CN110024565A - Fruit automatic picking apparatus based on 3-D scanning positioning - Google Patents
Fruit automatic picking apparatus based on 3-D scanning positioning Download PDFInfo
- Publication number
- CN110024565A CN110024565A CN201910410858.8A CN201910410858A CN110024565A CN 110024565 A CN110024565 A CN 110024565A CN 201910410858 A CN201910410858 A CN 201910410858A CN 110024565 A CN110024565 A CN 110024565A
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- China
- Prior art keywords
- plate
- fruit
- rotating
- picking apparatus
- automatic picking
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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
- A01D46/30—Robotic devices for individually picking crops
Abstract
The invention discloses a kind of fruit automatic picking apparatus based on 3-D scanning positioning, including walking dolly, the robotic arm being installed at the top of walking dolly, it is installed on walking dolly for the spatial digitizer for the location information that collects fruit and controls the control unit that robotic arm realizes fruit picking for the acquisition signal according to spatial digitizer, the input terminal of described control unit is electrically connected with the output end of spatial digitizer, and the output end of control unit is electrically connected with the input terminal of robotic arm；Surface sweeping is carried out to strawberry by spatial digitizer, the Accuracy Space coordinate of strawberry can be quickly obtained, picked using robotic arm, realize fruit automatic identification and picking, is conducive to improve fruit picking success rate, saves manual labor.
Description
Technical field
The present invention relates to berry fruits pick field, and in particular to it is a kind of based on 3-D scanning positioning fruit adopt automatically
Device and picking.
Background technique
The labor intensity of fruits and vegetables fruit harvest is very big, and autonomous harvesting is a difficult project, all over the world
Scholar is mutually permitted exploitation in addition to apple, citrus, tomato, eggplant, capsicum, cucumber etc. harvest humanoid robot, however strawberry is received
Obtain the automated machine product of fruit type be it is fewer and fewer, it is just expanded in recent years to be not only because strawberry demand
Come, also in that " petite " property of strawberry fruit, strawberry clump is shorter thick grass property plant, and it is living to supply engineering goods
Dynamic insufficient space, while strawberry fruit soft and succulency are easy injury, and external form is unique, if using gripper type or
The Softening of robot may hurt the integrality of strawberry fruit.Scholars always search for suitable harvest side
Method, for example, Japanese scholars devise the robot for grabbing strawberry carpopodium directly with the mechanical finger of high flexible to be won,
China Agricultural University establishes bridge type right angle coordinate manipulator to harvest the strawberry perpendicular to ground；And strawberry in the prior art
Difficulty height is identified and positioned, acquisition success rate is low.
Therefore, in order to solve the above problem, a kind of fruit automatic picking apparatus based on 3-D scanning positioning, Neng Goushi are needed
Existing fruit automatic identification and picking are conducive to improve fruit picking success rate, save manual labor.
Summary of the invention
In view of this, providing the water based on 3-D scanning positioning the purpose of the present invention is overcoming defect in the prior art
Fruit automatic picking apparatus can be realized fruit automatic identification and picking, is conducive to improve fruit picking success rate, saves hand labor
Power.
The fruit automatic picking apparatus based on 3-D scanning positioning of the invention, including walking dolly, to be installed on walking small
The robotic arm of roof is installed on walking dolly for the spatial digitizer for the location information that collects fruit and for basis
The acquisition signal control robotic arm of spatial digitizer realizes the control unit of fruit picking, the input terminal of described control unit
It is electrically connected with the output end of spatial digitizer, the output end of control unit is electrically connected with the input terminal of robotic arm.
Further, the robotic arm includes the rack for being fixed on walking dolly, the elevating mechanism for being installed on rack, peace
The transverse-moving mechanism for filling elevating mechanism, the horizontal rotary mechanism for being installed on transverse-moving mechanism, the level for being installed on horizontal rotary mechanism are stretched
Contracting mechanism and the shearing executive device for being installed on horizontal extension mechanism.
Further, the elevating mechanism includes the lead screw for being vertically installed on rack, thread jacket in the lead screw spiral shell of lead screw
Base and for driving lead screw to rotate and driving the spindle motor of feed screw nut seat vertical motion, the lead screw include transversely simultaneously
Two lead screws of column, the transverse-moving mechanism are fixed on the corresponding feed screw nut seat of two lead screws.
Further, the transverse-moving mechanism includes that transverse ends are individually fixed in the lateral top plate of two feed screw nut seats, fixation
In lateral top plate bottom horizontal slide rail, with the horizontal slide rail sliding block that transversely single-degree-of-freedom is slidably matched, be thread through sliding block
Laterally driven screw rod and for driving laterally driven screw rod to rotate and traversing motor with movable slider transverse shifting, the transverse direction
The both ends of driving screw rod pass through two vertical supporting plate rotational supports respectively and are installed on lateral top plate；The horizontal rotary mechanism installation
In the sliding block bottom surface.
Further, the horizontal rotary mechanism includes the rotating bottom board for being fixed on sliding block bottom surface, is located above rotating bottom board
Horizontal rotation plate and be used to support and drive rotate horizontally plate rotation rotary drive assembly；The horizontal extension mechanism installation
In the top for rotating horizontally plate；The rotary drive assembly includes rotating electric machine, rotary drive component and is supported in rotating top plate
With the rotating support shaft between horizontal rotation plate；The upper end of the rotating support shaft is fixedly connected with plate is rotated horizontally, and lower end turns
It is dynamic to be supported in rotating bottom board；
Further, the rotary drive component includes being coated at rotation with the driving gear of rotating electric machine transmission cooperation and transmission
The driven gear for turning support shaft and engaging with driving gear, rotating electric machine are driven by driving driving gear rotation and rotate horizontally plate
Rotation.
Further, the telescoping mechanism includes being slidably mounted on to rotate horizontally board bottom portion along level set direction single-degree-of-freedom
Expansion plate and telescoping drive mechanism for driving expansion plate to reciprocatingly slide, the shearing executive device be installed on described flexible
Plate；The telescoping drive mechanism includes being fixed on the bar shaped tooth for rotating horizontally board bottom portion, the flexible sliding tooth with bar shaped tooth engagement
The telescope motor taken turns and be fixed on expansion plate, the telescope motor are matched with flexible driving gear drive and are merged for passing through driving
Flexible sliding tooth wheel rotation drives expansion plate to realize telescopic slide.
Further, the shearing executive device includes two inclinations and skewed horizontal load bar disposed in parallel and is fixed on oblique branch
The cutting mechanism of strut upper end, it is to stretch that expansion plate and the inclined direction of skewed horizontal load bar are fixed in the lower end of the skewed horizontal load bar
Contracting plate sliding extension direction.
Further, collection trolley has been pulled on rear side of the walking dolly.
Further, the cutting mechanism includes clamping device and shear.
The beneficial effects of the present invention are: a kind of fruit based on 3-D scanning positioning disclosed by the invention picks dress automatically
It sets, surface sweeping is carried out to strawberry by spatial digitizer, the Accuracy Space coordinate of strawberry can be quickly obtained, utilize robotic arm
It is picked, realizes fruit automatic identification and picking, be conducive to improve fruit picking success rate, save manual labor.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is another structural schematic diagram of the present invention.
Specific embodiment
As shown, the fruit automatic picking apparatus based on 3-D scanning positioning in the present embodiment, including walking dolly
1, it is installed on the robotic arm at the top of walking dolly, is installed on walking dolly and is swept for the three-dimensional of location information of collecting fruit
It retouches instrument 1a and realizes the control unit of fruit picking for the acquisition signal control robotic arm according to spatial digitizer, it is described
The input terminal of control unit is electrically connected with the output end of spatial digitizer, the input of the output end and robotic arm of control unit
End electrical connection；The spatial digitizer is fixed on walking dolly side wall, and described control unit can be existing 51 single-chip microcontroller, this hair
It is bright that surface sweeping is carried out to strawberry by spatial digitizer, it can be quickly obtained the Accuracy Space coordinate of strawberry, utilize robotic arm
It is picked, realizes fruit automatic identification and picking, be conducive to improve fruit picking success rate, save manual labor；Described three
Dimension scanner is the prior art, and details are not described herein.
In the present embodiment, the section of the endless glide is " mountain " font, and the sliding support includes that supporting plate 120 and limit are driven
Dynamic idler wheel, described to limit dynamic idler wheel for two and by the rotational installation of shaft single-degree-of-freedom on the downside of supporting plate, two rotation-limiteds rolling
Wheel 110 is clamped in the two sides of the intermediate vertical plate of endless glide and is walked by rotation supporting plate along endless glide circumferencial direction, described
It is provided with support ball 130 between endless glide and supporting plate and is used to support the roller annular groove of ball guiding；The rotation-limited
Idler wheel can drive realization to synchronize automatic rotation by the driving motor for being installed on supporting plate, guarantee that sliding support motion profile controls precision
Height, the limit driving idler wheel can be rubber wheel；
The robotic arm includes rack 103, the elevating mechanism for being installed on rack 103, installs the traversing of elevating mechanism
Mechanism, the horizontal rotary mechanism for being installed on transverse-moving mechanism, the horizontal extension mechanism for being installed on horizontal rotary mechanism and it is installed on water
The shearing executive device of flat telescoping mechanism；The settable traveling wheel in bottom of the rack 103, facilitates the overall movement of device, leads to
It crosses and elevating mechanism, transverse-moving mechanism, horizontal rotary mechanism and horizontal extension mechanism is respectively set, meet the same of practical automation picking
When, structure is simple, stable transmission, and volume compact is low in cost；Corresponding driving is provided in certain above-mentioned each transmission mechanism
Motor realizes automation picking by controlling each driving motor；Robotic arm is independently arranged with good grounds input coordinate control
The control module of motor output, belongs to the prior art, details are not described herein.
In the present embodiment, the elevating mechanism includes the lead screw 2 for being vertically installed on rack 103, thread jacket in lead screw 2
Feed screw nut seat 3 and for driving lead screw to rotate and driving the spindle motor of 3 vertical motion of feed screw nut seat, the lead screw packet
Two lead screws transversely arranged side by side are included, the transverse-moving mechanism is fixed on the corresponding feed screw nut seat 3 of two lead screws；Certainly, described
For screw rod along rack 103 itself is axially fixed at, above structure is simple, support and stable transmission；The spindle motor is existing skill
Art, details are not described herein.
In the present embodiment, the transverse-moving mechanism includes the lateral top plate that transverse ends are individually fixed in two feed screw nut seats 3
4, it is fixed on the horizontal slide rail 5 and horizontal slide rail 5 sliding block 6, spiral shell that transversely single-degree-of-freedom is slidably matched of lateral 4 bottom of top plate
The laterally driven screw rod 7 and the cross for driving the laterally driven rotation of screw rod 7 and with 6 transverse shifting of movable slider that line passes through sliding block 6
Motor 8 is moved, the both ends of the laterally driven screw rod 7 pass through two vertical supporting plates, 9 rotational support respectively and are installed on lateral top plate 4；
The horizontal rotary mechanism is installed on 6 top of sliding block；Shearing executive device transverse shifting is realized by transverse-moving mechanism, laterally
For the left and right directions of device in Fig. 1.
In the present embodiment, the horizontal rotary mechanism includes the rotating bottom board 10 for being fixed on 6 top of sliding block, is located at rotation bottom
The horizontal rotation plate 11 of 10 top of plate and the rotary drive assembly for being used to support and horizontal rotation plate 11 being driven to rotate；The level
Telescoping mechanism is installed on the top for rotating horizontally plate 11；It can be realized shearing executive device by rotating bottom board 10 to rotate in a circumferential direction,
It is convenient that different angle citrus is picked, strong applicability.
In the present embodiment, the rotary drive assembly includes rotating electric machine, rotary drive component and is supported in rotating top plate
With the rotating support shaft 12 between horizontal rotation plate 11；The upper end of the rotating support shaft 12 and the fixed company of horizontal rotation plate 11
It connects, lower end rotational support is in rotating bottom board 10；The rotary drive component includes the driving tooth with the transmission cooperation of rotating electric machine 15
The driven gear 14 that wheel 13 and transmission are coated at rotating support shaft 12 and engage with driving gear 13, rotating electric machine 15 pass through driving
The rotation of driving gear 13, which drives, rotates horizontally the rotation of plate 11；Driving gear 13 and driven gear 14 are oblique pond wheel, and rotation driving is steady
Fixed, maintenance is convenient.
In the present embodiment, the telescoping mechanism includes being slidably mounted on horizontal rotation plate along level set direction single-degree-of-freedom
The expansion plate 16 of 11 bottoms and telescoping drive mechanism for driving expansion plate 16 to reciprocatingly slide, the shearing executive device installation
In the expansion plate 16；Conducive to the one-movement-freedom-degree for improving shearing executive device.
