CN107094429A - A kind of multiaxis fruit picking robot - Google Patents
A kind of multiaxis fruit picking robot Download PDFInfo
- Publication number
- CN107094429A CN107094429A CN201710534653.1A CN201710534653A CN107094429A CN 107094429 A CN107094429 A CN 107094429A CN 201710534653 A CN201710534653 A CN 201710534653A CN 107094429 A CN107094429 A CN 107094429A
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- CN
- China
- Prior art keywords
- motor
- screw mandrel
- fruit
- multiaxis
- fixed support
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The invention discloses a kind of multiaxis fruit picking robot, including bottom bracket, mechanical execution system and bus control system, bottom bracket is provided with preposition directive wheel and rear-mounted power wheel, and preposition directive wheel is electrically connected with and turns to motor, rear-mounted power wheel is electrically connected with traveling motor, mechanical execution system includes fixed support, three axial filament bar slide units, screw mandrel stepper motor and mechanical paw, fixed support is fixed on bottom bracket, three axial filament bar slide units are fixed in fixed support, screw mandrel is fixed with three axial filament bar slide units, line slideway and carbon fiber bar, line slideway is arranged on screw mandrel both sides, screw mandrel is electrically connected with the screw mandrel stepper motor for being arranged on fixed support bottom, carbon fiber bar front end is installed with mechanical paw, and mechanical paw is electrically connected with mechanical paw motor, novel in structural design of the present invention, it is easy to operate, the automatic identification to fruit and harvesting can be realized, reduce the labor intensity of orchard worker, raise labour productivity.
Description
Technical field
The present invention relates to fruit picking technical field, and in particular to a kind of multiaxis fruit picking robot.
Background technology
Oneself turns into the 3rd crops after grain, vegetables to current fruit, and fruit industry has weight in national economy
Want status.In food logistics, the slow decline of proportion and the rising of non-staple food consumption proportion, fruit are consumed with staple food
The proportion being consumed in whole food consumption is also gradually rising.Apple, citrus, pears are the main varieties of plant of China's fruit,
Either area or yield account for 50% or so of whole fruits output in front three.In summary, China's apple, mandarin orange
Tangerine, pears plantation, especially huge, according to artificial harvest, efficiency is necessarily low, nor can meet market to fruits and vegetables seasonal
With the requirement of freshness.And since 21 century, China's Aging of Population problem is on the rise, and with industry it is rapid
Development, agricultural workforce gradually shifts to industry and other industry, agricultural workforce's critical shortage and cost is gradually stepped up.Fruit
Harvesting operation needs the labour of input to account for whole production during being most time-consuming, most laborious link in Production of fruit, fruit harvest
50%-70% of process or so.And be frequently necessary to ascend a height by ladder in fruit picking operation, long working not only labor
Fatigue resistance also has greatly certain danger.Harvest band great difficulty of the above many factors to fruit, therefore in fruit
In harvest, machinery and control with computational intelligence industry are continued to develop so that intelligent robot every field application
It is very universal, therefore extensively using intelligent picking robot in agricultural production；Foreign countries are in terms of picking robot research, although take
Obtained many achievements in research, but due to neither one clearly strategic thought, many research work are also substantially at dead state.
And due to being influenceed by conditions such as technology, market and prices, can really realize that commercialized product is seldom.Although the country exists
The starting of picking robot field is relatively later, but development speed is quickly in recent years.Existing many Domestic Scientific Research personnel are at this at present
Field has done many researchs and has explored work, but the harvesting of fruit wisdomization is extremely complex, still has many problems to require study at present
And exploration.
The content of the invention
In order to solve above-mentioned problem, the present invention provides a kind of multiaxis fruit picking robot.
The present invention is to be achieved through the following technical solutions：
A kind of multiaxis fruit picking robot, including bottom bracket, mechanical execution system and bus control system, the bottom
Portion's support is provided with preposition directive wheel and rear-mounted power wheel, and the preposition directive wheel is electrically connected with and turns to motor, described
Rear-mounted power wheel is electrically connected with traveling motor, and the mechanical execution system includes fixed support, three axial filament bar slide units, screw mandrel
Stepper motor and mechanical paw, the fixed support are fixed on bottom bracket, and the three axial filaments bar slide unit is fixed on fixed branch
In frame, vertical screw mandrel, line slideway and carbon fiber bar are fixed with the three axial filaments bar slide unit, the line slideway is arranged on perpendicular
To screw mandrel both sides, the fixed support upper bottom portion is additionally provided with cross lead screw, and the vertical screw mandrel and cross lead screw pass through centre
Axle connects shaft coupling connection wire rod stepper motor；The carbon fiber bar front end is installed with mechanical paw, and the manipulator
Pawl is electrically connected with mechanical paw motor；First camera and optoelectronic distance sensor, institute are set at the top of the fixed support
State bottom bracket front end and second camera is set.
