CN109156161A - A kind of fertile mandarin orange picking robot of intelligence - Google Patents
A kind of fertile mandarin orange picking robot of intelligence Download PDFInfo
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- CN109156161A CN109156161A CN201811015347.8A CN201811015347A CN109156161A CN 109156161 A CN109156161 A CN 109156161A CN 201811015347 A CN201811015347 A CN 201811015347A CN 109156161 A CN109156161 A CN 109156161A
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- mandarin orange
- control system
- fertile mandarin
- picker
- fertile
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/52—Weighing apparatus combined with other objects, e.g. furniture
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention belongs to field of agricultural robots.A kind of fertile mandarin orange picking robot of intelligence, including walking mechanism, picker, recyclable device, device for visual identification, control system and workbench；Binocular camera shooting module is arranged in walking mechanism can acquire image in different time periods and be compared, judge whether there is the fertile Gan Shu that need to be picked in image pickup scope, the position that barrier can be known by infrared barrier detection apparatus makes robot according to picking route automatically walk and intelligently avoiding obstacles；Device for visual identification is realized to the heed contacted measure between picker and fertile mandarin orange；Picker is separated by scissors after gripper jaw clamping fruit and by fertile mandarin orange with carpopodium cutting by the way that gripper jaw is arranged in mechanical arm tail end and cuts handle knife.The present invention can be realized automatic picking and collect, and improve picking efficiency and picking quality.
Description
Technical field
The invention belongs to field of agricultural robots, and in particular to a kind of fertile mandarin orange picking robot of intelligence.
Background technique
Fertile mandarin orange is the cenospecies of " temple " tangerine orange Yu " Dan Xi " red tangerine.The kind belongs to late-maturing Citrus after Cross Pollination kind.It is raw
Growing way is strong, tree crown initial stage be in nature globular model, as a result after gradually open a business, have short thorn on branch.Not only taste is fragrant and sweet for fertile mandarin orange, also has
There is very high nutritive value, it contains soluble solid 13.3%, titratable acid 0.58%, 12.76 grams/100 milli of inverted sugar
It rises, 6.84 grams/100 milliliters of reduced sugar, 23.69 milligrams/100 milliliters of Vc content, Gu sour ratio 22.9.Edible rate 74.62%, juice
Rate 59.56%.Fertile mandarin orange picking operation is that fertile mandarin orange produces one of link most time-consuming, most laborious in chain at present, picks operation quality
Quality directly influence subsequent processing and storage.Due to picking the complexity of operation, picking the degree of automation is still very low,
Fertile mandarin orange picking domestic at present is substantially artificial progress.
China is still in infancy in terms of the research of Agriculture pick robot at present, has not yet to see mature skill
Art；The patent of invention of Publication No. CN106105566B, entitled " intelligent citrus picking robot and citrus picking method ",
Mechanical arm, workbench, recyclable device, control system, power-supply system are fused together as experiment using walking mechanism as carrier
Model machine is studied and developed, there is certain representativeness in technical aspect, but its technical solution still has some shortcomings: first is that
Robot walking mechanism when picking fruit cannot avoid the barrier in plantation automatically, cause robot ambulation inconvenient；Two
It is the connection due to fruit and carpopodium than stronger, and branch has certain flexibility, especially fertile mandarin orange, between fruit and carpopodium
Distance is shorter, and carpopodium is durable, and flexible handle rotates when picking, may in such a way that torsion separates citrus with carpopodium
By the pericarp tearing of citrus and carpopodium junction, it is impaired to cause fruit appearance, and the preferable Softening of citrus should retain fruit
A bit of carpopodium in reality, on carpopodium more preferably with leaf；Third is that recyclable device is built-in after one end time is picked automatically by robot
Mechanical arm continues to pick after full fruit, and fruit is caused to pile with spilling.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of fertile mandarin orange picking robot of intelligence, realize certainly
Dynamic picking and collection improve picking efficiency and picking quality.
