CN108848935A - A kind of bio-robot for fruit-picking - Google Patents
A kind of bio-robot for fruit-picking Download PDFInfo
- Publication number
- CN108848935A CN108848935A CN201810874419.8A CN201810874419A CN108848935A CN 108848935 A CN108848935 A CN 108848935A CN 201810874419 A CN201810874419 A CN 201810874419A CN 108848935 A CN108848935 A CN 108848935A
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- fruit
- picking
- bio
- armed lever
- support frame
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- 235000013399 edible fruits Nutrition 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 230000005611 electricity Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 241000272194 Ciconiiformes Species 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 239000002420 orchard Substances 0.000 abstract description 4
- 230000001228 trophic effect Effects 0.000 abstract description 2
- 238000010008 shearing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910003460 diamond Inorganic materials 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
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
-
- 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
- A01D46/20—Platforms with lifting and lowering devices
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of bio-robots for fruit-picking, including walking mechanism, mechanical arm, picking mechanism and the image scanning instrument of fruit position for identification, the mechanical arm is fixed in the walking mechanism, the picking mechanism includes support frame, rhombus expansion brackets, for controlling the rhombus expansion brackets stretching or the first control units part retracted and the chain saw for being set to the rhombus expansion brackets medial surface, support frame as described above is connect with the movement output ends of the mechanical arm, and one jiao of the rhombus expansion brackets is connect with support frame as described above.The present invention is by copying the body structure of pelican and imitating the trophic behaviour of pelican, devise a fruit picking robot, its labor intensity and production cost for reducing orchard worker in fruit picking process using intelligentized production method, can effectively increase the production efficiency of entire industry.
Description
Technical field
The present invention relates to bio-robot fields, and in particular to a kind of bio-robot for fruit-picking.
Background technique
Fruit not only nutrition rich in, and can help digest, it is the indispensable necessity of human lives.?
In application industry, since substantial amounts, picking process are more, fruit picking about accounts for the 50% of entire industry workload.
Further, since the complexity in fruit picking process, most of fruit industry area are still with handwork in fruit picking
It is main.And fruit needs a large amount of labour as seasonal agricultural products in picking process, with China's aging degree
Constantly deepening, rural laborer is constantly reduced, so limit the development of entire fruit industry.
Summary of the invention
The present invention provides a kind of bio-robots for fruit-picking, by body structure and the imitation of copying pelican
The trophic behaviour of pelican devises a fruit picking robot, using intelligentized production method in fruit picking process
The middle labor intensity and production cost for reducing orchard worker, can effectively increase the production efficiency of entire industry.
To achieve the above object, the present invention provides a kind of bio-robot for fruit-picking, including walking mechanism,
Mechanical arm, picking mechanism and the image scanning instrument of fruit position, the mechanical arm are fixed in the walking mechanism for identification,
The picking mechanism includes support frame, rhombus expansion brackets, the first control stretched out or retracted for controlling the rhombus expansion brackets
The movement output ends of component and the chain saw for being set to the rhombus expansion brackets medial surface, support frame as described above and the mechanical arm connect
It connects, one jiao of the rhombus expansion brackets is connect with support frame as described above.
Preferably, the picking mechanism further includes Green fence cutter and completes opening and closing movement for controlling the Green fence cutter
The second control unit, the Green fence cutter is fixedly connected with support frame as described above and is arranged in parallel with the rhombus expansion brackets.
Preferably, the mechanical arm include pedestal, the first armed lever being rotatably connected with the pedestal, with it is described
The second armed lever that first armed lever is rotatably connected, the pedestal are rotatably connected with the walking mechanism, support frame as described above and institute
State the connection of the second armed lever.
Preferably, one jiao of the rhombus expansion brackets is connected by the first control units part and support frame as described above
It connecing, the first control units part includes connecting plate and first motor, and support frame as described above includes the identical stripe board of four shapes, and four
Stripe board described in root is successively rotatably connected and forms two connecting pins for being located at stem and tail portion, and the two of the connecting plate
End connect with two connecting pins and is formed the rhombus expansion brackets by first connecting rod respectively, the first motor with it is described
Connecting plate connects and can drive the connecting plate pivoting.