It is preferred that, the bus control system is electrically connected with mechanical execution system, and it is total that the bus control system includes CAN
Line, CAN transceiver controllers, signal acquisition module and navigation module, the CAN connect CAN transceiver controllers, the CAN
Transceiver controller connects steering motor, traveling motor, screw mandrel stepper motor and mechanical paw motor respectively；Institute
CAN two-way signaling connection signal acquisition module is stated, the signal acquisition module input connects the first camera, light respectively
Electrical distance sensor, second camera and navigation module.
It is preferred that, the preposition directive wheel uses industrial rubber directional wheel, and the rear-mounted power wheel is straight using 12V high pulling torques
Flow motor-driven Mecanum wheel.
It is preferred that, the second camera uses RER-USBFHDO1 camera lenses.
It is preferred that, the adjustable height of the three axial filaments bar slide unit is 100cm-160cm.
It is preferred that, the bus control system is also connected with industrial computer, and the industrial computer is provided with touch display screen.
Compared with prior art, the beneficial effects of the invention are as follows：Novel in structural design of the present invention, it is easy to operate, can
The automatic identification to fruit and harvesting are realized, the labor intensity of orchard worker is reduced, raises labour productivity, reduces production cost, guarantor
Card fruit harvests, ensures fruit quality in time, and for promoting China's advance in agricultural science and technology, accelerates China's agricultural modernization to enter
Journey has major and immediate significance；The camera autofocus motor camera lens used in the present invention collects fruit colouring information, leads to
Cross the maturity that color of image matrix disposal recognizes fruit, controllable differentiations fruit is adopted and can not adopt design so that multiaxis
Fruit picking robot can better meet wish of the orchardist to fruit-picking effect；In addition, in the present invention, preposition directive wheel
The geographical environmental grounds in various complicated orchards can be better adapted to rearmounted driving wheel formation three-wheel mechanism, many movements are reduced
During physical factor interference, improve operating efficiency.
Brief description of the drawings
Fig. 1 is front view of the present invention；
Fig. 2 is side view of the present invention；
Fig. 3 is top view of the present invention；
Fig. 4 is control principle block diagram of the invention；
Fig. 5 is fruit identification process figure of the invention；
Fig. 6 is overall control flow chart of the invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2, Fig. 3, apply 4, shown in Fig. 5, Fig. 6, a kind of multiaxis fruit picking robot, including bottom bracket 1, machine
Tool execution system and bus control system, the bottom bracket 1 are provided with preposition directive wheel 2 and rear-mounted power wheel 3, preposition to be oriented to
Wheel 2 uses industrial rubber directional wheel, and the rear-mounted power wheel 3 uses the Mecanum wheel of 12V high pulling torque DC motor Drivers.Should
Take turns rubber wheel face and the earth-grasping force on multiaxis fruit picking robot chassis and progress in real time can be improved the characteristics of multidirectional mobile
The movement in direction, is easy to reduce the reaction time of executive control system instruction, to adapt to more narrow orchard environment；And it is described
Preposition directive wheel 2, which is electrically connected with, turns to motor 4, and the rear-mounted power wheel 3 is electrically connected with traveling motor 5, the machine
Tool execution system includes fixed support 6, three axial filament bar slide units 7, screw mandrel stepper motor 8 and mechanical paw 9, the fixed support 6
It is fixed on bottom bracket 1, the three axial filaments bar slide unit 7 is fixed in fixed support 6, the adjustable height of three axial filament bar slide units 7
For 100cm-160cm；Vertical screw mandrel 10, line slideway 11 and carbon fiber bar 12 are fixed with the three axial filaments bar slide unit 7, it is described
Line slideway 11 is arranged on the vertical both sides of screw mandrel 10, and the upper bottom portion of fixed support 6 is additionally provided with cross lead screw 13, the vertical silk
Bar 10 and cross lead screw 13 connect shaft coupling connection wire rod stepper motor 8 by jackshaft；The front end of carbon fiber bar 12 is consolidated
Dingan County is equipped with mechanical paw 9, and the mechanical paw 9 is electrically connected with mechanical paw motor 14；The top of fixed support 6
First camera 15 and optoelectronic distance sensor 16 are set, and the front end of bottom bracket 1 sets second camera 17；Second shooting
First 17 use RER-USBFHDO1 camera lenses.