The present invention solves above-mentioned technical problem and adopts the following technical scheme that
A kind of fertile mandarin orange picking robot of intelligence, including walking mechanism, picker, recyclable device, device for visual identification, control
System processed and workbench；The walking mechanism, picker, recyclable device and device for visual identification respectively with the control system
It is electrically connected, the workbench, which is arranged, is mounted on the work in the walking mechanism top, the picker and recyclable device
Make the top of platform；
The walking mechanism is crawler type walking mechanism；The front of the walking mechanism is equipped with binocular camera module, red
Outer obstacle detector and driving device；The control system handles the photographs of binocular camera module, right
Barrier on route is identified, and is executed instruction to driving device transmission is corresponding, to drive robot in picking route
Upper execution avoidance operation；
The picker includes mechanical arm and end effector, and the mechanical arm setting on the workbench, controls
System controls the movement of mechanical arm by steering engine, and the front end of the mechanical arm is arranged in the end effector；It holds the end
Row device includes that the gripper jaw of mechanical arm tail end is arranged in and cuts handle knife, and 1.0- is arranged above the gripper jaw in the handle knife of cutting
It at 1.5cm, the gripper jaw and cuts handle knife and is connect respectively with the cylinder-driven being located in mechanical arm tail end, the control system is logical
Excess pressure valve and cylinder control gripper jaw and the movement for cutting handle knife, the gripper jaw are equipped with the dynamics connecting with control system and pass
Sensor, the force sensor and control system are electrically connected to detect the chucking power between gripper jaw and fertile mandarin orange, the control
System judges whether to reach the default force threshold irrigating mandarin orange and can bear according to chucking power, controls gripper jaw if reaching force threshold and stop
It only moves and controls and cut handle knife closed action fertile mandarin orange is cut to separation from carpopodium；
On mechanical arm tail end top, the device for visual identification includes three lens camera moulds for the device for visual identification setting
Block, analysis module and information exchange module；The growth feelings for the fertile mandarin orange that the three lens cameras module is used to observe in image pickup scope
Condition is simultaneously shown in control system in real time；The fertile mandarin orange growing state that the analysis module is used to obtain three lens camera modules carries out
Calculation system simultaneously forms fertile mandarin orange information parameter；The information exchange module is used for fertile mandarin orange information parameter real-time Transmission to control
System, the command information for receiving control system transmission simultaneously drive picker；The control system is connect with information exchange module
And picker is driven to pick the fertile mandarin orange in image pickup scope.
Further, the recyclable device includes collecting basket, and the bottom for collecting basket is equipped with pressure sensor, the receipts
The outside for collecting basket is equipped with buzzer, and the rear end lower for collecting basket is connect with workbench rear end thereof, the workbench rear end,
It collects and oil cylinder is installed below basket, the extension end of the oil cylinder, which is stretched to, collects basket front end, the extension end rotation connection of the oil cylinder
There is pulley, the bottom for collecting basket is equipped with the sliding slot cooperated with the pulley, and the pressure sensor, buzzer and oil cylinder are equal
It is electrically connected with the control system.
Further, the mechanical arm is sixdegree-of-freedom simulation.
Further, the fertile mandarin orange information parameter includes picker at a distance from fertile mandarin orange, the length of fertile mandarin orange carpopodium, fertile mandarin orange
Maturity and fertile mandarin orange size.
Further, the lower section of the picker is equipped with the soft tube for the fertile mandarin orange of picking to be sent to recyclable device
Road.
Further, the outer surface of the gripper jaw is provided with layer of silica gel.
Further, damping is provided between the workbench and walking mechanism, the damping includes setting
Top plate in workbench lower end is fixedly connected with damping spring, the both ends downside of the top plate between the workbench and top plate
Several loop buffer air cushions disposed in parallel are connected separately with, are vertically arranged in the middle part of the loop buffer air cushion flexible
Bar, the upper end of the telescopic rod are connect with the top plate, and the lower end of telescopic rod is connected with the upper surface of walking mechanism
Compared with prior art, the invention has the following advantages:
1, the present invention devises the completely new intelligent picking robot for fertile mandarin orange, realizes the automatic identification to fertile mandarin orange, meter
Calculate measurement and automatic picking.By the way that binocular camera module, infrared barrier detection apparatus and driving are arranged in walking mechanism
Device can acquire image in different time periods by binocular camera shooting module and be compared, and judge whether have in image pickup scope
The fertile Gan Shu that need to be picked, the position of barrier can be known by infrared barrier detection apparatus, make robot according to picking road
Line automatically walk and intelligently avoiding obstacles；By device for visual identification, realize to the fertile mandarin orange between picker and fertile mandarin orange
The heed contacted measure of the information such as distance, the length of fertile mandarin orange carpopodium, the maturity of fertile mandarin orange and the size of fertile mandarin orange, is subsequent machine
The automatic picking of people is laid a good foundation；Picker of the invention gripper jaw and cuts handle knife by being arranged in mechanical arm tail end, when
Grove can be put in when searching out target, separated by scissors and by fertile mandarin orange with carpopodium cutting after gripper jaw clamping fruit, then moved back
The recyclable device below end effector is returned to, falls in fertile mandarin orange in recyclable device, so as to shorten the idle stroke of robot, significantly
Improve working efficiency.The present invention is for promoting China to irrigate the modernization of mandarin orange picking mechanical, intelligence and unmanned having important meaning
Justice.
