CN110268862A - A kind of feedback caging type picking head and its picking method - Google Patents
A kind of feedback caging type picking head and its picking method Download PDFInfo
- Publication number
- CN110268862A CN110268862A CN201910719759.8A CN201910719759A CN110268862A CN 110268862 A CN110268862 A CN 110268862A CN 201910719759 A CN201910719759 A CN 201910719759A CN 110268862 A CN110268862 A CN 110268862A
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- pressure
- picking
- suction
- suction nozzle
- caging
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 238000005086 pumping Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 239000000428 dust Substances 0.000 claims 1
- 230000033228 biological regulation Effects 0.000 abstract description 3
- 235000012055 fruits and vegetables Nutrition 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 241000220324 Pyrus Species 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002699 waste material Substances 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
- A01D46/005—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs picking or shaking pneumatically
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of feedback caging type picking heads comprising one end of suction pipe, suction pipe seals, and the suction nozzle of rubber material is socketed on the other end, offers air inlet and pressure detecting mouth respectively on suction pipe, and pressure detecting mouth is set between air inlet and suction nozzle；Air inlet connects negative pressure device by connector, is equipped with pressure sensor on pressure detecting mouth, pressure sensor and negative pressure device are electrically connected with the controller.Picking method using this feedback caging type picking head includes step S1-S9.Negative pressure device of the invention can be with the suction of dynamic regulation blower of cleaner to adjust the pressure in suction pipe, and the sticking state due to picker when picking operation and when picking finishes is required to different pressure, avoids damage target crop.Picker increases suction, target crop can be drawn in a certain distance when suction nozzle is close to target crop, has very big tolerance rate.
Description
Technical field
The present invention relates to agricultural product picked technology fields, and in particular to a kind of feedback caging type picking head and its picking side
Method.
Background technique
Chinese north and south is at a distance of more than 5500 kilometers, and across nearly 50 latitudes, most area is located between 20 °~50 ° of north latitude
Middle-latitude zone.Annual solar radiation condition is better than the similar place of many mean temperatures in the world.Suitable temperature and good
Solar radiation make the abundance of China fruits and vegetables, it is many kinds of.The following fruit and vegetable picking becomes a difficulty
Topic.Currently, fruit and vegetable picking is broadly divided into artificial picking and mechanical arm picks two classes.
Since the pervious agricultural science and technology in China is undeveloped, farmland is dispersion mostly, and farmland area is little, the picking of fruits and vegetables
The form always manually picked.Fruit and vegetable picking is a prolonged duplication of labour, and therefore, the form manually picked both wasted
Time, and waste of manpower.With the development of China's agricultural, the area in farmland is increasing, and is laid out intensive, the shape manually picked
Formula has not been used in novel agricultural.
With the development of China's automatic technology and the extensive use of agricultural high-tech, the form of mechanical arm picking is met the tendency of
And it gives birth to.Mechanical arm can identify that fruits and vegetables position carries out autonomous actions by computer vision, and the end of mechanical arm is generally equipped with end
Picker is held, fruits and vegetables can accurately be picked.Mechanical arm picking is not only suitble to large area to work for a long time, can be with
Identify mature condition, the moth situation of fruits and vegetables by computer vision technique.
Clamp-type picking in the prior art is a kind of bionical picking, apish two hands of clamp-type picker
Refer to, be a kind of hand apparatus of simplification, it has imitated the process of people's picking, has the advantages that multiple freedom degrees, clamping force are big.
Although clamp-type picking is a kind of simple picking method for imitating manpower, it does not have the sense of touch of manpower, cannot be good
Carry out a pressure feedback.The finger of picker is a kind of rigid body, so cannot ensure to guarantee target crop not in operation
It is damaged, the quality of production is not deteriorated.
The picker of caging type picking uses the form of sucker, it is usually used together with vacuum pump, by vacuum pump
Suction opening and picker, which connect, constitutes caging type picker.Since caging type picker does not have feedback device and gas
The suction of pump is uncontrollable, cannot ensure end sucker suction whether enough and target crop whether arrived by picking.
Summary of the invention
For the above-mentioned deficiency of the prior art, the present invention provides a kind of object damage to picking is small, have negative anti-
The caging type picker and its method of feedback.