In the present invention, bus control system is electrically connected with mechanical execution system, and the bus control system includes CAN
18th, CAN transceiver controllers 19, signal acquisition module 20 and navigation module 21, the CAN 18 connect CAN transceiver controllers
19, the CAN transceiver controllers 19 connect steering motor 4, traveling motor 5, screw mandrel stepper motor 8 and machinery respectively
Paw motor 14；The two-way signaling of CAN 18 connects signal acquisition module 20, and the signal acquisition module 20 is inputted
End connects the first camera 15, optoelectronic distance sensor 16, second camera 17 and navigation module 21 respectively；Bus control system
Industrial computer 22 is also connected with, the industrial computer 22 is provided with touch display screen.First camera real-time capture orchard road condition sign, warp
Control system center is reached after image procossing, has steering wheel steering according to the algorithm routine of program setting by CAN control and stops
By the fruit tree to be plucked of mark, then trailing wheel high pulling torque power motor is driven to advance.
Operation principle：Fruit recognition methods comprises the following steps：Signal acquisition to be picked fruit：The image for taking the photograph object passes through mirror
Head is focused in CCD chip, and CCD is according to the strong and weak electric charge for accumulating corresponding proportion of light, and the electric charge of each pixel accumulation is in video
Under the control of sequential, moved outside pointwise, after filtered, enhanced processing, form vision signal output, reprocess obtained video letter
Number, distinctive mark information is gathered, then carry out corresponding feedback instruction；Fruit is recognized：Enter for traditional Canny operands
Row citrus rim detection can also the slow local edge of lose gray level value changes, basis of the present invention while there is false edge
Citrus Image edge gradient characteristic information, it is proposed that using comentropy come the adaptive high and low threshold value for determining Canny operands.
Self adjustment Canny operand is better than the edge connectivity that traditional edge detection method is obtained, and positioning precision is high, noiseproof feature
By force, while the method increase the automaticity of citrus rim detection；Treat the real limb recognition adaptive algorithm design of fruit picking：
The image that clear standard how is obtained during fruit is recognized is the important prerequisite for ensureing harvesting, is known based on traditional edge
Other algorithm, obtained image noise is more, bad to judge, therefore uses the processing of adaptive carry Operators Algorithms.Operand algorithm is set
Meter, its step is as follows：Use Gaussian filter smoothed image；Amplitude and the side of gradient are calculated with the finite difference of single order local derviation
To；Non-maxima suppression is carried out to Grad；Edge is detected and connected with dual threashold value-based algorithm.
To image processing flow more than, more visible image can be obtained, while possessing following benefit：Low error rate:
Actual edge as much as possible is identified, the wrong report of noise generation is reduced when same as far as possible；High polarization:Identify
Edge will with the actual edge in image as close possible to；Minimum is responded:Edge in image is only capable of mark once, Er Qieke
The picture noise that can exist should not be designated edge.
Pluck principle：Wheel moving platform can realize navigation, RER-USBFHDO1 mirrors according to the data message of camera sum
Head real-time capture orchard road conditions, advance by the path planned, when camera lens collects fruit tree flag information, are transferred to control end,
Instructed, stopped in the preceding appropriate location of fruit tree to be plucked according to delivering；The fruit information in the first camera collection visual field,
It is ranked up from the near to the remote, different picture element matrixs will be obtained with the difference of the fruit color of differing maturity, then with through excessive
The fruit maturity color drawn after amount training is compared with present viewing field minimum distance fruit fruit colour prime matrix, and drawing is
It is no to carry out Picking behavior information；Bus marco center is notified to send positioning instruction if meeting if harvesting is required, according to the visual field
Information is obtained treating water acquisition fruit three-dimensional coordinate information, and picking mechanical paw is rotated to each IMAQ pose, and mechanical arm tail end is closed
The second camera acquisition Tree Fruit image at section, preserves locus of the fruit central point under camera coordinate system and sits
Fruit center point coordinate, is then converted under the basis coordinates system of mechanical paw by mark by industrial computer again.Complete after coordinate transformation, work
Control machine is planned and kinematics solution mechanical arm harvesting path again.When mechanical paw moves to object pose, direct current is driven
Three axle positioning tables of lead screw motor framework carry out positioning function, are passed after harvesting distance reaches certain distance by optoelectronic distance
Sensor infrared ray diffusing reflection is weighed, and reaches that positioning requirements then transmit a signal to control end, driving picking mechanism implements harvesting
Behavior, when fruit is separated with branch, mechanical paw motor work, when end effector moves to collecting fruit pipeline
When, mechanical paw is opened automatically, and fruit is slipped in collecting box by collection conduit；If being unsatisfactory for harvesting to require, letter is sent
Control end is ceased, starts next fruit maturity information gathering, until having adopted, starts the fruit collection of next tree.
