CN107743768A

CN107743768A - A kind of novel strawberry plucks mobile robot

Info

Publication number: CN107743768A
Application number: CN201711001360.3A
Authority: CN
Inventors: 蒯苏苏; 沈志豪; 王震; 谢静; 朱明霞
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2017-10-24
Filing date: 2017-10-24
Publication date: 2018-03-02

Abstract

The invention provides a kind of novel strawberry to pluck mobile robot, including bottom plate, manipulator, sensor cluster, limit switch assembly, walking mechanism, actuating unit, control system, magnetic valve, pump-up device and air accumulator, manipulator includes arm component, paw component and electro-pneumatic cut handle component, arm component is installed on bottom plate, paw component is installed on the arm component, control system and the sensor cluster, limit switch assembly and actuating unit electrical connection, control method uses multi-thread programming, the ROBO controllers of " 1+2 " Mode Coupling are downloaded to by USB serial ports, control system controls actuating unit with the action of control machinery hand and sensor cluster and position.The present invention can realize to be perceived and discriminance analysis automatically to strawberry, accurate harvesting ripe strawberry.

Description

A kind of novel strawberry plucks mobile robot

Technical field

The present invention relates to agricultural robot, more particularly to a kind of strawberry harvesting mobile robot.

Background technology

With the development of science and technology, picking robot is more and more extensive in the application of agriculture field, plucks machine The use of people can not only mitigate the labor intensity of peasant, can more improve operating efficiency, and therefore, increasing researcher is to adopting Robot is plucked to be studied.Such as the strawberry picking robot that Harvest CROO Robotics companies of the U.S. research and develop, pass through six The top that the strawberry of silicon pawl harvesting is rotated to Pi Ce wheels is placed in acquisition cup, and the center for being transported to equipment examine within 1 second Survey, qualified strawberry is packaged.Chinese Patent Application No.：201320440171.7 entitled " a kind of strawberry picking robot ", Disclose a kind of binocular vision camera and realize that strawberry is differentiated, the strawberry picking robot of Shanghai Communications University and China Agricultural University Vision system be that the coloured image based on ccd video camera collection carries out fruit detection, above-mentioned robot need to have a harvesting Support database, including the data message such as ripening fruits, immature fruit, flower, system complex.But the use of agricultural robot Person's plural subjects are peasants, therefore it is required that agricultural robot has higher intelligent, reliability and simple to operate.

The content of the invention

For Shortcomings in the prior art, the invention provides a kind of novel strawberry to pluck mobile robot, Neng Goushi Now strawberry is perceived automatically and discriminance analysis, accurate harvesting ripe strawberry.

The present invention is to realize above-mentioned technical purpose by following technological means.

A kind of novel strawberry plucks mobile robot, including bottom plate, manipulator, sensor cluster, limit switch assembly, OK Walk mechanism, actuating unit and control system；

The manipulator cuts handle component including arm component, paw component and electro-pneumatic, and the arm component is installed on bottom On plate, the paw component is installed on the arm component, and the actuating unit driving arm component controls paw component along x Direction of principal axis and the motion of z-axis direction；

The paw component includes paw swing-bar mechanism, the second cylinder and the second cylinder piston, the paw swing-bar mechanism Including the first finger, the first swing rod and first connecting rod positioned at the second cylinder piston side, and it is distributed in the second cylinder piston The second finger of opposite side, the second swing rod, second connecting rod and the pin fluted shaft for being fixed on the second cylinder piston front end, described second Finger, the second swing rod and second connecting rod and the first finger, the first swing rod and first connecting rod respectively about the second cylinder piston one by one Symmetrical, one end and one end of the first swing rod of first finger are hinged, the other end and manipulator of first swing rod Bearing is hinged, and the robot carriage is fixed on arm component, and the center of first swing rod and one end of first connecting rod are cut with scissors Connect, the other end of the first connecting rod is connected with being fixed on the pin fluted shaft side of the second cylinder piston front end with cylindrical pins higher pair Connect, second cylinder is installed in the robot carriage；The other end of the pin fluted shaft passes through and is arranged on manipulator branch In sleeve on seat；One end of the second finger and one end of the second swing rod are hinged, the other end and machine of second swing rod Tool hand bearing is hinged, and the center of second swing rod and one end of second connecting rod are hinged, the second connecting rod other end with it is described The pin fluted shaft opposite side that second cylinder piston is fixed is connected with cylindrical pins higher pair.

The electro-pneumatic cuts the top that handle component is installed on the paw component, including scissors, the first cylinder, the first cylinder Piston, the first rocking bar, the second rocking bar, support bar, the tail end of the first handle of the scissors are hinged with the first rocking bar, the scissors One end of tail end and the second rocking bar of second handle be hinged, the other end of first rocking bar and the second rocking bar is and manipulator Bearing is hinged, and one end of the support bar and the edge of a knife hinged place of the scissors are hinged, and the other end of the support bar is vertically solid Due on first cylinder piston, one end of first cylinder is fixed on the mounting blocks of robot carriage upper surface；

The sensor cluster is installed on below the paw component, including ultrasonic sensor, color sensor, first Screw mandrel and the first feed screw nut, first feed screw nut are connected with first wire rod thread, the color sensor installation In on first feed screw nut, the ultrasonic sensor is installed on the color sensor, the actuating unit driving the One screw mandrel rotates so that first feed screw nut moves along the x-axis direction；

The limit switch assembly includes six limit switches, and six limit switches are separately mounted to the paw group Part along the x-axis direction, the extreme position and the extreme position that moves along the x-axis direction of the sensor cluster of the motion of z-axis direction；

The walking mechanism is used to make bottom plate move along the y-axis direction, and is installed on the bottom surface of bottom plate；

The control system includes controller, the controller and the sensor cluster, limit switch assembly and power Mechanism electrically connects, and the controller receives the signal of the transmission of sensor cluster and limit switch assembly, and controls actuating unit With the action of control machinery hand and sensor cluster and position.

Preferably, the arm component includes the 3rd screw mandrel, the 3rd feed screw nut, the second screw mandrel, the second feed screw nut, T Type block, shaft coupling, arm support, the first column, the second column, support column；

The actuating unit includes the second motor, the 3rd motor, the 4th motor, fixed shaft gear train and gear-box；

The T-shaped piece of top for being fixed on support column, first column and the second column are located at the two of T-shaped piece respectively Side, the bottom of first column are fixed on bottom plate, and the other end of the first column is fixed on T-shaped piece after passing through shaft coupling, The bottom of second column is fixed on bottom plate, and the other end of the second column is fixed on T-shaped piece after passing through arm support, institute The front end for stating arm support is fixedly connected with shaft coupling；

The fixed shaft gear train is arranged on T-shaped piece, including five meshed gears successively, five gears line up one it is straight Line, first gear and the 3rd gear are fixedly set on the motor shaft of the 3rd motor and the 4th motor respectively；

3rd screw mandrel is vertically arranged in the top of bottom plate, and the 3rd screw mandrel is threadedly coupled with the 3rd feed screw nut, 5th gear is fixedly set in one end of the 3rd screw mandrel, and the other end of the 3rd screw mandrel is installed in rotation on bottom plate On, the 3rd feed screw nut is fixedly connected with arm support；

The gear-box is arranged on the rear end of arm support, and the motor shaft of second motor and the input of gear-box connect Connect, the output end of the gear-box is connected with one end of the second screw mandrel, and the other end of second screw mandrel is rotatably installed on On arm support, second feed screw nut is connected with second wire rod thread, and one end of the robot carriage, which passes through, to be connected Joint, and being fixedly connected with the second feed screw nut, the robot carriage can with the second feed screw nut together with bottom plate along y-axis Move in direction.

Preferably, the actuating unit also includes the first motor, and first motor is fixed on robot carriage, described The motor shaft of first motor is connected with one end of the first screw mandrel.

Preferably, the robot carriage is provided with LED.

Preferably, the walking mechanism includes being distributed in multiple wheels of bottom plate bottom surface, and each two is located at bottom plate both sides Wheel (20) shape is in a row；The actuating unit also includes the 5th motor and the 6th motor, the 5th motor and the 6th motor Two most front-seat wheel movements of bottom plate are driven respectively.