2, the gravitation information that recyclable device of the invention can be acquired according to pressure sensor, when the fertile mandarin orange collected in basket reaches
Buzzer sounds when to constant weight, and collects automatic basket by control system control and topple over fertile mandarin orange.
3, the present invention is by setting damping, and walking mechanism uses crawler type traveling mechanism, is not only more convenient
It walks on complicated rural road, and stationarity is good, gives recyclable device vibration bring punching when can be avoided robot ambulation
It hits, is saved convenient for fertile mandarin orange transport.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of intelligence of the present invention irrigates mandarin orange picking robot；
Fig. 2 is the structural schematic diagram of recyclable device of the present invention；
Fig. 3 is the control principle block diagram that a kind of intelligence of the present invention irrigates mandarin orange picking robot；
Fig. 4 is the structural schematic diagram for the damping that a kind of intelligence of the present invention irrigates mandarin orange picking robot；
Wherein, attached in the figure, it is marked as 1- walking mechanism；2- picker；3- recyclable device；4- device for visual identification；5-
Control system；6- workbench；7- binocular camera module；8- infrared barrier detection apparatus；9- driving device；10- mechanical arm；
11- end effector；12- steering engine；13- gripper jaw；14- cuts handle knife；15- cylinder；16- pressure valve；17- force sensor；18-
Three lens camera modules；19- analysis module；20- information exchange module；21- collects basket；22- pressure sensor；23- buzzer；
24- oil cylinder；25- pulley；26- sliding slot；27- soft pipeline；28- top plate, 29- damping spring；30- buffering pneumatic cushion；31- is flexible
Bar.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.It should be noted that specific reality of the invention
It applies example and is intended merely to the clearer description technique scheme of energy, and cannot function as a kind of limitation of the scope of the present invention.
Please refer to Fig. 1-3, a kind of intelligence irrigates mandarin orange picking robot, including walking mechanism 1, picker 2, recyclable device 3,
Device for visual identification 4, control system 5 and workbench 6；Walking mechanism 1, picker 2, recyclable device 3 and device for visual identification 4
It is electrically connected respectively with control system 5, the setting of workbench 6 is mounted in 1 top of walking mechanism, picker 2 and recyclable device 3
The top of workbench 6；
Walking mechanism 1 is crawler type walking mechanism 1；The front of walking mechanism 1 is equipped with binocular camera module 7, infrared barrier
Hinder analyte detection device 8 and driving device 9；Control system 5 handles the photographs of binocular camera module 7, to route
On barrier identified, and to driving device 9 send it is corresponding execute instruction, with drive robot picking route on hold
The operation of row avoidance；
Picker 2 includes mechanical arm 10 and end effector 11, and mechanical arm 10 is arranged on workbench 6, control system 5
The movement of mechanical arm 10 is controlled by steering engine 12, the front end of mechanical arm 10 is arranged in end effector 11；End effector 11 wraps
It includes the gripper jaw 13 that 10 end of mechanical arm is set and cuts handle knife 14, cut handle knife 14 and 1.0-1.5cm is set above gripper jaw 13
Place, gripper jaw 13 and cuts handle knife 14 respectively with the transmission connection of cylinder 15 that is located in 10 end of mechanical arm, and control system 5 passes through pressure
Power valve 16 and cylinder 15 control gripper jaw 13 and cut the movement of handle knife 14, and gripper jaw 13 is equipped with the power connecting with control system 5
Sensor 17 is spent, force sensor 17 and control system 5 are electrically connected the control to detect the chucking power between gripper jaw 13 and fertile mandarin orange
System 5 processed judges whether to reach the force threshold that default fertile mandarin orange can bear according to chucking power, and clamping is controlled if reaching force threshold
13 stop motion of pawl simultaneously controls and cuts 14 closed action of handle knife fertile mandarin orange is cut to separation from carpopodium；
For the setting of device for visual identification 4 in 10 upper end of mechanical arm, device for visual identification 4 includes three lens camera modules
18, analysis module 19 and information exchange module 20；The growth for the fertile mandarin orange that three lens camera modules 18 are used to observe in image pickup scope
Situation is simultaneously shown in control system 5 in real time；Analysis module 19 is used for the fertile mandarin orange growing state obtained to three lens camera modules 18
It carries out calculation system and forms fertile mandarin orange information parameter；Fertile mandarin orange information parameter includes picker 2 at a distance from fertile mandarin orange, fertile mandarin orange fruit
The size of the length of handle, the maturity of fertile mandarin orange and fertile mandarin orange；Information exchange module 20 is used for fertile mandarin orange information parameter real-time Transmission
To control system 5, receives the command information of the transmission of control system 5 and drive picker 2；Control system 5 and information exchange mould
Block 20 connects and picker 2 is driven to pick the fertile mandarin orange in image pickup scope.