Preferably, second control unit includes for making the reset spring of the Green fence cutter opening, being used for
Make the wirerope of Green fence cutter closure, for the reel of winding wire ropes and for the second motor with movable reel positive and negative rotation,
The wirerope is connect with two handles of the Green fence cutter respectively.
Preferably, the bio-robot further includes fruit storage case and pocket, and the walking mechanism is set to
The side of the fruit storage case, the packet suitable for reading of the pocket are set to the lower edge of the rhombus expansion brackets, the lower mouth of the pocket
It is connected to the entrance of the fruit storage case.
Preferably, second armed lever is equipped with mounting plate, and the mounting plate is equipped with horizontally disposed third
The output shaft of motor, the third motor connect with support frame as described above and support frame can be driven to rotate around trunnion axis.
Preferably, the junction of the pedestal and walking mechanism be equipped with can drive pedestal relative to walking mechanism around
4th motor of vertical axes rotation, the junction of first armed lever and pedestal be equipped with can drive the first armed lever relative to pedestal around
5th motor of trunnion axis rotation, the side wall of first armed lever be equipped with can drive second armed lever relative to the first armed lever around
6th motor of trunnion axis rotation, second armed lever are equipped with first hinge hole hinged with first armed lever, and described the
The side of one hinge hole is equipped with the second hinge hole, and the output shaft and second hinge hole of the 6th motor pass through second connecting rod
Connection.
Preferably, the output shaft of the 6th motor and second hinge hole pass through two hinged described the
The connection of two connecting rods.
Preferably, the walking mechanism is equipped with weight bearing foundation, and the mechanical arm is fixed on the weight bearing foundation
On, be equipped with master controller in the weight bearing foundation, the master controller respectively with the mechanical arm, picking mechanism, image scanning
Instrument electrical connection.
A kind of bio-robot for fruit-picking, the picking mechanism include diamond shape provided by above-mentioned technical proposal
Expansion bracket and the chain saw for being set to the rhombus expansion brackets medial surface are used to imitate the mouth of pelican, pass through first control units part control
The flexible opening and closing to imitate pelican mouth of rhombus expansion brackets processed, realize the picking to fruit, due to both may be used when pelican feeding
It bows and pecks at the upward feeding that can also come back downwards, can both bow and peck at downwards or the upward feeding that comes back when due to pelican feeding,
And the present invention controls the pose of picking mechanism by mechanical arm, to realize the picking to the fruit of different positions and pose, adaptability
By force, further, the present invention is acquired fruit tree by image scanning instrument, and acquired image is transmitted back to main control
Device, master controller identify picture with MATLAB, are identified by rgb format to fruit color lump, then by knowledge
The size of color lump after not judges distance, and carries out path planning, and control walking mechanism reaches designated position and completes fruit
Picking, bio-robot provided by the present invention, intelligence degree is high, can reduce the labor intensity of orchard worker and be produced into
This, effectively increases the production efficiency of entire industry.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention (one)；
Fig. 2 is structural schematic diagram (two) of the invention；
Fig. 3 is the partial enlarged view of first control units part.
Wherein：1, fruit storage case；2, weight bearing foundation；3, the 4th motor；4, the first armed lever；5, second connecting rod；6, third
Motor；7, the second motor；8, image scanning instrument；9, reel；10, Green fence cutter；11, rhombus expansion brackets；12, pedestal；13, vehicle with walking machine
Structure；14, the 6th motor；15, connecting plate；16, first motor.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
As shown in Figure 1-3, being a kind of bio-robot for fruit-picking provided by the present invention, including walking mechanism
13, mechanical arm, picking mechanism and the image scanning instrument 8 of fruit position, the mechanical arm are fixed on the vehicle with walking machine for identification
On structure 13, the picking mechanism includes support frame, rhombus expansion brackets 11, for controlling the stretching of rhombus expansion brackets 11 or retracting
First control units part and be set to the chain saw of 11 medial surface of rhombus expansion brackets, the fortune of support frame as described above and the mechanical arm
Dynamic output end connection, one jiao of the rhombus expansion brackets 11 are connect with support frame as described above.
