, is also accordingly rotated from angular wheel 6-3c3 at this time, however conical tooth
It takes turns 6-3c3 and combs the axis connection of a driving wheel 6-3a2 in transmission belt wheel group 6-3a, so as to drive some driving wheel 6-
The shaft rotation of 3a2 is moved, and is finally realized all driving wheel 6-3a2 and is started to rotate, so as to drive belt 6-3a1 and driven wheel 6-
3a3 is rotated.
And in above-mentioned steps, one of the most key step is：It is put on the outside of driving wheel 6-3a2 and driven wheel 6-3a3
The shell 6-3a6 of shape is penetrated, inclination angle is 45 °, prevents belt deviation.In addition, the narrower width of driving wheel 6-3a2, driven wheel 6-3a3
Wider width.Meanwhile it is connected among driving wheel 6-3a2 with driven wheel 6-3a3 by belt 6-3a1.Belt 6-3a1 appearances
Face is provided with the rubber bumps 6-3a9 that multiple height differ, and for the increasing friction force when combed to fruit, improves fruit
The efficiency of picking.The width of the wider width of the belt 6-3a1, width and driven wheel 6-3a3 remain basically stable, but belt 6-
It is made of, i.e., is made of side by side the belt of same widths soft nylon 6-3a7 among 3a1 parallel structure sections, and each skin
It is connected between band by soft nylon, when belt 6-3a1 is turned at driven wheel 6-3a3, due to the overall width of belt and driven
The width of wheel 6-3a3 remains basically stable, therefore can complete spread apart；But when belt is at driving wheel 6-3a2, due to driving
The width of driving wheel 6-3a2 is far smaller than the overall width of belt, at this time the soft nylon 6-3a7 and driving wheel 6-3a2 between belt
The radial shell 6-3a6 in outside plays a role, when belt is at driving wheel 6-3a2, at 45 ° of inclination angles of shell 6-3a6
Trend under the influence of, extra belt, i.e.,：It is flipped outward than the belt that driving wheel 6-3a2 width has more, waits and pass through driving wheel
After 6-3a2, since belt is moved towards driven wheel 6-3a3, and the wider width of driven wheel 6-3a3, at this time belt can unfold again
It opens.The meaning of above structure is：It is multigroup due to combing transmission belt wheel group 6-3a, if driving wheel 6-3a2 and driven wheel 6-
The equivalent width of 3a3, due to combing, the 6-3a presentations of transmission belt wheel group are radial to be distributed outward from the center of top plate, then is needed
Ensure that the width of driving wheel 6-3a2 and driven wheel 6-3a3 is minimum, but for a circular top plate ontology 6-3b, inner circle
Radius is small, and the radius of outer circle is big, top plate ontology 6-3b cannot be covered well in this way so that have large area during picking
Region is not combed, and picking efficiency is low., whereas if it does not use radial outer on the outside of soft nylon 6-3a7 and driving wheel 6-3a2
Shell 6-3a6, since the overall width of belt and the width of driven wheel 6-3a3 remain basically stable, can complete spread apart, but work as
When belt is at driving wheel 6-3a2, since the width of driving wheel 6-3a2 is far smaller than the overall width of belt, belt at this time can
Packing phenomenon, strong influence picking efficiency occurs.
Summarize acting as step S4c：Top comb is controlled to manage disk by main control module 2-2 and comb drive module so as to drive biography
Servo motor 6-3c1 rotations in feed roller group driving mechanism 6-3c, and then all driving wheel 6-3a2 are driven.By
It is multigroup in the transmission belt wheel group 6-3a that combs, radial be distributed outward from the center of top plate, and spread all over entire disk is presented
Face；And since belt 6-3a1 outer surfaces are provided with the rubber bumps 6-3a9 that multiple height differ so that fruit is by rubber convex
It plays 6-3a9 to detach from branch, falls and put down in a closed circle being made of left individual layer chassis 6-1a and right double-layered base plate 6-1b
On face.
S5：Above-mentioned module is controlled to work after a period of time by main control module 2-2, at this time left individual layer chassis 6-1a and the right side
Enough fruits are had accumulated in one closed circle plane of double-layered base plate 6-1b compositions, main control module 2-2 controls at this time rise
Slide unit group 6-4 movements are dropped, and then a whole set of top plate ontology 6-3b is driven to move upwards, disk 6-1 and top comb reason disk are born in bottom at this time
6-3 is detached, and then branch is gradually released, after separation.Main control module 2-2 can control machinery hand drive module 2-7 into
And it drives picking mechanical arm 4 and drives the combing picking disk 6 being connected with picking mechanical arm 4 will be in combing picking disk 6
Fruit is poured into fruit-collecting box 5, due to being provided with buffer 5-2 compositions in fruit-collecting box 5, greatly reduces or even avoid in this way fruit
Collsion damage when pouring into fruit case 5-1 from combing picking disk 6.
S6：Step S1 to S5 is repeated, cycle is picked successively.
The beneficial effects of the invention are as follows：
(1) present invention abandons existing general picking mechanical arm, and the independent development used is directed to branch shape fruit
The combing picking disk of picking realizes the picking to fruit, which simply, functions reliably and efficiently, can greatly improve picking effect
Rate.
(2) present invention adds in image processing module, and movement binocular camera carries out two-path video acquisition, processing, Jin Ershi
Existing fruit branch identifies and positions, and the picking for subsequent picking mechanical arm and combing picking disk provides accurately positioning letter
Breath.The artificial error operated is avoided, reduces picking cost.
