CN108200809A - A kind of picking fruit robot and control system - Google Patents
A kind of picking fruit robot and control system Download PDFInfo
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- CN108200809A CN108200809A CN201711163328.5A CN201711163328A CN108200809A CN 108200809 A CN108200809 A CN 108200809A CN 201711163328 A CN201711163328 A CN 201711163328A CN 108200809 A CN108200809 A CN 108200809A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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Abstract
The invention discloses a kind of picking fruit robot and control systems, the characteristics of based on picking fruit robotic structure, picking robot control method is studied, design the Visual servoing control device based on image, accurate positionin of the control algolithm guided robot device for picking approached using small step-length to objective fruit, have the characteristics that time-varying, strong misfortune are closed and nonlinear according to Visual servoing control system, design fuzzy controller is simultaneously applied in the servo control of fruit tree robotic shoulder joint；Picking robot crawl success rate is higher, can realize automatic continuous picking, and mechanical structure, vision system, image procossing and the control algolithm and control system of robot have good reliability, disclosure satisfy that the requirement of picking operation.In order to further verify the reliability of the robot control system and adaptability.
Description
Technical field
The present invention relates to a kind of picking fruit robot and control systems.
Background technology
Fruit industry occupies an important position in China's agricultural industry, in recent decades, China's fruit industry scale and production
Amount has growth by a relatively large margin, and after particularly joining WTO, growth rate is significantly accelerated.According to fruit industry national from 2000
The data of scientific seminar shows that the current application area in China is 8,400,000 hectares, accounts for the 21% of world's fruit tree gross area
Left and right;Fruit gross annual output amount accounts for the 13.4% of world's fruit total output up to more than 5,900 ten thousand tons, and oneself leaps to the world to this two indexs
First l '].China's apple cultivation area in 2004 accounts for world's apple and plants respectively up to 187.7 ten thousand hectares, 2367.5 ten thousand tons of yield
Train the 37.5% of area 41.5% and yield.In the past 10 years, the contribution rate that China increases world's apple production is up to 84%.It marches toward
21st century, the agricultural and rural economy development in China are faced with new opportunities and challenges.Due to accession to WTO, on the one hand, agriculture
Industry and rural economic development are faced with impact and challenge from all over the world;On the other hand, it is also brought once to China
Accelerate agricultural and rural economy development and the good opportunity to rural economic structure adjustment.
As agricultural production is just developing towards scale, diversification, precision direction, the cost of agricultural workforce is necessarily fast
Speed rises, and the phenomenon that manpower shortage can also become clear day by day, therefore is the high-technology of representative in agriculture using robot technology
Industry field is trend of the times, the desire of the people.Mechanization, the automation of orchard harvest operation become what numerous orchard workers paid close attention to the most
One of hot issue.
Invention content
The purpose of the present invention is to provide a kind of picking fruit robot and control system, to solve in above-mentioned background technology
The problem of proposition.
To achieve the above object, the present invention provides following technical solution：A kind of picking fruit robot, including creeper truck,
Lifting gear and mechanical arm, the lifting gear include mains power control device and lifting platform, and the mechanical arm includes
The large arm being connect with lifting platform, the large arm other end are connect with the other end with forearm, and forearm is equipped with electric pushrod, and electric pushrod is another
One end is connect with device for picking, and one end that the large arm is connect with lifting platform is equipped with large arm motor, the electric pushrod with it is big
One end of arm connection is equipped with forearm motor, and one end company of collection port, collection port and flexible pouch is equipped with below the electric pushrod
It connects, the flexible pouch other end is connect with collecting basket.
As a further improvement on the present invention, the working face of the lifting platform is equipped with rotary shaft, and rotary shaft passes through waist
Motor drives.