Specifically, the picking mechanism includes rhombus expansion brackets 11 and the chain for being set to 11 medial surface of rhombus expansion brackets
The mouth for imitating pelican is sawed, the flexible to imitate pelican mouth of rhombus expansion brackets 11 is controlled by first control units part
Picking to fruit is realized in opening and closing, can both have been bowed and pecked at downwards or the upward feeding that comes back when due to pelican feeding, and of the invention
The pose of picking mechanism is controlled by mechanical arm, thus realize the picking to the fruit of different positions and pose, it is adaptable, further
Ground, the present invention are acquired fruit tree by image scanning instrument 8, and acquired image is transmitted back to master controller, main control
Device identifies picture with MATLAB, is identified by rgb format to fruit color lump, then by the color lump after identification
Size judge distance, and carry out path planning, control walking mechanism 13 reaches the picking that fruit is completed in designated position, this hair
Bio-robot provided by bright, intelligence degree is high, can reduce the labor intensity and production cost of orchard worker, effectively increase
Add the production efficiency of entire industry.
In the present embodiment, one jiao of the rhombus expansion brackets 11 is connected by the first control units part and support frame as described above
It connects, the first control units part includes connecting plate 15 and first motor 16, and support frame as described above includes the identical bar shaped of four shapes
Plate, four stripe boards are successively rotatably connected and form two connecting pins for being located at stem and tail portion, the connection
The both ends of plate 15 pass through first connecting rod respectively and connect and formed the rhombus expansion brackets 11 with two connecting pins, and described first
Motor 16 connect with the connecting plate 15 and can drive 15 pivoting of connecting plate.Wherein, the section of the connecting plate 15
It assumes diamond in shape, the opening and closing that the rhombus expansion brackets 11 can be realized is rotated by the drive connecting plate 15 of first motor 16,
In, rhombus expansion brackets 11 are in fruit-picking, since the medial surface of the rhombus expansion brackets 11 is equipped with chain saw, because of picking process
In the picking of fruit can be completed without being closed completely rhombus expansion brackets 11.
Further, the bio-robot further includes fruit storage case 1 and pocket, and the walking mechanism 13 is set to institute
The side of fruit storage case 1 is stated, the packet suitable for reading of the pocket is set to the lower edge of the rhombus expansion brackets 11, the lower mouth of the pocket
It is connected to the entrance of the fruit storage case 1, it is suitable by setting pocket and fruit storage case 1, the fruit that picking mechanism is picked
Pocket can slide to fruit storage case 1, realize the automatic collection of fruit, it is preferable that the lower part of the pocket be equipped with it is fabric
Trunnion is shunk, falling speed can be slowed down when fruit is fallen, prevent the caused damage of colliding with of fruit.Wherein, described
Walking mechanism 13 is Y100 caterpillar type robot tank chassis.
It further, is the adaptability and picking efficiency that further increase bio-robot provided by the present embodiment,
The picking mechanism further includes Green fence cutter 10 and completes the second control unit of opening and closing movement, institute for controlling the Green fence cutter 10
Green fence cutter 10 is stated to be fixedly connected with support frame as described above and be arranged in parallel with the rhombus expansion brackets 11, by setting Green fence cutter 10 with
Rhombus expansion brackets 11 cooperate or synchronously complete the picking of fruit, further improve the picking efficiency of fruit.Preferably, described
Two control units include the reset spring for opening the Green fence cutter 10, the steel wire for being closed the Green fence cutter 10
Rope, for the reel 9 of winding wire ropes and for the second motor 7 with 9 positive and negative rotation of movable reel, the wirerope respectively with it is described
Two handles of Green fence cutter 10 connect, and specifically, when needing to complete shearing step by Green fence cutter 10, control second electricity
Machine 7 rotates, and drives the wirerope to shrink and then the closure of Green fence cutter 10 is driven to complete shear history, will pass through after the completion of shearing
Second motor 7 drives wirerope to loosen, and Green fence cutter 10 opens under the action of reset spring, the next shearing step of a completion
Suddenly.