(3) present invention cleverly devises left individual layer chassis, right double-layered base plate and arc gear wheel meshing device, realizes
Left individual layer chassis and right double-layered base plate composition closed circle plane it is controllable so that the major branch of plant do smoothly into
Enter in the gap, have using carrying out subsequent picking.
(4) present invention calculates the height of plant by image procossing, devises lifting sliding table group and ingenious control top plate
Ontology moves, so that branch pushes, is distributed in bottom and bears in disk disk, provides the foundation for subsequent picking.
(5) present invention devises the radial combing picking disk of presentation of core, passes through belt, driving wheel and driven wheel
Routing motion, realize the picking of branch shape distribution fruit, picking efficiency is high.
(6) present invention, which devises, has specific function, that is, the conveyer belt set mechanism of disc face is covered, by between belt
The connection of soft nylon realize the width adjust automatically of belt；The whole series are realized by driving wheel and the of different size of driven wheel
The covering of disc face so that using maximizing, efficiency maximizes picking area.
In short, the present invention improves the picking labor productivity of the branches such as matrimony vine, fruit of glossy privet shape distribution fruit, reduces agriculture
The labor intensity of the people and picking cost ensure that the quality that fruit is harvested and picked in time, for promoting rural economic development, carry
High China's agricultural modernizes, is intelligent, accelerating agricultural sciences progress with immeasurable meaning.
Description of the drawings
Main structure diagram of the attached drawing 1 for the present invention.
Strabismus structure diagram of the attached drawing 2 for the present invention.
Dimensional structure diagram of the attached drawing 3 for the present invention.
Overlooking the structure diagram of the attached drawing 4 for the present invention.
Attached drawing 5 is the main structure diagram of combing picking disk of the present invention.
Attached drawing 6 is the strabismus structure diagram of combing picking disk of the present invention.
Attached drawing 7 is the dimensional structure diagram of combing picking disk of the present invention.
Attached drawing 8 manages disk sectional perspective structure diagram for the top comb of combing picking disk of the present invention.
Attached drawing 9 is managed for the top comb of combing picking disk of the present invention and transmission belt wheel group and transmission belt wheel group driving machine is combed in disk
The sectional perspective structure diagram of structure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1：
As shown in Fig. 1,2,3 and 4.A kind of combing formula branch shape fruit picking robot, including picking mobile platform 1, control
Cabinet 2 processed, NI Vision Builder for Automated Inspection 3, picking mechanical arm 4, fruit-collecting box 5 and combing picking disk 6.The picking mobile platform 1 is tool
The four-wheel intelligent vehicle of dynamic driving device 1-1 and transfer 1-2, power drive unit 1-1 driving picking robots are made straight
Line walk, including at the uniform velocity, accelerate and slow down etc. movement；Transfer 1-2 then controls picking robot to make turning function, including
Turn left and turn right.The picking mobile platform further includes mobile platform ontology and movable pulley etc..
The switch board 2 is that all electronic control modules of integrated picking robot include control module, drive module and power supply
Deng rain-proof cabinet, led including control iron case 2-1, main control module 2-2, image processing module 2-3, GPS difference block 2-4, inertia
Model plane block 2-5, mobile platform drive module 2-6, robot drives module 2-7, combing picking dish driving module 2-8, power supply
Module 2-9 and lithium battery 2-10.The combing picking drive module 2-8 includes three parts, and disc spins drive is born at respectively bottom
Dynamic model block, top comb reason disk comb drive module, lifting sliding table group drive module.Setting is multiple disconnected inside the control iron case 2-1
Layer, for placing these control modules, drive module and power supply etc..In detail, the connection relation between modules is：Lithium battery
2-10 is connect with power module 2-9, power module 2-9 and main control module 2-2, image processing module 2-3, GPS difference block 2-
4th, inertial navigation module 2-5, mobile platform drive module 2-6, robot drives module 2-7 and combing picking dish driving module
2-8 is connected and is provided electric energy for it respectively.Image processing module 2-3 and NI Vision Builder for Automated Inspection 3 connect, NI Vision Builder for Automated Inspection 3 into
It is sent on main control module 2-2 connected to it after acquisition, the processing of row image position and by data information.GPS difference blocks
2-4 is connected with inertial navigation module 2-5 with main control module 2-2 respectively, and the coordinate value of picking robot and navigation information are sent
It analyzes and processes and makes decisions for it to main control module 2-2.Meanwhile main control module 2-2 also connects with robot drives module 2-7
It connects, since driving picking mechanical arm 4 carries out the movement of space three-dimensional；Main control module 2-2 and combing picking dish driving module 2-8
Connection, driving combing picking disk are realized to controls such as the pickings of fruit.
The NI Vision Builder for Automated Inspection 3 is used as acquisition and external image and carries out processing analysis to image, parallel including two sets
High-precision video camera 3-1 acquires image binocular, and then realizes identifying and positioning for fruit branch, is subsequent picking mechanical
The picking of hand and combing picking disk provides accurate information.The NI Vision Builder for Automated Inspection 3, which further includes, is used to support two sets of video cameras
Stent 3-2.