Preferably, in addition to magnetic valve, pump-up device and air accumulator, the magnetic valve include magnetic valve A, magnetic valve B, electricity Magnet valve C and magnetic valve D, one end of the air accumulator connect with magnetic valve A passage, the air inlet of magnetic valve A and the first cylinder Mouth connection, the gas outlet of first cylinder connect with magnetic valve B, and magnetic valve B passage connects with air accumulator；Magnetic valve C Passage connected with tracheae and keep ventilating with air accumulator, magnetic valve C connects with the air inlet of the second cylinder, the second cylinder Gas outlet connects with magnetic valve D, and magnetic valve D passage and air accumulator keep ventilating；

The actuating unit also includes the 7th motor, and the pump-up device includes belt pulley, pole and piston rod；Described The motor shaft of seven motors and middle axis connection, the axis are connected by belt with belt pulley, one end of the belt pulley and pole It is fixedly connected, in the hole of the other end insertion piston-rod lower end of the pole, piston rod is fixed with the air rammer on air accumulator Connection.

Preferably, the control system includes a ROBO master controller, two ROBO sub-controllers and a computer, " 1+2 " Mode Coupling is downloaded to by USB serial ports equipped with strawberry harvesting program, the strawberry harvesting program on the computer Three ROBO controllers, three ROBO controllers are interconnected by needle-like data wire respectively, first motor, the second electricity Machine, the 3rd motor, the 4th motor connect M1, M2, M3, M4 output port of ROBO mainboards respectively；

Six limit switches are respectively the first~the 6th limit switch, the first limit switch and the second limit switch difference position In the lowermost end and top of the 3rd screw mandrel, the 3rd limit switch and the 4th limit switch are respectively positioned at the front end of the second screw mandrel And rearmost end, the 5th limit switch and the 6th limit switch are respectively positioned at the front end of the first screw mandrel and rearmost end, and the first~the Six limit switches connect numeral input mouth I5, I4, I3, I8, I6 and I7 of ROBO mainboards respectively, and ultrasonic sensor and color pass Sensor connects numeral input the mouth I1 and I2 of ROBO mainboards respectively；5th motor, the 6th motor, the 7th motor and LED difference Connect EM1, EM2, EM3, EM4 output port on the first ROBO sub-controllers；Magnetic valve A, magnetic valve B, magnetic valve C and electromagnetism Valve D connects M1, M2, M3, M4 output port on the 2nd ROBO sub-controllers respectively.

A kind of control method of novel strawberry harvesting mobile robot, using multi-thread programming, by writing ROBO Pro Main program call subroutine, comprises the following steps：

Step 1：Picking robot initial reset：Main program starts, and the 3rd motor, the 4th motor rotate counterclockwise, with one Individual judge module, the state of the second limit switch is inquired about, input port I4 is configured so that manipulator arm component is vertically transported Z-axis highest point position, the triggering of the second limit switch are moved, the 3rd motor, the 4th motor stop, and the 3rd feed screw nut reaches initial Position；Then the second motor rotates clockwise, with a judge module, the state of the 3rd limit switch of inquiry, to input port I3 It is configured so that arm component moves to x-axis low order end, and the 3rd limit switch triggering, the second motor stops, and then controls the Two motors rotate counterclockwise, and the second feed screw nut reaches initial position, and the second motor stops；Then control the first motor counterclockwise Rotate, with a judge module, inquire about the state of the 5th limit switch, input port I6 is configured.To the position specified, when Sensor cluster moves to forefront, the triggering of the 5th limit switch, and the first motor stops, and sensor cluster reaches initialization position Put；

Step 2：Complete initial preparation：Magnetic valve A, magnetic valve B, magnetic valve C and magnetic valve D power-off, paw component Keep the first finger and second finger to close up, the 7th electric motor starting, start to inflate, the 5th motor and the 6th motor turn clockwise Dynamic, wheel rolling makes bottom plate advance 10cm, into strawberry vitellarium；

Step 3：From top to bottom search for strawberry：Start the 3rd motor and the 4th motor rotates clockwise, manipulator arm group Part moves vertically to strawberry area, inserts ultrasonic sensor panel U1, call subroutine " under ultrasonic wave ", passes through supersonic sensing Device carries out target lock-on, inserts color sensor panel Co, carries out color judgement based on color sensor, realizes Strawberry recognition； Color sensor identification searches out target, then stops the 3rd motor and the 4th motor, runtime subroutine " under color " are unidentified to arrive Then manipulator arm component is kept to move down, with a judge module, the state of the first limit switch of inquiry, to input port I5 It is configured, when the 3rd feed screw nut is moved down into bottommost, pushes down the first limit switch, the 3rd motor and the 4th motor Stop；Jump out subprogram " under ultrasonic wave ", subprogram " under color ", into main program；

Step 4：Robot moves：Start the 5th motor, the 6th motor rotates clockwise, wheel rolling, entrance is unidentified The strawberry vitellarium crossed；

Step 5：Strawberry is searched for from the bottom to top：Start the 3rd motor and the 4th motor rotates counterclockwise, the 3rd feed screw nut Move up so that manipulator arm component moves vertically to strawberry area, inserts ultrasonic sensor panel U1, call subroutine " on ultrasonic wave ", target lock-on is carried out by ultrasonic sensor sense, color sensor panel Co is inserted, based on color sensor Color judgement is carried out, realizes Strawberry recognition；Colour recognition searches out target, then stops the 3rd motor and the 4th motor, operation Program " in color ", it is unidentified to then keeping manipulator arm component to move up, with a judge module, it is spacing to inquire about second The state of switch, input port I4 is configured, when the 3rd feed screw nut is moved upwards up to top, pushes down second and spacing open Close, the 3rd motor and the 4th motor stop, and the strawberry for completing a circulation is searched；Jump out subprogram " on ultrasonic wave ", subprogram " in color ", into main program；

Step 6：Repeat step two to five, and so on circulate, until after harvesting mobile robot rolls strawberry vitellarium away from Terminate；

Subprogram " under the ultrasonic wave " comprises the following steps that：

S1：Create and stop with main program identical ultrasonic sensor panel U1, the 3rd motor, ultrasonic sensor distance When strawberry is less than 3cm, the second motor starts clockwise, paw component is moved to right along x-axis, and sensor cluster retreats, and widens sensing The distance between device assembly and strawberry area, continue to proofread the distance of ultrasonic sensor and strawberry, if being also less than 3cm, the Two motors start clockwise, until distance is more than 3cm；

S2：Second motor rotates counterclockwise, and paw component advances, judge ultrasonic sensor and strawberry distance whether be Between 3cm~4cm, if it is not, then the second motor rotates counterclockwise, until the distance of ultrasonic sensor and strawberry for 3cm~ 4cm；

S3：3rd motor and the 4th motor are run clockwise, and manipulator moves down, and are terminated；

Subprogram " under the color " comprises the following steps that：

A1：Create and open LED with main program identical color sensor panel Co, closing on daytime LED, night, when The numerical value that color sensor is surveyed>When 1000 (red), main program is returned to " under color " by subprogram；When the number that color sensor is surveyed Value<When 1000 (red), magnetic valve is closed, stops the 3rd motor and the 4th motor；First motor turns clockwise, and is sentenced with one Disconnected module, inquires about the state of the 6th limit switch, input port I7 is configured, to the position specified, the 6th limit switch touches Hair, the first motor stop, and the first feed screw nut reaches the rearmost end of the first screw mandrel, and sensor cluster is stopped

A2：3rd motor and the 4th motor start clockwise, decline manipulator, stop the 3rd after reaching immediately ahead of strawberry Motor and the 4th motor；

A3：Second motor starts counterclockwise, and paw component advances, and strawberry is stopped the after being in manipulator crawl scope Two motors；

A4：Magnetic valve C is opened, and magnetic valve D is closed, and manipulator the first finger and second finger under gas push is closed up crawl Red strawberry；

A5：Second motor starts clockwise, retreats paw component, and the green carpopodium of red strawberry is pulled out and tightened；

A6：Magnetic valve A is opened, and magnetic valve B is closed, and scissors, which closes up, cuts off green carpopodium, and then magnetic valve A is closed, and magnetic valve B is opened, and is protected Hold two seconds, scissors is opened, and repetitive cycling is twice, it is ensured that green carpopodium is cut；

