CN109566092B - Fruit harvesting robot control system for competition - Google Patents
Fruit harvesting robot control system for competition Download PDFInfo
- Publication number
- CN109566092B CN109566092B CN201910070125.4A CN201910070125A CN109566092B CN 109566092 B CN109566092 B CN 109566092B CN 201910070125 A CN201910070125 A CN 201910070125A CN 109566092 B CN109566092 B CN 109566092B
- Authority
- CN
- China
- Prior art keywords
- module
- collecting
- main controller
- fruit
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 111
- 238000003306 harvesting Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 210000000078 claw Anatomy 0.000 claims description 55
- 210000001503 joint Anatomy 0.000 claims description 9
- 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
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 abstract 1
- 238000012827 research and development Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000002420 orchard Substances 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 210000001747 pupil Anatomy 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a fruit harvesting robot control system for competition, which is characterized by comprising a main controller, a walking chassis driving module, a lifting mechanism driving module, a power module, a tracking module, a fruit detection module, a gesture detection module, a collection module and a picking module, wherein the walking chassis driving module, the lifting mechanism driving module, the power module, the tracking module, the fruit detection module, the gesture detection module and the picking module are connected with the main controller; the picking module is arranged on the walking chassis through the lifting mechanism and is positioned above the collecting module. The invention can automatically identify the walking guide lines according to the competition rules in the set competition scene, and plan the paths on the part of road sections without the guide lines to finish the task of harvesting fruits, and has simple structure, strong operability and capability of identifying the colors of the fruits.
Description
Technical Field
The invention belongs to the technical field of agricultural robot competition, and particularly relates to a fruit harvesting robot control system for competition.
Background
Along with the development of science and technology, the intelligent degree of agricultural machinery is continuously improved, and in the fruit picking process, the use of robots to replace manpower has become a trend of modern agriculture development. The traditional harvesting mode of manually grabbing and harvesting fruits has the defects of high production seasonality of an orchard, high labor intensity, low production efficiency and intensive labor force, and is a bottleneck factor for restricting the improvement of the market competitiveness of fruits. Currently, fruit harvesting automation and mechanization are weak links of orchard production mechanization, and advanced fruit picking machines are urgently required by vast fruit farmers. The aim of the Chinese agricultural robot competition is to encourage innovation in the aspect of fruit harvesting robots, so that efficient, intelligent and autonomous harvesting is realized, and the key points are path planning, autonomous navigation, fruit identification, mechanism design and the like.
The orchard fruit harvesting robot project is an important project of a Chinese agricultural robot large race, the layout of a competition field is shown in fig. 1, the square of the outermost ring 2400mm x 2400mm of the field is a field fence, the square of 400mm x 400mm of four right angles of the field is a fruit harvesting robot departure return area, and the square of six 148mm x 148mm of the field is a simulated fruit tree placement area.
The simulated fruit tree is a commodity splicing model, the branches and the trunks are mutually spliced, the tree branches and the trunks are required to be fixed by strong glue, and the reference shape and the dimension are shown in figure 2, and total 6 tree branches are required. The simulated fruit tree base is fixed at the appointed position of the competition area by a double-sided cloth-based adhesive tape. Six simulated fruits with the same color are hung on each simulated fruit tree, and one simulated fruit is hung on each branch. The color of the simulated fruit is red and green, the red color indicates that the fruit of the simulated fruit tree is ripe and can be picked, and the green color indicates that the fruit of the simulated fruit tree is immature and cannot be picked. Three vertical lines and two horizontal lines in the field fence are robot travel reference lines 10.
Disclosure of Invention
The invention designs a fruit harvesting robot control system for competition, which aims at meeting competition requirements and realizing fruit picking, further promotes the research and development of a fruit picking robot and provides a basis for the research and development of the fruit picking robot.
To achieve the above object, the present invention discloses:
A fruit harvesting robot control system for competition comprises a main controller, and a walking chassis driving module, a lifting mechanism driving module, a power module, a tracking module, a fruit detection module, a gesture detection module, a collection module and a picking module which are connected with the main controller; the picking module is arranged on the walking chassis through the lifting mechanism and is positioned above the collecting module.
Further, the walking chassis driving module comprises a plurality of wheel motors, and the wheel motors are in one-to-one correspondence with wheels on the walking chassis; the wheel motors are connected with the main controller through corresponding wheel motor drivers, and encoders are arranged on the wheel motors.