In the present embodiment, the mechanical arm has six-freedom degree, drives the picking mechanism to complete difference to realize
The picking of pose, specifically, the mechanical arm include pedestal 12, the first armed lever 4 being rotatably connected with the pedestal 12 and institute
The second armed lever that the first armed lever 4 is rotatably connected is stated, the pedestal 12 is rotatably connected with the walking mechanism 13, the support
Frame is connect with second armed lever.Wherein, the junction of the pedestal 12 and walking mechanism 13, which is equipped with, can drive pedestal 12 opposite
In the 4th motor 3 that walking mechanism 13 is rotated around vertical axes, the junction of first armed lever 4 and pedestal 12, which is equipped with, can drive the
The 5th motor that one armed lever 4 is rotated relative to pedestal 12 around first level axis, the side wall of first armed lever 4, which is equipped with, can drive institute
The 6th motor 14 that the second armed lever is rotated relative to the first armed lever 4 around the second trunnion axis is stated, second armed lever is equipped with and institute
The first hinged hinge hole of the first armed lever 4 is stated, the side of first hinge hole is equipped with the second hinge hole, the 6th motor 14
Output shaft and second hinge hole connect by second connecting rod 5, the first level axis is parallel with second trunnion axis
Setting；In addition, the output shaft of the 6th motor 14 and second hinge hole are connected by two hinged second connecting rods 5
It connects, in this way, second armed lever can be driven to rotate around second trunnion axis by the 6th motor 14 and the second connection, thus
Realization the angle of the picking mechanism is adjusted to face upward or downward, with simulate bow when pelican feeding downwards peck at or come back to
The movement of upper feeding.
Further, to allow bio-robot provided by the present embodiment to pick the fruit grown upward, this implementation
In example, second armed lever is equipped with mounting plate, and the mounting plate is equipped with horizontally disposed third motor 6, the third electricity
The output shaft of machine 6 connect with support frame as described above and support frame can be driven to rotate around third trunnion axis, the third trunnion axis and institute
It is vertical to state the second trunnion axis antarafacial, the picking mechanism can be driven to occur in perpendicular partially by the way that third motor 6 is arranged
Turn, and then the rhombus expansion brackets 11 are adjusted to skewed, to realize the picking to the fruit grown upward, further mentions
The high adaptability of the bio-robot.
In the present embodiment, the walking mechanism 13 is equipped with weight bearing foundation 2, and the mechanical arm is fixed on the weight bearing foundation
On 2, it is equipped with master controller in the weight bearing foundation 2, the master controller is swept with the mechanical arm, picking mechanism, imaging respectively
The electrical connection of instrument 8 is retouched, by the master controller, realizes the control to bio-robot.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of bio-robot for fruit-picking, which is characterized in that including walking mechanism, mechanical arm, picking mechanism and
The image scanning instrument of fruit position, the mechanical arm are fixed in the walking mechanism for identification, and the picking mechanism includes
Support frame, rhombus expansion brackets are stretched out or the first control units part that retracts and are set to described for controlling the rhombus expansion brackets
The chain saw of rhombus expansion brackets medial surface, support frame as described above are connect with the movement output ends of the mechanical arm, the rhombus expansion brackets
One jiao connect with support frame as described above.
2. the bio-robot according to claim 1 for fruit-picking, which is characterized in that the picking mechanism also wraps
It includes Green fence cutter and completes the second control unit of opening and closing movement, the Green fence cutter and support frame as described above for controlling the Green fence cutter
It is fixedly connected and is arranged in parallel with the rhombus expansion brackets.
3. the bio-robot according to claim 1 for fruit-picking, which is characterized in that the mechanical arm includes bottom
Seat, the first armed lever being rotatably connected with the pedestal, the second armed lever being rotatably connected with first armed lever, the pedestal
It is rotatably connected with the walking mechanism, support frame as described above is connect with second armed lever.
