CN109566092A - A kind of fruit harvest machine people's control system for contest - Google Patents
A kind of fruit harvest machine people's control system for contest Download PDFInfo
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- CN109566092A CN109566092A CN201910070125.4A CN201910070125A CN109566092A CN 109566092 A CN109566092 A CN 109566092A CN 201910070125 A CN201910070125 A CN 201910070125A CN 109566092 A CN109566092 A CN 109566092A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 109
- 238000003306 harvesting Methods 0.000 title claims abstract description 44
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000003028 elevating effect Effects 0.000 claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 52
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 239000004033 plastic Substances 0.000 claims description 5
- 239000002985 plastic film Substances 0.000 claims description 5
- 238000007373 indentation Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 9
- 238000012827 research and development Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000002420 orchard Substances 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- -1 baffle Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000001747 pupil Anatomy 0.000 description 2
- 230000005070 ripening Effects 0.000 description 2
- 206010036590 Premature baby Diseases 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004345 fruit ripening Effects 0.000 description 1
- 230000005094 fruit set Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 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 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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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
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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 a kind of fruit harvest machine people's control systems for contest, it is characterized in that, including master controller, and the walking chassis drive module, elevating mechanism drive module, power module, tracking module, fruit detection module, attitude detection module, collection module, the picking module that are connect with the master controller；The picking module is arranged in walking chassis by elevating mechanism, and is located at the top of the collection module.The present invention can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line carries out path planning in the part way of not guide wire, completes harvest fruit task, and structure is simple, strong operability, can identify fruit color.
Description
Technical field
The invention belongs to agricultural robot contest technical fields, and in particular to a kind of fruit harvest machine people for contest
Control system.
Background technique
With the development of science and technology, agricultural machinery intelligence degree is continuously improved, in fruit picking process, robot generation is used
For the trend for manually having become modern agricultural development.Orchard production season is strong, the artificial tradition harvest for grabbing picking fruit
Mode large labor intensity, production efficiency is low, labour intensive, is the bottleneck factor for restricting fruit market competitiveness and improving.Currently,
Fruit harvest automation, mechanization are still the weak link of orchard production mechanization, the numerous advanced fruit of orchard workers' urgent need
Picking mechanical.And the purpose of " contest of Chinese agriculture robot " is the innovation encouraged in terms of fruit harvest machine people, to realize
Efficiently, intelligence, autonomous harvest are target, and key point is path planning, independent navigation, fruit identification and mechanism design etc..
Fruit harvest machine people's project in orchard is the big event of Chinese agriculture robot contest, and competition area layout is as schemed
Shown in 1, the rectangle of place outmost turns 2400mm*2400mm is side stop, the 400mm*400mm's of four right angles in place
Rectangle sets out for fruit harvest machine people and returns to area, and the rectangle of six in place 148mm*148mm is simulation fruit tree rest area.
Simulation fruit tree is commodity split-join model, and branch is mutually inserted with trunk, it is desirable that fixed with seccotine, reference figuration and
Size amounts to 6 as shown in Fig. 2.It simulates fruit tree pedestal and competition area designated position is fixed on Dual-surface cloth-based adhesive tape.Often
Six homochromy simulation fruits are hung on simulation fruit tree, branch hangs a simulation fruit.The color of simulation fruit has
Red and two kinds of green, red show that this simulates the fruit maturation of fruit tree, can pick that green shows that this simulates fruit tree
Fruit prematurity cannot pick.Three vertical lines and two horizontal lines in side stop are robot ambulation reference line 10.
Summary of the invention
The present invention devises a kind of fruit harvest machine people's control system for contest, it is intended to meet match request, reality
Existing picking fruit, further promotes the research and development of fruit picking robot, provides foundation for the research and development of fruit picking robot.
To achieve the goals above, the invention discloses:
A kind of fruit harvest machine people's control system for contest, including master controller, and connect with the master controller
Walking chassis drive module, elevating mechanism drive module, power module, tracking module, fruit detection module, attitude detection mould
Block, collection module, picking module；The picking module is arranged in walking chassis by elevating mechanism, and is located at the collection
The top of module.
Further, the walking chassis drive module includes multiple wheel electrical machines, the wheel electrical machine and the walking bottom
Wheel on disk corresponds；The wheel electrical machine is connect by corresponding wheel electrical machine driver with the master controller,
Encoder is provided on the wheel electrical machine.