The present invention in walking mechanism 1 by being arranged binocular camera module 7, infrared barrier detection apparatus 8 and driving
Device 9 can acquire image in different time periods by binocular camera shooting module and be compared, and judge whether have in image pickup scope
The fertile Gan Shu that need to be picked, the position of barrier can be known by infrared barrier detection apparatus 8, make robot according to picking road
Line automatically walk and intelligently avoiding obstacles；By device for visual identification 4, realize to the fertile mandarin orange between picker 2 and fertile mandarin orange
The information such as distance, the length of fertile mandarin orange carpopodium, the maturity of fertile mandarin orange and the size of fertile mandarin orange heed contacted measure, be subsequent machine
The automatic picking of device people is laid a good foundation；Picker 2 of the invention is by being arranged gripper jaw 13 in 10 end of mechanical arm and cutting
Handle knife 14, grove can be put in when searching out target, and gripper jaw 13 is cut after clamping fruit by scissors and by fertile mandarin orange and carpopodium
Then separation returns to the recyclable device 3 of 11 lower section of end effector, fall in fertile mandarin orange in recyclable device 3, so as to shorten machine
The idle stroke of people, greatly improves working efficiency.
Recyclable device 3 includes collecting basket 21, and the bottom for collecting basket 21 is equipped with pressure sensor 22, and the outside for collecting basket 21 is set
There is buzzer 23, the rear end lower for collecting basket 21 is connect with 6 rear end thereof of workbench, and 6 rear end of workbench is collected and pacified below basket 21
Equipped with oil cylinder 24, the extension end of oil cylinder 24, which is stretched to, collects 21 front end of basket, and the extension end of oil cylinder 24 is rotatably connected to pulley 25, collects
The bottom of basket 21 is equipped with the sliding slot 26 that cooperates with pulley 25, pressure sensor 22, buzzer 23 and oil cylinder 24 with control system 5
It is electrically connected.The gravitation information that recyclable device 3 can be acquired according to pressure sensor 22, when the fertile mandarin orange collected in basket 21 reaches one
Buzzer 23 sounds when determining weight, and collects automatic basket by the control of control system 5 and topple over fertile mandarin orange.It is stretched out by control oil cylinder 24
End is flexible, slides rotationally connected pulley 25 in the sliding slot 26 for collecting 21 bottom of basket therewith, when original state, pulley
25 are located at the end of sliding slot 26, collect basket 21 and are horizontally arranged, when pulley 25 is slided to 26 beginning of sliding slot, collection 21 tilt angle of basket
Maximum, pulley 25 are blocked motionless by 26 end of sliding slot, and fertile mandarin orange is poured out from basket 21 is collected, and oil cylinder 24 is mounted on body rear end, avoids
24 extension end of oil cylinder interferes with power device etc. when flexible, when 24 extension end of oil cylinder is extended to dustbin front end, have longer
The arm of force reduces the load of oil cylinder 24, and structure is simple, easy to operate.
In the present embodiment, mechanical arm 10 is a set of sixdegree-of-freedom simulation 10, and the carrier as picking robot movement is flat
Platform, so that mechanical arm 10, which can be rotated and be stretched, more easily finds fertile mandarin orange, the lower end of mechanical arm 10 is fixedly connected on work
On platform 6, end connects end effector 11 and device for visual identification 4.
The lower section of picker 2 is equipped with the soft pipeline 27 for the fertile mandarin orange of picking to be sent to recyclable device 3, can subtract
Lack the idle stroke of robot and prevents fertile mandarin orange damage.