Further, the walking chassis comprises a bottom plate and wheels arranged at four corners of the bottom plate, the bottom plate is concave, and the collecting claw of the collecting module is positioned above the notch of the concave bottom plate.
Further, the lifting mechanism driving module comprises a stepping motor, and the stepping motor is connected with the main controller.
Further, the lifting mechanism is a synchronous belt lifting mechanism.
Further, the tracking module comprises a tracking sensor, and the tracking sensor is connected with the main controller; the tracking sensor is arranged on the lower surface of the walking chassis base plate.
Further, the tracking sensor is a gray scale sensor. The digital gray scale sensor with the model number KXCT LED is specifically adopted.
Further, the fruit detection module comprises a photoelectric sensor and a vision module; the photoelectric sensor is arranged on the bottom plate of the walking chassis and is connected with the main controller; the vision module is arranged on the fixed rod of the picking module and is connected with the main controller.
Further, the photoelectric sensor is a diffuse reflection type photoelectric sensor with the model number of E18-D80 NK; the vision module employs a star pupil OpenMV, camM.
Further, the gesture detection module comprises a nine-axis gesture sensor; the nine-axis attitude sensor is arranged on the lower surface of the walking chassis base plate and is connected with the main controller.
Further, the collecting module comprises a collecting box, two collecting claws which are arranged oppositely and a corresponding collecting claw driving steering engine, and the collecting claw driving steering engine is connected with the main controller; the collecting box is of a semi-surrounding structure with an open top and a front side, and the two collecting claws are symmetrically arranged at the front end of the collecting box left and right through corresponding collecting claw driving steering engines and can rotate in a horizontal plane relative to the collecting box; the bottom of the collecting claw is higher than the bottom of the collecting box, and the front part is higher and the rear part is lower to form an inclined plane.
Further, the collecting claw body is a plate structure which is vertically arranged, the bottom of one end of the plate structure extends out of the circular arc bottom plate towards the inner side of the collecting claw, and a plurality of plastic sheets are uniformly distributed on the periphery of the circular arc bottom plate; two zigzag baffles are longitudinally arranged at the upper end of the plate structure, one zigzag baffle is vertically upwards, and the other zigzag baffle is obliquely upwards; the end part of one end of the plate structure is also provided with a zigzag plastic baffle plate extending towards the inner side of the collecting claw; the other end of the plate structure is connected with the collecting box in a rotating way through a corresponding collecting claw driving steering engine.
Further, the picking module comprises a fixed rod and a rotating rod, and the fixed rod is fixedly connected with a lifting table of the lifting mechanism; the fixed rod and the rotating rod are U-shaped, V-shaped or semicircular, brush plates are respectively arranged in the cavities of the fixed rod and the rotating rod, and brushes are uniformly distributed on the edges of semicircular gaps on the brush plates; the fixed rod and the rotating rod can be in butt joint connection in a relative rotation manner, and the two semicircular gaps are in butt joint to form a round hole when in the same plane; the butt joint junction of dead lever with the dwang is provided with the steering wheel, the steering wheel with main control unit is connected.
Further, the power module comprises a battery pack, and the battery pack is connected with the main controller through a voltage stabilizing module.
Further, the main controller is arranged on the bottom plate of the walking chassis.
Further, the main controller is a seven-star insect M3S development board stm32f103zet core board.
When the robot works, the robot starts from the starting area and operates under the instruction of the main controller; the tracking module detects an operation reference line and sends information to the main controller, and the main controller controls the robot to advance along the reference line; when the photoelectric sensor detects the simulated fruit tree, the photoelectric sensor returns information to the main controller, the main controller stops the robot, the vision module detects the fruit color, and if the fruit color is dark green immature fruit, the main controller controls the robot to continuously advance along the operation reference line; if the color of the fruit is red mature fruit, the main controller sends a command to the collecting claw to drive the steering engine, the collecting claw is controlled to move from a closed state to an open state, and the robot moves transversely for a fixed distance until the fruit tree is simulated under the detection of the information of the gesture detection module; the main controller sends a command to the collecting claw to drive the steering engine, and controls the collecting claw to encircle the trunk at the lower part of the simulated fruit tree from an open state to a closed state; then, the main controller sends a command to the steering engine to control the rotating rod of the picking module to rotate to a horizontal position, and round holes on the picking module are just aligned to simulated fruit trees; under the drive of the stepping motor, the whole picking module moves downwards along with the lifting mechanism, and the fruits are brushed into the collecting frame; then, under the drive of a stepping motor, the whole picking module moves upwards along with the lifting mechanism, and then the main controller controls the steering engine to rotate so that the rotating rod rotates to a position vertical to the fixed rod; then, when the robot starts to retreat, the trunk is simulated to scratch out from the gap between the two collecting claws (because the plastic sheets, the baffle and the plastic baffle on the collecting claws have elasticity), and the main controller controls the collecting claws to drive the steering engine to further fold the collecting claws (fold inwards again to tighten a bit) so that fruits in the collecting box do not fall; finally, the main controller controls the robot to return to the robot operation reference line, and continues to advance along the robot operation reference line, and the process is circulated until the robot returns to the robot return area.