Mechanical arm 4-1 of the picking mechanical arm 4 for a set of six degree of freedom, the carrier as the movement of combing picking disk
Platform.The end of picking mechanical arm 4 is fixedly connected on picking mobile platform 1, the body shaft of top connection combing picking disk 6
6-2。
The fruit-collecting box 5 is made of fruit case 5-1 and buffer 5-2, and fruit case 5-1 is mainly used for holding the fruit after picking,
Buffer 5-2 then mainly reduce even avoid fruit from combing picking disk 6 pour into fruit case 5-1 when collsion damage.
As shown in Fig. 5,6,7 and 8.Core component of the combing picking disk 6 as picking mechanism, it is main to utilize combing
The Softening of formula realizes the picking to branch shape distribution fruit, including bottom bear disk 6-1, body shaft 6-2, top comb reason disk 6-3,
The rotation mechanism 6-5 that spirals is born at lifting sliding table group 6-4, bottom.It is round that the whole presentations of disk 6-1 and top comb reason disk 6-3 are born at the bottom
Shape, and the diameter of top comb reason disk 6-3 is slightly less than the diameter that disk 6-1 is born at bottom.
It is four parts that 6-1 points of disk is born at the bottom, including left individual layer chassis 6-1a, right double-layered base plate 6-1b, circular cone rolling
Sub- bearing 6-1c and outer rim involucrum 6-1d.The bottom bears have outer rim involucrum 6-1d protections on the outside of disk 6-1, prevents bottom from bearing disk
Fruit on 6-1 slides along on the outside of disk.Wherein, it is 180 ° that left individual layer chassis 6-1a and right double-layered base plate 6-1b, which is opening,
Sector structure, as semicircle shape structure, the circle centre position of the semicircle shape structure of left individual layer chassis 6-1a and taper roll bearing 6-1c
Outer ring be fixedly connected, the lower end of body shaft 6-2 is fixedly connected with the inner ring of taper roll bearing 6-1c, and right double-layered base plate
The circle centre position of the semicircle shape structure of 6-1b is fixedly connected with body shaft 6-2.The end of the body shaft 6-2 also with picking mechanical arm
4 top connects and fixes.
Left individual layer chassis 6-1a is individual layer pie structure, and right double-layered base plate 6-1b is then double-deck pie structure, intermediate course
For hollow-core construction, hollow distance is slightly larger than the thickness of left individual layer chassis 6-1a so that left individual layer chassis 6-1a can be embedded in the right side
Among the interlayer of double-layered base plate 6-1b and around body shaft 6-2 and 6-1c turns of taper roll bearing can be passed through among interlayer
It is dynamic.
The upper surface of the left individual layer chassis 6-1a and the upper surface of right double-layered base plate 6-1b are provided with multiple height not
One rubber bumps 6-3a9 for the increasing friction force when combed to fruit, improves the efficiency of picking fruit.
Above-mentioned steps realize effect be：Body shaft 6-2 and right double-layered base plate 6-1b is fixed and is connected with picking mechanical arm 4
Fixation is connect, but left individual layer chassis 6-1a can be rotated by taper roll bearing 6-1c, it can so as to fulfill left individual layer chassis 6-1a
Be embedded among the interlayer of right double-layered base plate 6-1b and can in interlayer central rotational, finally realize left individual layer chassis 6-1a with
The change of angle between right double-layered base plate 6-1b.
Above structure is preferably：It is jagged in edge between left individual layer chassis 6-1a and right double-layered base plate 6-1b, i.e.,
When making left individual layer chassis 6-1a and right double-layered base plate 6-1b one closed circle plane of composition, left individual layer chassis 6-1a and right bilayer
There are one gaps between the 6-1b of chassis so that the major branch of plant, which is done, smoothly to be entered in the gap, so as to carry out subsequent picking.
Structures of the rotation mechanism 6-5 as the left individual layer chassis 6-1a spinfunctions of realization of spiraling is born at bottom, including：Rotate stepping
Motor 6-5a, stepping motor bracket 6-5b, pinion gear 6-5c and arc gear wheel 6-5d.Wherein, the rotation mechanism that spirals is born at a whole set of bottom
6-5 is located at the top that disk 6-1 is born at bottom.Rotating stepper motor 6-5a is fixed on body shaft 6-2 by stepping motor bracket 6-5b
On, the axis connection of pinion gear 6-5c and rotating stepper motor 6-5a, so as to drive the rotation of pinion gear 6-5c, arc gear wheel 6-5d
Substantially ordinary gear, shape is more special, and semicircle shape distribution is presented, it is close to be bolted on left individual layer chassis 6-1a
The center of circle and the outside in the center of circle.Pinion gear 6-5c and arc gear wheel 6-5d carries out mechanical engagement.
The effect of above structure is：The main axis of rotating stepper motor 6-5a drives the rotation of pinion gear 6-5c, due to
Pinion gear 6-5c and arc gear wheel 6-5d engagements, but rotating stepper motor 6-5a passes through stepping motor bracket 6-5b and body shaft 6-
2 connections, therefore arc gear wheel 6-5d can be rotated, and arc gear wheel 6-5d at this time is engaged and left individual layer chassis 6-1a is to pass through
What bolt was fixedly connected, therefore drive the rotation of left individual layer chassis 6-1a.However, left individual layer chassis 6-1a can be embedded in right pair
And can be in interlayer central rotational among the interlayer of layer chassis 6-1b, therefore finally realize left individual layer chassis 6-1a and right bilayer
The controllable of angle sexually revises between the 6-1b of chassis.
The top comb reason disk 6-3 combs picking structure for branch shape fruit, main to include combing transmission belt wheel group 6-3a, top
Disk ontology 6-3b, transmission belt wheel group driving mechanism 6-3c.
