CN109531571A - A kind of flexible mechanical arm end effector control method - Google Patents
A kind of flexible mechanical arm end effector control method Download PDFInfo
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- CN109531571A CN109531571A CN201811503630.5A CN201811503630A CN109531571A CN 109531571 A CN109531571 A CN 109531571A CN 201811503630 A CN201811503630 A CN 201811503630A CN 109531571 A CN109531571 A CN 109531571A
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- mechanical arm
- tomato
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to Agriculture pick robot technical fields, and a kind of flexible mechanical arm end effector control method is disclosed, step 1: height adjustment, step 2: position precisely aligns, step 3: step 4: promptly object determines object placement location and step 5: decontroling object.The flexible mechanical arm end effector control method, improves tomato picking efficiency and success rate, plays a crucial role to the market value for improving agricultural production efficiency and tomato.
Description
Technical field
The present invention relates to Agriculture pick robot technical field, specially a kind of flexible mechanical arm end effector controlling party
Method.
Background technique
The fruits nutrition of tomato is abundant, has flavour, can eat raw, cook, catsup processing, juice or whole fruit canning,
One of main vegetables as people, as China's tomato in plastic greenhouse planting technology is promoted, cultivated area and annual output are increasing,
The harvest of tomato in China fully relies on artificial picking at present, big in the artificial harvest operation amount of tomato in China, and labor intensity is high, effect
Rate is low, and with the aging of China's Development of China's Urbanization and population, foot phenomenon does not become clear day by day rural laborer, studies and promotes kind
Eggplant autonomous harvesting technology, becomes urgent problem to be solved at this stage.
The growth of 2~5 bunchys of tomato, mutually touching, in picking process end effector be difficult to ideal pose close to and
Clamp fruit, easily cause the failure of clamping and the damage of adjacent fruit, tomato should gently pluck and put down gently when harvesting, when plucking preferably without
Base of fruit is mutually wounded by stabbing to prevent fruit in shipment, at present for having in Tomato-harvesting robot research through sucker sticking first
Firmly tomato and be pulled away from fruit beam, then clamp the picking method of fruit rotating separation carpopodium, but tomato carpopodium using twisting off or
The mode of breaking is both needed to for a long time, is most labour-saving mode according to the test data analyzer carpopodium that fractures, so this twists off the side of carpopodium
Method picking efficiency is too low.
The arm end effector of Tomato-harvesting robot is mounted in mechanical arm front end, is directly in contact with tomato,
And tomato soft and succulency, epidermis once impaired will soon break down, therefore arm end effector must have it is flexible and
Adaptive ability just can guarantee the efficiency and success rate of tomato picking, it is therefore desirable to flexible tomato picking end effector and corresponding
Picking mechanism and method, and flexible picking mechanical arm end effector this at present is no in the market.Flexible picking mechanical
The mechanism parameter of hand end effector will seriously affect picking efficiency and success rate, and research and development is to raising agricultural production efficiency
And the market value of tomato plays a crucial role.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, have the present invention provides a kind of flexible mechanical arm end effector control method and mention
High tomato picking efficiency and success rate, play vital work to the market value for improving agricultural production efficiency and tomato
With the advantages of, solve the problems, such as in the market to picking tomato efficiency and low success rate of.