The fruit harvesting robot control system for competition has the following beneficial effects:
(1) The invention has simple structure and strong operability, can identify the color of fruits, and enables the robot to stably run and smoothly harvest the fruits.
(2) The invention can automatically identify the walking guide lines according to the competition rules in the set competition scene, and plan the path on the part of the road section without the guide lines so as to finish the task of harvesting fruits.
(3) The invention realizes a brand new picking mode, is particularly suitable for picking some agricultural fruits with smaller tree forms or plants and the fruits are not afraid of falling, and has high efficiency; meanwhile, the invention contributes to the promotion of the research and development of the fruit picking robot and provides an experimental basis for the research and development of the fruit picking robot.
Drawings
Fig. 1: in the embodiment of the invention, a competition field layout chart is provided;
fig. 2: in the embodiment of the invention, the structure schematic diagram of the simulated fruit tree is shown;
fig. 3: the fruit harvesting robot control system for competition in the embodiment of the invention is a structural block diagram;
Fig. 4: the fruit harvesting robot for competition in the embodiment of the invention is structurally schematic;
fig. 5: the structure of the walking chassis is shown in the embodiment of the invention;
fig. 6: the invention relates to an operation flow chart of a fruit harvesting robot for competition.
Reference numerals illustrate:
1-a main controller; 2-a walking chassis driving module; 21-wheel motor drive; 22-wheel motor; 23-an encoder; 3-a lifting mechanism driving module; 31-a stepper motor; 4-a power module; 41-a voltage stabilizing module; 42-battery pack; 5-a tracking module; 51—a tracking sensor; 6, a fruit detection module; 61-a photosensor; 62-a vision module; 7-an attitude detection module; 71-nine axis attitude sensor; 8, a collection module; 81-a collection box; 82-a collection claw; 83-collecting claw driving steering engine; 9-picking modules; 91-steering engine; 92-a fixed rod; 93-a rotating rod; 94-brush plate; 10-robot walking reference line.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
Figures 3 to 6 show a specific embodiment of the fruit harvesting robot control system for racing according to the invention. FIG. 3 is a block diagram showing the structure of a fruit harvesting robot control system for racing in the present embodiment; fig. 4 is a schematic structural view of a fruit harvesting robot for competition in the present embodiment; fig. 5 is a schematic view of the structure of the traveling chassis in the present embodiment; fig. 6 is a flowchart showing the operation of the fruit harvesting robot for competition in the present embodiment.
As shown in fig. 3 and 4, the fruit harvesting robot control system for competition in the present embodiment includes a main controller 1, and a walking chassis driving module 2, a lifting mechanism driving module 3, a power module 4, a tracking module 5, a fruit detecting module 6, a gesture detecting module 7, a collecting module 8, and a picking module 9 connected to the main controller 1; the picking module 9 is arranged on the walking chassis through a lifting mechanism and is positioned above the collecting module 8. The collecting claw 82 of the collecting module 8 cooperates with the trunk of the lower part of the fruit tree during picking.
Preferably, the walking chassis driving module 2 comprises a plurality of wheel motors 22, and the wheel motors 22 are in one-to-one correspondence with wheels on the walking chassis; the wheel motors 22 are connected with the main controller 1 through corresponding wheel motor drivers 21, and encoders 23 are provided on the wheel motors 22, as shown in fig. 3,4, and 5.
Preferably, the walking chassis comprises a bottom plate and wheels arranged at four corners of the bottom plate, the bottom plate is concave, and the collecting claw 82 of the collecting module 8 is positioned above the notch of the concave bottom plate, as shown in fig. 4.