The transmission belt wheel group 6-3a that combs is multigroup, and presentation is radial to be distributed outward from the center of top plate, is combed and is passed
Feed roller group 6-3a includes belt 6-3a1, driving wheel 6-3a2, driven wheel 6-3a3, drive wheel bracket 6-3a4, driven wheel support
6-3a5.Wherein drive wheel bracket 6-3a4 is connected by bearing arrangement with driving wheel 6-3a2, and drive wheel bracket 6-3a4 is mounted on
On the top plate ontology 6-3b of body shaft 6-2；Driven wheel support 6-3a5 connects again by bearing arrangement and driven wheel 6-3a3
It connects, driven wheel support 6-3a5 is mounted remotely from the ontology 6-3b of the top plate of body shaft 6-2.It is highly important that：Different drives
Driving wheel 6-3a2 arranges due to surrounding body shaft 6-2 respectively, it is clear that the axis of different driving wheel 6-3a2 is not in same straight line
On, therefore connected using shaft coupling 6-3a8, such effect is：When one of driving wheel 6-3a2 is rotated, can lead to
The induced effect of shaft coupling 6-3a8 is crossed, all driving wheel 6-3a2 are driven.
There is radial shell 6-3a6 on the outside of driving wheel 6-3a2 and driven wheel 6-3a3, inclination angle is 45 °, prevents belt from running
Partially.In addition, the narrower width of driving wheel 6-3a2, the wider width of driven wheel 6-3a3.Meanwhile in driving wheel 6-3a2 and driven
It is connected among wheel 6-3a3 by belt 6-3a1.The belt 6-3a1 outer surfaces are provided with the rubber bumps that multiple height differ
6-3a9 for the increasing friction force when combed to fruit, improves the efficiency of picking fruit.The width of the belt 6-3a1
Wider, the width of width and driven wheel 6-3a3 remain basically stable, but by soft nylon among belt 6-3a1 parallel structure sections
6-3a7 is formed, i.e., is made of side by side the belt of same widths, and connected between each belt by soft nylon, as belt 6-
It, can be with since the overall width of belt and the width of driven wheel 6-3a3 remain basically stable when 3a1 is turned at driven wheel 6-3a3
Complete spread apart；But when belt is at driving wheel 6-3a2, since the width of driving wheel 6-3a2 is far smaller than belt
Overall width, radial shell 6-3a6 plays a role on the outside of the soft nylon 6-3a7 between belt and driving wheel 6-3a2 at this time,
When belt is at driving wheel 6-3a2, under the influence of the trend at 45 ° of inclination angles of shell 6-3a6, extra belt, i.e.,：Than
Belt that driving wheel 6-3a2 width has more flips outward, and waits by after driving wheel 6-3a2, since belt is towards driven wheel 6-3a3
It moves, and the wider width of driven wheel 6-3a3, belt understands spread apart again at this time.The meaning of above structure is：It is passed due to combing
Feed roller group 6-3a is multigroup, if the equivalent width of driving wheel 6-3a2 and driven wheel 6-3a3, belt wheel group is transmitted due to combing
6-3a presentations are radial to be distributed outward from the center of top plate, then needs to ensure the width of driving wheel 6-3a2 and driven wheel 6-3a3
Spend minimum, but for a circular top plate ontology 6-3b, the radius of inner circle is small, and the radius of outer circle is big, in this way cannot be to top
Disk ontology 6-3b is covered well so that have large area during picking does not comb region, and picking efficiency is low., whereas if
Radial shell 6-3a6 on the outside of soft nylon 6-3a7 and driving wheel 6-3a2 is not used, due to the overall width of belt and driven
The width of wheel 6-3a3 remains basically stable, thus can complete spread apart, but when belt be at driving wheel 6-3a2, due to drive
The width of driving wheel 6-3a2 is far smaller than the overall width of belt, and packing phenomenon, strong influence picking effect can occur at this time for belt
Rate.
The disk of generally one large area hollow out of the top plate ontology 6-3b, hollow-out part are used to installing and fixing combing
Transmit belt wheel group 6-3a and transmission belt wheel group driving mechanism 6-3c etc..The disk center of gravity of top plate ontology 6-3b for hollow-core construction and
Two sliding block 6-4a3 of lifting sliding table group 6-4 are fixedly connected, so that when sliding block 6-4a3 is moved, drive a whole set of top plate
Ontology 6-3b is moved, and carries out driving associated mechanisms movement.
Transmission belt wheel group driving mechanism 6-3c is that the driving wheel 6-3a2 that driving is combed in transmission belt wheel group 6-3a is rotated
Mechanism.Mainly include：Servo motor 6-3c1, main angular wheel 6-3c2, from angular wheel 6-3c3, servo motor stent 6-
3c4 etc..Main angular wheel 6-3c2 and carry out mechanical engagement from angular wheel 6-3c3 by gear.The master of servo motor 6-3c1
Axis is connected with main angular wheel 6-3c2, from angular wheel 6-3c3 and combs a driving wheel 6- in transmission belt wheel group 6-3a
The axis connection of 3a2 is known by above-mentioned：Different driving wheel 6-3a2 arranges due to surrounding body shaft 6-2 respectively, uses shaft coupling
Device 6-3a8 is connected, and such effect is：When one of driving wheel 6-3a2 is rotated, it can pass through shaft coupling 6-3a8's
All driving wheel 6-3a2 are driven by induced effect.Equally, servo motor stent 6-3c4 and servo motor 6-3c1 consolidate
Fixed connection, then, servo motor stent 6-3c4 is fixed on the suitable position of top plate ontology 6-3b.Whole effect in this way
It is：Main angular wheel 6-3c2 is driven to rotate when servo motor rotates, is engaged at this time by gear, from angular wheel 6-3c3
Corresponding rotation, however angular wheel 6-3c3 and the axis connection for combing a driving wheel 6-3a2 in transmission belt wheel group 6-3a, from
And the shaft rotation of some driving wheel 6-3a2 is driven to move.And then since present invention uses shaft coupling 6-3a8 by all driving wheels
The axis of 6-3a2 is connected, therefore all driving wheel 6-3a2 start to rotate, so as to drive belt 6-3a1 and driven wheel 6-
3a3 is rotated.
