CN108781762A - A kind of efficient strawberry picking robot and picking method - Google Patents
A kind of efficient strawberry picking robot and picking method Download PDFInfo
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- CN108781762A CN108781762A CN201810315723.9A CN201810315723A CN108781762A CN 108781762 A CN108781762 A CN 108781762A CN 201810315723 A CN201810315723 A CN 201810315723A CN 108781762 A CN108781762 A CN 108781762A
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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 efficient strawberry picking robot and picking methods, belong to robotic technology field.It includes rack；Identification screening module, the rgb value for obtaining strawberry is identified by color, judges ripe strawberry and prematurity strawberry and single stem and more stems；Module is picked, the ripe strawberry that module obtains is sieved into the identification and is cut；Ripe strawberry is collected by collection module.The cooperation sieved module by identification, pick module and collection module, may be implemented the acquisition to ripe strawberry, is used for picking of the indirect labor to strawberry, is reducing the situation for causing pericarp breakage to the greatest extent, improving picking efficiency, reduce artificial picking labor intensity.
Description
Technical field
The invention belongs to robotic technology fields, more specifically to a kind of efficient strawberry picking robot and picking
Method.
Background technology
Strawberry (also known as red Berry, Berry etc.), herbaceos perennial is 10-40 centimetres high, and stem is close to be opened less than leaf or close
Yellow pubescence is opened up, leaf three goes out, and leaflet has short handle, and quality is thicker, obovate or diamond shape, and petiole is close by development yellow pubescence, poly- umbrella
Inflorescence, the leaflet of one short handle of mask under inflorescence；Petal white, subcircular or the ellipse of falling ovum, aggregate fruit is big, and it is straight to harbor sepal
It is vertical, it is tightly attached to fruit；Achene point is oval, smooth, and the florescence is generally the 4-5 months, the fruiting period 6-7 months.According to statistics, the whole world about
Strawberry cultivars are up to more than 20000, and China cultivates and the new varieties introduced from foreign country have 200-300, commerial growing it is excellent
Non-defective unit kind share tens it is even more, and as people continue to increase strawberry demand, orchard worker plants the number of strawberry
Amount is also continuously increased, but traditional manual labor is primarily present the following problem in strawberry picking process：(1) people
The work picking amount of labour is big and efficiency is low；(2) picking of ridge culture strawberry is stoop labor, needs front and back foot to be in line and bends over, squat down or
For the posture of semi-crouch just in furrow, operation is extremely tired, and picking cost increases；(3) strawberry fruit amount is more, and the picking amount of labour is big,
Every plant of strawberry whole time in maturity period is longer, if cannot pick in time, strawberry fruit is perishable；(4) pericarp cracky is being picked
Process cannot cause to damage to pericarp, influence quality.
Currently, in terms of strawberry harvest, nearly rattan of Japan et al. is directed to modern greenhouse cultivation mode, has developed suitable for overhead cultivation
The strawberry of training harvests robot device, which uses 5DOF picking mechanical arm, vision system and aforementioned mechanical tomato picker
Device people is similar, and end effector adds knife blade cutters using vacuum suction, when harvest, first calculates picking by NI Vision Builder for Automated Inspection
The spatial position of target, subsequent picking mechanical arm are moved to precalculated position, and end effector is sucked close to target until strawberry,
The position that strawberry is detected by 3 pairs of optoelectronic switches, when strawberry is located at suitable position, wrist joint movement, carpopodium enters specific bit
It sets, cut-out carpopodium is rotated by cutter, completes picking.