4. the bio-robot according to claim 1 for fruit-picking, which is characterized in that the rhombus expansion brackets
One jiao is connect by the first control units part with support frame as described above, and the first control units part includes connecting plate and the first electricity
Machine, support frame as described above include the identical stripe board of four shapes, and four stripe boards are successively rotatably connected and form two
It is located at the connecting pin of stem and tail portion, the both ends of the connecting plate pass through first connecting rod respectively and two connecting pins connect
The rhombus expansion brackets are connect and are formed, the first motor connect with the connecting plate and the connecting plate can be driven to turn around axis
It is dynamic.
5. the bio-robot according to claim 2 for fruit-picking, which is characterized in that second control unit
Including the reset spring for opening the Green fence cutter, the wirerope for making the Green fence cutter closure, for winding steel wire
The reel of rope and for the second motor with movable reel positive and negative rotation, the wirerope connects with two handles of the Green fence cutter respectively
It connects.
6. the bio-robot according to claim 1 for fruit-picking, which is characterized in that the bio-robot is also
Including fruit storage case and pocket, the walking mechanism is set to the side of the fruit storage case, the packet suitable for reading of the pocket
Set on the lower edge of the rhombus expansion brackets, the lower mouth of the pocket is connected to the entrance of the fruit storage case.
7. the bio-robot according to claim 3 for fruit-picking, which is characterized in that set on second armed lever
There is mounting plate, the mounting plate is equipped with horizontally disposed third motor, the output shaft and support frame as described above of the third motor
It connects and support frame can be driven to rotate around trunnion axis.
8. the bio-robot according to claim 3 for fruit-picking, which is characterized in that the pedestal and vehicle with walking machine
The junction of structure is equipped with the 4th motor that pedestal can be driven to rotate relative to walking mechanism around vertical axes, first armed lever and bottom
The junction of seat is equipped with the 5th motor that the first armed lever can be driven to rotate relative to pedestal around trunnion axis, the side of first armed lever
Wall is equipped with the 6th motor that second armed lever can be driven to rotate relative to the first armed lever around trunnion axis, sets on second armed lever
There is first hinge hole hinged with first armed lever, the side of first hinge hole is equipped with the second hinge hole, and the described 6th
The output shaft of motor is connect with second hinge hole by second connecting rod.
9. the bio-robot according to claim 8 for fruit-picking, which is characterized in that the 6th motor it is defeated
Shaft is connect with second hinge hole by two hinged second connecting rods.
10. the bio-robot of fruit-picking is used for described in any one of -9 according to claim 1, which is characterized in that institute
Walking mechanism is stated equipped with weight bearing foundation, the mechanical arm is fixed on the weight bearing foundation, and master is equipped in the weight bearing foundation
Controller, the master controller are electrically connected with the mechanical arm, picking mechanism, image scanning instrument respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810874419.8A CN108848935A (en) | 2018-08-03 | 2018-08-03 | A kind of bio-robot for fruit-picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810874419.8A CN108848935A (en) | 2018-08-03 | 2018-08-03 | A kind of bio-robot for fruit-picking |
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| Publication Number | Publication Date |
|---|---|
| CN108848935A true CN108848935A (en) | 2018-11-23 |
Family
ID=64307259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810874419.8A Pending CN108848935A (en) | 2018-08-03 | 2018-08-03 | A kind of bio-robot for fruit-picking |
Country Status (1)
| Country | Link |
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| CN (1) | CN108848935A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110278777A (en) * | 2019-07-26 | 2019-09-27 | 郑州永丰生物肥业有限公司 | A kind of method of robot learning picking camellia oleifera fruit |
| WO2023235922A1 (en) * | 2022-06-06 | 2023-12-14 | Ripe Robotics Pty Ltd | Produce picking device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110278777A (en) * | 2019-07-26 | 2019-09-27 | 郑州永丰生物肥业有限公司 | A kind of method of robot learning picking camellia oleifera fruit |
| WO2023235922A1 (en) * | 2022-06-06 | 2023-12-14 | Ripe Robotics Pty Ltd | Produce picking device and method |
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