Lifting sliding table group 6-4 is two individual straight line lifting sliding table 6-4a, vertical to place.The straight line lifting sliding table 6-
4a includes：Slide unit ontology 6-4a1, slide unit stepper motor 6-4a2, sliding block 6-4a3 etc..Slide unit ontology 6-4a1 is put down with body shaft 6-2
Row is fixed, and two individual straight line lifting sliding table 6-4a are separately fixed at the offside placement of body shaft 6-2, i.e.,：Two sliding block 6-
4a3 radially towards placing outward.In addition, two individual straight line lifting sliding table 6-4a of the lifting sliding table group 6-4 are whole
It is placed on the upside that disk 6-1 is born at bottom.
Embodiment 2：
As shown in figures 1-8.The present invention not only proposes a kind of combing formula branch shape fruit picking robot, it is also proposed that one
Kind is corresponding to comb formula branch shape picking fruit method.It is as follows：
A kind of combing formula branch shape fruit picking robot, including picking mobile platform 1, switch board 2, NI Vision Builder for Automated Inspection
3rd, picking mechanical arm 4, fruit-collecting box 5 and combing picking disk 6 etc..
S1：The coordinate position of the picking robot of acquisition is sent to main control module 2-2 by GPS difference blocks 2-4 first, together
When inertial navigation module navigation information is also sent to main control module 2-2.
S2：Main control module 2-2 is described by the way that mobile platform drive module 2-6 driving picking mobile platforms 1 is controlled to move
Picking mobile platform 1 have power drive unit 1-1 and transfer 1-2, be a four-wheel intelligent vehicle, driven first by power
Before dynamic device 1-1 driving picking robots make straight line moving to plant to be picked；In the process, transfer 1-2 is then controlled
Picking robot processed makees turning function.
S3：Picking mobile platform 1 is moved to before and after band picking plant, control main control module 2-2 control image processing modules
Two sets of parallel high-precision video camera 3-1 in 2-3 carry out two-path video acquisition, processing, and then realize the identification of fruit branch
And positioning, the picking for subsequent picking mechanical arm and combing picking disk provide accurate information.After image procossing, will have
The information of effect, the information such as the D coordinates value of the branch including plant and the maturity of fruit are sent to main control module 2-2.Master control
Module control 2-2 connect with robot drives module 2-7, so control machinery hand drive module 2-7 drive picking mechanical arm 4 into
The movement of row space three-dimensional is sent the combing picking disk 6 being connected with picking mechanical arm 4 before picking plant to band.
S4：Since main control module 2-2 is connect with combing picking dish driving module 2-8, main control module passes through decision at this time
Information, by the way that combing picking dish driving module 2-8 control driving combing pickings disk 6 is controlled to carry out relevant movement realization pair
The picking of fruit, is as follows on branch：
S4a：Main control module 2-2 is first by controlling bottom to bear disc spins drive module, and then drive rotating stepper motor
6-5a is rotated, due to the axis connection of pinion gear 6-5c and rotating stepper motor 6-5a, so as to drive the rotation of pinion gear 6-5c, arc
Shape gear 6-5d is substantially ordinary gear, and shape is more special, and semicircle shape distribution is presented, is bolted on left individual layer chassis
6-1a close to the center of circle and in the center of circle outside.Pinion gear 6-5c and arc gear wheel 6-5d carries out mechanical engagement.So as to fulfill
Effect is：The main axis of rotating stepper motor 6-5a drives the rotation of pinion gear 6-5c, due to pinion gear 6-5c and arc-shaped gear
6-5d engagements are taken turns, but rotating stepper motor 6-5a is connected, therefore arc gear wheel by stepping motor bracket 6-5b with body shaft 6-2
6-5d can be rotated, and arc gear wheel 6-5d engagements at this time are bolted to connection with left individual layer chassis 6-1a, because
This drives the rotation of left individual layer chassis 6-1a.However, left individual layer chassis 6-1a can be embedded in the interlayer of right double-layered base plate 6-1b
Centre simultaneously can be in interlayer central rotational, therefore finally realizes angle between left individual layer chassis 6-1a and right double-layered base plate 6-1b
Controllable sexually revise.Since above structure is preferably：In edge between left individual layer chassis 6-1a and right double-layered base plate 6-1b
It is jagged, even if left individual layer chassis 6-1a and right double-layered base plate 6-1b forms a closed circle plane, left individual layer chassis 6-
There are one gaps between 1a and right double-layered base plate 6-1b so that the major branch of plant, which is done, smoothly to be entered in the gap, after carrying out
Continuous picking.