The outer surface of gripper jaw 13 is provided with layer of silica gel.
Mandarin orange is irrigated in order to prevent in picking process since robot ambulation vibration causes fertile mandarin orange damage to rack, and is improved and adopted
Precision is plucked, is provided with damping between workbench 6 and walking mechanism 1, referring to Fig. 4, the damping includes that setting exists
The top plate 28 of 6 lower end of workbench is fixedly connected with damping spring 29 between the workbench 6 and top plate 28, the top plate 28
Several loop buffer air cushions 30 disposed in parallel are connected separately on the downside of both ends, the middle part of the loop buffer air cushion 30 is vertical
It is provided with telescopic rod 31, the upper end of the telescopic rod 31 is connect with the top plate 28, lower end and the walking mechanism 1 of telescopic rod 31
Upper surface is connected.
Walking mechanism 1 of the invention uses crawler type traveling mechanism, is not only more convenient to walk on complicated rural road,
And stationarity is good；Workbench 6 and collecting box are made of rigid plastics, can mitigate integrally-built weight significantly.
A kind of intelligence of the present invention irrigates the picking method of mandarin orange picking robot, and this method is to irrigate mandarin orange picking machine using above-mentioned intelligence
The method that device people is picked, comprising the following steps:
(1) start walking mechanism 1, image in different time periods is acquired by binocular camera shooting module and be compared, judge
Whether there is the fertile Gan Shu that need to be picked in image pickup scope, the position of barrier is known by infrared barrier detection apparatus 8, makes machine
People is according to picking route automatically walk and intelligently avoiding obstacles；
(2) driving mechanical arm 10 puts in fruit tree, picking visual identity block search wait pick fertile mandarin orange, and target position
Signal is sent to control system 5；
(3) start visual identity module, three lens camera modules 18 observe the growing state of the fertile mandarin orange in image pickup scope simultaneously
It is sent to analysis module 19, while being shown in real time in control system 5；Analysis module 19 irrigates three lens camera modules, 18 acquisition
Mandarin orange growing state carries out calculation system and forms fertile mandarin orange information parameter；Information exchange module 20 passes fertile mandarin orange information parameter in real time
Control system 5 is transported to, the command information of the transmission of control system 5 is received and drives picker 2；Control system 5 receives information friendship
After the signal that mutual module 20 is sent, mechanical arm 10 is controlled by end effector 11 close to target, and controls the movement of cylinder 15, makes end
The flexible arm of end actuator 11 stretches out and clamps fertile mandarin orange；
(4) force sensor 17 detects the aid power between flexible arm and fruit, and by signal return to control system
5, the force threshold that control system 5 can bear according to the fertile mandarin orange that the experiment pre-entered provides adjusts and controls flexible arm
Chucking power；
(5) control of control system 5 control cylinder 15 acts, and makes to cut handle knife 14 and cuts fertile mandarin orange with carpopodium and separates.
The present invention realizes that control system 5 is arranged obstacle avoiding type and finds fertile Gan Shu, picking vision system using intelligence control system 5
System, find citrus, crawl picking citrus, citrus collect and etc., each step, which is finished, can feed back to signal control
System 5, control system 5 carry out the operation performed the next step automatically after operation, during which do not need human intervention, steer mode letter
Single, intelligence degree is high.
It is practical the present disclosure applies equally to the picking of other round fruits such as navel orange, apple etc..
Above description is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair
Bright patent claim, it is all the present invention suggested by technical spirit under completed same changes or modifications change, should all belong to
In the covered the scope of the patents of the present invention.
Claims (7)
1. a kind of intelligence irrigates mandarin orange picking robot, including walking mechanism, picker, recyclable device, device for visual identification, control
System and workbench；The walking mechanism, picker, recyclable device and device for visual identification are electric with the control system respectively
Property connection, the workbench, which is arranged, is mounted on the work in the walking mechanism top, the picker and recyclable device
The top of platform；It is characterized by:
The walking mechanism is crawler type walking mechanism；The front of the walking mechanism is equipped with binocular camera module, infrared barrier
Hinder analyte detection device and driving device；The control system handles the photographs of binocular camera module, to route
On barrier identified, and to driving device send it is corresponding execute instruction, with drive robot picking route on hold
The operation of row avoidance；
The picker includes mechanical arm and end effector, and the mechanical arm is arranged on the workbench, control system
The movement of mechanical arm is controlled by steering engine, the front end of the mechanical arm is arranged in the end effector；The end effector
Including the gripper jaw of mechanical arm tail end is arranged in and cuts handle knife, 1.0-1.5cm is arranged above the gripper jaw in the handle knife of cutting
Place, the gripper jaw and cuts handle knife and connect respectively with the cylinder-driven being located in mechanical arm tail end, and the control system passes through pressure
Power valve and cylinder control gripper jaw and the movement for cutting handle knife, the gripper jaw are equipped with the dynamics sensing connecting with control system
Device, the force sensor and control system are electrically connected to detect the chucking power between gripper jaw and fertile mandarin orange, the control system
System judges whether to reach the default force threshold irrigating mandarin orange and can bear according to chucking power, gripper jaw is controlled if reaching force threshold and is stopped
It moves and controls and cut handle knife closed action fertile mandarin orange is cut to separation from carpopodium；
Device for visual identification setting on mechanical arm tail end top, the device for visual identification include three lens camera modules,
Analysis module and information exchange module；The growing state for the fertile mandarin orange that the three lens cameras module is used to observe in image pickup scope is simultaneously
It is shown in real time in control system；The fertile mandarin orange growing state that the analysis module is used to obtain three lens camera modules carries out data
Change and handles and form fertile mandarin orange information parameter；The information exchange module is used for
System, the command information for receiving control system transmission simultaneously drive picker；The control system is connect simultaneously with information exchange module
Driving picker picks the fertile mandarin orange in image pickup scope.
2. a kind of intelligence according to claim 1 irrigates mandarin orange picking robot, it is characterised in that: the recyclable device includes receiving
Collect basket, the bottom for collecting basket is equipped with pressure sensor, and the outside for collecting basket is equipped with buzzer, after the collection basket
End lower part is connect with workbench rear end thereof, is equipped with oil cylinder, the stretching of the oil cylinder below the workbench rear end, collection basket
End, which is stretched to, collects basket front end, and the extension end of the oil cylinder is rotatably connected to pulley, and the bottom for collecting basket is equipped with and the cunning
The sliding slot of cooperation is taken turns, the pressure sensor, buzzer and oil cylinder are electrically connected with the control system.
3. a kind of intelligence according to claim 1 irrigates mandarin orange picking robot, it is characterised in that: the mechanical arm is six free
Spend mechanical arm.
4. a kind of intelligence according to claim 1 irrigates mandarin orange picking robot, it is characterised in that: the fertile Gan Xinxicanshuobao
Picker is included at a distance from fertile mandarin orange, the size of the length of fertile mandarin orange carpopodium, the maturity of fertile mandarin orange and fertile mandarin orange.
5. a kind of intelligence according to claim 1 irrigates mandarin orange picking robot, it is characterised in that: the lower section of the picker
Equipped with the soft pipeline for the fertile mandarin orange of picking to be sent to recyclable device.
6. a kind of intelligence according to claim 1 irrigates mandarin orange picking robot, it is characterised in that: the outer surface of the gripper jaw
It is provided with layer of silica gel.
7. a kind of intelligence according to claim 1 irrigates mandarin orange picking robot, it is characterised in that: the workbench and vehicle with walking machine
Damping is provided between structure, the damping includes the top plate that workbench lower end is arranged in, the workbench and top plate