To achieve the above object of the invention, the technical scheme adopted by the invention is as follows:
There is provided a kind of feedback caging type picking head comprising one end of suction pipe, suction pipe seals, and is socketed with rubber on the other end
The suction nozzle of material offers air inlet and pressure detecting mouth on suction pipe respectively, and pressure detecting mouth is set to air inlet and suction nozzle
Between；Air inlet connects negative pressure device by connector, is equipped with pressure sensor on pressure detecting mouth, pressure sensor and negative
Pressure device is electrically connected with the controller.
Further, suction nozzle is telescopic rubber tube.
Further, sealing ring is provided on pressure detecting mouth.
Further, it is provided with fixed disk on the sealed end of suction pipe, several through-holes are provided in fixed disk.
Further, negative pressure device uses blower of cleaner.
A kind of picking method feeding back caging type picking head comprising following steps:
S1: suction pipe is fixed on the mechanical arm that can be gone up and down by the fixed disk of suction pipe sealed end；
S2: driving mechanical arm rises, and makes suction nozzle close to the object that need to be picked；
S3: opening negative pressure device and be evacuated, and controller adjusts the pumping air pressure of negative pressure device, makes the inspection of pressure sensor
Measured value reaches absorption threshold value；
S4: judge whether the pressure value that pressure sensor detects changes；
S5: if the pressure value that pressure sensor detects is gradually increasing, and after reaching the sticking threshold value of setting, then determine mesh
Mark object has been attracted on suction nozzle, is picked successfully, and negative pressure device keeps the dynamics of pumping, keeps the detected value of pressure sensor
It is constant；
S6: the object drawn on suction nozzle is put into storage device by driving mechanical arm decline；
S7: closing negative pressure device, stop suction, if the pressure value of pressure sensor detection is zero, determines object
Through falling off from suction nozzle；
S8: if the pressure value of pressure sensor detection is not equal to zero, determine that object does not fall off from suction nozzle, control machine
The shake of tool arm, shakes off the object of picking in storage device, and primary picking terminates；
S9: if the pressure value that pressure sensor detects in step S4 is constant, adjusting the angle of mechanical arm, until pressure passes
The pressure value of sensor detection is gradually increasing, and reaches the absorption threshold value of setting；
S10: repeating step S5-S7, the object of picking be put into storage device, and primary picking terminates.Of the invention
Have the beneficial effect that fruits and vegetables using negative pressure absorbing, are drawn to the front end of suction pipe, and pass through pressure sensing by the picker of this programme
Device detects the atmospheric pressure value in suction pipe, avoids shining into damage object since suction is excessive in picking process, while it can be examined again
Whether the suction measured when whether picking successfully and picking in picking process is suitable.Suction nozzle can be carried out it is flexible, in picking
Suction nozzle can more be bonded the surface of object in the process, and it is good to draw effect；Sealing ring can ensure that pressure sensor and pressure detecting mouth
Connection is good, less gas pressure leak.
Pressure sensor exports in the form of electric current, can be with the pressure in real-time detection suction pipe；Picker is in inoperative
Being both needed to when state, suction status, sticking state therefore, can by the pressure inside real-time monitoring suction pipe in different pressure
To regulate and control the pressure value under different working condition.When detecting that the pressure in suction pipe is very low or is equal to zero, illustrate end sucker
Object is not drawn, is inferred to belong to idle state；When detecting that pressure value is located at suction pressure threshold value in suction pipe, can push away
It is disconnected to go out currently to pick operation；Pressure value when the pressure in suction pipe is greater than suction status, and under sticking state
When threshold value, illustrate to be currently under the hold mode that picking finishes.
Negative pressure device can be with the suction of dynamic regulation blower of cleaner to adjust the pressure in suction pipe, since picker exists
Sticking state when picking operation and when picking finishes is required to different pressure, avoids damage target crop.Picker exists
When suction nozzle is close to target crop, suction is increased, target crop can be drawn in a certain distance, had very big
Tolerance rate.
Detailed description of the invention
Fig. 1 is the cross-sectional view for feeding back caging type picking head.
Fig. 2 is feedback caging type picking head perspective view.