Preferably, the lifting mechanism driving module 3 includes a stepping motor 31, and the stepping motor 31 is connected with the main controller 1, as shown in fig. 3 and 4.
Preferably, the lifting mechanism is a synchronous belt lifting mechanism.
Preferably, the tracking module 5 comprises a tracking sensor 51, the tracking sensor 51 being connected to the main controller 1; the tracking sensor 51 is provided on the lower surface of the chassis floor, as shown in fig. 3 and 4. The tracking sensor 51 ensures that the fruit harvesting robot walks along the robot running reference line.
Preferably, the tracking sensor 51 is a gray scale sensor. In this embodiment, the tracking sensor 51 is a digital gray scale sensor of the type KXCT LED.
Preferably, the fruit detection module 6 comprises a photosensor 61 and a vision module 62; the photoelectric sensor 61 is arranged on the bottom plate of the walking chassis and is connected with the main controller 1; the vision module 62 is disposed on the fixing rod 92 of the picking module 9 and is connected with the main controller 1 as shown in fig. 3 and 4. When the fruit harvesting robot encounters a simulated fruit tree in the competition field, the photoelectric sensor 61 sends a signal to the main controller 1 to stop the fruit harvesting robot; at the same time, the vision module 62 detects the color of the simulated fruit hanging on the simulated fruit tree, if the simulated fruit is red, the vision module 62 sends a signal to the main controller 1 to make the fruit harvesting robot traverse the simulated tree, and if the simulated fruit is green, the vision module 62 sends a signal to the main controller 1 to make the fruit harvesting robot continue to advance along the robot operation reference line.
In the embodiment, the photoelectric sensor 61 is a diffuse reflection type photoelectric sensor with the model number of E18-D80 NK; the vision module 62 employs a star pupil OpenMV3 CamM.
Preferably, the attitude detection module 7 includes a nine-axis attitude sensor 71; the nine-axis attitude sensor 71 is provided on the lower surface of the chassis floor and is connected to the main controller 1, as shown in fig. 3 and 4. In the present embodiment, the nine-axis attitude sensor 71 employs a nine-axis attitude sensor of the model MPU 9250. When the fruit harvesting robot moves transversely to the simulation tree, the gesture detection module ensures the gesture of the fruit harvesting robot, so that the transverse moving route of the fruit harvesting robot is perpendicular to the operation reference line of the robot.
Preferably, the collecting module 8 comprises a collecting box 81, two collecting claws 82 which are oppositely arranged and a corresponding collecting claw driving steering engine 83, and the collecting claw driving steering engine 83 is connected with the main controller 1; the collecting box 81 is a semi-surrounding structure with an open top and a front side, and two collecting claws 82 are symmetrically arranged at the front end of the collecting box 81 left and right through corresponding collecting claw driving steering engines 83 and can rotate in a horizontal plane relative to the collecting box 81; the bottom of the collecting claw 82 is higher than the bottom of the collecting box 81, and the front is higher and the rear is lower to form an inclined surface so that the fruits falling into the space of the collecting claw 82 roll down to the collecting box 81 as shown in fig. 4. The collection claw 82 cooperates with the lower trunk of the tree during picking.
Preferably, the body of the collecting claw 82 is a vertically arranged plate structure, the bottom of one end of the plate structure extends out of the circular arc-shaped bottom plate towards the inner side of the collecting claw 82 (i.e. the opposite side surfaces of the two collecting claws 82 are the inner sides), and a plurality of plastic sheets are uniformly distributed on the periphery of the circular arc-shaped bottom plate; two zigzag baffles are longitudinally arranged at the upper end of the plate structure, one zigzag baffle is vertically upwards, and the other zigzag baffle is obliquely upwards; one end of the plate structure is also provided with a zigzag plastic baffle plate extending towards the inner side of the collecting claw 82; the other end of the plate structure is rotatably connected with the collecting box 81 through a corresponding collecting claw driving steering engine 83, as shown in fig. 4.