Further, the walking chassis includes bottom plate and the wheel that the bottom plate quadrangle is arranged in, and the bottom plate is in " recessed "
Shape, the collection claw of the collection module are located above the notch of described " recessed " shape bottom plate.
Further, the elevating mechanism drive module includes stepper motor, and the stepper motor and the master controller connect
It connects.
Further, the elevating mechanism is synchronous belt lifting mechanism.
Further, the tracking module includes tracking sensor, and the tracking sensor is connect with the master controller；Institute
State the lower surface that the walking chassis bottom plate is arranged in tracking sensor.
Further, the tracking sensor is gray-scale sensor.The specific digital gray scale using model KXCT3LED passes
Sensor.
Further, the fruit detection module includes photoelectric sensor and vision module；The photoelectric sensor setting exists
On the bottom plate of the walking chassis, and it is connect with the master controller；Consolidating for the picking module is arranged in the vision module
In fixed pole, and it is connect with the master controller.
Further, the photoelectric sensor is the scattered reflection type photoelectric sensor of model E18-D80NK；The vision mould
Block uses star pupil OpenMV3 CamM7.
Further, the attitude detection module includes nine axis attitude transducers；The nine axis attitude transducer is arranged in institute
The lower surface of walking chassis bottom plate is stated, and is connect with the master controller.
Further, two collection claws and corresponding collection claw that the collection module includes collecting box, is oppositely arranged
Steering engine is driven, the collection claw driving steering engine is connect with the master controller；The collecting box is top and front side open half
Structure is surrounded, described two collection claws drive steering engine that the collecting box is symmetrically arranged in by corresponding collection claw
Front end, and can be rotated in the horizontal plane relative to the collecting box；The bottom of the collection claw is higher than the collecting box bottom, and preceding
Low formation inclined surface after height.
Further, the ontology of the collection claw is one piece of hardened structure being vertically arranged, one end bottom of the hardened structure to
Extend arc-shaped bottom plate on the inside of the collection claw, the circular arc bottom shape plate periphery is evenly equipped with several plastic sheets；The hardened structure
Upper end be longitudinally disposed two pieces of saw-tooth shaped baffles, one of saw-tooth shaped baffles straight up, another piece of saw-tooth shaped baffles
It tilts upward；One end end of the hardened structure is additionally provided with the zigzag plastic retainer sheet to extension on the inside of the collection claw；Institute
The other end for stating hardened structure drives steering engine and the collecting box to be rotatablely connected by corresponding collection claw.
Further, the picking module includes fixed link and rotating bar, the lifting of the fixed link and the elevating mechanism
Platform is connected；The fixed link and the rotating bar are in U-shape or V-arrangement or semi-circular shape, the fixed link and the rotating bar
Brush plate is respectively arranged in cavity, the semicircular indentations edge on the brush plate is evenly equipped with hairbrush；The fixed link and institute
Rotating bar is stated rotatably to be connected together, the two halves circumferential notch in the same plane when dock to form circle
Hole；The place of being connected of the fixed link and the rotating bar is provided with steering engine, and the steering engine is connect with the master controller.
Further, the power module includes battery pack, and the battery pack is connected by Voltage stabilizing module and the master controller
It connects.
Further, the master controller is arranged on the bottom plate of walking chassis.
Further, the master controller is seven-star worm M3S development board stm32f103zet6 core board.