Novel in structural design of the present invention, it is easy to operate, the automatic identification to fruit and harvesting can be realized, reduction orchard worker's
Labor intensity, raise labour productivity, reduce production cost, ensureing that fruit harvests, ensures fruit quality in time, and for rush
Enter China's advance in agricultural science and technology, accelerate China's agricultural modernization process to have major and immediate significance；What is used in the present invention takes the photograph
As head autofocus motor camera lens collects fruit colouring information, the maturity of fruit is recognized by color of image matrix disposal, can
The differentiation fruit of control is adopted and can not adopt design so that multiaxis fruit picking robot can better meet orchardist to plucking
The wish of fruit effect；In addition, in the present invention, preposition directive wheel and rearmounted driving wheel formation three-wheel mechanism can be better adapted to
The various geographical environmental grounds in complicated orchard, reduce the interference of physical factor in many moving process, improve operating efficiency.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. a kind of multiaxis fruit picking robot, including bottom bracket (1), mechanical execution system and bus control system, it is special
Levy and be：The bottom bracket (1) is provided with preposition directive wheel (2) and rear-mounted power wheel (3), and the preposition directive wheel (2)
It is electrically connected with and turns to motor (4), the rear-mounted power wheel (3) is electrically connected with traveling motor (5), the machinery is performed
System includes fixed support (6), three axial filament bar slide units (7), screw mandrel stepper motor (8) and mechanical paw (9), the fixed support
(6) it is fixed on bottom bracket (1), the three axial filaments bar slide unit (7) is fixed in fixed support (6), the three axial filaments bar is slided
Vertical screw mandrel (10), line slideway (11) and carbon fiber bar (12) are fixed with platform (7), the line slideway (11) is arranged on perpendicular
To screw mandrel (10) both sides, fixed support (6) upper bottom portion is additionally provided with cross lead screw (13), the vertical screw mandrel (10) and transverse direction
Screw mandrel (13) connects shaft coupling connection wire rod stepper motor (8) by jackshaft；Peace is fixed in carbon fiber bar (12) front end
Equipped with mechanical paw (9), and the mechanical paw (9) is electrically connected with mechanical paw motor (14)；The fixed support (6)
Top sets the first camera (15) and optoelectronic distance sensor (16), and bottom bracket (1) front end sets second camera
(17)。
2. a kind of multiaxis fruit picking robot according to claim 1, it is characterised in that：The bus control system electricity
Property connection mechanical execution system, the bus control system include CAN (18), CAN transceiver controllers (19), signal acquisition
Module (20) and navigation module (21), CAN (18) the connection CAN transceiver controllers (19), the CAN transceiver controllers
(19) connection turns to motor (4), traveling motor (5), screw mandrel stepper motor (8) and mechanical paw motor respectively
(14)；CAN (18) the two-way signaling connection signal acquisition module (20), signal acquisition module (20) input point
The first camera (15), optoelectronic distance sensor (16), second camera (17) and navigation module (21) are not connected.
3. a kind of multiaxis fruit picking robot according to claim 1, it is characterised in that：The preposition directive wheel (2)
Using industrial rubber directional wheel, the rear-mounted power wheel (3) uses the Mecanum wheel of 12V high pulling torque DC motor Drivers.
4. a kind of multiaxis fruit picking robot according to claim 1, it is characterised in that：The second camera (17)
Using RER-USBFHDO1 camera lenses.
5. a kind of multiaxis fruit picking robot according to claim 1, it is characterised in that：The three axial filaments bar slide unit
(7) adjustable height is 100cm-160cm.
6. a kind of multiaxis fruit picking robot according to claim 1, it is characterised in that：The bus control system is also
Industrial computer (22) is connected, the industrial computer (22) is provided with touch display screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710534653.1A CN107094429A (en) | 2017-07-03 | 2017-07-03 | A kind of multiaxis fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710534653.1A CN107094429A (en) | 2017-07-03 | 2017-07-03 | A kind of multiaxis fruit picking robot |
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| CN107094429A true CN107094429A (en) | 2017-08-29 |
Family
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| CN201710534653.1A Pending CN107094429A (en) | 2017-07-03 | 2017-07-03 | A kind of multiaxis fruit picking robot |
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|---|---|---|---|---|
| CN107910810A (en) * | 2017-11-30 | 2018-04-13 | 上海电力通信有限公司 | Become electric line cruise and intelligent monitor system |
| CN107914272A (en) * | 2017-11-20 | 2018-04-17 | 北京科技大学 | A kind of method of seven freedom robot assemblies crawl target object |
| CN108184417A (en) * | 2018-03-27 | 2018-06-22 | 吉林大学 | A kind of semi-automatic pineapple picker of omnidirectional type |
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| CN114830915A (en) * | 2022-04-13 | 2022-08-02 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
| CN114888799A (en) * | 2022-05-11 | 2022-08-12 | 沈阳大学 | Robot based on visual positioning ball picking |
| CN115015495A (en) * | 2022-06-02 | 2022-09-06 | 中国农业大学 | Dynamic close-range miniature intelligent sensor for quality of growing spherical fruits and vegetables |
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