Preferably, the picking module 9 comprises a fixed rod 92 and a rotating rod 93, and the fixed rod 92 is fixedly connected with a lifting table of a lifting mechanism; the fixed rod 92 and the rotating rod 93 are U-shaped, V-shaped or semicircular, the cavities of the fixed rod 92 and the rotating rod 93 are respectively provided with a brush plate 94, and brushes are uniformly distributed on the semicircular notch edges of the brush plates 94; the fixed rod 92 and the rotating rod 93 are in butt joint connection in a relatively rotatable manner, and the two semicircular gaps are in butt joint to form a round hole when in the same plane; the butt joint junction of dead lever 92 and dwang 93 is provided with steering wheel 91, and steering wheel 91 is connected with main control unit 1, as shown in fig. 4 and 5.
Preferably, the power module 4 includes a battery pack 42, and the battery pack 42 is connected to the main controller 1 through a voltage stabilizing module 41, as shown in fig. 3. IN this embodiment, the voltage stabilizing module is 24V/12V to 5V IN (9-35V).
In this embodiment, the battery pack 42 is two independent 12V lithium batteries, one of which converts the voltage into 5V through the voltage stabilizing module 41, and supplies power to the main controller 1, the tracking module 5, the fruit detecting module 6, the gesture detecting module 7, the collecting module 8, the picking module 9 and the encoder 23, and the other lithium battery supplies power to the 4 wheel motor drivers 21.
Preferably, the main controller 1 is provided on the floor of the walking chassis. In this embodiment, the main controller 1 is a seven-star insect M3S development board stm32f103zet core board.
In operation, as shown in fig. 6, the robot starts from the departure area and operates under the instruction of the main controller 1; the tracking module 5 detects an operation reference line and sends information to the main controller 1, and the main controller 1 controls the robot to advance along the reference line; when the photoelectric sensor 61 detects the simulated fruit tree, the photoelectric sensor 61 returns information to the main controller 1, the main controller 1 stops the robot, the vision module 62 detects the fruit color, and if the fruit color is dark green immature fruit, the main controller 1 controls the robot to continuously advance along the operation reference line; if the color of the fruit is red mature fruit, the main controller 1 sends a command to the collecting claw driving steering engine 83 to control the collecting claw 82 to move from a closed state to an open state, and the robot moves transversely for a fixed distance to the front of the simulated fruit tree under the detection of the information of the gesture detection module 7; the main controller 1 sends a command to the collecting claw driving steering engine 83 to control the collecting claw 82 to encircle the trunk at the lower part of the simulated fruit tree from an open state to a closed state; then, the main controller 1 sends a command to the steering engine 91 to control the rotating rod 93 of the picking module 9 to rotate to a horizontal position, and the round hole on the picking module 9 is just aligned with the simulated fruit tree; the picking module 9 moves downwards integrally under the drive of the stepping motor 31, and brushes the fruits into the collecting frame 81; subsequently, the picking module 9 is integrally moved upward by the driving of the stepping motor 31, and then the main controller 1 controls the steering engine 91 to rotate so that the rotating rod 93 rotates to a position perpendicular to the fixing rod 92; then, when the robot starts to retreat, the trunk is simulated to scratch out from the gap between the two collecting claws 82 (because the plastic sheets, the baffle plate and the plastic baffle plate on the collecting claws have elasticity), and the main controller 1 controls the collecting claws to drive the steering engine 83 to further fold the collecting claws 82 (fold inwards again and tighten a little) so that fruits in the collecting box do not fall; finally, the main controller 1 controls the robot to return to the robot operation reference line, continues to advance along the robot operation reference line, and circulates the above-mentioned process until returning to the robot return area.
The invention can automatically identify the walking guide lines according to the competition rules in the set competition scene, and plan the path on the part of the road section without the guide lines so as to finish the task of harvesting fruits.
The invention has simple structure and strong operability, can identify the color of fruits, and enables the robot to stably run and smoothly harvest the fruits.
The invention adopts a brand new picking mode, is particularly suitable for picking agricultural fruits with smaller tree shapes or plants and shatter-resistant fruits, has high efficiency, further promotes the research and development of fruit picking robots, and provides experimental basis for the research and development of the fruit picking robots.
The invention has been described above by way of example with reference to the accompanying drawings, it is clear that the implementation of the invention is not limited to the above-described manner, but it is within the scope of the invention to apply the inventive concept and technical solution to other situations as long as various improvements made by the inventive concept and technical solution are adopted or without any improvement.