Also, in the step, the circle centre position of the semicircle shape structure of right double-layered base plate 6-1b is fixedly connected with body shaft 6-2.
The end of the body shaft 6-2 also connect and fixes with the top of picking mechanical arm 4.In addition, left individual layer chassis 6-1a is individual layer
Pie structure, right double-layered base plate 6-1b are then double-deck pie structure, and intermediate course is hollow-core construction, hollow distance >=left individual layer bottom
The thickness of disk 6-1a so that left individual layer chassis 6-1a can be embedded among the interlayer of right double-layered base plate 6-1b and can be in interlayer
Centre surrounds body shaft 6-2 and passes through taper roll bearing 6-1c and rotates.
S4b：After above-mentioned step, the bottom come into combing picking disk 6 is done etc. due to the major branch of plant and is held
By in disk 6-1, the total height of the plant is apparent from by the image procossing in step S3 at this time.At this point, main control module 2-2 passes through control
It lifting sliding table group drive module processed and then drives in two individual straight line lifting sliding table 6-4a in lifting sliding table group 6-4
Slide unit stepper motor 6-4a2 is moved, and is placed since two individual straight line slide unit 6-4a are vertical and parallel with body shaft 6-2 solid
Fixed, the offside that two individual straight line lifting sliding table 6-4a are separately fixed at body shaft 6-2 is placed, i.e.,：Two sliding block 6-4a3 are along diameter
It is placed to towards outside.The sliding block 6-4a3 in two straight line lifting sliding table 6-4a is moved down simultaneously at this time.Then, top plate sheet
The disk center of gravity of body 6-3b is fixedly connected for hollow-core construction with two sliding block 6-4a3 of lifting sliding table group 6-4, so that working as
When sliding block 6-4a3 is moved, a whole set of top plate ontology 6-3b movements are driven, carry out driving associated mechanisms movement.The effect of this step
For：Lifting sliding table group 6-4 movements are controlled, and then a whole set of top plate ontology 6-3b is driven to move downward by main control module 2-2, this
When branch gradually pushed, be distributed in and put down by left individual layer chassis 6-1a and right double-layered base plate the 6-1b closed circle formed
On face.
S4c：Main control module 2-2 combs drive module so as to drive transmission belt wheel group driving mechanism by the way that top comb is controlled to manage disk
Servo motor 6-3c1 rotations in 6-3c, specially：Since the transmission belt wheel group 6-3a that combs is multigroup, present radial
Be distributed outward from the center of top plate, due to different driving wheel 6-3a2 axis and be not arranged on the same straight line, in front
Shaft coupling 6-3a8 is used to connect in step, such effect is：When one of driving wheel 6-3a2 is rotated, can lead to
The induced effect of shaft coupling 6-3a8 is crossed, all driving wheel 6-3a2 are driven.The top plate ontology 6-3b generally one
The disk of a large area hollow out, hollow-out part transmit belt wheel group 6-3a and transmission belt wheel group driving machine for installing and fixing combing
Structure 6-3c etc..Since the disk center of gravity of top plate ontology 6-3b is hollow-core construction and two sliding block 6-4a3 of lifting sliding table group 6-4
It is fixedly connected, so that when sliding block 6-4a3 is moved, drives a whole set of top plate ontology 6-3b movements, driven and mutually shut down
Structure moves.
Transmission belt wheel group driving mechanism 6-3c is that the driving wheel 6-3a2 that driving is combed in transmission belt wheel group 6-3a is rotated
Mechanism.Since the main shaft of servo motor 6-3c1 is connected with main angular wheel 6-3c2, from angular wheel 6-3c3 and transmission is combed
The axis connection of a driving wheel 6-3a2 in belt wheel group 6-3a, such effect are：When one of driving wheel 6-3a2 is rotated
When, all driving wheel 6-3a2 can be driven by the induced effect of shaft coupling 6-3a8.The band when servo motor rotates
Dynamic main angular wheel 6-3c2 rotations, are engaged by gear, are also accordingly rotated from angular wheel 6-3c3 at this time, however angular wheel
6-3c3 and the axis connection for combing a driving wheel 6-3a2 in transmission belt wheel group 6-3a, so as to drive some driving wheel 6-3a2
Shaft rotation move, finally realize all driving wheel 6-3a2 and start to rotate, so as to which belt 6-3a1 and driven wheel 6-3a3 be driven to turn
It is dynamic.
And in above-mentioned steps, one of the most key step is：It is put on the outside of driving wheel 6-3a2 and driven wheel 6-3a3
The shell 6-3a6 of shape is penetrated, inclination angle is 45 °, prevents belt deviation.In addition, the narrower width of driving wheel 6-3a2, driven wheel 6-3a3
Wider width.Meanwhile it is connected among driving wheel 6-3a2 with driven wheel 6-3a3 by belt 6-3a1.Belt 6-3a1 appearances
Face is provided with the rubber bumps 6-3a9 that multiple height differ, and for the increasing friction force when combed to fruit, improves fruit
The efficiency of picking.The width of the wider width of the belt 6-3a1, width and driven wheel 6-3a3 remain basically stable, but belt 6-
It is made of, i.e., is made of side by side the belt of same widths soft nylon 6-3a7 among 3a1 parallel structure sections, and each skin
It is connected between band by soft nylon, when belt 6-3a1 is turned at driven wheel 6-3a3, due to the overall width of belt and driven
The width of wheel 6-3a3 remains basically stable, therefore can complete spread apart；But when belt is at driving wheel 6-3a2, due to driving
The width of driving wheel 6-3a2 is far smaller than the overall width of belt, at this time the soft nylon 6-3a7 and driving wheel 6-3a2 between belt
The radial shell 6-3a6 in outside plays a role, when belt is at driving wheel 6-3a2, at 45 ° of inclination angles of shell 6-3a6
Trend under the influence of, extra belt, i.e.,：It is flipped outward than the belt that driving wheel 6-3a2 width has more, waits and pass through driving wheel
After 6-3a2, since belt is moved towards driven wheel 6-3a3, and the wider width of driven wheel 6-3a3, at this time belt can unfold again
It opens.The meaning of above structure is：It is multigroup due to combing transmission belt wheel group 6-3a, if driving wheel 6-3a2 and driven wheel 6-
The equivalent width of 3a3, due to combing, the 6-3a presentations of transmission belt wheel group are radial to be distributed outward from the center of top plate, then is needed
Ensure that the width of driving wheel 6-3a2 and driven wheel 6-3a3 is minimum, but for a circular top plate ontology 6-3b, inner circle
Radius is small, and the radius of outer circle is big, top plate ontology 6-3b cannot be covered well in this way so that have large area during picking
Region is not combed, and picking efficiency is low., whereas if it does not use radial outer on the outside of soft nylon 6-3a7 and driving wheel 6-3a2
Shell 6-3a6, since the overall width of belt and the width of driven wheel 6-3a3 remain basically stable, can complete spread apart, but work as
When belt is at driving wheel 6-3a2, since the width of driving wheel 6-3a2 is far smaller than the overall width of belt, belt at this time can
Packing phenomenon, strong influence picking efficiency occurs.
Summarize acting as step S4c：Top comb is controlled to manage disk by main control module 2-2 and comb drive module so as to drive biography
Servo motor 6-3c1 rotations in feed roller group driving mechanism 6-3c, and then all driving wheel 6-3a2 are driven.By
It is multigroup in the transmission belt wheel group 6-3a that combs, radial be distributed outward from the center of top plate, and spread all over entire disk is presented
Face；And since belt 6-3a1 outer surfaces are provided with the rubber bumps 6-3a9 that multiple height differ so that fruit is by rubber convex
It plays 6-3a9 to detach from branch, falls and put down in a closed circle being made of left individual layer chassis 6-1a and right double-layered base plate 6-1b
On face.
S5：Above-mentioned module is controlled to work after a period of time by main control module 2-2, at this time left individual layer chassis 6-1a and the right side
Enough fruits are had accumulated in one closed circle plane of double-layered base plate 6-1b compositions, main control module 2-2 can control machinery
The combing picking disk 6 that hand-drive module 2-7 and then driving picking mechanical arm 4 and drive are connected with picking mechanical arm 4 will be combed
Fruit in reason formula picking disk 6 is poured into fruit-collecting box 5, due to being provided with buffer 5-2 compositions in fruit-collecting box 5, is subtracted significantly in this way
It is small in addition avoid fruit from combing picking disk 6 pour into fruit case 5-1 when collsion damage.
S6：After main control module 2-2 control picking mechanicals arm 4 completes step S5, home position is come back to, i.e.,：Step S4
Position where middle picking mechanical arm 4 and combing picking disk 6, repeats step S1 to S5, and cycle is picked successively.
Above-described embodiment is in the art the purpose is to be to allow simply to illustrate that the technical concepts and features of the present invention
Those of ordinary skill can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent variation or modification made according to the essence of the content of present invention, should all covers within the scope of the present invention.
Claims (9)
1. a kind of combing formula branch shape fruit picking robot, it is characterised in that：Including picking mobile platform, switch board, machine
Vision system, picking mechanical arm, fruit-collecting box and combing picking disk, the picking mechanical arm, switch board, fruit-collecting box and machine
Vision system is mounted on picking mobile platform, and the combing picking disk is mounted on picking mechanical arm, and the combing formula is adopted
Pluck that disk bears disk the bottom of including, the rotation mechanism that spirals is born at body shaft, top comb reason disk, lifting sliding table group, bottom, Pan Heding is born at the bottom
It combs consolidation body and round pie is presented, the diameter of disk is born at the top comb reason disk diameter≤bottom.
2. a kind of combing formula branch shape fruit picking robot according to claim 1, it is characterised in that：The picking moves
Moving platform is four-wheel intelligent vehicle, and the picking mobile platform includes platform body, movable pulley, power drive unit and turns to dress
It puts, the power drive unit and transfer are by driving movable pulley to drive the movement of platform body.
3. a kind of combing formula branch shape fruit picking robot according to claim 1, it is characterised in that：The switch board
Including control iron case, main control module, image processing module, GPS difference blocks, inertial navigation module, mobile platform drive module,
Robot drives module, combing picking dish driving module, power module and lithium battery, the combing picking dish driving module
Disc spins drive module is born the bottom of comprising, top comb reason disk combs drive module and lifting sliding table group drive module.
4. a kind of combing formula branch shape fruit picking robot according to claim 3, it is characterised in that：The control iron
Multiple tomographies inside case are set, main control module, image processing module, GPS difference blocks, inertial navigation mould are installed in the tomography
Block, mobile platform drive module, robot drives module, combing picking dish driving module, power module and lithium battery, it is described
Lithium battery is connect with power module, the power module and main control module, image processing module, GPS difference blocks, inertial navigation
Module, mobile platform drive module, robot drives module, combing picking dish driving module connect respectively, at described image
Reason module is connected with NI Vision Builder for Automated Inspection, NI Vision Builder for Automated Inspection connection main control module, GPS difference blocks and inertial navigation module point
It is not connect with main control module, main control module is also connect with robot drives module, combing picking dish driving module respectively.