Between be fixedly connected with damping spring, be connected separately with several loop buffer gas disposed in parallel on the downside of the both ends of the top plate
It pads, is vertically arranged with telescopic rod in the middle part of the loop buffer air cushion, the upper end of the telescopic rod is connect with the top plate, is stretched
The lower end of bar is connected with the upper surface of walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811015347.8A CN109156161A (en) | 2018-08-31 | 2018-08-31 | A kind of fertile mandarin orange picking robot of intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811015347.8A CN109156161A (en) | 2018-08-31 | 2018-08-31 | A kind of fertile mandarin orange picking robot of intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109156161A true CN109156161A (en) | 2019-01-08 |
Family
ID=64893660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811015347.8A Pending CN109156161A (en) | 2018-08-31 | 2018-08-31 | A kind of fertile mandarin orange picking robot of intelligence |
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| CN110211357A (en) * | 2019-06-03 | 2019-09-06 | 淮南师范学院 | A kind of robot wireless telecommunication system based on Corba middleware Technology Yu Ad hoc network |
| CN110865646A (en) * | 2019-12-05 | 2020-03-06 | 中国农业科学院农业资源与农业区划研究所 | Intelligent obstacle avoidance robot and method for avoiding obstacles |
| CN111587666A (en) * | 2020-06-20 | 2020-08-28 | 青岛农业大学 | Agricultural cooperation robot with plant protection, picking function are integrative |
| CN111670707A (en) * | 2020-05-29 | 2020-09-18 | 安徽科杰粮保仓储设备有限公司 | Intelligent agricultural multifunctional seedling picking robot and seedling picking method thereof |
| CN112197705A (en) * | 2020-10-16 | 2021-01-08 | 中国农业科学院农业资源与农业区划研究所 | Fruit positioning method based on vision and laser ranging |
| WO2021046889A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州鸿渺智能科技有限公司 | Fruit picking robot for orchard |
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| CN113692854A (en) * | 2021-09-10 | 2021-11-26 | 江苏理工学院 | Tomato picking machine and control method thereof |
| CN114731845A (en) * | 2022-02-24 | 2022-07-12 | 华南农业大学 | Receiving equipment is picked to portable navel orange |
| CN114847011A (en) * | 2022-06-01 | 2022-08-05 | 上海非夕机器人科技有限公司 | Picking method, picking apparatus, computer device, storage medium, and program product |
| CN115024091A (en) * | 2022-05-25 | 2022-09-09 | 广州铁路职业技术学院（广州铁路机械学校） | Intelligent fruit picking device and control method thereof |
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110211357B (en) * | 2019-06-03 | 2020-04-28 | 淮南师范学院 | Robot wireless communication system based on Corba middleware technology and Ad hoc network |
| CN110211357A (en) * | 2019-06-03 | 2019-09-06 | 淮南师范学院 | A kind of robot wireless telecommunication system based on Corba middleware Technology Yu Ad hoc network |
| WO2021046889A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州鸿渺智能科技有限公司 | Fruit picking robot for orchard |
| CN110865646A (en) * | 2019-12-05 | 2020-03-06 | 中国农业科学院农业资源与农业区划研究所 | Intelligent obstacle avoidance robot and method for avoiding obstacles |
| CN111670707B (en) * | 2020-05-29 | 2021-10-29 | 安徽科杰粮保仓储设备有限公司 | Intelligent agricultural multifunctional seedling picking robot and seedling picking method using same |
| CN111670707A (en) * | 2020-05-29 | 2020-09-18 | 安徽科杰粮保仓储设备有限公司 | Intelligent agricultural multifunctional seedling picking robot and seedling picking method thereof |
| CN111587666A (en) * | 2020-06-20 | 2020-08-28 | 青岛农业大学 | Agricultural cooperation robot with plant protection, picking function are integrative |
| CN112197705A (en) * | 2020-10-16 | 2021-01-08 | 中国农业科学院农业资源与农业区划研究所 | Fruit positioning method based on vision and laser ranging |
| CN112772146A (en) * | 2021-01-08 | 2021-05-11 | 江苏大学 | Transportation control system and linkage control method of orchard picking tractor |
| CN113692854A (en) * | 2021-09-10 | 2021-11-26 | 江苏理工学院 | Tomato picking machine and control method thereof |
| CN114731845A (en) * | 2022-02-24 | 2022-07-12 | 华南农业大学 | Receiving equipment is picked to portable navel orange |
| CN115024091A (en) * | 2022-05-25 | 2022-09-09 | 广州铁路职业技术学院（广州铁路机械学校） | Intelligent fruit picking device and control method thereof |
| CN114847011A (en) * | 2022-06-01 | 2022-08-05 | 上海非夕机器人科技有限公司 | Picking method, picking apparatus, computer device, storage medium, and program product |
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
| CN115067076B (en) * | 2022-06-13 | 2023-07-25 | 嘉应学院 | Intelligent orange picking machine and picking method |
| CN115380711A (en) * | 2022-07-29 | 2022-11-25 | 达闼机器人股份有限公司 | Automatic picking robot, automatic picking method, automatic picking apparatus, and storage medium |
| CN115643902A (en) * | 2022-11-03 | 2023-01-31 | 华南农业大学 | Litchi paired-rake accurate vibration harvesting equipment and harvesting method thereof |
| CN115643902B (en) * | 2022-11-03 | 2024-05-10 | 华南农业大学 | Litchi targeting accurate vibration harvesting equipment and harvesting method thereof |
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