In addition, Japan is investigated other strawberry hierarchical approaches, waveform fruit tray is used when such as picking fruit, strawberry can be made
It is arranged by prescribed form, facilitates and be classified with robot.Such as field et al. Development and design is used for ridge to Japanese Miyazaki University forever
4DOF strawberry harvester device people's device of upper operation, the robot are also that frame-type Three Degree Of Freedom right angle is sat using manipulator
Mark is picked up and down using vertical, and two vertical video cameras for overlooking ground obtain the image of strawberry, and one for finding target fruit
Real, one for calculating objective fruit orientation；Mechanical paw is measured to the distance of strawberry with laser sensor, utilizes mechanical paw
Capture strawberry carpopodium, cutter cuts carpopodium.Volume is relatively large for the strawberry harvesting experimental provision of the robot, there is no hoofing part
Device blocks the branches and leaves of strawberry, is overlapped etc. and not yet studying；Meanwhile picking mechanical arm uses strength driving side
Formula increases the complexity and manufacturing cost of system, and there are difficulty for application and popularization in production.
In addition, in terms of strawberry picking China Agricultural University's iron it is medium strawberry fruit target identification, extraction, positioning,
Picking robot and paw etc. have carried out quite deep and systematic research, establish strawberry picking robot experiment system
System, realizes identifying and positioning for strawberry, overlapping each other or hiding to strawberry fruit using image processing techniques such as binocular visions
Situations such as gear, is studied, and research and design has gone out the strawberry picking mechanical arm based on alley formula strawberry cultivating system, and
Have investigated the fruit vision system for being directed to alley formula growing structures and alley picking running gear.Presently, there are the problem of
From the analysis above, we can see that from the research direction of strawberry picking robot, strawberry picking research at this stage is concentrated mainly on
Following components：
1) research of the external picking mechanism primarily directed to high hanging cropping pattern, it is leading for being suitable for accounting in China
The alley formula strawberry picking robot of cropping pattern is fewer, though the type related to, studies not perfect, no driving device
And volume is larger, can not be combined with practical planting environment；
2) design that the research of individual mechanism design aspect focuses mostly in end effector and vision system is directed to grind
Study carefully, and for how to be suitble to plant landform picking robot walking mechanism and with picking arm cooperation in terms of research and
Design is then less；
3) influence of the sensor to picking is excessively pursued, is not accounted for using mechanical structure, and combines strawberry cultivating
Mode is studied picking, the more picking not over mechanical-assisted sensor to fruit；
4) mechanical arm and color sensor are utilized, bionical picked technology is removed, although there are technical progress receipts every year
Effect is gradually micro-, and cost is higher, and efficiency is low.
Invention content
1. to solve the problems, such as
The problem that the strawberry amount of labour is big and efficiency is low is manually picked for existing alley formula, the present invention provides a kind of efficient grass
Certain kind of berries picking robot, efficient, intelligentize agricultural machine, the small-sized machine that can be sieved and be collected automatically, for assisting people
Picking of the work to strawberry reduces labor intensity, improves strawberry picking efficiency.
The present invention also provides a kind of picking method of efficient strawberry picking robot, step linking is orderly, as far as possible
Protection strawberry picking while, improve the picking efficiency of strawberry.
2. technical solution
To solve the above-mentioned problems, the technical solution adopted in the present invention is as follows：
A kind of efficient strawberry picking robot of the present invention, including rack are provided with handle, and there are four lower section settings
Idler wheel；
Identification screening module, by color identify obtain strawberry rgb value, judge ripe strawberry and prematurity strawberry and
Single stem and more stems；
Module is picked, the ripe strawberry that module obtains is sieved into the identification and is cut；
Ripe strawberry is collected by collection module.
In a kind of possible embodiment of the present invention, the identification screening module includes color sensor and sorting machine
Structure, the sorting mechanism include motor, dual output worm and gear, driving chain, separation wheel, suspension and shaft, wherein suspension with
The rack is fixed, and shaft is fixed on the lower section of suspension, and shaft one end connects separation wheel, and the other end connects driving chain；Motor
It is fixed on the top of the rack, and is connect with dual output worm and gear, driving chain is around being located on dual output worm and gear；Institute
It states color sensor to be fixed on suspension, and above separation wheel.