Wherein, 1, suction nozzle, 2, retainer plate, 3, suction pipe, 4, pressure detecting mouth, 5, pressure sensor, 6, sealing ring, 7, connection
Head, 8, air inlet, 9, fixed disk.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As depicted in figs. 1 and 2, feedback caging type picking head includes suction pipe 3, and one end of suction pipe 3 seals, is socketed on the other end
There is the suction nozzle 1 of rubber material, offers air inlet 8 and pressure detecting mouth 4 on suction pipe 3 respectively, and pressure detecting mouth 4 is set to suction
Between air port 8 and suction nozzle 1；Air inlet 8 connects negative pressure device, the inner thread company of connector 7 and air inlet 8 by connector 7
It connects, is mounted by means of screws with pressure sensor 5 on pressure detecting mouth 4, pressure sensor 5 and negative pressure device are and controller
Electrical connection.Pressure sensor 5 has display pressure transmitter using CYYZ11, and controller uses C51 single-chip microcontroller.
The preferred suction nozzle 1 of this programme is telescopic rubber tube, and 1 lower end of suction nozzle is arranged by retainer plate 2 and is fixed on suction pipe 3
Front end.Sealing ring 6 is provided on pressure detecting mouth 4；It is provided with fixed disk 9 on the sealed end of suction pipe 3, is provided in fixed disk 9
Several through-holes, negative pressure device use blower of cleaner.
The picker of this programme utilizes negative pressure absorbing, fruits and vegetables is drawn to the front end of suction pipe 3, and pass through pressure sensor
Atmospheric pressure value in 5 detection suction pipes 3 avoids shining into damage object since suction is excessive in picking process, while it can be examined again
Whether the suction measured when whether picking successfully and picking in picking process is suitable.Suction nozzle 1 can be carried out it is flexible, in picking
Suction nozzle 1 can more be bonded the preferable hard of the curved surfaces such as surface, such as apple, orange, pears, eggplant and tomato of object in the process
It is good to draw effect for fruits and vegetables；Sealing ring 6 can ensure that pressure sensor 5 is connect well with pressure detecting mouth 4, less gas pressure leak.
This programme feedback caging type picking head picking method the following steps are included:
S1: suction pipe 3 is fixed on the mechanical arm that can be gone up and down by the fixed disk 9 of 3 sealed end of suction pipe；
S2: opening negative pressure device and be evacuated, and controller adjusts the pumping air pressure of negative pressure device, makes pressure sensor 5
Detected value reaches absorption threshold value；
S3: driving mechanical arm rises, and makes suction nozzle 1 close to the object that need to be picked；Suction nozzle 1 close to target crop when
It waits, increases suction, target crop can be drawn in a certain distance；
S4: judge whether the pressure value that pressure sensor 5 detects changes；
S5: if the pressure value that pressure sensor 5 detects is gradually increasing, and after reaching the sticking threshold value of setting, then determine
Object has been attracted on suction nozzle 1, is picked successfully, and negative pressure device controlled suction is inconvenient, is maintained at the pressure value in suction pipe 3
Sticking threshold value；
S6: the object drawn on suction nozzle 1 is put into storage device by driving mechanical arm decline；
S7: closing negative pressure device, stop suction, if the pressure value that pressure sensor 5 detects is zero, determines object
Through falling off from suction nozzle 1；
S8: if the pressure value that pressure sensor 5 detects is not equal to zero, determine that object does not fall off from suction nozzle 1, control
Mechanical arm shake, shakes off the object of picking in storage device, picking terminates；
S9: if the pressure value that pressure sensor 5 detects in step S4 is constant, the angle of mechanical arm is adjusted, until pressure
The pressure value that sensor 5 detects is gradually increasing, and reaches the absorption threshold value of setting；
S10: step S5-S7 is repeated, the object of picking is put into storage device, picking terminates.
Pressure transmitter exports in the form of electric current, can be with the pressure in real-time detection suction pipe 3；Picker is in inoperative
It is both needed to when state, suction status, sticking state in different pressure, therefore, by the pressure inside real-time monitoring suction pipe 3,
The pressure value under different working condition in suction pipe 3 can be regulated and controled.When detecting that pressure is very low in suction pipe 3 or is equal to zero, explanation
End sucker does not draw object, is inferred to belong to idle state；When detecting in suction pipe 3 that pressure value is equal to suction pressure threshold value
When, it can be inferred that and currently pick operation；Pressure value when the pressure in suction pipe 3 is greater than suction status, and in suction
When holding the threshold value under state, illustrate to be currently under the hold mode that picking finishes.
Negative pressure device can be with the suction of dynamic regulation blower of cleaner to adjust the pressure in suction pipe 3, due to picker
Sticking state when picking operation and when picking finishes is required to different pressure, avoids damage target crop.Picker
When suction nozzle 1 is close to target crop, suction is increased, target crop can be drawn in a certain distance, had very
Big tolerance rate.