In the present embodiment, the telescoping drive mechanism includes being fixed on the bar shaped tooth 17 and item that rotate horizontally 11 bottom of plate
Flexible telescope motor driving gear 18 and be fixed on expansion plate 16 that shape tooth 17 engages, the telescope motor and flexible driving
The transmission of gear 18 is with merging for driving the rotation of gear 18 that expansion plate 16 is driven to realize telescopic slide by the way that driving is flexible；It is described to stretch
The bottom surface of contracting plate 16 and rotate horizontally and be provided with guiding mechanism between 11 bottom of plate, the guiding mechanism may include be fixed on it is flexible
It the gib block of the bottom surface of plate 16 and is set to and rotates horizontally 11 bottom of plate and the conformal guide groove for being coated at gib block, the guiding
The section of slot is dovetail groove, conducive to preventing expansion plate 16 from tumbling.
In the present embodiment, the shearing executive device includes two inclinations and skewed horizontal load bar disposed in parallel 19 and is fixed on
The inclination of expansion plate 16 and skewed horizontal load bar is fixed in the lower end of the cutting mechanism of skewed horizontal load bar upper end, the skewed horizontal load bar
Direction is 16 sliding extension direction of expansion plate；Conducive to easy to operate.
In the present embodiment, collection trolley has been pulled on rear side of the walking dolly；The cutting mechanism include clamping device and
Shear；Trolley is collected for collecting the strawberry shear off, and cutting mechanism includes existing clamping device and shearing dress
It sets, by the clamping to carpopodium, passes through robotic arm again conducive to the strawberry after shearing and put to collection trolley.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (10)
1. a kind of fruit automatic picking apparatus based on 3-D scanning positioning, it is characterised in that: including walking dolly, be installed on row
The robotic arm of car top is walked, is installed on walking dolly for the spatial digitizer for the location information that collects fruit and is used for
According to spatial digitizer acquisition signal control robotic arm realize fruit picking control unit, described control unit it is defeated
Enter end to be electrically connected with the output end of spatial digitizer, the output end of control unit is electrically connected with the input terminal of robotic arm.
2. it is according to claim 1 based on 3-D scanning positioning fruit automatic picking apparatus, it is characterised in that: it is described from
Dynamic mechanical arm include the rack for being fixed on walking dolly, the elevating mechanism for being installed on rack, install elevating mechanism transverse-moving mechanism,
It is installed on the horizontal rotary mechanism of transverse-moving mechanism, the horizontal extension mechanism of horizontal rotary mechanism is installed on and is installed on horizontal extension
The shearing executive device of mechanism.
3. the fruit automatic picking apparatus according to claim 2 based on 3-D scanning positioning, it is characterised in that: the liter
Descending mechanism includes the lead screw for being vertically installed on rack, thread jacket in the feed screw nut seat of lead screw and for driving lead screw to rotate
And the spindle motor of feed screw nut seat vertical motion is driven, the lead screw includes two lead screws transversely arranged side by side, described traversing
Mechanism is fixed on the corresponding feed screw nut seat of two lead screws.
4. the fruit automatic picking apparatus according to claim 3 based on 3-D scanning positioning, it is characterised in that: the cross
Telephone-moving structure includes that transverse ends are individually fixed in the lateral top plate of two feed screw nut seats, are fixed on the lateral sliding of lateral top plate bottom
Rail, with the horizontal slide rail sliding block that transversely single-degree-of-freedom is slidably matched, be thread through the laterally driven screw rod of sliding block and for driving
It moves laterally driven screw rod rotation and the traversing motor with movable slider transverse shifting, the both ends of the laterally driven screw rod passes through respectively
Two vertical supporting plate rotational supports are installed on lateral top plate；The horizontal rotary mechanism is installed on the sliding block bottom surface.
5. the fruit automatic picking apparatus according to claim 4 based on 3-D scanning positioning, it is characterised in that: the water
Flat rotating mechanism includes the rotating bottom board for being fixed on sliding block bottom surface, the horizontal rotation plate above rotating bottom board and is used to support
And drive the rotary drive assembly for rotating horizontally plate rotation；The horizontal extension mechanism is installed on the top for rotating horizontally plate；Institute
Rotary drive assembly is stated to include rotating electric machine, rotary drive component and be supported in rotating top plate and rotate horizontally the rotation between plate
Support shaft；The upper end of the rotating support shaft is fixedly connected with plate is rotated horizontally, and lower end rotational support is in rotating bottom board.