In a kind of possible embodiment of the present invention, the separation wheel includes wheel hub, polyethylene hairbrush, internal overarm support, outer
Clamping plate and snak link, the wheel hub are equipped with several mounting grooves, and mounting groove can fix polyethylene hairbrush, and internal overarm support rotation is fixed on
On hub spindle, external splint is limited by snak link on wheel hub, and wherein polyethylene hairbrush constitutes separation wheel pickup end (pickup fruit
Stem), and external splint can be scaled freely, to realize fixed stem end.
In a kind of possible embodiment of the present invention, the picking module includes steering engine, spring, cutter and connecting rod, institute
It states steering engine to be fixed on the rack, steering engine is connect by connecting rod with cutter, and for spring pocket on cutter, the head of cutter passes through wheel hub
On the cutter slot that sets.
In a kind of possible embodiment of the present invention, the collection module includes pallet, and the inside edge of pallet is equipped with
Hairbrush, the trapezoidal ridge both sides for being close to strawberry cultivating field.
Further include that impeller module is wrapped up in centre, impeller module is wrapped up in the centre in a kind of possible embodiment of the present invention
The baffle being made of PVC and mane including two pieces, two block baffles are symmetricly set on the lower section of rack and run through entire rack, baffle
It is in same level with separation wheel, entrance is trapezoidal inwardly to be become narrow gradually, and strawberry and fruit are separated, subtracted to greatest extent
Few injury to strawberry also allows for the accurate screening of identification screening module.
In a kind of possible embodiment of the present invention, the quantity of the sorting mechanism is six and constitutes two rows, right
Claim to be arranged below rack, correction crawl wheel, correction crawl wheel and separation wheel knot are respectively arranged in the front end of two rows of separation wheels
Structure is consistent, in use, separation wheel and correction capture the steering of wheel on the contrary, being used for the edge pickup of strawberry sector distribution, auxiliary
With strawberry separation wheel, the omission pickup of strawberry is solved.
In a kind of possible embodiment of the present invention, it further includes tail portion sweeping wheel, the tail that impeller module is wrapped up in the centre
Circumferentially surface is equipped with flexible brush to portion's sweeping wheel.
The present invention also provides a kind of picking methods of efficient strawberry picking robot, including step in detail below：
The baffle that step S101. is located at front end separates strawberry and fruit, is picked up by the polyethylene hairbrush on separation wheel
Strawberry stem end is taken, and stem end is fixed by internal overarm support and external splint；
When the stem end of pickup is moved to separation wheel wheel hub top setting range, color sensor captures step S102.
The strawberry of stem end front end carries out color identification, the rgb value of acquisition to strawberry, and cooperation color recognizer is sieved, judged into
Ripe strawberry and prematurity strawberry and single stem and more stems；
Step S103. is then located at the cutter above separation wheel wheel hub and is driven by steering engine when being judged as ripe single stem strawberry
Dynamic fly-cutting stem end；When there are multiple stem ends to be picked, stem end is not cut then by the judgement of rgb value, by next
Separation wheel picks up judgement and cutting again；
The strawberry that step S104. is won originates from from balk on the pallet for being fallen on by tumbling and being close to ridge edge, completes grass
The picking of the certain kind of berries.
In the present invention a kind of possible embodiment in, in the step S101, to edge sector distribution strawberry, by
Correction crawl wheel pickup；In the step 102, the specific procedure of color recognizer is：Color sensor is normally adopting color
Before, the acquisition for first carrying out white establishes a white balance benchmark, starts the acquisition of normal color after white balance, pass through journey
The setting of sequence can make color sensor pass through serial ports or IIC communications and be acquired to chip by the calculating of chip
Color；The color that chip is acquired again is red, by serial communication actuator driving plate, makes specified steering engine action, drives
Cutter incision.