Claims (8)
1. The fruit harvesting robot control system for competition is characterized by comprising a main controller, and a walking chassis driving module, a lifting mechanism driving module, a power supply module, a tracking module, a fruit detection module, a gesture detection module, a collection module and a picking module which are connected with the main controller; the picking module is arranged on the walking chassis through a lifting mechanism and is positioned above the collecting module;
The collecting module comprises a collecting box, two collecting claws which are arranged oppositely and a corresponding collecting claw driving steering engine, and the collecting claw driving steering engine is connected with the main controller; the collecting box is of a semi-surrounding structure with an open top and a front side, and the two collecting claws are symmetrically arranged at the front end of the collecting box left and right through corresponding collecting claw driving steering engines and can rotate in a horizontal plane relative to the collecting box; the bottom of the collecting claw is higher than the bottom of the collecting box, and an inclined surface is formed by the front part being higher and the rear part being lower;
The picking module comprises a fixed rod and a rotating rod, and the fixed rod is fixedly connected with a lifting table of the lifting mechanism; the fixed rod and the rotating rod are U-shaped, V-shaped or semicircular, brush plates are respectively arranged in the cavities of the fixed rod and the rotating rod, and brushes are uniformly distributed on the edges of semicircular gaps on the brush plates; the fixed rod and the rotating rod can be in butt joint connection in a relative rotation manner, and the two semicircular gaps are in butt joint to form a round hole when in the same plane; a steering engine is arranged at the butt joint position of the fixed rod and the rotating rod, and the steering engine is connected with the main controller;
The walking chassis comprises a bottom plate and wheels arranged at four corners of the bottom plate, the bottom plate is concave, and the collecting claw of the collecting module is positioned above the notch of the concave bottom plate.
2. The fruit harvesting robot control system for racing according to claim 1, wherein the body of the collecting claw is a plate structure arranged vertically, a circular arc-shaped bottom plate extends out from the bottom of one end of the plate structure to the inner side of the collecting claw, and a plurality of plastic sheets are uniformly distributed on the periphery of the circular arc-shaped bottom plate; two zigzag baffles are longitudinally arranged at the upper end of the plate structure, one zigzag baffle is vertically upwards, and the other zigzag baffle is obliquely upwards; the end part of one end of the plate structure is also provided with a zigzag plastic baffle plate extending towards the inner side of the collecting claw; the other end of the plate structure is connected with the collecting box in a rotating way through a corresponding collecting claw driving steering engine.
3. The fruit harvesting robot control system for racing of claim 1 or 2, wherein the walking chassis driving module comprises a plurality of wheel motors, the wheel motors being in one-to-one correspondence with wheels on the walking chassis; the wheel motors are connected with the main controller through corresponding wheel motor drivers, and encoders are arranged on the wheel motors.
4. Fruit harvesting robot control system for racing according to claim 1 or 2, characterized in that the lifting mechanism is a synchronous belt lifting mechanism; the lifting mechanism driving module comprises a stepping motor, and the stepping motor is connected with the main controller.
5. Fruit harvesting robot control system for racing according to claim 1 or 2, characterized in that the tracking module comprises a tracking sensor connected with the master controller; the tracking sensor is arranged on the lower surface of the walking chassis base plate.
6. Fruit harvesting robot control system for racing according to claim 1 or 2, characterized in that the fruit detection module comprises a photoelectric sensor and a vision module; the photoelectric sensor is arranged on the bottom plate of the walking chassis and is connected with the main controller; the vision module is arranged on the fixed rod of the picking module and is connected with the main controller.
7. The fruit harvesting robot control system for racing of claim 1 or 2, wherein the gesture detection module comprises a nine-axis gesture sensor; the nine-axis attitude sensor is arranged on the lower surface of the walking chassis base plate and is connected with the main controller.
8. The fruit harvesting robot control system for racing of claim 1 or 2, wherein the power module comprises a battery pack connected with the master controller through a voltage stabilizing module.