As a further improvement on the present invention, a kind of control system of picking fruit robot, the control system packet
Include main control computer, AC servo control system, serial communication interface converter, NI Vision Builder for Automated Inspection and data collecting card；Its
Middle system master computer is control centre, is integrated with software and control interface, whole system is controlled；Input mechanism by
Data collecting system and image capturing system are formed, they complete the acquisition to picking fruit robot peripheral environment information；It is defeated
Go out mechanism to be made of servo motor, air pump, end effector；
Main control computer obtains picking fruit robot working environment information by image capturing system, data collecting card, and adopts
AC servo driver is sent control signals to the mode of serial communication, through each joint electricity of servo amplifier driving robot
Machine works, while by the feedback signal during each robot control of serial communication module real-time reception, value of feedback is carried out
Data store, then the data are supplied to each control algolithm module, generate control instruction by processing, which is passed through control
Device exports, and thus forms a closed-loop control system；
The closed-loop control system that AC servo is made of AC servo driver, AC servo motor and photoelectric encoder
System, servo-driver have selected the AC servo driver of ASD-AB series, have mainly there is position control, speed control, torque control
Three kinds of control models are made, what is taken is position control mode and the communication mode of RS-422, is communicated by RS-422, can will be watched
Operating status, alarm condition and absolute position of dress system etc. are transmitted to main control computer, and can be by main control computer to watching
It takes driver and carries out parameter setting, Gain tuning and commissioning test；
This system controls picking robot mechanical arm using the serial communication mode based on RS-422 buses, and main selected by this system
Control computer can not directly be connected with RS-422 buses, need to set a serial communication interface converter；Main control computer passes through
RS-422 buses control each joint driver respectively, and modules, the control of motor are set according to the position distribution of servo motor
Signal connecting line processed is directly connected with the feedback signal connecting line of encoder with driver, and electrical structure is easily achieved at modularization
Reason, all control and feedback data are uploaded directly into RS-422 buses；
Picking robot vision system main task includes:The presence of target is not only detected, also to calculate picking object
Space coordinate, determine the relative distance between robot or end-effector and manipulating object;Determine target object quality,
Shape and size;It walks to robot motion and carries out vision guided navigation；
Data collecting card is the bridge of control system and external environment, and the function of data collecting card has a simulation input, simulation output,
Digital I/0, counter/timer are realized by variable connector, amplifier, sampling hold circuit and analog-digital converter；
End effector is made of mechanical device and sensor, is mounted with position sensor, pressure sensor, collision sensing respectively
Device and visual sensor, wherein position alignment sensor are formed using infrared opposite-radiation switch；Crash sensor and pressure sensing
Device is formed using force sensing resistance；Visual sensor uses the camera of high pixel.
As a further improvement on the present invention, the software of the control system is compiled using VC++ based on multithreading
It writes, main thread is mainly responsible for administration interface, the necessarily communication between initial work and sub-line journey and coordinates the synchronous of cross-thread
Deng including motion control sub-line journey, video capture sub-line journey, Real Time Obstacle Avoiding sub-line journey, position limitation protection sub-line journey, hand claw sensor
Sub-line journey is positioned, prism stretches detection sub-line journey and prism contracting detection sub-line journey composition.
Compared with prior art, the beneficial effects of the invention are as follows：Picking robot crawl success rate is higher, can realize certainly
Dynamic continuous picking, mechanical structure, vision system, image procossing and the control algolithm and control system of robot have it is good can
By property, the requirement of picking operation disclosure satisfy that.In order to further verify the reliability of the robot control system and adaptability.
Description of the drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is main control flow chart；
Fig. 3 is the hardware configuration using main control computer as the fruit picking robot picking control system of core；
Fig. 4 is that picking fruit robot real-time video capture portion realizes flow chart；
Fig. 5 is DLettToRight algorithm patterns；
Fig. 6 is URightToLeft algorithm patterns；
Fig. 7 is RUpToDown algorithm patterns；
Fig. 8 is LUpToDown algorithm patterns；
Fig. 9 is URightToLeft algorithms and DLeftToRight algorithm route searching simulation drawings；
Figure 10 is picking fruit robot system path planning process figure；
Figure 11 is visual sensor program flow diagram；
Figure 12 is position limitation protection module flow diagram；
Figure 13 is device for picking sensor flow chart.
In figure：1- creeper trucks, 2- collect basket, 3- flexible pouch, 4- device for picking, 5- collection ports, 6- electric pushrods, 7- forearms electricity
Machine, 8- large arm, 9- large arm motors, 10- waist motors, 11- rotary shafts, 12- lifting platforms, 13- mains power control devices.
Specific embodiment
The technical solution in the embodiment of the present invention is clearly and completely described below, it is clear that described embodiment
Only part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel all other embodiments obtained without making creative work belong to the model that the present invention protects
It encloses.
A kind of picking fruit robot, including creeper truck 1, lifting gear and mechanical arm, the lifting gear includes electricity
Driving source control device 13 and lifting platform 12, the mechanical arm include the large arm 8 being connect with lifting platform 12,8 other end of large arm
It is connect with forearm, forearm is equipped with electric pushrod 6, and 6 other end of electric pushrod is connect with device for picking 4, the large arm 8 and lifting
One end that platform 12 connects is equipped with large arm motor 9, and one end that the electric pushrod 6 is connect with large arm 8 is equipped with forearm motor 7, institute
6 lower section of electric pushrod stated is equipped with collection port 5, and collection port 5 is connect with one end of flexible pouch 3, and 3 other end of flexible pouch is with collecting basket
2 connections, the working face of lifting platform 12 are equipped with rotary shaft 11, and rotary shaft 11 is driven by waist motor 10.
The present invention has write picking fruit robot control system software using V C++ based on multithreading.Main thread
It is mainly responsible for administration interface, the necessarily communication between initial work and sub-line journey and coordinates the synchronous etc. of cross-thread, it is main to wrap
Include motion control sub-line journey, video capture sub-line journey, Real Time Obstacle Avoiding sub-line journey, position limitation protection sub-line journey, the positioning of hand claw sensor
Sub-line journey, it is as follows for main control flow chart that prism stretches compositions, the Fig. 2 such as detection sub-line journey and prism contracting detection sub-line journey：
Control system include main control computer, AC servo control system, serial communication interface converter, NI Vision Builder for Automated Inspection and
Data collecting card；Wherein system master computer is control centre, is integrated with software and control interface, and whole system is controlled
System；Input mechanism is made of data collecting system and image capturing system, they are completed to picking fruit robot peripheral environment
The acquisition of information；Output mechanism is made of servo motor, air pump, end effector, and Fig. 3 is the fruit using main control computer as core
The hardware configuration of real picking robot picking control system；
Main control computer obtains picking fruit robot working environment information by image capturing system, data collecting card, and adopts
AC servo driver is sent control signals to the mode of serial communication, through each joint electricity of servo amplifier driving robot
Machine works, while by the feedback signal during each robot control of serial communication module real-time reception, value of feedback is carried out
Data store, then the data are supplied to each control algolithm module, generate control instruction by processing, which is passed through control
Device exports, and thus forms a closed-loop control system.
The closed-loop control that AC servo is made of AC servo driver, AC servo motor and photoelectric encoder
System, servo-driver have selected the AC servo driver of ASD-AB series, mainly there is position control, speed control, torque
Three kinds of control models are controlled, what is taken is position control mode and the communication mode of RS-422, is communicated by RS-422, can be incited somebody to action
Operating status, alarm condition and absolute position of servo-drive system etc. are transmitted to main control computer, and can pass through main control computer pair
Servo-driver carries out parameter setting, Gain tuning and commissioning test.
The present invention controls each joint drive motor of picking robot mechanical arm by the way of serial communication, it is contemplated that RS-
232 can only realize point-to-point transmission mode, therefore realize that the transmission mode of multiple spot can only consider RS-485 or RS-422, simultaneously
RS-485 transmission modes are asynchronous half-duplex and RS-422 is asynchronous, full duplex, therefore this system is used based on RS-422 buses
Serial communication mode controls picking robot mechanical arm, and industrial personal computer selected by this system can not directly be connected with RS-422 buses,
Therefore a serial communication converter is needed, main control computer controls each joint driver respectively by RS-422 buses, according to watching
The position distribution of motor is taken to set modules, the control signal connecting line of motor and the feedback signal connecting line of encoder are straight
It connects and is connected with driver, electrical structure is easily achieved modularized processing, and all control and feedback data are uploaded directly into RS-
422 buses.
Picking robot vision system main task includes:The presence of target is not only detected, also to calculate picking
The space coordinate of object determines the relative distance between robot or end-effector and manipulating object；Determine target object
Quality, shape and size；It walks to robot motion and carries out vision guided navigation, this system is driven using VFW, with multithreading reality
The Apple image of real-time acquisition camera shooting is showed.Image acquisition process can be effectively controlled.Key code is as follows
UINT apples (LPVOID IpParam)
{
capGrahFrameNoStop(m_ hCapWnd);// single-frame capture (there are in shear plate for obtained image)
capEditCopy (m_ hCapWnd);
CStatic * pStatic=(CStatic*) (AfxGetMainWnd () one>GetDIgItem(IDC_
STATIC));
... // image processing program
}
Fig. 4 is that picking fruit robot real-time video capture portion realizes flow chart.
Picking fruit robot is likely encountered in the situation within sweep of the eye without objective fruit, at this moment in operation is picked
It needs mobile platform mobile or joint of mechanical arm movement is made to carry out active searching target fruit.By searching route different designs difference
Searching algorithm, shown in Fig. 4-8:DLettToRight algorithms are from left to right downward, then from right to left, still further below, so recycle
Until seeking target or cycle-index has arrived;URightToLeft algorithms are upward from right to left, then from left to right, again upwards, such as
Until seeking target or cycle-index, oneself arrives this cycle;RUpToDown algorithms from top to bottom to the right, then from top to bottom, again to the right,
So cycle is until seek target or cycle-index has arrived;LUpToDown algorithms from top to bottom to the left, then from top to bottom, again to
A left side, so cycle until seek target or cycle-index has arrived,
In the ideal situation be it is accessible in the case of can select more than four kinds of searching algorithm searching target fruits, usually select
URightToLeft algorithms carry out target search.Target search selectively to be carried out when there is obstacle:It is passed by detecting avoidance
Sensor signal needs large-arm joint Forward certain angle when obstacle is arranged at forearm top, and small shoulder joint moves up certain angle
To achieve the purpose that avoidance, while encountering identical obstacle again in order to prevent can select DLeftToRight algorithms to carry out mesh
Mark, as shown in Figure 9：
When having obstacle on the left of the forearm, to move right certain angle to hide obstacle waist, while meet again in order to prevent
RUpToDown algorithms can be selected to carry out target search to identical obstacle;When having obstacle on the right side of forearm, in order to hide obstacle waist
Portion will be moved to the left certain angle, while encountering identical obstacle again in order to prevent can select LUpToDown algorithms to carry out mesh
Mark search.
Picking fruit robot system path planning process figure illustrates level and the friendship between this system different units
Interaction, shown in Figure 10.
Visual sensor is installed on device for picking, for determining fruit position coordinates;Crash sensor is installed on forearm, is used
In the barrier for perceiving close mechanical arm in environment.Under normal sampling rate, well-regulated movement should in next step for robot
The position of data and target point based on current sensor.Mechanical arm is most basic positioning device, it device for picking along
The good path of ruleization is sent to target position from initial position.In this process, target figure is acquired using visual sensor
Picture, and image is handled, the position coordinates where objective fruit are provided, position coordinates are converted into each pass by control system
The angle change of section.External information is sensed in real time by loading avoidance sensor on forearm, when having detected obstacle, machinery
The corresponding joint of arm achievees the purpose that avoidance by moving and re-searching for the method for target round about.This method is convenient for
The real-time control of robot and avoidance, therefore for the picking robot that arithmetic speed requirement is high and requirement is handled in real time,
This method can realize avoidance well, complete this control system of picking task and realize that Real Time Obstacle Avoiding is as it using multithreading
In thread realize that flow chart is as shown in figure 11.
This each joint limit sensors signal of module combination picking robot mechanical arm of position limitation protection module is made anti-in real time
Should, achieve the purpose that protect picking robot ontology, multithreading is applied in this picking robot control software, by this
The detection of a little signals is used as one of thread to realize with processing.Program flow diagram is as shown in figure 12.
Device for picking sensor mainly includes visual sensor, position sensor, pressure sensor etc., and industrial personal computer passes through data
Capture card acquisition position, the status information of pressure sensor, and make corresponding judgement with reference to each joint motions state of mechanical arm.
Work flow diagram is as shown in figure 13.
Multithreading is applied in this picking robot control software, using the detection of these signals with processing as it
In thread realize.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of picking fruit robot, it is characterized in that：Including creeper truck（1）, lifting gear and mechanical arm, lifting dress
It puts including mains power control device（13）And lifting platform（12）, the mechanical arm includes and lifting platform（12）The large arm of connection
（8）, large arm（8）The other end is connect with forearm, and forearm is equipped with electric pushrod（6）, electric pushrod（6）The other end and device for picking
（4）Connection, the large arm（8）With lifting platform（12）One end of connection is equipped with large arm motor（9）, the electric pushrod（6）
With large arm（8）One end of connection is equipped with forearm motor（7）, the electric pushrod（6）Lower section is equipped with collection port（5）, collection port
（5）With flexible pouch（3）One end connection, flexible pouch（3）The other end is with collecting basket（2）Connection.
2. a kind of picking fruit robot according to claim 1, it is characterized in that：The lifting platform（12）Working face on
Equipped with rotary shaft（11）, rotary shaft（11）Pass through waist motor（10）Driving.
3. a kind of control system of picking fruit robot, it is characterized in that：The control system includes main control computer, exchange
Servo-control system, serial communication interface converter, NI Vision Builder for Automated Inspection and data collecting card；Wherein system master computer is
Control centre is integrated with software and control interface, and whole system is controlled；Input mechanism is by data collecting system and image
Acquisition system is formed, they complete the acquisition to picking fruit robot peripheral environment information；Output mechanism is by servo motor, gas
Pump, end effector composition；
Main control computer obtains picking fruit robot working environment information by image capturing system, data collecting card, and adopts
AC servo driver is sent control signals to the mode of serial communication, through each joint electricity of servo amplifier driving robot
Machine works, while by the feedback signal during each robot control of serial communication module real-time reception, value of feedback is carried out
Data store, then the data are supplied to each control algolithm module, generate control instruction by processing, which is passed through control
Device exports, and thus forms a closed-loop control system；
The closed-loop control system that AC servo is made of AC servo driver, AC servo motor and photoelectric encoder
System, servo-driver have selected the AC servo driver of ASD-AB series, have mainly there is position control, speed control, torque control
Three kinds of control models are made, what is taken is position control mode and the communication mode of RS-422, is communicated by RS-422, can will be watched
Operating status, alarm condition and absolute position of dress system etc. are transmitted to main control computer, and can be by main control computer to watching
It takes driver and carries out parameter setting, Gain tuning and commissioning test；
This system controls picking robot mechanical arm using the serial communication mode based on RS-422 buses, and main selected by this system
Control computer can not directly be connected with RS-422 buses, need to set a serial communication interface converter；Main control computer passes through
RS-422 buses control each joint driver respectively, and modules, the control of motor are set according to the position distribution of servo motor
Signal connecting line processed is directly connected with the feedback signal connecting line of encoder with driver, and electrical structure is easily achieved at modularization
Reason, all control and feedback data are uploaded directly into RS-422 buses；
Picking robot vision system main task includes:The presence of target is not only detected, also to calculate picking object
Space coordinate, determine the relative distance between robot or end-effector and manipulating object;Determine target object quality,
Shape and size;It walks to robot motion and carries out vision guided navigation；
Data collecting card is the bridge of control system and external environment, and the function of data collecting card has a simulation input, simulation output,
Digital I/0, counter/timer are realized by variable connector, amplifier, sampling hold circuit and analog-digital converter；
End effector is made of mechanical device and sensor, is mounted with position sensor, pressure sensor, collision sensing respectively
Device and visual sensor, wherein position alignment sensor are formed using infrared opposite-radiation switch；Crash sensor and pressure sensing
Device is formed using force sensing resistance；Visual sensor uses the camera of high pixel.