When work, robot is by zone of departure, run under the instruction of master controller；The detection operation reference of tracking module
Line, and master controller is sent information to, main controller controls Robot reference line advances；When photoelectric sensor detects mould
When quasi- fruit tree, photoelectric sensor return information stops robot to master controller, master controller, then detects fruit by vision module
Solid color, if fruit color is the non-ripening fruits of bottle green, main controller controls robot continues to advance along operation reference line；
If fruit color is red ripe fruits, master controller issues commands to collection claw driving steering engine, and control collection claw is from closing up
State is to open configuration, while robot is under the infomation detection of attitude detection module before traversing fixed range to simulation fruit tree；
Master controller issues commands to collection claw driving steering engine, controls collection claw from open configuration to closed configuration, surrounds simulation fruit
Set lower trunk；Then, the rotating bar that master controller issues commands to steering engine control picking module is rotated to horizontal position, picking
Circular hole in module is just aligned simulation fruit tree；Under the drive of stepper motor, picking module it is whole with elevating mechanism to moving down
It is dynamic, by fruit brush into collection frame；Then, under the driving of stepper motor, picking module is integrally moved up with elevating mechanism,
Then, main controller controls steering engine rotation rotates rotating bar to the position vertical with fixed link；Later, after robot starts
It moves back, when retrogressing, simulation trunk is rubbed out from the gap of two collection claws (because of plastic sheet, baffle, plastic retainer sheet tool on collection claw
It is flexible), main controller controls collection claw driving steering engine further closes up collection claw (closing up inward again, tightening is a bit) and makes to collect
Fruit in case is not fallen；Finally, main controller controls robot, which returns to robot, runs reference line, continue to run along robot
Reference line advances, and the circulation above process returns to area until returning to robot.
The fruit harvest machine people's control system for being used for contest has the advantages that
(1) inventive structure is simple, strong operability, can identify fruit color, makes robot even running and smoothly harvests fruit.
(2) present invention can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line is not having
The part way of guide wire carries out path planning, completes harvest fruit task.
(3) present invention realizes a kind of completely new Softening, is particularly suitable for that some tree-like or plant is smaller, fruit is not afraid of
The agriculture picking fruit fallen, it is high-efficient；Meanwhile the present invention is that the research and development of fruit picking robot is promoted to be made that contribution, is fruit
The research and development of real picking robot provide experimental basis.
Detailed description of the invention
Fig. 1: competition area layout in embodiment of the present invention；
Fig. 2: the structural schematic diagram of fruit tree is simulated in embodiment of the present invention；
Fig. 3: the structural block diagram in embodiment of the present invention for fruit harvest machine people's control system of contest；
Fig. 4: the structural schematic diagram in embodiment of the present invention for the fruit harvest machine people of contest；
Fig. 5: the structural schematic diagram of walking chassis in embodiment of the present invention；
Fig. 6: the operational flow diagram in embodiment of the present invention for the fruit harvest machine people of contest.
Description of symbols:
1-master controller；2-walking chassis drive modules；21-wheel electrical machine drivers；22-wheel electrical machines；23-codings
Device；3-elevating mechanism drive modules；31-stepper motors；4-power modules；41-Voltage stabilizing modules；42-battery packs；5-follow
Mark module；51-tracking sensors；6-fruit detection modules；61-photoelectric sensors；62-vision modules；7-attitude detections
Module；71-nine axis attitude transducers；8-collection modules；81-collecting boxs；82-collection claws；83-collection claws drive steering engine；
9-picking modules；91-steering engines；92-fixed links；93-rotating bars；94-brush plates；10-robot ambulation reference lines.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described:
Fig. 3 to Fig. 6 shows specific embodiment of the present invention for fruit harvest machine people's control system of contest.Fig. 3 is
Structural block diagram in present embodiment for fruit harvest machine people's control system of contest；Fig. 4 is used in present embodiment
The structural schematic diagram of the fruit harvest machine people of contest；Fig. 5 is the structural schematic diagram of walking chassis in present embodiment；Fig. 6 is
Operational flow diagram in present embodiment for the fruit harvest machine people of contest.
As shown in Figure 3 and Figure 4, fruit harvest machine people's control system for contest in present embodiment, including master
Controller 1, and connect with master controller 1 walking chassis drive module 2, elevating mechanism drive module 3, power module 4, follow
Mark module 5, fruit detection module 6, attitude detection module 7, collection module 8, picking module 9；Picking module 9 passes through elevating mechanism
It is arranged in walking chassis, and is located at the top of collection module 8.The collection claw 82 of collection module 8 and fruit tree lower part tree when picking
Dry cooperating.
Preferably, walking chassis drive module 2 includes multiple wheel electrical machines 22, the vehicle on wheel electrical machine 22 and walking chassis
Wheel corresponds；Wheel electrical machine 22 is connect by corresponding wheel electrical machine driver 21 with master controller 1, on wheel electrical machine 22
It is provided with encoder 23, as shown in figure 3, figure 4 and figure 5.
Preferably, walking chassis includes bottom plate and the wheel that the bottom plate quadrangle is arranged in, and the bottom plate is in " recessed " shape, is received
The collection claw 82 for collecting module 8 is located above the notch of described " recessed " shape bottom plate, as shown in Figure 4.
Preferably, elevating mechanism drive module 3 includes stepper motor 31, and stepper motor 31 is connect with master controller 1, is such as schemed
3, shown in Fig. 4.
Preferably, the elevating mechanism is synchronous belt lifting mechanism.
Preferably, tracking module 5 includes tracking sensor 51, and tracking sensor 51 is connect with master controller 1；Tracking sensing
The lower surface of walking chassis base plate is arranged in device 51, as shown in Figure 3, Figure 4.Tracking sensor 51 guarantees fruit harvest machine people
Along robot operation reference line walking.
Preferably, tracking sensor 51 is gray-scale sensor.In the present embodiment, tracking sensor 51 uses model
The digital gray scale sensor of KXCT3LED.
Preferably, fruit detection module 6 includes photoelectric sensor 61 and vision module 62；The setting of photoelectric sensor 61 is expert at
It walks on the bottom plate on chassis, and is connect with master controller 1；Vision module 62 be arranged in picking module 9 fixed link 92 on, and with master
Controller 1 connects, as shown in Figure 3, Figure 4.When fruit harvest machine people encounters the simulation fruit tree in competition area, photoelectric sensing
Device 61 sends signal to master controller 1, keeps fruit harvest machine people out of service；On the simulation fruit tree of the detection of vision module 62 simultaneously
The color of the simulation fruit of suspension, if simulation fruit is red, vision module 62 makes fruit harvest to the transmission of master controller 1
The robot signal traversing to analog tree, if simulation fruit is green, vision module 62 makes fruit to the transmission of master controller 1
Harvesting robot continues the signal to advance along robot operation reference line.
In the present embodiment, photoelectric sensor 61 uses the scattered reflection type photoelectric sensor of model E18-D80NK；Vision mould
Block 62 uses star pupil OpenMV3 CamM7.
Preferably, attitude detection module 7 includes nine axis attitude transducers 71；The setting of nine axis attitude transducers 71 is at walking bottom
It tries to get to the heart of a matter the lower surface of plate, and is connect with master controller 1, as shown in Figure 3, Figure 4.In the present embodiment, nine axis attitude transducers 71
Using the nine axis attitude transducers of model MPU9250.When fruit harvest machine people is traversing to analog tree, attitude detection module
Guarantee fruit harvest machine people's posture, keeps the traversing route of fruit harvest machine people vertical with robot operation reference line.
Preferably, two collection claws 82 and corresponding collection claw that collection module 8 includes collecting box 81, is oppositely arranged
Steering engine 83 is driven, collection claw driving steering engine 83 is connect with master controller 1；Collecting box 81 is top and the open semi-surrounding knot in front side
The front end of collecting box 81 is symmetrically arranged in by corresponding collection claw driving steering engine 83 for structure, two collection claws 82, and
Can relative collection case 81 rotate in the horizontal plane；The bottom of collection claw 82 be higher than 81 bottom of collecting box, and the front is high and the back is low formed incline
Inclined-plane, in order to which the fruit fallen into 82 space of collection claw rolls down to collecting box 81, as shown in Figure 4.When picking, collection claw 82 with
Fruit tree lower trunk cooperating.
Preferably, the ontology of collection claw 82 is one piece of hardened structure being vertically arranged, and one end bottom of the hardened structure is to receipts
Integrate 82 inside (i.e. inside is in the opposite side of two collection claws 82) of pawl and extends arc-shaped bottom plate, the arc-shaped floor peripheral
It is evenly equipped with several plastic sheets；The upper end of the hardened structure has been longitudinally disposed two pieces of saw-tooth shaped baffles, one of zigzag gear
Straight up, another piece of saw-tooth shaped baffles tilt upward plate；One end end of the hardened structure is additionally provided with into collection claw 82
The zigzag plastic retainer sheet that side extends；The other end of the hardened structure drives steering engine 83 and collecting box by corresponding collection claw
81 rotation connections, as shown in Figure 4.
Preferably, picking module 9 includes fixed link 92 and rotating bar 93, and fixed link 92 and the lifting platform of elevating mechanism are solid
Even；Fixed link 92 and rotating bar 93 are in U-shape or V-arrangement or semi-circular shape, sets respectively in the cavity of fixed link 92 and rotating bar 93
It is equipped with brush plate 94, the semicircular indentations edge on brush plate 94 is evenly equipped with hairbrush；Fixed link 92 and rotating bar 93 opposite can turn
Be connected dynamicly together, the two halves circumferential notch in the same plane when dock to form circular hole；Fixed link 92 and rotation
The place of being connected of bar 93 is provided with steering engine 91, and steering engine 91 is connect with master controller 1, as shown in Figure 4 and Figure 5.
Preferably, power module 4 includes battery pack 42, and battery pack 42 is connect by Voltage stabilizing module 41 with master controller 1, such as
Shown in Fig. 3.In the present embodiment, Voltage stabilizing module is that 24V/12V turns 5V IN (9-35V).
In the present embodiment, battery pack 42 is two pieces of independent 12V lithium batteries, and one of lithium battery passes through Voltage stabilizing module 41
5V is converted by voltage, for master controller 1, the module that tracks 5, fruit detection module 6, attitude detection module 7, collection module 8, is adopted
Module 9, the power supply of encoder 23 are plucked, in addition one piece of lithium battery is that 4 wheel electrical machine drivers 21 are powered.
Preferably, master controller 1 is arranged on the bottom plate of walking chassis.In the present embodiment, master controller 1 is seven-star worm
M3S development board stm32f103zet6 core board.
When work, as shown in fig. 6, being run under the instruction of master controller 1 robot is by zone of departure；Tracking module 5
Detection operation reference line, and master controller 1 is sent information to, master controller 1 controls Robot reference line and advances；Work as photoelectricity
When sensor 61 detects simulation fruit tree, 61 return information of photoelectric sensor stops robot to master controller 1, master controller 1
Only, then by vision module 62 fruit color is detected, if fruit color is the non-ripening fruits of bottle green, master controller 1 controls machine
Device people continues to advance along operation reference line；If fruit color is red ripe fruits, master controller 1 issues commands to collection claw
Steering engine 83 is driven, controls collection claw 82 from closed configuration to open configuration, while robot is examined in the information of attitude detection module 7
Under survey before traversing fixed range to simulation fruit tree；Master controller 1 issues commands to collection claw driving steering engine 83, controls collection claw 82
From open configuration to closed configuration, simulation fruit tree lower trunk is surrounded；Then, master controller 1 issues commands to the control of steering engine 91
The rotation of rotating bar 93 of system picking module 9 picks the circular hole in module 9 and is just aligned simulation fruit tree to horizontal position；In stepping
Under the drive of motor 31, picking module 9 is whole to be moved down, by fruit brush into collection frame 81；Then, in stepper motor 31
Under driving, picking module 9 is whole to be moved up, then, master controller 1 control the rotation of steering engine 91 make the rotation of rotating bar 93 to and it is solid
The vertical position of fixed pole 92；Later, robot starts to retreat, and when retrogressing, simulation trunk rubs out from the gap of two collection claws 82
(because collection claw on plastic sheet, baffle, plastic retainer sheet have elasticity), master controller 1 control collection claw drive steering engine 83 into
One step is closed up collection claw 82(and is closed up inward again, and tightening is a bit) fall the fruit in collecting box not；Finally, master controller 1 is controlled
Robot processed returns to robot and runs reference line, continues to advance along robot operation reference line, the circulation above process is until return to
Robot returns to area.
The present invention can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line is not being guided
The part way of line carries out path planning, completes harvest fruit task.
The configuration of the present invention is simple, strong operability can identify fruit color, make robot even running and smoothly harvest fruit
It is real.
Present invention employs a kind of completely new Softening, it is particularly suitable for that some tree-like or plant is smaller, fruit not fear of throwing
Agriculture picking fruit, it is high-efficient, further promote the research and development of fruit picking robot, be fruit picking robot research and development
Provide experimental basis.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of fruit harvest machine people's control system for contest, which is characterized in that including master controller, and with it is described
The walking chassis drive module of master controller connection, elevating mechanism drive module, power module, tracking module, fruit detect mould
Block, attitude detection module, collection module, picking module；The picking module is arranged in walking chassis by elevating mechanism, and
Positioned at the top of the collection module.
2. fruit harvest machine people's control system according to claim 1 for contest, which is characterized in that the collection
Two collection claws and corresponding collection claw driving steering engine that module includes collecting box, is oppositely arranged, the collection claw driving
Steering engine is connect with the master controller；The collecting box is top and the open semi-surrounding structure in front side, described two collection claws
The front end of the collecting box is symmetrically set by corresponding collection claw driving steering engine, and can the relatively described collecting box
It rotates in the horizontal plane；The bottom of the collection claw be higher than the collecting box bottom, and the front is high and the back is low formed inclined surface.
3. fruit harvest machine people's control system according to claim 2 for contest, which is characterized in that the collection
The ontology of pawl is one piece of hardened structure being vertically arranged, and circular arc is extended to the collection claw inside in one end bottom of the hardened structure
Shape bottom plate, the circular arc bottom shape plate periphery are evenly equipped with several plastic sheets；The upper end of the hardened structure has been longitudinally disposed two pieces of saws
Tooth-shaped baffle plate, straight up, another piece of saw-tooth shaped baffles tilt upward one of saw-tooth shaped baffles；One end of the hardened structure
End is additionally provided with the zigzag plastic retainer sheet to extension on the inside of the collection claw；The other end of the hardened structure passes through corresponding
Collection claw driving steering engine and the collecting box be rotatablely connected.
4. fruit harvest machine people's control system according to claim 1 for contest, which is characterized in that the picking
Module includes fixed link and rotating bar, and the fixed link and the lifting platform of the elevating mechanism are connected；The fixed link and described
Rotating bar is in U-shape or V-arrangement or semi-circular shape, is respectively arranged with brush plate in the cavity of the fixed link and the rotating bar,
Semicircular indentations edge on the brush plate is evenly equipped with hairbrush；The fixed link and the rotating bar are rotatably docked
Link together, the two halves circumferential notch in the same plane when dock to form circular hole；The fixed link and the rotating bar
The place of being connected be provided with steering engine, the steering engine is connect with the master controller.
5. fruit harvest machine people's control system according to any one of claims 1 to 4 for contest, which is characterized in that
The walking chassis drive module includes multiple wheel electrical machines, and the wheel one on the wheel electrical machine and the walking chassis is a pair of
It answers；The wheel electrical machine is connect by corresponding wheel electrical machine driver with the master controller, on the wheel electrical machine
It is provided with encoder.
6. fruit harvest machine people's control system according to any one of claims 1 to 5 for contest, which is characterized in that
The elevating mechanism is synchronous belt lifting mechanism；The elevating mechanism drive module includes stepper motor, the stepper motor with
The master controller connection.
7. fruit harvest machine people's control system according to any one of claims 1 to 6 for contest, which is characterized in that
The tracking module includes tracking sensor, and the tracking sensor is connect with the master controller；The tracking sensor is set
Set the lower surface in the walking chassis bottom plate.
8. fruit harvest machine people's control system according to any one of claims 1 to 7 for contest, which is characterized in that
The fruit detection module includes photoelectric sensor and vision module；The bottom of the walking chassis is arranged in the photoelectric sensor
On plate, and it is connect with the master controller；The vision module be arranged in it is described picking module fixed link on, and with the master
Controller connection.
9. fruit harvest machine people's control system according to any one of claims 1 to 8 for contest, which is characterized in that
The attitude detection module includes nine axis attitude transducers；The walking chassis bottom plate is arranged in the nine axis attitude transducer
Lower surface, and connect with the master controller.
10. fruit harvest machine people's control system according to any one of claims 1 to 9 for contest, which is characterized in that
The power module includes battery pack, and the battery pack is connect by Voltage stabilizing module with the master controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910070125.4A CN109566092B (en) | 2019-01-24 | 2019-01-24 | Fruit harvesting robot control system for competition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111579271A (en) * | 2020-07-06 | 2020-08-25 | 中国农业大学 | Intelligent fruit picking and transferring trolley set |
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| CN111579271B (en) * | 2020-07-06 | 2024-05-17 | 中国农业大学 | Intelligent trolley set for simulating picking and transferring fruits |
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| CN109566092B (en) | 2024-05-31 |
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