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 |
|---|---|---|---|
| CN201910070125.4A CN109566092B (en) | 2019-01-24 | 2019-01-24 | Fruit harvesting robot control system for competition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109566092A CN109566092A (en) | 2019-04-05 |
| CN109566092B true CN109566092B (en) | 2024-05-31 |
Family
ID=65918114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910070125.4A Active CN109566092B (en) | 2019-01-24 | 2019-01-24 | Fruit harvesting robot control system for competition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109566092B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111579271B (en) * | 2020-07-06 | 2024-05-17 | 中国农业大学 | Intelligent trolley set for simulating picking and transferring fruits |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62274379A (en) * | 1986-05-22 | 1987-11-28 | Kubota Ltd | Image processor for recognizing fruit |
| JP3054706B1 (en) * | 1999-03-18 | 2000-06-19 | 農林水産省 野菜・茶業試験場長 | Automatic eggplant harvesting method and apparatus |
| CN103716399A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Remote interaction fruit picking cooperative asynchronous control system and method based on wireless network |
| DE102015111682A1 (en) * | 2015-07-17 | 2017-02-02 | Klaus Spies | Fully automatic picking system and method for operating the picking system |
| WO2018087546A1 (en) * | 2016-11-08 | 2018-05-17 | Dogtooth Technologies Limited | A robotic fruit picking system |
| CN108073177A (en) * | 2018-02-27 | 2018-05-25 | 西北农林科技大学 | A kind of control system imparted knowledge to students with contest with spray robot |
| CN209497929U (en) * | 2019-01-24 | 2019-10-18 | 西北农林科技大学 | A kind of fruit harvest machine people's control system for contest |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4532757A (en) * | 1983-09-30 | 1985-08-06 | Martin Marietta Corporation | Robotic fruit harvester |
| US10555460B2 (en) * | 2015-10-05 | 2020-02-11 | Amrita Vishwa Vidyapeetham | Automated drone for harvesting produce |
-
2019
- 2019-01-24 CN CN201910070125.4A patent/CN109566092B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62274379A (en) * | 1986-05-22 | 1987-11-28 | Kubota Ltd | Image processor for recognizing fruit |
| JP3054706B1 (en) * | 1999-03-18 | 2000-06-19 | 農林水産省 野菜・茶業試験場長 | Automatic eggplant harvesting method and apparatus |
| CN103716399A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Remote interaction fruit picking cooperative asynchronous control system and method based on wireless network |
| DE102015111682A1 (en) * | 2015-07-17 | 2017-02-02 | Klaus Spies | Fully automatic picking system and method for operating the picking system |
| WO2018087546A1 (en) * | 2016-11-08 | 2018-05-17 | Dogtooth Technologies Limited | A robotic fruit picking system |
| CN108073177A (en) * | 2018-02-27 | 2018-05-25 | 西北农林科技大学 | A kind of control system imparted knowledge to students with contest with spray robot |
| CN209497929U (en) * | 2019-01-24 | 2019-10-18 | 西北农林科技大学 | A kind of fruit harvest machine people's control system for contest |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109566092A (en) | 2019-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110421580B (en) | Intelligent field robot and working method thereof | |
| CN112005726B (en) | Intelligent fruit and vegetable picking device and method | |
| CN202085493U (en) | Tomato picking robot system | |
| CN108633482A (en) | A kind of fruit picking aircraft | |
| CN211745437U (en) | Robot is picked to overhead fruit vegetables intelligence | |
| CN109566092B (en) | Fruit harvesting robot control system for competition | |
| CN110419315A (en) | A kind of foreign body eliminating apparatus and its control method | |
| CN112975890A (en) | Intelligent inspection robot | |
| CN211565903U (en) | Intelligent logistics transfer robot for teaching competition | |
| CN114679963A (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN209787899U (en) | Garden type fruit picking robot | |
| CN106233937A (en) | A kind of array extension type mechanical arm kiwifruit fruit picking robot | |
| CN114779692A (en) | Linear sliding table type weeding robot and control method thereof | |
| CN209497929U (en) | A kind of fruit harvest machine people's control system for contest | |
| CN109588111B (en) | Fruit harvesting robot for competition and working method thereof | |
| CN210841314U (en) | Novel automatic whiteflower hogfennel root weeder | |
| CN111543179A (en) | Automatic lotus seedpod picking machine based on standardized lotus field | |
| CN211531882U (en) | Picking robot for sports | |
| CN210900392U (en) | Foreign matter removing device | |
| CN209497930U (en) | A kind of fruit harvest machine people for contest | |
| CN211322735U (en) | Door type pesticide spraying robot | |
| CN114700927A (en) | Combined weeding robot with parallel mechanical arms and flexible mechanical arm and control method | |
| CN209930948U (en) | A field fruit picking robot control system for contest | |
| CN208149699U (en) | Live automatic loading mechanism for medical after a kind of picking of strawberry | |
| CA3180178A1 (en) | Harvester for selectively and robotically harvesting crops |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |