CN107960205A - A kind of novel strawberry picking robot - Google Patents
A kind of novel strawberry picking robot Download PDFInfo
- Publication number
- CN107960205A CN107960205A CN201711333059.2A CN201711333059A CN107960205A CN 107960205 A CN107960205 A CN 107960205A CN 201711333059 A CN201711333059 A CN 201711333059A CN 107960205 A CN107960205 A CN 107960205A
- Authority
- CN
- China
- Prior art keywords
- strawberry
- module
- running gear
- information
- picker
- Prior art date
- 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
- A01D46/30—Robotic devices for individually picking crops
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The present invention provides a kind of novel strawberry picking robot, including collection device fixed on running gear, running gear and the picker being fixed on collection device, the picker is equipped with monocular photographing module, analysis module, information exchange module, control module, and the running gear is equipped with communication module, navigation module, servos control module.Running gear provided by the invention with walking, can have good passability by flexible rotating using six sufficient shape structures on soft soil；The picker is designed to scissor construction to improve acquisition rate；The collection device of use reduces the damage to strawberry using soft pipeline；The picking robot has the characteristics that to remember path, independent navigation, automatic identification maturation strawberry, picking is accurate, collection efficiency is high.
Description
Technical field
The invention belongs to agricultural machinery technological field, and in particular to a kind of novel strawberry picking robot.
Background technology
As the increase of population, the development of urbanization, material requisite increase etc. all cause the labouring population of agricultural to subtract significantly
Few, material consumption greatly increases, and partly or entirely rural labor can be completed instead of people with agricultural robot.Currently for
In terms of strawberry cultivating, big more options plant strawberry in greenhouse, can cause the meeting that strawberry grows is more preferable, fruit maturation faster, effect
Beneficial also higher, meets present market needs.But strawberry is abounded with main several in summer, hot weather, canopy temperature is more
Height, is manually picked, and increases human-body fatigue sense and discomfort, and increases manual labor, and picking takes time and effort, therefore picks
Robot research becomes a great problem.Use picking vehicle volume larger currently on the market and human labour cannot be substituted, picking is special
Improved with simply simple instrument of cutting, strawberry picking collection device is unable to automatic moving.
The content of the invention
To solve the above problems, the present invention provides a kind of novel strawberry picking robot, realize automatic picking and collect, subtract
Few manual labor, it is as follows to this used technical solution：
A kind of novel strawberry picking robot, including collection device fixed on running gear, running gear and it is fixed on receipts
Picker on acquisition means, the picker are equipped with monocular photographing module, analysis module, information exchange module, control
Module, the running gear are equipped with communication module, navigation module, servos control module, the navigation module and servos control
Module is connected with communication module；
The monocular photographing module is used to observe the strawberry growing state in image pickup scope and is shown in real time on control backstage；
The analysis module is used to carry out calculation system to the strawberry growing state that monocular photographing module obtains and forms strawberry
Information parameter；
Described information interactive module be used for by strawberry information parameter real-time Transmission to control backstage, and receive control backstage send
Command information；
The command information that the control module receive information interactive module is sent drives picker to the strawberry in image pickup scope
Picked；
The communication module is used to receive operation information and the routing information that control backstage is sent, and operation information is sent to and is worked as
Servos control module；
The navigation module is used to carry out path planning according to the routing information of reception, and path planning is reached servos control mould
Block；
The servos control module is used for according to operation information and path planning control running gear movement.
Further, the running gear is using six sufficient shape structures, including walking main body and is arranged on walking main body two
The machinery foot of side, the machinery foot are rotated by servos control module in three degree of freedom direction.
Further, the picker is the manipulator with scissor construction, and the manipulator is to be connected by steering engine
Mechanical arm, the rotation that the control module passes through the drive control mechanical arm to steering engine.
Further, the strawberry information parameter includes distance, the length of strawberry rhizome of strawberry picking robot and strawberry
Degree, the maturity of strawberry and strawberry size.
Further, the picker front end is equipped with the soft tube for being used for being sent to the strawberry of picking in collection device
Road.
Further, the navigation module being connected with servo driving module, the navigation mould are additionally provided with the running gear
Root tuber plans mobile route according to communication module receive information and the path of planning is sent to servo driving module, described
Servo driving module controls running gear autonomous according to path planning.
Running gear provided by the invention flexible rotating with walking, can be had using six sufficient shape structures on soft soil
There is good passability；The picker is designed to scissor construction to improve acquisition rate；Strawberry is transmitted using soft pipeline
The damage to strawberry can be at utmost reduced in collection device；It is autonomous that the navigation module of use can enter picking robot
Navigation pattern.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention.
Embodiment
In order to which the purpose of the present invention, technical solution and beneficial effect is more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only explaining this hair
It is bright, it is not intended to limit the present invention.
As shown in Fig. 1, novel strawberry picking robot provided by the invention, including on running gear, running gear admittedly
Fixed collection device and the picker being fixed on collection device, the running gear is using six sufficient shape structures, including row
Walk main body and be arranged on the machinery foot of walking main body both sides, machinery foot includes three pairs, and the machinery foot passes through servos control mould
Block is rotated in three degree of freedom direction, so as to fulfill the flexible rotating on soft soil and walking；The picker
For the manipulator with scissor construction.The picker be equipped with monocular photographing module, analysis module, information exchange module,
Control module, wherein monocular photographing module are connected with analysis module, and analysis module is connected with information exchange module, and control module connects
Instructed by control backstage, the monocular photographing module is used to the strawberry growing state observed in image pickup scope being sent to analysis
Module, and image is sent to control backstage real-time display；The analysis module is used for the strawberry obtained to monocular photographing module
Growing state carries out calculation system and forms strawberry information parameter and be sent to a point information exchange module；Described information interacts mould
Block is used for strawberry information parameter real-time Transmission to backstage is controlled, and control backstage is determined according to real-time imaging and strawberry information parameter
It is fixed whether strawberry in image pickup scope to be picked, and command information is transferred to information exchange module, wherein strawberry information is joined
Number includes the distance of strawberry picking robot and strawberry, the length of strawberry rhizome, the maturity of strawberry and strawberry size；It is described
The command information driving manipulator that control module is received according to information exchange module moves, and the strawberry in image pickup scope is adopted
Pluck.The running gear is equipped with communication module, navigation module, servos control module, and strawberry information is joined on the control backstage
The distance between the strawberry that Shuo Zhong robots are picked with needs information is transferred to communication module, i.e., described communication module is used to receive
The moving operation information that control backstage is sent, and moving operation information is sent to when servos control module, the servos control
Module controls running gear to be moved to the place for needing to pick strawberry according to moving operation information, and the running gear is equipped with and leads
Model plane block, the navigation module is used to carry out path planning according to the routing information of reception, and path planning is reached steering engine control
Molding block；The servos control module is used for according to operation information and path planning control running gear movement.
Software processing system of the present invention by the newest release of NI companies of the U.S. embedded system development platform my-
RIO, using embedded xilinX Zynq chips and LabVIEW programming techniques, utilizes the real-time of double-core ARM-Cortex-A9
All basic functions of customizable I/O, the my-RIO embedded system of performance and xilinX FRGA are mill people's
Preset in FGRA configurations.
In actual use, the monocular photographing module being arranged on picker is real-time by the strawberry information in shooting
The heart is shown in the background, while strawberry information in shooting is carried out calculation system, and forms strawberry information parameter, it includes grass
The distance of certain kind of berries picking robot and strawberry, the length of strawberry rhizome, the maturity of strawberry and strawberry size, can be with when recognizing
During the strawberry of picking, information exchange module at the same time by information parameter transport mechanism extremely
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of novel strawberry picking robot, it is characterised in that including collection device fixed on running gear, running gear
And the picker on collection device is fixed on, the picker is equipped with monocular photographing module, analysis module, information and hands over
Mutual module, control module, the running gear are equipped with communication module and the servos control module being connected with communication module；
The monocular photographing module is used to observe the strawberry growing state in image pickup scope and is shown in real time on control backstage；
The analysis module is used to carry out calculation system to the strawberry growing state that monocular photographing module obtains and forms strawberry
Information parameter；
Described information interactive module is used for strawberry information parameter real-time Transmission to the finger for controlling backstage, reception control backstage to send
Make information and drive control module；
The activation bit driving picking dress that the control module is connected with information exchange module and receive information interactive module is sent
Put and the strawberry in image pickup scope is picked；
The communication module is used to receive the operation information that control backstage is sent, and operation information is sent to when servos control mould
Block；
The servos control module is used to drive running gear walking according to the operation information of reception.
2. the strawberry picking robot according to claim 1, it is characterised in that the running gear is using six sufficient shape knots
Structure, including walking main body and the machinery foot for being arranged on walking main body both sides, the machinery foot is by servos control module three
A free degree direction is rotated.
3. the strawberry picking robot according to claim 1, it is characterised in that the picker is with scissors knot
The manipulator of structure, the manipulator are the mechanical arm connected by steering engine, and the control module passes through the drive control to steering engine
The rotation of mechanical arm.
4. strawberry picking robot according to claim 1, it is characterised in that the strawberry information parameter is adopted including strawberry
Pluck the distance of robot and strawberry, the length of strawberry rhizome, the maturity of strawberry and strawberry size.
5. strawberry picking robot according to claim 1, it is characterised in that be additionally provided with the running gear and steering engine
The navigation module of drive module connection, the navigation module according to communication module receive information mobile route is planned and incite somebody to action
The path of planning is sent to servo driving module, and the servo driving module controls the autonomous row of running gear according to path planning
Walk.
6. strawberry picking robot according to claim 1, it is characterised in that the picker front end, which is equipped with, to be used to incite somebody to action
The strawberry of picking is sent to the soft pipeline in collection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711333059.2A CN107960205A (en) | 2017-12-13 | 2017-12-13 | A kind of novel strawberry picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711333059.2A CN107960205A (en) | 2017-12-13 | 2017-12-13 | A kind of novel strawberry picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107960205A true CN107960205A (en) | 2018-04-27 |
Family
ID=61995008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711333059.2A Pending CN107960205A (en) | 2017-12-13 | 2017-12-13 | A kind of novel strawberry picking robot |
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| Country | Link |
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| CN (1) | CN107960205A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188979A (en) * | 2018-09-25 | 2019-01-11 | 中国地质大学（武汉） | A kind of orchard monitoring method and the bionic 6-leg robot monitoring device for orchard |
| CN114586546A (en) * | 2022-03-14 | 2022-06-07 | 西南大学 | Automatic strawberry picking device based on electronic nose and image recognition and control method thereof |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101356877A (en) * | 2008-09-19 | 2009-02-04 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN104686078A (en) * | 2013-12-06 | 2015-06-10 | 刘扬 | Automatic identifying and picking system for ripe strawberries in natural environment |
| CN204426033U (en) * | 2015-01-21 | 2015-07-01 | 青岛农业大学 | Strawberry picking robot |
| CN204721871U (en) * | 2015-05-11 | 2015-10-28 | 北京农业智能装备技术研究中心 | Fruit and vegetable intelligence picker system |
-
2017
- 2017-12-13 CN CN201711333059.2A patent/CN107960205A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101356877A (en) * | 2008-09-19 | 2009-02-04 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN104686078A (en) * | 2013-12-06 | 2015-06-10 | 刘扬 | Automatic identifying and picking system for ripe strawberries in natural environment |
| CN204426033U (en) * | 2015-01-21 | 2015-07-01 | 青岛农业大学 | Strawberry picking robot |
| CN204721871U (en) * | 2015-05-11 | 2015-10-28 | 北京农业智能装备技术研究中心 | Fruit and vegetable intelligence picker system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| CN109188979A (en) * | 2018-09-25 | 2019-01-11 | 中国地质大学（武汉） | A kind of orchard monitoring method and the bionic 6-leg robot monitoring device for orchard |
| CN114586546A (en) * | 2022-03-14 | 2022-06-07 | 西南大学 | Automatic strawberry picking device based on electronic nose and image recognition and control method thereof |
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