4. a kind of control system of picking fruit robot according to claim 3, it is characterized in that：The control system
Software write using VC++ based on multithreading, main thread is mainly responsible for administration interface, necessarily initial work and son
The communication of cross-thread and the synchronization of coordination cross-thread etc., including motion control sub-line journey, video capture sub-line journey, Real Time Obstacle Avoiding
Thread, position limitation protection sub-line journey, hand claw sensor positioning sub-line journey, prism stretch detection sub-line journey and prism contracting detection sub-line journey group
Into.
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| CN109005922A (en) * | 2018-07-02 | 2018-12-18 | 昆明理工大学 | A kind of intelligent picker and its working method based near infrared light spectral theory |
| CN109110693A (en) * | 2018-10-17 | 2019-01-01 | 合肥学院 | Liftable fruit picking and storing robot |
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| CN109197159A (en) * | 2018-11-28 | 2019-01-15 | 刘艳荣 | A kind of Chinese walnut picking robot |
| CN109220225A (en) * | 2018-10-22 | 2019-01-18 | 湖北理工学院 | A kind of full-automatic fruit picker |
| CN109220195A (en) * | 2018-11-06 | 2019-01-18 | 佛山市广科产业技术研究院有限公司 | A kind of watermelon seed harvester that solid cultivation uses |
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| CN111113418A (en) * | 2019-12-25 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Dance control method and device for robot |
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| CN109005922B (en) * | 2018-07-02 | 2021-08-20 | 昆明理工大学 | Intelligent picking device based on near infrared spectrum theory and working method thereof |
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| CN109110693A (en) * | 2018-10-17 | 2019-01-01 | 合肥学院 | Liftable fruit picking and storing robot |
| CN109220225A (en) * | 2018-10-22 | 2019-01-18 | 湖北理工学院 | A kind of full-automatic fruit picker |
| CN109220195A (en) * | 2018-11-06 | 2019-01-18 | 佛山市广科产业技术研究院有限公司 | A kind of watermelon seed harvester that solid cultivation uses |
| CN109197159A (en) * | 2018-11-28 | 2019-01-15 | 刘艳荣 | A kind of Chinese walnut picking robot |
| CN110140523A (en) * | 2019-06-21 | 2019-08-20 | 文成县简创科技有限公司 | A kind of red bayberry picking can dispense the picker of anti-landing with integration loading |
| CN110140523B (en) * | 2019-06-21 | 2021-10-22 | 文成县简创科技有限公司 | Integrated loading split-loading anti-falling picking device for waxberry picking |
| CN110614622A (en) * | 2019-10-22 | 2019-12-27 | 山东大学 | Intelligent fruit picking robot and implementation method thereof |
| CN111168666A (en) * | 2019-12-12 | 2020-05-19 | 北京轩宇智能科技有限公司 | Method for realizing multithreading processing of single-thread mechanical arm and mechanical arm |
| CN111168666B (en) * | 2019-12-12 | 2022-01-07 | 北京轩宇智能科技有限公司 | Method for realizing multithreading processing of single-thread mechanical arm and mechanical arm |
| CN111113418A (en) * | 2019-12-25 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Dance control method and device for robot |
| CN111882694A (en) * | 2020-07-15 | 2020-11-03 | 中国工商银行股份有限公司 | Machine room inspection method and device and robot |
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
| US12084296B2 (en) * | 2020-09-14 | 2024-09-10 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
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