6. the fruit automatic picking apparatus according to claim 5 based on 3-D scanning positioning, it is characterised in that: the rotation
Turning transmission component includes being coated at rotating support shaft and and driving gear with the driving gear of rotating electric machine transmission cooperation and transmission
The driven gear of engagement, rotating electric machine are driven by driving driving gear rotation and rotate horizontally plate rotation.
7. the fruit automatic picking apparatus according to claim 6 based on 3-D scanning positioning, it is characterised in that: described to stretch
Contracting mechanism includes being slidably mounted on the expansion plate for rotating horizontally board bottom portion along level set direction single-degree-of-freedom and stretching for driving
The telescoping drive mechanism that contracting plate reciprocatingly slides, the shearing executive device are installed on the expansion plate；The telescoping drive mechanism
Including be fixed on rotate horizontally board bottom portion bar shaped tooth, with the flexible driving gear of bar shaped tooth engagement and be fixed on expansion plate
Telescope motor, the telescope motor are matched with flexible driving gear drive and are merged for being driven by driving flexible sliding tooth wheel to rotate
Expansion plate realizes telescopic slide.
8. the fruit automatic picking apparatus according to claim 7 based on 3-D scanning positioning, it is characterised in that: described to cut
Cutting executive device includes two inclinations and skewed horizontal load bar disposed in parallel and the cutting mechanism for being fixed on skewed horizontal load bar upper end, institute
It is expansion plate sliding extension direction that expansion plate and the inclined direction of skewed horizontal load bar are fixed in the lower end for stating skewed horizontal load bar.
9. the fruit automatic picking apparatus according to claim 8 based on 3-D scanning positioning, it is characterised in that: the row
It walks and has pulled collection trolley on rear side of trolley.
10. the fruit automatic picking apparatus according to claim 9 based on 3-D scanning positioning, it is characterised in that: described
Cutting mechanism includes clamping device and shear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910410858.8A CN110024565A (en) | 2019-05-16 | 2019-05-16 | Fruit automatic picking apparatus based on 3-D scanning positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910410858.8A CN110024565A (en) | 2019-05-16 | 2019-05-16 | Fruit automatic picking apparatus based on 3-D scanning positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110024565A true CN110024565A (en) | 2019-07-19 |
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ID=67242464
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910410858.8A Pending CN110024565A (en) | 2019-05-16 | 2019-05-16 | Fruit automatic picking apparatus based on 3-D scanning positioning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114271099A (en) * | 2022-01-29 | 2022-04-05 | 南京晓庄学院 | Ridge culture strawberry man-machine cooperation picking system and operation method thereof |
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|---|---|---|---|---|
| CN101015244A (en) * | 2006-11-30 | 2007-08-15 | 中国农业大学 | Automatic picking machine for ridge-planting strawberry |
| EP1891852A1 (en) * | 2006-08-25 | 2008-02-27 | Egatec A/S | Method and collection vehicle for harvesting crops growing on stems |
| CN102577755A (en) * | 2012-02-17 | 2012-07-18 | 中国农业大学 | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot |
| CN109496563A (en) * | 2018-11-30 | 2019-03-22 | 东莞理工学院 | A kind of fruit picking robot |
| CN109566101A (en) * | 2019-01-22 | 2019-04-05 | 河海大学常州校区 | A kind of cross type strawberry picking collecting cart |
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2019
- 2019-05-16 CN CN201910410858.8A patent/CN110024565A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1891852A1 (en) * | 2006-08-25 | 2008-02-27 | Egatec A/S | Method and collection vehicle for harvesting crops growing on stems |
| CN101015244A (en) * | 2006-11-30 | 2007-08-15 | 中国农业大学 | Automatic picking machine for ridge-planting strawberry |
| CN102577755A (en) * | 2012-02-17 | 2012-07-18 | 中国农业大学 | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot |
| CN109496563A (en) * | 2018-11-30 | 2019-03-22 | 东莞理工学院 | A kind of fruit picking robot |
| CN109566101A (en) * | 2019-01-22 | 2019-04-05 | 河海大学常州校区 | A kind of cross type strawberry picking collecting cart |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114271099A (en) * | 2022-01-29 | 2022-04-05 | 南京晓庄学院 | Ridge culture strawberry man-machine cooperation picking system and operation method thereof |
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Application publication date: 20190719 |
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