5. a kind of combing formula branch shape fruit picking robot according to claim 1, it is characterised in that：The machine regards
Feel system includes two sets of parallel high-precision video cameras and stent, and the high-precision video camera is rack-mount, the stent
On picking mobile platform.
6. a kind of combing formula branch shape fruit picking robot according to claim 1, it is characterised in that：The picking machine
Tool arm is the mechanical arm of a set of six degree of freedom, and the end of the picking mechanical arm is fixedly connected on picking mobile platform, described
The body shaft of the top connection combing picking disk of picking mechanical arm, the fruit-collecting box include fruit case and buffer.
7. a kind of combing formula branch shape fruit picking robot according to claim 1, it is characterised in that：It bears at the bottom
Disk includes left individual layer chassis, right double-layered base plate, taper roll bearing and outer rim involucrum, the left individual layer chassis and right double-layered base plate
It is semicircle shape structure, the circle centre position of the semicircle shape structure on the left individual layer chassis and the outer ring of taper roll bearing are fixed and connected
It connects, the lower end of body shaft is fixedly connected with the inner ring of taper roll bearing, the center of circle of the semicircle shape structure of the right double-layered base plate
Place is fixedly connected with body shaft, and the ontology the tip of the axis also connect and fixes with the top of picking mechanical arm；
The left individual layer chassis is individual layer pie structure, and the right double-layered base plate is double-deck pie structure, the right double-layered base plate
Intermediate gap interlayer is hollow-core construction, and the thickness on hollow-core construction thickness >=left individual layer chassis, the left individual layer chassis is embedded in
Among the interlayer of right double-layered base plate, the left individual layer chassis is rotated among interlayer around body shaft by taper roll bearing；
The bottom rotation mechanism that bears to spiral includes rotating stepper motor, stepping motor bracket, pinion gear and arc gear wheel, and the bottom is born
The rotation mechanism that spirals is located at the top that disk is born at bottom, and the rotating stepper motor is fixed on by stepping motor bracket in body shaft,
Semicircle shape distribution is presented in the axis connection of the pinion gear and rotating stepper motor, the arc gear wheel, and the arc gear wheel passes through
Bolt is fixed on left individual layer chassis close to the center of circle and the outside in the center of circle, the pinion gear and arc gear wheel carry out machinery and nibble
It closes.
8. a kind of combing formula branch shape fruit picking robot according to claim 1, it is characterised in that：The top comb reason
Disk includes combing transmission belt wheel group, top plate ontology, transmission belt wheel group driving mechanism；
The transmission belt wheel group that combs is multigroup, and presentation is radial to be distributed outward from the center of top plate, the combing conveyer belt
Wheel group includes belt, driving wheel, driven wheel, drive wheel bracket, driven wheel support, the drive wheel bracket by bearing arrangement and
Driving wheel connects, and driven wheel support is connected again by bearing arrangement with driven wheel, and the driving wheel is connected using shaft coupling；
The disk of the generally one large area hollow out of top plate ontology, hollow-out part transmit belt wheel for installing and fixing combing
Group and transmission belt wheel group driving mechanism, the disk center of gravity of top plate ontology is hollow-core construction.
9. a kind of combing formula branch shape fruit picking robot according to claim 8, it is characterised in that：The top plate sheet
Body is fixedly connected with two sliding blocks of the lifting sliding table group, and sliding block drives the movement of top plate ontology；
The lifting sliding table group is two individual straight line lifting sliding tables, vertical to place, and the straight line lifting sliding table includes slide unit
Ontology, slide unit stepper motor, sliding block, the fixation parallel with body shaft of slide unit ontology, two individual straight line lifting sliding tables are solid respectively
The offside for being scheduled on body shaft is placed, and two individual straight line lifting sliding tables of the lifting sliding table group are integrally placed to bottom and bear disk
Upside.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107852961B (en) * | 2017-12-15 | 2023-09-26 | 武汉轻工大学 | Lifting device and fruit picking robot |
| CN108377731B (en) * | 2018-04-26 | 2023-10-31 | 南昌大学 | Continuous carding unit of three-dimensional frame strawberry |
| CN108391511B (en) * | 2018-04-30 | 2024-01-30 | 浙江工业大学 | Soil ridge type strawberry auxiliary picking machine |
| CN108551883A (en) * | 2018-06-25 | 2018-09-21 | 南京工程学院 | A kind of terminal executor of picking robot |
| CN109197160B (en) * | 2018-09-12 | 2020-05-15 | 华南农业大学 | Guava picking robot and implementation method thereof |
| NL2026196B1 (en) * | 2020-08-01 | 2022-04-04 | Richard Henricus Adrianus Lieshout | Cultivation system equipped with a harvesting robot |
| CN112075208A (en) * | 2020-08-25 | 2020-12-15 | 衡东县新旺种养农民专业合作社 | Automatic device of picking of litsea pungens fruit |
| CN112556606A (en) * | 2020-12-24 | 2021-03-26 | 宁夏农林科学院农业经济与信息技术研究所（宁夏农业科技图书馆） | Self-propelled wolfberry fruit actual measurement method and device based on binocular vision |
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