(2) technical solution
In order to achieve the above object, the invention provides the following technical scheme: a kind of flexible mechanical arm end effector controls
Method, the specific steps are as follows:
Step 1: height adjustment, the actuator on mechanical arm are provided with range sensor, on range sensor measurement tree
Height of the tomato between mechanical arm, range sensor is by the electrical number control being sent on mechanical arm actuator of measurement
Signal handle and is sent to executing agency on mechanical arm actuator by electric signal by device, controller, and executing agency then connects
Driving signal is converted it by the control signal from controller, the driving signal of executing agency's conversion is simultaneously sent to mechanical arm
Automation regulating mechanism on actuator, automation regulating mechanism are directly changed the parameter of production process by executive component, made
Mechanical arm actuator is obtained to be moved upward near tomato；
Step 2: position precisely aligns, and visual sensor is additionally provided on mechanical arm actuator, and visual sensor is measured
The data for the three-dimensional coordinate measured are sent to controller by the three-dimensional coordinate of tomato, visual sensor, and controller carries out signal
It handles and passes through electric signal and be sent to executing agency on mechanical arm actuator, executing agency then receives the letter of the control from controller
Number convert it into driving signal, the driving signal of the executing agency's conversion and automation being sent on mechanical arm actuator is adjusted
Mechanism, automation regulating mechanism are directly changed the parameter of production process by executive component, so that the alignment kind of mechanical arm actuator
Eggplant；
Step 3: firmly grasping object, and cylinder and crawl object manipulator are additionally provided on mechanical arm actuator, and cylinder is stretched
Out and driving manipulator is opened, so that manipulator catches tomato package, catching tomato after-vision sensor when manipulator can be with
It obtains image and sends the signal to controller, controller retransmits signal to executing agency, and executing agency sends signal
To automation regulating mechanism, automation regulating mechanism directly drives mechanical arm by executive component and moves back, thus by tomato
It takes；
Step 4: determining object placement location, by the visual sensor and range sensor on mechanical arm actuator,
Visual sensor and range sensor work at the same time, and visual sensor measures the specific location of tomato frame, and range sensor is surveyed
Tomato is measured the distance between to tomato frame, the signal measured is sent to control simultaneously by visual sensor and range sensor
Device, controller send the signal to executing agency, and executing agency sends the signal to automation regulating mechanism, automate adjusting machine
Structure directly drives mechanical arm by executive component and moves down, so that mechanical arm is moved to the inside of tomato frame；
Step 5: decontroling object, and when mechanical arm is moved to the inside of tomato frame, controller controls executing agency again,
Actuating mechanism controls automate regulating mechanism, automation regulating mechanism by executive component control manipulator open, thus by kind
Eggplant is placed on the inside of tomato frame.
Preferably, at least provided with two manipulators on the mechanical arm.
Preferably, the manipulator is equipped with force sensor, and electric signal connects between the force sensor and controller
It connects.
Preferably, it is arranged with finger cap on the finger on the manipulator, and finger cap is made of colloidal materials.
Preferably, it is connected between the controller and the computer of outside by wireless signal.
Preferably, the actuator is divided into pneumatic, electronic and hydraulic actuator according to drive energy.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of flexible mechanical arm end effector control method, have following
The utility model has the advantages that
1, the flexible mechanical arm end effector control method can be mechanical by the height adjustment of the step of being equipped with one
Arm is moved near tomato, is precisely aligned by the position of the step of being equipped with two, and the manipulator essence on mechanical arm is enabled to
Really alignment tomato is firmly grasped tomato, is passed through by promptly object, the manipulator that can be completed on mechanical arm of the step of being equipped with three
Equipped with the step of four set the goal really object placement location, the specific location and distance of tomato frame can be accurately found out, by setting
The relieving object of the step of having five can complete the inside that tomato is placed on to tomato frame, by the force sensor being equipped with,
Force sensor controls the dynamics that manipulator firmly grasps tomato by controller.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
A kind of flexible mechanical arm end effector control method, the specific steps are as follows:
Step 1: height adjustment, the actuator on mechanical arm are provided with range sensor, on range sensor measurement tree
Height of the tomato between mechanical arm, range sensor is by the electrical number control being sent on mechanical arm actuator of measurement
Signal handle and is sent to executing agency on mechanical arm actuator by electric signal by device, controller, and executing agency then connects
Driving signal is converted it by the control signal from controller, the driving signal of executing agency's conversion is simultaneously sent to mechanical arm
Automation regulating mechanism on actuator, automation regulating mechanism are directly changed the parameter of production process by executive component, made
Mechanical arm actuator is obtained to be moved upward near tomato；
Step 2: position precisely aligns, and visual sensor is additionally provided on mechanical arm actuator, and visual sensor is measured
The data for the three-dimensional coordinate measured are sent to controller by the three-dimensional coordinate of tomato, visual sensor, and controller carries out signal
It handles and passes through electric signal and be sent to executing agency on mechanical arm actuator, executing agency then receives the letter of the control from controller
Number convert it into driving signal, the driving signal of the executing agency's conversion and automation being sent on mechanical arm actuator is adjusted
Mechanism, automation regulating mechanism are directly changed the parameter of production process by executive component, so that the alignment kind of mechanical arm actuator
Eggplant；
Step 3: firmly grasping object, and cylinder and crawl object manipulator are additionally provided on mechanical arm actuator, and cylinder is stretched
Out and driving manipulator is opened, so that manipulator catches tomato package, catching tomato after-vision sensor when manipulator can be with
It obtains image and sends the signal to controller, controller retransmits signal to executing agency, and executing agency sends signal
To automation regulating mechanism, automation regulating mechanism directly drives mechanical arm by executive component and moves back, thus by tomato
It takes；
Step 4: determining object placement location, by the visual sensor and range sensor on mechanical arm actuator,
Visual sensor and range sensor work at the same time, and visual sensor measures the specific location of tomato frame, and range sensor is surveyed
Tomato is measured the distance between to tomato frame, the signal measured is sent to control simultaneously by visual sensor and range sensor
Device, controller send the signal to executing agency, and executing agency sends the signal to automation regulating mechanism, automate adjusting machine
Structure directly drives mechanical arm by executive component and moves down, so that mechanical arm is moved to the inside of tomato frame；
Step 5: decontroling object, and when mechanical arm is moved to the inside of tomato frame, controller controls executing agency again,
Actuating mechanism controls automate regulating mechanism, automation regulating mechanism by executive component control manipulator open, thus by kind
Eggplant is placed on the inside of tomato frame.
At least provided with two manipulators on mechanical arm.
Manipulator is equipped with force sensor, and electric signal connects between force sensor and controller.
Finger cap is arranged on finger on manipulator, and finger cap is made of colloidal materials.
It is connected between controller and the computer of outside by wireless signal.
Actuator is divided into pneumatic, electronic and hydraulic actuator according to drive energy.
In conclusion the flexible mechanical arm end effector control method passes through the height of the step of being equipped with one when in use
Degree adjust, can mechanical arm be moved near tomato, by be equipped with the step of two position precisely align, enable to machinery
Manipulator on arm precisely aligns tomato, by the promptly object of the step of being equipped with three, can complete the machinery on mechanical arm
Hand firmly grasps tomato, is set the goal object placement location really by the step of being equipped with four, can accurately find out the specific position of tomato frame
It sets and distance, by the relieving object of the step of being equipped with five, the inside that tomato is placed on to tomato frame can be completed, by setting
Some force sensors, force sensor control the dynamics that manipulator firmly grasps tomato by controller.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of flexible mechanical arm end effector control method, it is characterised in that: specific step is as follows:
Step 1: height adjustment, the actuator on mechanical arm are provided with range sensor, the tomato on range sensor measurement tree
Height between mechanical arm, range sensor by the electrical number controller being sent on mechanical arm actuator of measurement,
Signal is carried out processing and is sent to executing agency on mechanical arm actuator by electric signal by controller, and executing agency then receives to come
Driving signal is converted it into from the control signal of controller, the driving signal of executing agency's conversion is simultaneously sent to mechanical arm execution
Automation regulating mechanism on device, automation regulating mechanism is directly changed the parameter of production process by executive component, so that machine
Tool arm actuator is moved upward near tomato；
Step 2: position precisely aligns, and visual sensor is additionally provided on mechanical arm actuator, and visual sensor measures tomato
Three-dimensional coordinate, the data for the three-dimensional coordinate measured are sent to controller by visual sensor, and controller handles signal
And executing agency on mechanical arm actuator is sent to by electric signal, executing agency then receives the control signal handle from controller
It is converted to driving signal, the driving signal of executing agency's conversion and the automation adjusting machine being sent on mechanical arm actuator
Structure, automation regulating mechanism is directly changed the parameter of production process by executive component, so that mechanical arm actuator is directed at tomato；
Step 3: firmly grasping object, and cylinder and crawl object manipulator are additionally provided on mechanical arm actuator, and cylinder stretches out simultaneously
Driving manipulator is opened, so that manipulator catches tomato package, when manipulator catches tomato after-vision sensor that can obtain
Image simultaneously sends the signal to controller, and controller retransmits signal to executing agency, and executing agency sends the signal to certainly
Dynamicization regulating mechanism, automation regulating mechanism directly drives mechanical arm by executive component and moves back, so that tomato be taken；
Step 4: determining object placement location, passes through the visual sensor and range sensor on mechanical arm actuator, vision
Sensor and range sensor work at the same time, and visual sensor measures the specific location of tomato frame, and range sensor is measured
For tomato the distance between to tomato frame, the signal measured is sent to controller simultaneously by visual sensor and range sensor,
Controller sends the signal to executing agency, and executing agency sends the signal to automation regulating mechanism, automates regulating mechanism
It directly drives mechanical arm by executive component to move down, so that mechanical arm is moved to the inside of tomato frame；
Step 5: decontroling object, and when mechanical arm is moved to the inside of tomato frame, controller controls executing agency again, executes
Mechanism controls automate regulating mechanism, and automation regulating mechanism controls manipulator by executive component and opens, so that tomato be put
In the inside of tomato frame.
2. a kind of flexible mechanical arm end effector control method according to claim 1, it is characterised in that: the machinery
At least provided with two manipulators on arm.
3. a kind of flexible mechanical arm end effector control method according to claim 1, it is characterised in that: the machinery
It is equipped with force sensor on hand, electric signal connects between the force sensor and controller.
4. a kind of flexible mechanical arm end effector control method according to claim 1, it is characterised in that: the machinery
Finger cap is arranged on finger on hand, and finger cap is made of colloidal materials.
5. a kind of flexible mechanical arm end effector control method according to claim 1, it is characterised in that: the control
It is connected between device and the computer of outside by wireless signal.
6. a kind of flexible mechanical arm end effector control method according to claim 1, it is characterised in that: the execution
Device is divided into pneumatic, electronic and hydraulic actuator according to drive energy.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811503630.5A CN109531571A (en) | 2018-12-10 | 2018-12-10 | A kind of flexible mechanical arm end effector control method |
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| CN201811503630.5A CN109531571A (en) | 2018-12-10 | 2018-12-10 | A kind of flexible mechanical arm end effector control method |
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| CN109531571A true CN109531571A (en) | 2019-03-29 |
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| CN201811503630.5A Pending CN109531571A (en) | 2018-12-10 | 2018-12-10 | A kind of flexible mechanical arm end effector control method |
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Cited By (2)
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| CN110065074A (en) * | 2019-05-29 | 2019-07-30 | 北京禾泽方圆智能科技有限公司 | A kind of the visual servo laser orientation system and method for picking robot |
| CN110154020A (en) * | 2019-05-14 | 2019-08-23 | 浙江树人学院（浙江树人大学） | A kind of flexible mechanical arm control method of adaptive Dynamic Programming |
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| CN107718019A (en) * | 2017-10-12 | 2018-02-23 | 谷新运 | A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method |
| CN107736124A (en) * | 2017-10-12 | 2018-02-27 | 谷新运 | Flexible tomato picking end effector and corresponding picking mechanism and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110065074A (en) * | 2019-05-29 | 2019-07-30 | 北京禾泽方圆智能科技有限公司 | A kind of the visual servo laser orientation system and method for picking robot |
| CN110065074B (en) * | 2019-05-29 | 2021-02-12 | 北京禾泽方圆智能科技有限公司 | Visual servo laser positioning system and method for picking robot |
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Application publication date: 20190329 |