3. advantageous effect
Compared with the prior art, beneficial effects of the present invention are：
(1) efficient strawberry picking robot of the invention sieves matching for module, picking module and collection module by identification
It closes, the acquisition to ripe strawberry may be implemented, be used for picking of the indirect labor to strawberry, pericarp breakage is caused reducing to the greatest extent
Situation improves picking efficiency, reduces artificial picking labor intensity；
(2) efficient strawberry picking robot of the invention, uses separation wheel and color sensor, separation wheel can be by fruit
Stem and fruit are transported to certain altitude, then realize the quickly maturity of identification strawberry and single stem and more stems, avoid strawberry
The indirect influence of plant；
(3) efficient strawberry picking robot of the invention, the separation wheel include polyethylene hairbrush, internal overarm support, external splint and
Snak link, polyethylene hairbrush constitutes separation wheel pickup end (pickup stem end), and external splint can be scaled freely, to realize fixed fruit
Stem；
(4) efficient strawberry picking robot of the invention, uses centre to wrap up in impeller module, can be by strawberry and fruit
It is real to separate, the injury to strawberry is reduced to greatest extent, also allows for the accurate screening of identification screening module；
(5) efficient strawberry picking robot of the invention, use scope is wide, can be planted to ridge by replacing separation wheel, nothing
Soil cultivation pipe plantation etc., the strawberry of variety classes, different solar terms is picked,
(6) efficient strawberry picking robot of the invention, work efficiency is high, can continuity picking, realize picking each second
In addition one high efficiency can accomplish to pick without breakage to fruit, picking precision is high, be sieved to ripe and green fruit accurate
True rate reaches 94% or so,
(7) efficient strawberry picking robot of the invention, at low cost, energy consumption is small, and the present invention is made by the auxiliary of separation wheel
With, it realizes the accurate identification of color sensing gas, reduces the excessive dependence to sensor, and color sensor identification is interfered
Research has abandoned traditional mechanical arm picking, has reduced mechanical processing difficulty.
Description of the drawings
Technical scheme of the present invention is described in further detail below with reference to drawings and examples, but should
Know, these attached drawings only design for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
It points out, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
Fig. 1 is the structural schematic diagram of the efficient strawberry picking robot of the present invention；
Fig. 2 is the front view of the efficient strawberry picking robot of the present invention；
Fig. 3 is the vertical view of the efficient strawberry picking robot of the present invention；
Fig. 4 is that modular structure schematic diagram is sieved in the identification of the efficient strawberry picking robot of the present invention；
Fig. 5 is that the efficient strawberry picking robot of the present invention picks the scheme of installation of module and identification sorting module；
Fig. 6 is the separation wheel structural schematic diagram of the efficient strawberry picking robot of the present invention；
Fig. 7 is the tail portion sweeping wheel structural schematic diagram of the efficient strawberry picking robot of the present invention；
Fig. 8 is the picking flow chart of the efficient strawberry picking robot of the present invention.
Description of symbols in figure：
100, rack；110, handle；120, idler wheel；
200, identification screening module；210, color sensor；220, motor；230, dual output worm and gear；240, it is driven
Chain；250, separation wheel；251, wheel hub；252, polyethylene hairbrush；253, internal overarm support；254, external splint；255, snak link；256,
Cutter slot；260, suspension；270, shaft；280, correction crawl wheel；
300, module is picked；310, steering engine；330, spring；340, cutter；350, connecting rod；
400, collection module；410, pallet；
500, impeller module is wrapped up in centre；510, baffle；520, tail portion sweeping wheel.
Specific implementation mode
Hereafter to the detailed description of exemplary embodiment of the present invention with reference to attached drawing, which forms one of description
Point, it has been shown as example enforceable exemplary embodiment of the invention in the figure.Although these exemplary embodiment quilts
Fully describe in detail so that those skilled in the art can implement the present invention, it is to be understood that can realize other embodiment and
Can without departing from the spirit and scope of the present invention to the present invention various changes can be made.Hereafter to the embodiment of the present invention
More detailed description is not limited to required the scope of the present invention, and just to be illustrated and do not limit pair
The description of the features of the present invention and feature to propose to execute the best mode of the present invention, and is sufficient to make those skilled in the art
It can implement the present invention.Therefore, the scope of the invention is only defined by the appended claims.