Claims (6)
1. a kind of feedback caging type picking head, which is characterized in that including suction pipe (3), one end of the suction pipe (3) is sealed, another
It is socketed with the suction nozzle (1) of rubber material on end, offers air inlet (8) and pressure detecting mouth (4) respectively on the suction pipe (3),
And pressure detecting mouth (4) is set between air inlet (8) and suction nozzle (1)；The air inlet (8) is negative by connector (7) connection
Pressure device is equipped with pressure sensor (5) on the pressure detecting mouth (4), the pressure sensor (5) and negative pressure device with
Controller electrical connection.
2. feedback caging type picking head according to claim 1, which is characterized in that the suction nozzle (1) is telescopic rubber
Sebific duct.
3. feedback caging type picking head according to claim 1, which is characterized in that be arranged on the pressure detecting mouth (4)
There are sealing ring (6).
4. feedback caging type picking head according to claim 1, which is characterized in that set on the sealed end of the suction pipe (3)
It is equipped with fixed disk (9), is provided with several through-holes on the fixed disk (9).
5. feedback caging type picking head according to claim 1, which is characterized in that the negative pressure device uses dust catcher wind
Machine.
6. a kind of picking methods of the described in any item feedback caging type picking heads of claim 1-5, which is characterized in that including with
Lower step:
S1: suction pipe (3) is fixed on the mechanical arm that can be gone up and down by the fixed disk (9) of suction pipe (3) sealed end；
S2: driving mechanical arm rises, and makes suction nozzle (1) close to the object that need to be picked；
S3: opening negative pressure device and be evacuated, and controller adjusts the pumping air pressure of negative pressure device, makes the inspection of pressure sensor (5)
Measured value reaches absorption threshold value；
S4: whether the pressure value for judging that pressure sensor (5) detects changes；
S5: if the pressure value that pressure sensor (5) detects is gradually increasing, and after reaching the sticking threshold value of setting, then determine mesh
Mark object has been attracted on suction nozzle (1), is picked successfully, and negative pressure device keeps the dynamics of pumping, makes the detection of pressure sensor (5)
Value remains unchanged；
S6: the object drawn on suction nozzle (1) is put into storage device by driving mechanical arm decline；
S7: closing negative pressure device, stop suction, if the pressure value of pressure sensor (5) detection is zero, determines object
It falls off from suction nozzle (1)；
S8: if the pressure value of pressure sensor (5) detection is not equal to zero, determine that object does not fall off from suction nozzle (1), control
Mechanical arm shake, shakes off the object of picking in storage device, and primary picking terminates；
S9: if the pressure value that pressure sensor (5) detects in step S4 is constant, adjusting the angle of mechanical arm, until pressure passes
The pressure value of sensor (5) detection is gradually increasing, and reaches the absorption threshold value of setting；
S10: repeating step S5-S7, the object of picking be put into storage device, and primary picking terminates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910719759.8A CN110268862A (en) | 2019-08-06 | 2019-08-06 | A kind of feedback caging type picking head and its picking method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910719759.8A CN110268862A (en) | 2019-08-06 | 2019-08-06 | A kind of feedback caging type picking head and its picking method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111201947A (en) * | 2020-02-13 | 2020-05-29 | 张永辉 | Fruit vegetables integration breeding device |
| CN111279886A (en) * | 2020-04-16 | 2020-06-16 | 山东大学 | Picking device and picking method |
| CN114869521A (en) * | 2022-06-10 | 2022-08-09 | 广东固特科技有限公司 | Ultrasonic scaler transducer with imbibition function |
| CN115997560A (en) * | 2022-12-30 | 2023-04-25 | 北京中科原动力科技有限公司 | Fruit picking method, system and device based on mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN114869521A (en) * | 2022-06-10 | 2022-08-09 | 广东固特科技有限公司 | Ultrasonic scaler transducer with imbibition function |
| CN115997560A (en) * | 2022-12-30 | 2023-04-25 | 北京中科原动力科技有限公司 | Fruit picking method, system and device based on mechanical arm |
| CN115997560B (en) * | 2022-12-30 | 2023-12-01 | 北京中科原动力科技有限公司 | Fruit picking method, system and device based on mechanical arm |
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