A7：Second motor starts clockwise, and paw component backs to identification position；

A8：Magnetic valve C is closed, and magnetic valve D is opened, and the first finger and second finger are opened after red strawberry fruit is put down, and are closed Magnetic valve D；

A9：First motor rotates counterclockwise, with a judge module, the state of the 5th limit switch of inquiry, to input port I6 is configured.To the position specified, the triggering of the 5th limit switch, the first motor stops, and the 3rd feed screw nut returns to front end, Sensor cluster reaches operating position；

Subprogram " on the ultrasonic wave " comprises the following steps that：

F1：Create and stop with main program identical ultrasonic sensor panel U1, the 3rd motor, ultrasonic sensor distance When strawberry is less than 3cm, the second motor starts clockwise, paw component is moved to right along x-axis, and sensor cluster retreats, and widens sensing The distance between device assembly and strawberry area, continue to proofread the distance of ultrasonic sensor and strawberry, if being also less than 3cm, the Two motors start clockwise, until distance is more than 3cm；

F2：Second motor rotates counterclockwise, and paw component advances, judge ultrasonic sensor and strawberry distance whether be Between 3cm~4cm, if it is not, then the second motor rotates counterclockwise, until the distance of ultrasonic sensor and strawberry for 3cm~ 4cm；

F3：3rd motor and the 4th motor are run counterclockwise, and manipulator moves up, and are terminated；

Subprogram " in the color " comprises the following steps that：

B1：Create and open LED with main program identical color sensor panel Co, closing on daytime LED, night, when The numerical value that color sensor is surveyed>When 1000 (red), main program is returned to " in color " by subprogram；When the number that color sensor is surveyed Value<When 1000 (red), magnetic valve (19) is closed, stops the 3rd motor and the 4th motor；First motor turns clockwise, with one Individual judge module, the state of the 6th limit switch is inquired about, input port I7 is configured, to the position specified, the 6th spacing opens Triggering is closed, the first motor stops, and the first feed screw nut reaches the rearmost end of the first screw mandrel, and sensor cluster is stopped

B2：3rd motor and the 4th motor start clockwise, decline manipulator, stop the 3rd after reaching immediately ahead of strawberry Motor and the 4th motor；

B3：Second motor starts counterclockwise, and paw component advances, and strawberry is stopped electricity after being in manipulator crawl scope Machine M2；

B4：Magnetic valve C is opened, and magnetic valve D is closed, and manipulator the first finger and second finger under gas push is closed up crawl Red strawberry；

B、5：Second motor starts clockwise, retreats paw component, and the green carpopodium of red strawberry is pulled out and tightened；

B6：Magnetic valve A is opened, and magnetic valve B is closed, and scissors, which closes up, cuts off green carpopodium, and then magnetic valve A is closed, and magnetic valve B is opened, and is protected Hold two seconds, scissors is opened, and repetitive cycling is twice, it is ensured that green carpopodium is cut；

B7：Second motor starts clockwise, and paw component backs to identification position；

B8：Magnetic valve C is closed, and magnetic valve D is opened, and the first finger and second finger are opened after red strawberry fruit is put down, and are closed Magnetic valve D；

B9：First motor rotates counterclockwise, with a judge module, the state of the 5th limit switch of inquiry, to input port I6 is configured, and to the position specified, the triggering of the 5th limit switch, the first motor stops, and the 3rd feed screw nut returns to front end, Sensor cluster reaches operating position.

Beneficial effects of the present invention:

1) a kind of novel strawberry harvesting mobile robot of the present invention is with the intelligence for perceiving, identifying, plucking ability Energy mechanical harvest system, controller is connected with ultrasonic sensor, color sensor, by ultrasonic sensor receiving terminal preceding Trigger signal when having fruit is perceived in 3~4cm of side, color sensor completes colour recognition, realizes the preliminary fixed of fruit space Position and effective identification, the motion of control method control machine people is plucked by strawberry, strawberry harvesting can be automatically performed.

2) pneumatic machinery hands movement of the invention more freely, effective and feasible multithreading algorithm of the invention, non-thread It is more practical under implementations.

3) structure optimization of the present invention, height is intelligent, easy to operate, accuracy rate is high, use easy to spread.

Brief description of the drawings

Fig. 1 is the structural representation that a kind of novel strawberry of the present invention plucks mobile robot.

Fig. 2 is the close-up schematic view of manipulator of the present invention.

Fig. 3 is the partial schematic diagram that a kind of novel strawberry of the present invention plucks mobile robot.

Fig. 4 is that cylinder paw swing-bar mechanism of the present invention captures strawberry schematic diagram.

Fig. 5 is pneumatic scissors combined mechanism schematic diagram of the present invention.

Fig. 6 is main program flow block diagram of the present invention.

Fig. 7 is subprogram of the present invention " under ultrasonic wave " FB(flow block).

Fig. 8 is subprogram of the present invention " under color " FB(flow block).

Fig. 9 is subprogram of the present invention " on ultrasonic wave " FB(flow block).

Figure 10 is subprogram of the present invention " in color " FB(flow block).

In figure：1. pump-up device；2. air accumulator；3. bottom plate；4. the first motor；5. limit switch；6. ultrasonic sensor； 7. color sensor；8. manipulator；9. scissors；10. pneumatic means；11. robot carriage；12. the 3rd feed screw nut；It is 13. fixed Axle train；14. the second screw mandrel；15. gear-box, 16. second motors, 17. the 3rd motors, 18. the 3rd screw mandrels, 19. magnetic valves, 20. wheel；21. the 4th motor；22. the second feed screw nut；23. the first screw mandrel；24. the first feed screw nut；25. the first cylinder； 26. the first cylinder piston；27-1. the first swing rod；27-2. the second swing rod；28-1 first connecting rods；28-2. second connecting rods；29-1. First finger；29-2. second fingers；30. the 5th motor；31. the 6th motor；32. the second cylinder；33. the second cylinder piston； 34. support bar；35. the 7th motor；36. belt pulley；37. pole；38. transfer port；39. piston rod；40. axis；It is 41. pneumatic living Plug；42. the first rocking bar；43. the second rocking bar；44. the first column；45. the second column；46.T type blocks；47. shaft coupling；48. arm Support；49. support column.

Embodiment

Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously Not limited to this.

As shown in figure 1, a kind of novel strawberry harvesting mobile robot of the present invention, including bottom plate 3, manipulator 8, biography Sensor component, limit switch assembly, walking mechanism, actuating unit, control system, magnetic valve 19, pump-up device 1 and air accumulator 2.

Actuating unit includes the first motor 4, the second motor 16, the 3rd motor 17, the 4th motor 21, the 5th motor 30, the Six motors 31, the 7th motor 35, fixed shaft gear train 13 and gear-box 15.

As shown in Fig. 2 manipulator cuts handle component including arm component, paw component and electro-pneumatic, arm component includes the Three screw mandrels 18, the 3rd feed screw nut 12, the second screw mandrel 14, the second feed screw nut 22, T-shaped piece 46, shaft coupling 47, arm support 48th, the first column 44, the second column 45, support column 49.

As shown in figure 1, T-shaped piece 46 top for being fixed on support column 49, the first column 44 and the second column 45 are located at T respectively The both sides of type block 46, the bottom of the first column 44 are fixed on bottom plate 3, and the other end of the first column 44 passes through solid after shaft coupling 47 Due on T-shaped piece 46, the bottom of the second column 45 is fixed on bottom plate 3, and the other end of the second column 45 passes through arm support 48 After be fixed on T-shaped piece 46, the front end of arm support 48 is fixedly connected with shaft coupling 47.

Fixed shaft gear train 13 is arranged on T-shaped piece 46, including five meshed gears successively, five gears line up one it is straight Line, first gear and the 3rd gear are fixedly set on the motor shaft of the 3rd motor 17 and the 4th motor 21 respectively.3rd screw mandrel 18 are vertically arranged in the top of bottom plate 3, and are supported by support column 49 and T-shaped piece 46, the 3rd screw mandrel 18 and the 3rd feed screw nut 12 threaded connections, the 5th gear are fixedly set in one end of the 3rd screw mandrel 18, and the other end of the 3rd screw mandrel 18 can turn It is arranged on dynamicly on bottom plate 3, the 3rd feed screw nut 12 is fixedly connected with arm support 48.

Gear-box 15 is arranged on the rear end of arm support 48, and the motor shaft of the second motor 16 connects with the input of gear-box 15 Connect, the output end of gear-box 15 is connected with one end of the second screw mandrel 14, and the other end of the second screw mandrel 14 is rotatably installed on hand On arm support 48, the second feed screw nut 22 is threadedly coupled with second screw mandrel 14, and one end of robot carriage 11 passes through connecting shaft Section 47, and be fixedly connected with the second feed screw nut 22, the robot carriage 11 can be with the second feed screw nut 22 and bottom plate 3 one Rise and move along the y-axis direction.

As shown in Figure 3 and Figure 4, the paw component includes paw swing-bar mechanism, the second cylinder 32 and the second cylinder piston 33, the paw swing-bar mechanism includes the first finger 29-1, the first swing rod 27-1 and the positioned at the side of the second cylinder piston 33 One connecting rod 28-1, and it is distributed in the second finger 29-2 of the opposite side of the second cylinder piston 33, the second swing rod 27-2, second connecting rod 28-2 and the pin fluted shaft for being fixed on the front end of the second cylinder piston 33.The second finger 29-2, the second swing rod 27-2 and second Connecting rod 28-2 and the first finger 29-1, the first swing rod 27-1 and first connecting rod 28-1 are respectively about a pair of the second cylinder piston 33 1 Claim distribution, one end and the first swing rod 27-1 one end of the first finger 29-1 are hinged, and the first swing rod 27-1's is another End is be hinged with robot carriage 11, and the robot carriage 11 is fixed on arm component, the center of the first swing rod 27-1 It is hinged with first connecting rod 28-1 one end, the other end of the first connecting rod 28-1 is with being fixed on the front end of the second cylinder piston 33 Pin fluted shaft side is connected with cylindrical pins higher pair, and second cylinder 32 is installed in the robot carriage 11；The pin The other end of nail fluted shaft forms prismatic pair through being arranged in the sleeve in robot carriage 11, the second finger 29-2's One end and the second swing rod 27-2 one end are hinged, and the other end and robot carriage 11 of the second swing rod 27-2 is be hinged, described Second swing rod 27-2 center and second connecting rod 28-2 one end is hinged, the second connecting rod 28-2 other ends and second gas The pin fluted shaft opposite side that cylinder piston 33 is fixed is connected with cylindrical pins higher pair.

As shown in figure 4, three kinds of states of paw component movement time-division：

As shown in fig. 4 a, finger does not encounter strawberry or cauline leaf, component n=6, low secondary P_L=6, higher pair P_H=2；

As shown in Figure 4 b, a finger encounters strawberry or cauline leaf, increases by 1 component under state shown in Fig. 4 a, in structure, increases Add 1 hinge, 1 higher pair of increase, now n=7, P_L=7, P_H=3；

As illustrated in fig. 4 c, two fingers encounter cauline leaf, increase by 2 components, the hinge of increase by 2 under state shown in Fig. 4 a, in structure Chain, increase by 2 higher pairs, now n=8, P_L=8, P_H=4.

The planar degrees of freedom of paw component is equal to 1, F=3 (n-1) -2P under three of the above state_L- P_H=1.

As shown in Figure 2 and Figure 5, electro-pneumatic cuts the top that handle component is installed on the paw component, including scissors 9, first Cylinder 25, the first cylinder piston 26, the first rocking bar 42, the second rocking bar 43, support bar 34, the first handle 9-1's of the scissors 9 Tail end and the first rocking bar 42 are be hinged, and one end of the second handle 9-2 of the scissors 9 tail end and the second rocking bar 43 is hinged, described The other end of first rocking bar 42 and the second rocking bar 43 is be hinged with robot carriage 11, and one end of the support bar 34 is cut with described The edge of a knife hinged place of knife 9 is hinged, and the other end of the support bar 34 is perpendicularly fixed on first cylinder piston 26, the first gas Flexible, the edge of a knife opening and closure of drive scissors 9 of cylinder 26.One end of first cylinder 25 is fixed on robot carriage 11 On the mounting blocks on surface, paw component is cut handle component with electro-pneumatic and is synchronized with the movement along the x-axis direction.

Sensor cluster is installed on below the paw component, including ultrasonic sensor 6, color sensor 7, first The feed screw nut 24 of bar 23 and first, first feed screw nut 24 are threadedly coupled with first screw mandrel 23, the color sensing Device 7 is installed on first feed screw nut 24, and the ultrasonic sensor 6 is installed on the color sensor 7, the first motor 4 motor shaft is connected with one end of the first screw mandrel 23, and the first screw mandrel 23 of driving rotates so that first feed screw nut 24 is along x Direction of principal axis moves, and drives sensor cluster to move along the x-axis direction, the first motor 4 is fixed on robot carriage 11.

Limit switch assembly includes six limit switches 5, and six limit switches 5 are separately mounted to the paw component Along the x-axis direction, the extreme position that the extreme position of z-axis direction motion and the sensor cluster move along the x-axis direction.

Walking mechanism includes being distributed in eight wheels 20 of the bottom surface of bottom plate 3, and each two is located at the shape of wheel 20 of the both sides of bottom plate 3 It is in a row, four row altogether；The actuating unit also includes the 5th motor 30 and the 6th motor 31, the 5th motor 30 and the 6th Two wheels 20 that motor 31 drives bottom plate 3 most front-seat respectively move.

The magnetic valve 19 includes magnetic valve A, magnetic valve B, magnetic valve C and magnetic valve D, one end of the air accumulator 2 with Magnetic valve A passage connection, magnetic valve A connects with the air inlet of the first cylinder 25, the gas outlet of first cylinder 25 and Magnetic valve B is connected, and magnetic valve B passage connects with air accumulator 2, the air inlet of magnetic valve A and magnetic valve B the first cylinders 25 of control With outlet；Magnetic valve C passage connects with tracheae and keeps ventilating with air accumulator 2, the air inlet of magnetic valve C and the second cylinder 32 Mouth connection, the gas outlet of the second cylinder 32 connect with magnetic valve D, and magnetic valve D passage and air accumulator 2 keep ventilating, electromagnetism Valve C and magnetic valve D controls air inlet and the outlet of the second cylinder 32.

Pump-up device 1 includes belt pulley 36, pole 37 and piston rod 39；The motor shaft of 7th motor 35 and axis 40 Connection, drive axis 40 to rotate, be wound with belt between axis 40 and belt pulley 36, the also concomitant rotation of belt pulley 36, pole 37 1 End is secured across belt wheel 36, so the also concomitant rotation of pole 37, because the bending end of pole 37 is inserted in the hole of the lower end of piston rod 39 In, so piston rod 39 drives air rammer to move back and forth about 41, constantly inflate, gas is entered by transfer port 38 and gas storage In the connected tracheae of tank 2, enter back into air accumulator 2 and store, because magnetic valve 19 is closed, cylinder is air tight.When it is desired to be used, beat Open electromagnetic valve 19, the output of the gas of air accumulator 2.

Control system includes a ROBO master controller, two ROBO sub-controllers and a computer, the computer It is upper equipped with strawberry harvesting program, the strawberry harvesting software program downloads to three ROBO controllers by USB serial ports, three ROBO controllers are interconnected by needle-like data wire respectively, first motor 4, the second motor 16, the 3rd motor the 17, the 4th Motor 21 connects M1, M2, M3, M4 output port of ROBO mainboards respectively；

Six limit switches 5 are respectively the first~the 6th limit switch, the first limit switch and the second limit switch difference Positioned at the lowermost end and top of the 3rd screw mandrel 18, the 3rd limit switch and the 4th limit switch are respectively positioned at the second screw mandrel 14 Front end and rearmost end, the 5th limit switch and the 6th limit switch are located at front end and the rearmost end of the first screw mandrel 23 respectively, First~the 6th limit switch connects numeral input mouth I5, I4, I3, I8, I6 and I7 of ROBO mainboards, ultrasonic sensor respectively 6 and color sensor 7 connect numeral input the mouth I1 and I2 of ROBO mainboards respectively；5th motor 30, the electricity of the 6th motor the 31, the 7th Machine 35 and LED connect EM1, EM2, EM3, EM4 output port on the first ROBO sub-controllers respectively；Magnetic valve A, magnetic valve B, magnetic valve C and magnetic valve D connects M1, M2, M3, M4 output port on the 2nd ROBO sub-controllers respectively.

The control system includes controller, the controller and the sensor cluster, limit switch assembly and power Mechanism electrically connects, and control system is by controlling the first motor 4, the second motor 16, the 3rd motor 17, the control machinery of the 4th motor 21 The position of hand, the motion for the signal controlling machine tool hand 8 that control system is fed back according to ultrasonic sensor 6 pass through close to strawberry Color sensor 7 is by the strawberry color transmission recognized to control system, and control system is by strawberry red color and strawberry cauline leaf, fruit The green color of handle carries out judgement distribution, is moved according to allocation result control machinery hand 8 ripe strawberry grabbing folder, the color letter of feedback Number by control magnetic valve 19 control pneumatic scissors combined mechanism cut the green carpopodium of strawberry, then control cylinder paw rocker mechanism The red strawberry of structure release mechanism hand clamping, realizes the harvesting of red strawberry.Control system is by controlling the 5th motor 30, the 6th motor 31 pulse, the 5th motor 30, the speed of the 6th motor 31 are controlled respectively, when the speed of the speed of the 5th motor 30=the 6th motor 31 Degree, picking robot takes the air line, when the speed of the 5th motor 30>The speed of 6th motor 31, picking robot turns left, when the 5th motor 30 speed<The speed of 6th motor 31, picking robot are turned right.

A kind of control method of novel strawberry harvesting mobile robot, the control method use multi-thread programming, passed through The method for writing ROBO Pro main program call subroutines, as shown in fig. 6, comprising the following steps：

Step 1：Picking robot initial reset：Main program starts, and the 3rd motor 17, the 4th motor 21 are with 8 revolutions per seconds Rotate counterclockwise, with a judge module, inquire about the state of the second limit switch, input port I4 is configured so that machinery Hand arm component moves vertically to z-axis highest point position, the triggering of the second limit switch, and the 3rd motor 17, the 4th motor 21 stop, 3rd feed screw nut 12 reaches initial position；Then the second motor 16 is rotated clockwise 4 seconds with 8 revolutions per seconds, judges mould with one Block, the state of the 3rd limit switch to be inquired about, input port I3 is configured so that arm component moves to x-axis low order end, and the 3rd Limit switch triggers, and the second motor 16 stops, and then controls the second motor 16 to be rotated counterclockwise with 8 revolutions per seconds, after being delayed 4 seconds, the Two motors 16 stop, and the second feed screw nut 22 reaches initial position；Then the first motor 4 is controlled to be rotated counterclockwise with 8 revolutions per seconds, With a judge module, the state of the 5th limit switch of inquiry.Input port I6 is configured, to the position specified, works as sensing Device assembly moves to forefront, the triggering of the 5th limit switch, and the first motor 4 stops, and sensor cluster reaches initialization position；

Step 2：Complete initial preparation：Magnetic valve A, magnetic valve B, magnetic valve C and magnetic valve D power-off, paw component The first finger 29-1 and second finger 29-2 is kept to close up, the 7th motor 35 starts, and starts to inflate, the 5th motor 30 and the 6th electricity Machine 31 is rotated clockwise two seconds with 8 revolutions per seconds, and wheel 20, which rolls, makes bottom plate advance 10cm, into strawberry vitellarium；

Step 3：From top to bottom search for strawberry：Start the 3rd motor 17 and the 4th motor 21 and turned clockwise with 5 revolutions per seconds Dynamic, manipulator arm component moves vertically to strawberry area, inserts ultrasonic sensor panel U1, call subroutine " ultrasonic wave Under ", target lock-on is carried out by ultrasonic sensor 6, inserts color sensor panel Co, face is carried out based on color sensor 7 Color judges, realizes Strawberry recognition；The identification of color sensor 7 searches out target, then stops the 3rd motor 17 and the 4th motor 21, fortune Row subprogram " under color ", it is unidentified to then keeping manipulator arm component to move down, with a judge module, inquiry first The state of limit switch, input port I5 is configured, when the 3rd feed screw nut 12 is moved down into bottommost, pushes down first Limit switch, the 3rd motor 17 and the 4th motor 21 stop；Subprogram " under ultrasonic wave " is jumped out, subprogram " under color ", is entered Main program；

Step 4：Robot moves：Start the 5th motor 30, the 6th motor 31 is rotated clockwise 2 seconds with 8 revolutions per seconds, car Wheel 20 rolls, into the strawberry vitellarium of unidentified mistake；

Step 5：Strawberry is searched for from the bottom to top：Start the 3rd motor 17 and the 4th motor 21 and turned counterclockwise with 8 revolutions per seconds Dynamic, the 3rd feed screw nut 12 moves up so that manipulator arm component moves vertically to strawberry area, inserts ultrasonic sensor Panel U1, call subroutine " on ultrasonic wave ", target lock-on, insertion color sensor face are carried out by ultrasonic sensor sense 6 Plate Co, color judgement is carried out based on color sensor 7, realizes Strawberry recognition；Colour recognition searches out target, then stops the 3rd electricity The motor 21 of machine 17 and the 4th, runtime subroutine " in color " is unidentified to then keeping manipulator arm component to move up, with one Individual judge module, the state of the second limit switch is inquired about, input port I4 is configured, when the 3rd feed screw nut 12 moves up During to top, the second limit switch is pushed down, the 3rd motor 17 and the 4th motor 21 stop, and the strawberry for completing a circulation is searched Seek；Jump out subprogram " on ultrasonic wave ", subprogram " in color ", into main program；

As shown in fig. 7, subprogram " under the ultrasonic wave " comprises the following steps that：

S1：Create and stop with main program identical ultrasonic sensor panel U1, the 3rd motor 17, ultrasonic sensor 6 When being less than 3cm apart from strawberry, the second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 0.2 second, paw component is moved to right along x-axis, Sensor cluster retreats, and widens the distance between sensor cluster and strawberry area, continues to proofread ultrasonic sensor 6 and strawberry Distance, if being also less than 3cm, the second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 0.2 second, until distance is more than 3cm；

S2：Second motor 16 is rotated counterclockwise with 8 revolutions per seconds, and paw component advances, and judges ultrasonic sensor 6 and strawberry Distance whether be 3cm~4cm between, if it is not, then the second motor 16 is rotated counterclockwise 0.2 second with 8 revolutions per seconds, until ultrasonic wave Sensor 6 and the distance of strawberry are 3cm~4cm；

S3：3rd motor 17 and the 4th motor 21 are run 0.5 second clockwise with 5 revolutions per seconds, and manipulator moves down, knot Beam；

As shown in figure 8, subprogram " under the color " comprises the following steps that：

A1：Create and open LED with main program identical color sensor panel Co, closing on daytime LED, night, when The numerical value that color sensor is surveyed>1000 it is red when, subprogram returns to main program；When the numerical value that color sensor is surveyed<1000 is red During color, magnetic valve 19 is closed, stops the 3rd motor 17 and the 4th motor 21；First motor 4 is turned clockwise with 8 revolutions per seconds, with one Individual judge module, the state of the 6th limit switch is inquired about, input port I7 is configured, to the position specified, the 6th spacing opens Triggering is closed, the first motor 4 stops, and the first feed screw nut 24 reaches the rearmost end of the first screw mandrel 23, and sensor cluster is stopped；

A2：3rd motor 17 and the 4th motor 21 are started clockwise with 8 revolutions per seconds, are kept for three seconds, are declined manipulator 3.5cm, stop the 3rd motor 17 and the 4th motor 21 after reaching immediately ahead of strawberry；

A3：Second motor 16 is started counterclockwise with 8 revolutions per seconds, is kept for 7 seconds, paw component advance 4.5cm, is in strawberry Manipulator crawl scope stops the second motor 16 later；

A4：Magnetic valve C is opened, and magnetic valve D is closed, and makes manipulator first finger 29-1 and second finger 29-2 under gas push Close up the red strawberry of crawl；

A5：Second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 2 seconds, retreats paw component, by the green fruit of red strawberry Handle is pulled out and tightened；

A6：Magnetic valve A is opened, and magnetic valve B is closed, and is kept for 3 seconds, and scissors 9, which closes up, cuts off green carpopodium, and then magnetic valve A is closed, electromagnetism Valve B is opened, and is kept for two seconds, scissors 9 is opened, and repetitive cycling is twice, it is ensured that green carpopodium is cut；

A7：Second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 5 seconds, and paw component backs to identification position；

A8：Magnetic valve C is closed, and magnetic valve D is opened, and the first finger 29-1 and second finger 29-2 open and put down red strawberry fruit Afterwards, magnetic valve D is closed；

A9：First motor 4 is rotated counterclockwise with 8 revolutions per seconds, with a judge module, the state of the 5th limit switch of inquiry. Input port I6 is configured.To the position specified, the triggering of the 5th limit switch, the first motor 4 stops, the first feed screw nut 24 Front end is returned to, sensor cluster reaches operating position；3rd motor 17 and the 4th motor 21 are started clockwise with 5 revolutions per seconds, Manipulator is moved down, is terminated.

As shown in figure 9, subprogram " on the ultrasonic wave " comprises the following steps that：

F1：Create and stop with main program identical ultrasonic sensor panel U1, the 3rd motor 17, ultrasonic sensor 6 When being less than 3cm apart from strawberry, the second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 0.2 second, paw component is moved to right along x-axis, Sensor cluster retreats, and widens the distance between sensor cluster and strawberry area, continues to proofread ultrasonic sensor 6 and strawberry Distance, if being also less than 3cm, the second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 0.2 second, until distance is more than 3cm；

F2：Second motor 16 is rotated counterclockwise with 8 revolutions per seconds, and paw component advances, and judges ultrasonic sensor 6 and strawberry Distance whether be 3cm~4cm between, if it is not, then the second motor 16 is rotated counterclockwise 0.2 second with 8 revolutions per seconds, until ultrasonic wave Sensor 6 and the distance of strawberry are 3cm~4cm；

F3：3rd motor 17 and the 4th motor 21 are run 0.5 second counterclockwise, and manipulator moves up, and terminates；

As shown in Figure 10, subprogram " in the color " comprises the following steps that：

B1：Create and open LED with main program identical color sensor panel Co, closing on daytime LED, night, when The numerical value that color sensor is surveyed>1000 it is red when, subprogram returns to main program；When the numerical value that color sensor is surveyed<1000 is red During color, magnetic valve 19 is closed, stops the 3rd motor 17 and the 4th motor 21；First motor 4 is turned clockwise with 8 revolutions per seconds, with one Individual judge module, the state of the 6th limit switch is inquired about, input port I7 is configured, to the position specified, the 6th spacing opens Triggering is closed, the first motor 4 stops, and the first feed screw nut 24 reaches the rearmost end of the first screw mandrel 23, and sensor cluster is stopped.

B2：3rd motor 17 and the 4th motor 21 are started clockwise with 8 revolutions per seconds, are kept for 0.5 second, are declined manipulator 3.5cm, stop the 3rd motor 17 and the 4th motor 21 after reaching immediately ahead of strawberry；

B3：Second motor 16 is started counterclockwise with 8 revolutions per seconds, is kept for 7 seconds, paw component advance 4.5cm, is in strawberry Manipulator crawl scope stops the second motor of motor 16 later；

B4：Magnetic valve C is opened, and magnetic valve D is closed, and makes manipulator first finger 29-1 and second finger 29-2 under gas push Close up the red strawberry of crawl；

B5：Second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 2 seconds, retreats paw component, by the green fruit of red strawberry Handle is pulled out and tightened；Stop the second motor 16；

B6：Magnetic valve A is opened, and magnetic valve B is closed, and is kept for 3 seconds, and scissors 9, which closes up, cuts off green carpopodium, and then magnetic valve A is closed, electromagnetism Valve B is opened, and is kept for two seconds, scissors 9 is opened, and repetitive cycling is twice, it is ensured that green carpopodium is cut；

B7：Second motor 16 is started clockwise with 8 revolutions per seconds, is kept for 5 seconds, and paw component backs to identification position, stops the Two motors 16；

B8：Magnetic valve C is closed, and magnetic valve D is opened, and is kept for 2 seconds, and the first finger 29-1 and second finger 29-2 are opened red strawberry After fruit is put down, magnetic valve D is closed；

B9：First motor 4 is rotated counterclockwise with 8 revolutions per seconds, with a judge module, the state of the 5th limit switch of inquiry. Input port I6 is configured.To the position specified, the triggering of the 5th limit switch, the first motor 4 stops, the first feed screw nut 24 Front end is returned to, sensor cluster reaches operating position, and the 3rd motor 17 and the 4th motor 21 are started counterclockwise with 8 revolutions per seconds, Manipulator is increased, terminate.

The embodiment is preferred embodiment of the invention, but the present invention is not limited to above-mentioned embodiment, not Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace Or modification belongs to protection scope of the present invention.

Claims

1. a kind of novel strawberry plucks mobile robot, it is characterised in that including bottom plate (3), manipulator (8), sensor cluster, Limit switch assembly, walking mechanism, actuating unit and control system；

The manipulator cuts handle component including arm component, paw component and electro-pneumatic, and the arm component is installed on bottom plate (3) On, the paw component is installed on the arm component, and the actuating unit driving arm component controls paw component along x-axis Direction and the motion of z-axis direction；

The paw component includes paw swing-bar mechanism, the second cylinder (32) and the second cylinder piston (33), the paw swing rod Mechanism includes the first finger (29-1), the first swing rod (27-1) and the first connecting rod (28- positioned at the second cylinder piston (33) side 1) second finger (29-2) of the second cylinder piston (33) opposite side, the second swing rod (27-2), second connecting rod are distributed in, and (28-2) and the pin fluted shaft for being fixed on the second cylinder piston (33) front end, the second finger (29-2), the second swing rod (27- 2) and second connecting rod (28-2) and the first finger (29-1), the first swing rod (27-1) and first connecting rod (28-1) are respectively about second Cylinder piston (33) is symmetrical one by one, and one end and one end of the first swing rod (27-1) of first finger (29-1) are hinged, The other end of first swing rod (27-1) is be hinged with robot carriage (11), and the robot carriage (11) is fixed on arm group On part, the center and one end of first connecting rod (28-1) of first swing rod (27-1) are hinged, the first connecting rod (28-1) The other end is connected with being fixed on the pin fluted shaft side of the second cylinder piston (33) front end with cylindrical pins higher pair, second gas Cylinder (32) is installed in the robot carriage (11)；The pin fluted shaft passes through the sleeve being arranged on robot carriage (11) Interior, one end and one end of the second swing rod (27-2) of the second finger (29-2) are hinged, second swing rod (27-2) it is another One end is be hinged with robot carriage (11), and the center and one end of second connecting rod (28-2) of second swing rod (27-2) are hinged, Second connecting rod (28-2) other end is connected with the opposite side of pin fluted shaft with cylindrical pins higher pair；

The electro-pneumatic cuts the top that handle component is installed on the paw component, including scissors (9), the first cylinder (25), first Cylinder piston (26), the first rocking bar (42), the second rocking bar (43), support bar (34), the first handle (9-1) of the scissors (9) Tail end and the first rocking bar (42) it is be hinged, the tail end of the second handle (9-2) of the scissors (9) and one end of the second rocking bar (43) Be hinged, the other end of first rocking bar (42) and the second rocking bar (43) is be hinged with robot carriage (11), the support bar (34) one end and the edge of a knife hinged place of the scissors (9) are hinged, and the other end of the support bar (34) is perpendicularly fixed at described On first cylinder piston (26), one end of first cylinder (25) is fixed on the mounting blocks of robot carriage (11) upper surface On；

The sensor cluster is installed on below the paw component, including ultrasonic sensor (6), color sensor (7), the One screw mandrel (23) and the first feed screw nut (24), first feed screw nut (24) are threadedly coupled with first screw mandrel (23), The color sensor (7) is installed on first feed screw nut (24), and the ultrasonic sensor (6) is installed on the face Colour sensor (7), the actuating unit drive the first screw mandrel (23) rotation so that first feed screw nut (24) is along x-axis side To movement；

The limit switch assembly includes six limit switches (5), and six limit switches (5) are separately mounted to the paw Component along the x-axis direction, the extreme position and the extreme position that moves along the x-axis direction of the sensor cluster of the motion of z-axis direction；

The walking mechanism is used to make bottom plate (3) move along the y-axis direction, and is installed on the bottom surface of bottom plate (3)；

The control system includes controller, the controller and the sensor cluster, limit switch assembly and actuating unit Electrical connection, the controller receive the signal of the transmission of sensor cluster and limit switch assembly, and control actuating unit to control The action of manipulator and sensor cluster processed and position.

2. novel strawberry according to claim 1 plucks mobile robot, it is characterised in that the arm component includes the Three screw mandrels (18), the 3rd feed screw nut (12), the second screw mandrel (14), the second feed screw nut (22), T-shaped piece of (46), shaft coupling (47), arm support (48), the first column (44), the second column (45), support column (49)；

The actuating unit includes the second motor (16), the 3rd motor (17), the 4th motor (21), fixed shaft gear train (13) and gear Case (15)；

T-shaped piece (46) are fixed on the top of support column (49), first column (44) and the second column (45) difference position In the both sides of T-shaped piece (46), the bottom of first column (44) is fixed on bottom plate (3), the other end of the first column (44) It to be fixed on after through shaft coupling (47) on T-shaped piece (46), the bottom of second column (45) is fixed on bottom plate (3), and second The other end of column (45) pass through arm support (48) after be fixed on T-shaped piece (46), the front end of the arm support (48) with Shaft coupling (47) is fixedly connected；

The fixed shaft gear train (13) is arranged on T-shaped piece (46), including five meshed gears, five gears line up one successively Straight line, first gear and the 3rd gear are fixedly set on the motor shaft of the 3rd motor (17) and the 4th motor (21) respectively；

3rd screw mandrel (18) is vertically arranged in the top of bottom plate (3), the 3rd screw mandrel (18) and the 3rd feed screw nut (12) be threadedly coupled, the 5th gear is fixedly set in one end of the 3rd screw mandrel (18), the 3rd screw mandrel (18) it is another End is installed in rotation on bottom plate (3), and the 3rd feed screw nut (12) is fixedly connected with arm support (48)；

The gear-box (15) is arranged on the rear end of arm support (48), the motor shaft and gear-box of second motor (16) (15) input connection, the output end of the gear-box (15) are connected with one end of the second screw mandrel (14), second screw mandrel (14) the other end is rotatably installed on arm support (48), second feed screw nut (22) and second screw mandrel (14) it is threadedly coupled, one end of the robot carriage (11) passes through shaft coupling (47), and fixed with the second feed screw nut (22) Connection, the robot carriage (11) can be moved along the y-axis direction with the second feed screw nut (22) together with bottom plate (3).

3. novel strawberry according to claim 1 plucks mobile robot, it is characterised in that the actuating unit also includes First motor (4), first motor (4) are fixed on robot carriage (11), the motor shaft of first motor (4) and One end connection of one screw mandrel (23).

4. novel strawberry according to claim 1 plucks mobile robot, it is characterised in that the robot carriage (11) It is provided with LED.

5. novel strawberry according to claim 1 plucks mobile robot, it is characterised in that the walking mechanism includes dividing Multiple wheels (20) of bottom plate (3) bottom surface are distributed in, wheel (20) shape that each two is located at bottom plate (3) both sides is in a row；It is described dynamic Force mechanisms also include the 5th motor (30) and the 6th motor (31), and the 5th motor (30) and the 6th motor (31) drive respectively Most front-seat two wheels (20) motion of bottom plate (3).

6. novel strawberry according to claim 1 plucks mobile robot, it is characterised in that also including magnetic valve (19), Pump-up device (1) and air accumulator (2), the magnetic valve (19) include magnetic valve A, magnetic valve B, magnetic valve C and magnetic valve D, institute The one end for stating air accumulator (2) connects with magnetic valve A passage, and magnetic valve A connects with the air inlet of the first cylinder (25), described The gas outlet of first cylinder (25) connects with magnetic valve B, and magnetic valve B passage connects with air accumulator (2)；Magnetic valve C's is logical Stomata connects with tracheae and keeps ventilating with air accumulator (2), and magnetic valve C connects with the air inlet of the second cylinder (32), the second gas The gas outlet of cylinder (32) connects with magnetic valve D, and magnetic valve D passage and air accumulator (2) keep ventilating；

The actuating unit also includes the 7th motor (35), and the pump-up device (1) includes belt pulley (36), pole (37) and lived Stopper rod (39)；The motor shaft of 7th motor (35) is connected with axis (40), and the axis (40) passes through belt and belt pulley (36) connect, the belt pulley (36) is fixedly connected with one end of pole (37), the other end insertion piston of the pole (37) In the hole of bar (39) lower end, piston rod (39) is fixedly connected with the air rammer (41) on air accumulator (2).

7. novel strawberry according to claim 6 plucks mobile robot, it is characterised in that the control system includes one Individual ROBO master controllers, two ROBO sub-controllers and a computer, it is described equipped with strawberry harvesting program on the computer Strawberry harvesting program downloads to three ROBO controllers by USB serial ports, and three ROBO controllers pass through needle-like data wire respectively Interconnect, first motor (4), the second motor (16), the 3rd motor (17), the 4th motor (21) connect ROBO master respectively M1, M2, M3, M4 output port of plate；

Six limit switches (5) are respectively the first~the 6th limit switch, the first limit switch and the second limit switch difference position In the lowermost end and top of the 3rd screw mandrel (18), the 3rd limit switch and the 4th limit switch are located at the second screw mandrel (14) respectively Front end and rearmost end, the 5th limit switch and the 6th limit switch are respectively positioned at the front end of the first screw mandrel (23) and last End, the first~the 6th limit switch connect numeral input mouth I5, I4, I3, I8, I6 and I7 of ROBO mainboards respectively, and ultrasonic wave passes Sensor (6) and color sensor (7) connect numeral input the mouth I1 and I2 of ROBO mainboards respectively；5th motor (30), the 6th electricity Machine (31), the 7th motor (35) and LED connect EM1, EM2, EM3, EM4 output end on the first ROBO sub-controllers respectively Mouthful；M1, M2, M3, M4 that magnetic valve A, magnetic valve B, magnetic valve C and magnetic valve D are connected on the 2nd ROBO sub-controllers respectively are defeated Exit port.

8. a kind of control method of novel strawberry harvesting mobile robot, it is characterised in that the control method uses multithreading Programming, by writing ROBO Pro main program call subroutines, comprises the following steps：

Step 1：Picking robot initial reset：Main program starts, and the 3rd motor (17), the 4th motor (21) rotate counterclockwise, With a judge module, the state of the second limit switch is inquired about, input port I4 is configured so that manipulator arm component hangs down It is straight to move to z-axis highest point position, the triggering of the second limit switch, the 3rd motor (17), the stopping of the 4th motor (21), the 3rd screw mandrel Nut (12) reaches initial position；Then the second motor (16) rotates clockwise, and with a judge module, inquiry the 3rd is spacing to open The state of pass, input port I3 being configured so that arm component moves to x-axis low order end, and the 3rd limit switch triggers, and second Motor (16) stops, and then controls the second motor (16) to rotate counterclockwise, and the second motor (16) stops, the second feed screw nut (22) Reach initial position；Then control the first motor (4) to rotate counterclockwise, with a judge module, inquire about the 5th limit switch State, input port I6 is configured, to the position specified, when sensor cluster moves to forefront, the 5th limit switch touches Hair, the first motor (4) stop, and sensor cluster reaches initialization position；

Step 2：Complete initial preparation：Magnetic valve A, magnetic valve B, magnetic valve C and magnetic valve D power-off, paw component are kept First finger (29-1) and second finger (29-2) are closed up, and the 7th motor (35) starts, and starts to inflate, the 5th motor (30) and the Six motors (31) rotate clockwise, and wheel (20), which rolls, makes bottom plate (3) advance, into strawberry vitellarium；

Step 3：From top to bottom search for strawberry：Start the 3rd motor (17) and the 4th motor (21) rotates clockwise, manipulator hand Arm component moves vertically to strawberry area, inserts ultrasonic sensor panel U1, call subroutine " under ultrasonic wave ", passes through ultrasonic wave Sensor (6) carries out target lock-on, inserts color sensor panel Co, carries out color judgement based on color sensor (7), realizes Strawberry recognition；Color sensor (7) identification searches out target, then stops the 3rd motor (17) and the 4th motor (21), operation Program " under color ", it is unidentified to then keeping manipulator arm component to move down, with a judge module, it is spacing to inquire about first The state of switch, input port I5 is configured, when the 3rd feed screw nut (12) is moved down into bottommost, pushes down the first limit Bit switch, the 3rd motor (17) and the 4th motor (21) stop；Subprogram " under ultrasonic wave " is jumped out, subprogram " under color ", is entered Enter main program；

Step 4：Robot moves：Start the 5th motor (30), the 6th motor (31) rotates clockwise, wheel (20) roll, enter Enter the strawberry vitellarium of unidentified mistake；

Step 5：Strawberry is searched for from the bottom to top：Start the 3rd motor (17) and the 4th motor (21) rotates counterclockwise, the 3rd screw mandrel Nut (12) moves up so that manipulator arm component moves vertically to strawberry area, inserts ultrasonic sensor panel U1, adjusts With subprogram " on ultrasonic wave ", target lock-on is carried out by ultrasonic sensor sense (6), inserts color sensor panel Co, base Color judgement is carried out in color sensor (7), realizes Strawberry recognition；Colour recognition searches out target, then stops the 3rd motor (17) and the 4th motor (21), runtime subroutine " in color ", it is unidentified to then keeping manipulator arm component to move up, use One judge module, the state of the second limit switch is inquired about, input port I4 is configured, when the 3rd feed screw nut (12) is upward When being moved to top, the second limit switch is pushed down, the 3rd motor (17) and the 4th motor (21) stop, one circulation of completion Strawberry is searched；Jump out subprogram " on ultrasonic wave ", subprogram " in color ", into main program；

Step 6：Repeat step two to five, and so on circulate, until harvesting mobile robot is tied after rolling strawberry vitellarium away from Beam；

Subprogram " under the ultrasonic wave " comprises the following steps that：

S1：Create and stop with main program identical ultrasonic sensor panel U1, the 3rd motor (17), ultrasonic sensor (6) When being less than 3cm apart from strawberry, the second motor (16) starts clockwise, paw component is moved to right along x-axis, and sensor cluster retreats, The distance between sensor cluster and strawberry area are widened, continues to proofread ultrasonic sensor (6) and the distance of strawberry, if still small In 3cm, then the second motor (16) starts clockwise, until distance is more than 3cm；

S2：Second motor (16) rotates counterclockwise, and paw component advances, and judges that ultrasonic sensor (6) and the distance of strawberry are It is no between 3cm~4cm, if it is not, then the second motor (16) rotates counterclockwise, until ultrasonic sensor (6) and strawberry away from From for 3cm~4cm；

S3：3rd motor (17) and the 4th motor (21) are run clockwise, and manipulator moves down, and are terminated；

Subprogram " under the color " comprises the following steps that：

A1：Create and open LED with main program identical color sensor panel Co, closing on daytime LED, night, work as color The numerical value that sensor is surveyed>When 1000 (red), main program is returned to " under color " by subprogram；When the numerical value that color sensor is surveyed< When 1000 (red), magnetic valve (19) is closed, stops the 3rd motor (17) and the 4th motor (21)；First motor (4) is clockwise Rotation, with a judge module, the state of the 6th limit switch is inquired about, input port I7 is configured, to the position specified, the Six limit switches trigger, and the first motor (4) stops, and the first feed screw nut (24) reaches the rearmost end of the first screw mandrel (23), sensing Device assembly is stopped；

A2：3rd motor (17) and the 4th motor (21) start clockwise, decline manipulator, stop after reaching immediately ahead of strawberry 3rd motor (17) and the 4th motor (21)；

A3：Second motor (16) starts counterclockwise, and paw component advances, and strawberry is stopped the after being in manipulator crawl scope Two motors (16)；

A4：Magnetic valve C is opened, and magnetic valve D is closed, and makes manipulator the first finger (29-1) and second finger (29-2) under gas push Close up the red strawberry of crawl；

A5：Second motor (16) starts clockwise, retreats paw component, and the green carpopodium of red strawberry is pulled out and tightened；

A6：Magnetic valve A is opened, and magnetic valve B is closed, and scissors (9), which closes up, cuts off green carpopodium, and then magnetic valve A is closed, and magnetic valve B is opened, scissors (9) open, repetitive cycling is twice, it is ensured that green carpopodium is cut；

A7：Second motor (16) starts clockwise, and paw component backs to identification position；

A8：Magnetic valve C is closed, and magnetic valve D is opened, and the first finger (29-1) and second finger (29-2) are opened and put down red strawberry fruit Afterwards, magnetic valve D is closed；

A9：First motor (4) rotates counterclockwise, with a judge module, the state of the 5th limit switch of inquiry, to input port I6 It is configured, to the position specified, the triggering of the 5th limit switch, the first motor (4) stops, and the first feed screw nut (24) returns to most Front end, sensor cluster reach operating position；

Subprogram " on the ultrasonic wave " comprises the following steps that：

F1：Create and stop with main program identical ultrasonic sensor panel U1, the 3rd motor (17), ultrasonic sensor (6) When being less than 3cm apart from strawberry, the second motor (16) starts clockwise, paw component is moved to right along x-axis, and sensor cluster retreats, The distance between sensor cluster and strawberry area are widened, continues to proofread ultrasonic sensor (6) and the distance of strawberry, if still small In 3cm, then the second motor (16) starts clockwise, until distance is more than 3cm；

F2：Second motor (16) rotates counterclockwise, and paw component advances, and judges that ultrasonic sensor (6) and the distance of strawberry are It is no between 3cm~4cm, if it is not, then the second motor (16) rotates counterclockwise, until ultrasonic sensor (6) and strawberry away from From for 3cm~4cm；

F3：3rd motor (17) and the 4th motor (21) are run counterclockwise, and manipulator moves up, and are terminated；

Subprogram " in the color " comprises the following steps that：

B1：Create and open LED with main program identical color sensor panel Co, closing on daytime LED, night, work as color The numerical value that sensor is surveyed>When 1000 (red), subprogram returns to main program；When the numerical value that color sensor is surveyed<1000 is (red Color) when, magnetic valve (19) is closed, stops the 3rd motor (17) and the 4th motor (21)；First motor (4) turns clockwise, and uses One judge module, the state of the 6th limit switch is inquired about, input port I7 is configured, it is spacing to the position specified, the 6th Switch triggering, the first motor (4) stop, and the first feed screw nut (24) reaches the rearmost end of the first screw mandrel (23), sensor cluster It is stopped；

B2：3rd motor (17) and the 4th motor (21) start clockwise, decline manipulator, stop after reaching immediately ahead of strawberry 3rd motor (17) and the 4th motor (21)；

B3：Second motor (16) starts counterclockwise, and paw component, which advances, makes strawberry stop the after being in manipulator crawl scope Two motors (16)；

B4：Magnetic valve C is opened, and magnetic valve D is closed, and makes manipulator the first finger (29-1) and second finger (29-2) under gas push Close up the red strawberry of crawl；

B5：Second motor (16) starts clockwise, retreats paw component, and the green carpopodium of red strawberry is pulled out and tightened；

B6：Magnetic valve A is opened, and magnetic valve B is closed, and scissors (9), which closes up, cuts off green carpopodium, and then magnetic valve A is closed, and magnetic valve B is opened, scissors (9) open, repetitive cycling is twice, it is ensured that green carpopodium is cut；

B7：Second motor (16) starts clockwise, and paw component backs to identification position；

B8：Magnetic valve C is closed, and magnetic valve D is opened, and the first finger (29-1) and second finger (29-2) are opened and put down red strawberry fruit Afterwards, magnetic valve D is closed；

B9：First motor (4) rotates counterclockwise, with a judge module, the state of the 5th limit switch of inquiry, to input port I6 It is configured, to the position specified, the triggering of the 5th limit switch, the first motor (4) stops, and the first feed screw nut (24) returns to most Front end, sensor cluster reach operating position.