Hereafter detailed description of the present invention and example embodiment are more fully understood in combination with attached drawing, wherein the present invention
Element and feature are identified by reference numeral.
Embodiment 1
As shown in Figures 1 to 8, a kind of efficient strawberry picking robot of the invention, including rack 100, are provided with
Handle 110, lower section are provided with four rolling 120；Identification screening module 200, the rgb value for obtaining strawberry is identified by color, is sentenced
It is broken into ripe strawberry and prematurity strawberry and single stem and more stems；Module 300 is picked, the maturation that identification screening module 200 is obtained
Strawberry is cut；Ripe strawberry is collected by collection module 400.
The identification screening module 200 of wherein the present embodiment includes color sensor 210 and sorting mechanism, and sorting mechanism includes
Motor 220, dual output worm and gear 230, driving chain 240, separation wheel 250, suspension 260 and shaft 270, wherein suspension 260
It is fixed with rack 100, shaft 270 is fixed on the lower section of suspension 260, and 270 one end of shaft connects separation wheel 250, other end connection
Driving chain 240；Motor 220 is fixed on the top of rack 100, and is connect with dual output worm and gear 230, driving chain 240
Around being located on dual output worm and gear 230；Color sensor 210 is fixed on suspension 260, and above separation wheel 250,
Specifically：It is 4cm that 256 right 1cm of cutter slot, which is fixed on, with wheel hub 251 edge-perpendicular distance, identifies that color accuracy rate is high at this time,
Performance is stablized, and is fitted to the semicircle conical surface of wheel hub 251, solves the influence that background color identifies sensor colors.
As shown in fig. 6, separation wheel 250 includes wheel hub 251, polyethylene hairbrush 252, internal overarm support 253, external splint 254 and bullet
Spring button 255, wheel hub 251 are equipped with several mounting grooves, and mounting groove can fix polyethylene hairbrush 252, and the rotation of internal overarm support 253 is fixed on
On 251 axis of wheel hub, external splint 254 is limited by snak link 255 on wheel hub 251, and wherein polyethylene hairbrush 252 constitutes separation wheel
250 pickup ends (pickup stem end), and external splint 254 can be scaled freely, to realize fixed stem end.
The quantity of sorting mechanism is six and constitutes two rows, 100 lower section of rack is symmetricly set on, in two rows of separation wheels 250
Front end be respectively arranged with correction crawl wheel 280, correction crawl wheel is 280 consistent with 250 structure of separation wheel, in use, sorting
Wheel 250 and correction capture the steering of wheel 280 on the contrary, being used for the edge pickup of strawberry sector distribution, auxiliary and strawberry separation wheel
250, solve the omission pickup of strawberry.
It should be noted that：The maximum gauge 5cm of separation wheel 250 designs the pickup that can freely replace on separation wheel 250
End, pickup end are made of fiber reinforced resinous material.Its rigidity and Qufu property are calculated and have been studied in conjunction with strawberry fruit characteristic,
And special heat treatment is carried out to fiber reinforced resinous material, keep it stronger to the adhesive of stem end in pickup, on separation wheel 250
The relationship between end number and strawberry probability density distribution is picked up, probability density distribution calculating is carried out.
The forward speed of whole robot is V, and the rotating speed of separation wheel 250 is W, passes through practical test and the deduction of theory
Obtain V=W, the efficiency sorted in this way can reach 97% or more, the sorting end number X on separation wheel 250, by strawberry fruit
Real probability distribution density measures n, and pickup frequency is T, passes through this relationship N* (TV/nW)=X；(N is constant), can be with
Determine that sorting end quantity, the specific test of Binding experiment, the quantity for sorting end are 10 maximally efficient.
As shown in figure 5, the picking module 300 of the present embodiment includes steering engine 310, spring 330, cutter 340 and connecting rod 350,
Steering engine 310 is fixed in rack 100, and steering engine 310 is connect by connecting rod 350 with cutter 340, and spring 330 is sleeved on cutter 340
On, the head of cutter 340 passes through the cutter slot 256 set on wheel hub 251, and further subdivision requires as follows：
1, steering engine 310：Independent steering engine 310 sweep angle be 0~180 degree, 1.2~1.4 kilograms per centimeter of stall torque/
(4.8v), operating voltage 4.8v~6v, brightness win SG90.There are 6 independent steering engines 310 to connect cutter 340, cooperation by connecting rod 350
Color sensor 210 cuts stem end；
2, cutter 340：65 manganese steel of model 600mm 800mm materials is cut by carrying out specially treated to the edge of a knife convenient for stem end
It cuts；Cutter 340 is located at right over separation wheel 250, and cutter slot 256 is provided with close to inside in 250 wheel hub 251 of separation wheel, for auxiliary
Help the cutting to stem end；
3, connecting rod 350：Mechanical analysis is carried out to it, maximum cutting rate is provided so that the steering engine 310 of small torsion can be light
Pine cutting reduces the power of entire machinery.
In addition, the collection module 400 of the present embodiment includes pallet 410, the inside edge of pallet 410 is equipped with hairbrush, is used for
It is close to the trapezoidal ridge both sides in strawberry cultivating field, the height of pallet 410 can be adjusted, and the maximum normal distance with strawberry is 7cm left
The right side, single maximum all-up weight is 5 kilograms.
The robot further includes that impeller module 500 is wrapped up in centre, and impeller module 500 is wrapped up in including two pieces by PVC and mane in centre
The baffle 510 of composition, two block baffles 510 be symmetricly set on the lower section of rack 100 and run through entire rack 100, baffle 510 with point
Choosing wheel 250 is in same level, and entrance is trapezoidal inwardly to be become narrow gradually, and strawberry and fruit are separated, subtracted to greatest extent
Few injury to strawberry also allows for the accurate screening of screening module.As shown in fig. 7, impeller module 500 is wrapped up in centre further includes
Tail portion sweeping wheel 520, circumferentially surface is equipped with flexible brush to tail portion sweeping wheel 520.
The strawberry robot needs to carry out big data processing, due to color identification module to be carried out at the same time and picking module
300 and 220 drive module of motor control, therefore the performance and communication aspects to main control chip have higher requirement, STM32F systems
The plurality of advantages of row STM32F103ZET6 main control chips meets the requirement of the present apparatus well, therefore main control chip selects
STM32F series STM32F103ZET6.
As shown in figure 8, a kind of picking method of efficient strawberry picking robot of the present embodiment, including walk in detail below
Suddenly：
The baffle 510 that step S101. is located at front end separates strawberry and fruit, by the polyethylene on separation wheel 250
Hairbrush 252 picks up strawberry stem end, and fixes stem end by internal overarm support 253 and external splint 254；
Step S102. is when the stem end of pickup is moved to separation wheel 250 wheel hub, 251 top setting range, color sensor
210 capture the strawberry of stem end front end, carry out color identification, the rgb value of acquisition to strawberry, cooperation color recognizer carries out
Screening judges ripe strawberry and prematurity strawberry and single stem and more stems；
For step S103. when being judged as ripe single stem strawberry, then the cutter 340 for being located at 250 wheel hub of separation wheel, 251 top is logical
It crosses steering engine 310 and drives fly-cutting stem end；When there are multiple stem ends to be picked, stem end is not cut then by the judgement of rgb value
It cuts, picks up judgement and cutting again by next separation wheel 250；
The strawberry that step S104. is won originates from from balk on the pallet 410 for being fallen on by tumbling and being close to ridge edge, complete
At the picking of strawberry.
In step S101, to the strawberry of edge sector distribution, by 280 pickup of correction crawl wheel；In the step 102
In, the specific procedure of color recognizer is：Color sensor 210 first carries out the acquisition of white before normally adopting color, establishes
One white balance benchmark, the acquisition that white balance starts normal color later can make color sensor by the setting of program
210 by serial ports or IIC communications to chip, by the calculating of chip, the color that is acquired；Chip is acquired again
Color be red, by 310 driving plate of serial communication steering engine, so that specified steering engine 310 is acted, drive 340 incision of cutter.
Specially：Single channel IIC realizes color identification and picking program's source code：
The strawberry picking robot of the present embodiment rattan close compared to Japan et al. is directed to modern greenhouse cultivation mode, has developed suitable
Robot device is harvested in the strawberry of high-level cultivating, which uses 5DOF picking mechanical arm, vision system end to execute
Device adds knife blade cutters using vacuum suction, and when harvest, the spatial position of picking target is first calculated by NI Vision Builder for Automated Inspection, into
Row picking, and such robot is picked just for the strawberry of single cropping mode, cannot be applicable in different terrain, difference plantation
The strawberry of mode is picked, using vision system, in conjunction with mechanical arm so that and technical costs, maintenance costs greatly improve,
It is not applied for middle smallholder, and vacuum is inhaled plus blade cutting, when being picked to hanging strawberry, it is desirable that mechanical processing
Precision has and very high could meet precisely picking；In addition vision system disturbing factor in image acquisition process is too many, may
Because of the shake of the light and shade machinery of light in picking process, the accuracy of the influences such as density of strawberry fruit picking, and when picking
Between, the 15s/ provided according to them is a, it can be seen that such strawberry picking robot is completely unusable for producing and come into operation；
In addition the efficient strawberry picking robot of the present embodiment is picked end and color sensor using immobilization, is adopted
Screening is plucked, the data acquisition of vision system has been abandoned, has reduced technical costs；It, can be with using fixed flexible separation wheel module
As needed, for different terrain, modularization assembling is carried out, the use scope of such robot is substantially increased；Fixed knowledge
Module is not sieved, can be carried out in machine internal by designing robot shells so that picking, by internal light filling, is reduced outer
Boundary's factor is interfered so that picking is accurate quick, and accuracy rate is up to 90% or more, and by the design of these innovations, 3s/ may be implemented
A high speed picking is five times of preceding machine picking efficiency, and cost is even more to be much smaller than preceding robot, in picking process, I
Using strawberry growing environment, the flexible sorting end of design avoids being in direct contact for machinery and fruit, can abandon in this way
Tradition machinery arm is picked, and technical difficulty is reduced, and is improved picking efficiency, is greatly reduced the loss percentage of fruit, improve strawberry
Quality.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. a kind of efficient strawberry picking robot, which is characterized in that including rack (100)；
Identification screening module (200), by color identify obtain strawberry rgb value, judge ripe strawberry and prematurity strawberry with
And single stem and more stems；
Module (300) is picked, the ripe strawberry that module (200) obtains is sieved into the identification and is cut；
Collection module (400), ripe strawberry is collected.
2. efficient strawberry picking robot according to claim 1, which is characterized in that the identification screening module (200)
Including color sensor (210) and sorting mechanism, the sorting mechanism include motor (220), dual output worm and gear (230),
Driving chain (240), separation wheel (250), suspension (260) and shaft (270), wherein suspension (260) are solid with the rack (100)
Fixed, shaft (270) is fixed on the lower section of suspension (260), and shaft (270) one end connects separation wheel (250), other end connection transmission
Chain (240)；Motor (220) is fixed on the top of the rack (100), and is connect with dual output worm and gear (230), transmission
Chain (240) is around being located on dual output worm and gear (230)；The color sensor (210) is fixed on suspension (260), and
Above separation wheel (250).
3. efficient strawberry picking robot according to claim 2, which is characterized in that the separation wheel (250) includes wheel
Hub (251), polyethylene hairbrush (252), internal overarm support (253), external splint (254) and snak link (255), on the wheel hub (251)
Equipped with several mounting grooves, mounting groove can fix polyethylene hairbrush (252), and internal overarm support (253) rotation is fixed on wheel hub (251) axis
On, external splint (254) is limited by snak link (255) on wheel hub (251).
4. efficient strawberry picking robot according to claim 3, which is characterized in that the picking module (300) includes
Steering engine (310), spring (330), cutter (340) and connecting rod (350), the steering engine (310) are fixed in rack (100), steering engine
(310) it is connect with cutter (340) by connecting rod (350), spring (330) is sleeved on cutter (340), and cutter (340) head is worn
Cross the cutter slot (256) set on wheel hub (251).
5. efficient strawberry picking robot according to claim 4, which is characterized in that the collection module (400) includes
The inside edge of pallet (410), pallet (410) is equipped with hairbrush, the trapezoidal ridge both sides for being close to strawberry cultivating field.
6. efficient strawberry picking robot according to any one of claims 1 to 5, which is characterized in that further include that centre is wrapped up in
Impeller module (500), it includes two pieces of baffles being made of PVC and mane (510) that impeller module (500) is wrapped up in the centre, two pieces
Baffle (510) is symmetricly set on the lower section of rack (100) and runs through entire rack (100), baffle (510) and separation wheel (250)
In same level, entrance is trapezoidal inwardly to be become narrow gradually.
7. efficient strawberry picking robot according to claim 4, which is characterized in that the quantity of the sorting mechanism is
Six and composition two rows, are symmetricly set below rack (100), correction are respectively arranged in the front end of two rows of separation wheels (250)
Crawl wheel (280), correction crawl wheel (280) is consistent with separation wheel (250) structure, in use, separation wheel (250) is grabbed with correction
Take the steering of wheel (280) opposite.
8. efficient strawberry picking robot according to claim 4, which is characterized in that wrap up in impeller module in the centre
(500) further include tail portion sweeping wheel (520), circumferentially surface is equipped with flexible brush to the tail portion sweeping wheel (520).
9. a kind of picking method of efficient strawberry picking robot, which is characterized in that including step in detail below：
The baffle (510) that step S101. is located at front end separates strawberry and fruit, by the polyethylene on separation wheel (250)
Hairbrush (252) picks up strawberry stem end, and fixes stem end by internal overarm support (253) and external splint (254)；
Step S102. is when the stem end of pickup is moved to separation wheel (250) wheel hub (251) top setting range, color sensor
(210) strawberry for capturing stem end front end carries out color identification, the rgb value of acquisition to strawberry, and cooperation color recognizer carries out
Screening judges ripe strawberry and prematurity strawberry and single stem and more stems；
Step S103., which works as, is judged as ripe single stem strawberry, then the cutter (340) being located above separation wheel (250) wheel hub (251)
Fly-cutting stem end is driven by steering engine (310)；When there is multiple stem ends to be picked, by the judgement of rgb value then not to stem end into
Row cutting, judgement and cutting are picked up by next separation wheel (250) again；
The strawberry that step S104. is won originates from from balk on the pallet (410) for being fallen on by tumbling and being close to ridge edge, completes
The picking of strawberry.
10. the picking method of efficient strawberry picking robot according to claim 9, which is characterized in that in the step
In rapid S101, to the strawberry of edge sector distribution, wheel (280) pickup is captured by correction；In the step 102, color identification
The specific procedure of algorithm is：Color sensor (210) first carries out the acquisition of white before normally adopting color, establishes one and puts down in vain
Weigh benchmark, starts the acquisition of normal color after white balance and color sensor (210) can be made to pass through by the setting of program
Serial ports or IIC communications are to chip, by the calculating of chip, the color that is acquired；The color that chip is acquired again is
Red makes specified steering engine (310) action, drives cutter (340) incision by serial communication steering engine (310) driving plate.
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