CN110431999B

CN110431999B - Gantry type automatic fruit harvesting robot

Info

Publication number: CN110431999B
Application number: CN201910733013.2A
Authority: CN
Inventors: 张俊雄; 周航; 张凯飞; 邓学; 陈浩林; 张文强; 张春龙
Original assignee: China Agricultural University
Current assignee: China Agricultural University
Priority date: 2019-08-09
Filing date: 2019-08-09
Publication date: 2020-08-11
Anticipated expiration: 2039-08-09
Also published as: CN110431999A

Abstract

The invention relates to the field of agricultural robots, in particular to a gantry type automatic fruit harvesting robot which comprises a camera (3), a gyroscope (22), a traveling mechanism, a gantry mechanism, a harvesting mechanism and a collecting system. The walking mechanism comprises a chassis (1), a crawler belt (2) and a push rod (19); the front end of the chassis (1) is provided with a camera (3); a gyroscope (22) is arranged on the chassis (1); the gantry mechanism comprises a gantry beam (7), a motor (13), a gantry column (15), a turntable (16), supporting legs (17) and universal wheels (18); the harvesting mechanism comprises a first lifting platform (14), a second lifting platform (5), a first mechanical arm (9) and a second mechanical arm (6); the collecting system comprises an upper funnel (8), a lower funnel (21), a first hose (10), a second hose (11), a third hose (20), an air pump (12), a sliding table (25), a sliding groove (27) and a turnover box (4). The invention has high harvesting efficiency and high adaptability to complex road conditions.

Description

Gantry type automatic fruit harvesting robot

Technical Field

The invention relates to the field of agricultural robots, in particular to a gantry type automatic harvesting robot capable of identifying and classifying fruit colors.

Background

With the economic growth and the gradual improvement of living standard, the demand of people for fruits is larger and larger, and the increasing fruit yield promotes the rapid development of modern automatic harvesting technology and equipment. Traditional fruit harvesting mode mainly relies on the manpower to gather, and not only work efficiency is low, consuming time is longer, and intensity of labour is big moreover, has certain danger. With the progress of automation technology and the development of machine vision technology, mechanical equipment capable of automatically identifying and harvesting is gradually developed. The automatic harvesting equipment can obviously reduce the labor intensity of workers, improve the operation efficiency and contribute to more standardized orchard management work. The robot for automatic harvesting can acquire image information through the camera, sort the image information through an image processing technology, identify relevant features and extract effective information, so that automatic navigation in a forest can be realized, fruit colors can be automatically identified, space positioning can be performed, and the like. The walking path of the robot can be automatically planned through the industrial personal computer in the field navigation. The fruit color identification is beneficial to classifying and picking the fruits with different colors in automatic picking so as to adapt to different treatments to the fruits with different colors in the later period. After the image processing system obtains the spatial position information of the fruits, the industrial personal computer plans the track of the mechanical arm and controls the mechanical arm to carry out accurate harvesting.

Disclosure of Invention

Aiming at the technical problems, the invention aims to provide a bidirectional simultaneous picking mode which is high in picking efficiency; the autonomous navigation in the forest is realized, and the adaptability to complex road conditions is high; the harvesting process is flexible harvesting, so that the damage rate of fruits can be reduced; the automation degree is high, and the labor capacity of workers can be effectively reduced; the applicability is strong, and the method can be used for harvesting various fruits; the gantry type automatic fruit harvesting robot can realize classified fruit harvesting and is wide in application scene.

In order to achieve the purpose, the invention provides the following technical scheme:

a gantry type automatic fruit harvesting robot comprises a camera 3, a gyroscope 22, a traveling mechanism, a gantry mechanism, a harvesting mechanism and a collecting system; wherein the content of the first and second substances,

the walking mechanism comprises a chassis 1, a crawler belt 2 and a push rod 19; wherein, the crawler belt 2 is arranged at the lower part of the chassis 1; the push rod 19 comprises a fixed end and a moving end, the fixed end of the push rod 19 is arranged on the chassis 1, and the moving end of the push rod 19 can move towards the lateral direction of the chassis 1;

the front end of the chassis 1 is provided with a camera 3;

a gyroscope 22 is arranged on the chassis 1;

the gantry mechanism comprises a gantry beam 7, a motor 13, a gantry column 15, a turntable 16, a support leg 17 and a universal wheel 18; wherein the content of the first and second substances,

the supporting leg 17 is fixedly connected with the moving end of the push rod 19; the upper end of the supporting leg 17 is provided with a turntable 16, and the turntable 16 is connected with a portal column 15 positioned above the turntable; by rotating the turntable 16, the gantry mechanism can rotate by taking the gantry column 15 as an axis;

the gantry beam 7 comprises a horizontal section and a vertical section; the upper end of the gantry column 15 is connected with the horizontal section of the gantry beam 7 in a gear-rack connection mode, and a motor 13 arranged at the upper end of the gantry column 15 can control a gear to rotate so as to drive the gantry beam 7 to move in a direction far away from or close to the gantry column 15; universal wheels 18 are respectively arranged at the lower end of the vertical section of the gantry beam 7 and the lower end of the landing leg 17 of the gantry column 15;

the harvesting mechanism comprises a first lifting platform 14, a second lifting platform 5, a first mechanical arm 9 and a second mechanical arm 6;

the first lifting table 14 is connected with the portal column 15 and can move up and down along the portal column 15, and the first lifting table 14 is fixedly connected with the first mechanical arm 9; the second lifting platform 5 is connected with the vertical section of the gantry beam 7 and can move up and down along the vertical section of the gantry beam 7, and the second lifting platform 5 is fixedly connected with the second mechanical arm 6;

the first robot arm 9 and the second robot arm 6 respectively include a robot arm main body 28, a depth camera 29, and a gripper 30; a gripper 30 is mounted at the end of the robot arm main body 28 through a robot arm motor box; the depth camera 29 is mounted on the mechanical arm motor box and above the gripper 30;

the collecting system comprises an upper funnel 8, a lower funnel 21, a first hose 10, a second hose 11, a third hose 20, an air pump 12, a sliding table 25, a sliding groove 27 and a turnover box 4; wherein the content of the first and second substances,

the upper hopper 8 is arranged on the horizontal section of the gantry beam 7, and the opening is upward; the air pump 12 is arranged at the upper end of the gantry column 15; the upper funnel 8 is connected with an air pump 12 through a first hose 10, the air pump 12 is connected with the upper end of a second hose 11, and the lower end of the second hose 11 is connected with a third hose 20 through a three-way port;

the lower funnel 21 is fixed on the gantry column 15, the opening is upward, the lower funnel 21 is connected with the third hose 20, and the third hose 20 is connected with the sliding table 25;

the sliding chute 27 is arranged on the chassis 1, and the sliding table 25 can horizontally reciprocate on the sliding chute 27 through being driven by a motor; the turnover box 4 is arranged on the chassis 1, and the side surface of the turnover box is parallel to the sliding groove 27.

The push rod 19 adopts a double push rod parallel mode.

The first mechanical arm 9 and the second mechanical arm 6 are six-degree-of-freedom serial mechanical arms.

Compared with the prior art, the invention has the beneficial effects that:

the method takes an industrial personal computer as a control center, video shooting is carried out on the front of the robot through a camera, real-time dynamic identification is carried out through Python + OpenCV, the advancing route of the robot is extracted through an image processing technology, and correction of a gyroscope is assisted, so that the autonomous navigation of the robot in the forest is realized.

The crawler-type walking mechanism is applied, is suitable for stably moving in an orchard, can rotate in situ, and has certain flexibility and adaptability to complex road conditions.

The invention realizes the pushing and withdrawing of the gantry structure by using a double-push-rod parallel mode, and the pushing and withdrawing processes of the gantry structure can be stably carried out by using the double-push-rod parallel mode, so that the shaking in the process is reduced.

The fruit harvesting machine adopts a mode of combining the turnover type gantry mechanism and the mechanical arm to harvest fruits. Before harvesting, the gantry is turned out to enable the gantry to span the fruit trees, and the fruits are harvested through the mechanical arms on the gantries on the two sides. After harvesting, the gantry is turned back. The span of the gantry can be adjusted in a self-adaptive manner, so that the gantry is suitable for different fruit tree widths.

According to the fruit tree three-dimensional picking machine, three-dimensional information of fruit trees is acquired through the depth camera, fruit colors are identified through image processing, the fruits are spatially positioned, and then the mechanical arms are used for accurately picking the fruits in a classified mode.

According to the invention, the harvested fruits are conveyed through the flexible pipeline, and the air pump is used for assisting in conveying, so that the smoothness of the conveying process is ensured, and the breakage rate of the fruits in the conveying process is reduced.

The whole harvesting process of the invention is controlled by an industrial personal computer, and automatic harvesting can be realized.

The invention can automatically store the collected work information, and is convenient for an operator to regularly check and adjust the equipment.

1. The invention adopts a bidirectional simultaneous picking mode and has high picking efficiency.

2. The invention can realize autonomous navigation in the forest and has high adaptability to complex road conditions.

3. The harvesting process of the invention is flexible harvesting, which can reduce the damage rate of fruits.

4. The invention has high automation degree and can effectively reduce the labor capacity of workers.

5. The invention has strong applicability and can be used for harvesting various fruits.

6. The fruit sorting and harvesting device can realize sorting and harvesting of fruits and has wide application scenes.

Drawings

FIG. 1 is a structural diagram of a gantry type automatic fruit harvesting robot of the present invention;

FIG. 2 is a schematic view of the working state of the present invention;

FIG. 3 is a rear view of the chassis mechanism of the present invention;

FIG. 4 is a top view of the chassis mechanism of the present invention;

figure 5 is a detailed view of the end of a robotic arm according to the present invention.

Wherein the reference numerals are:

1 chassis 2 track

3 camera 4 turnover case

5 second lifting platform 6 second mechanical arm

7 gantry beam 8 upper funnel

9 first arm 10 first hose

11 second hose 12 air pump

13 motor 14 first elevating platform

15 gantry column 16 turntable

17-leg 18 universal wheel

19 push rod 20 third hose

21 lower funnel 22 gyroscope

23 control panel 24 display screen

25 sliding table 26 outlet pipe

27 chute 28 arm body

29 depth camera 30 gripper

31 fruit tree

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

As shown in fig. 1 to 5, the gantry type automatic fruit harvesting robot of the present invention includes a camera 3, a gyroscope 22, a traveling mechanism, a gantry mechanism, a harvesting mechanism, and a collecting system. Wherein:

the running gear comprises a chassis 1, a crawler belt 2 and a push rod 19.

The crawler belt 2 is arranged at the lower part of the chassis 1. The robot adopts the track walking mode, and the sprocket on the track adopts the elasticity mounting means, can adapt to the topography that the field is slightly undulant better, guarantees that the robot walks more steadily.

The push rod 19 includes a fixed end and a moving end, and the fixed end of the push rod 19 is disposed on the chassis 1. The moving end of the push rod 19 can move to the side direction of the chassis 1. The push rod 19 adopts a double-push-rod parallel mode, and the mode can reduce shaking, ensure the stability of pushing out and returning of the push rod and ensure the overall operation of the robot to be more stable.

The front end of chassis 1 is equipped with camera 3, and camera 3 can shoot the video in robot the place ahead to give the industrial computer with data transmission, the industrial computer is handled the video through image processing technique, extracts the route of advancing of robot, controls the direction of advancing of robot through the route of advancing that extracts.

The chassis 1 is provided with a gyroscope 22 for assisting in correcting the advancing direction of the robot and preventing the robot from deviating from the route.

The gantry mechanism comprises a gantry beam 7, a motor 13, a gantry column 15, a turntable 16, a support leg 17 and a universal wheel 18.

The leg 17 is fixedly connected with the moving end of the push rod 19. The upper end of the supporting leg 17 is provided with a turntable 16, and the turntable 16 is connected with a portal column 15 positioned above the turntable. By rotating the turntable 16, the gantry mechanism can be rotated around the gantry column 15 as an axis.

Gantry beam 7 comprises a horizontal section and a vertical section. The upper end of the gantry column 15 is connected with the horizontal section of the gantry beam 7 in a gear-rack connection mode, and the gear rotation can be controlled through the motor 13 arranged at the upper end of the gantry column 15, so that the gantry beam 7 is driven to move along the direction far away from or close to the gantry column 15. The mode can adapt to the conditions of different widths of the fruit trees 31, so that the application scenes of the robot are wider. The lower end of the vertical section of the gantry beam 7 and the lower end of the supporting leg 17 of the gantry column 15 are respectively provided with a universal wheel 18, so that the gantry mechanism can be supported, has certain flexibility and can rotate and advance well.

The harvesting mechanism includes a first lift stage 14, a second lift stage 5, a first robotic arm 9, and a second robotic arm 6.

The first lifting platform 14 is connected with the portal column 15 and can move up and down along the portal column 15, and the first lifting platform 14 is fixedly connected with the first mechanical arm 9. The second lifting platform 5 is connected with the vertical section of the gantry beam 7 and can move up and down along the vertical section of the gantry beam 7, and the second lifting platform 5 is fixedly connected with the second mechanical arm 6. The first lifting platform 14 and the second lifting platform 5 can adapt to fruit trees 31 and fruits with different heights by moving up and down.

As shown in fig. 5, the first robot arm 9 and the second robot arm 6 respectively include a robot arm main body 28, a depth camera 29, and a gripper 30. The first mechanical arm 9 and the second mechanical arm 6 are six-degree-of-freedom serial mechanical arms and can adapt to the positions of different fruits. At the end of the robot main body 28, a gripper 30 is mounted through a robot motor box. The profiling fingers at the front part of the paw 30 are driven by a mechanical arm motor to open and close to clamp fruits. The depth camera 29 is mounted on the robot arm motor box above the gripper 30. The depth camera 29 shoots and collects color images and depth images of the fruit trees 31, data are transmitted to the industrial personal computer, the industrial personal computer further processes the images to obtain three-dimensional information of the fruit trees 31, the colors of the fruits can be identified, the space positions of the fruits are detected, the positions of the fruits can be accurately reached by controlling the movement of the mechanical arm and the lifting platform, and the fruits are picked by the gripper 30.

The collecting system comprises an upper funnel 8, a lower funnel 21, a first hose 10, a second hose 11, a third hose 20, an air pump 12, a sliding table 25, a sliding groove 27 and a turnover box 4. Wherein the content of the first and second substances,

the upper funnel 8 is arranged on the horizontal section of the gantry beam 7, the opening of the upper funnel is upward, and the air pump 12 is arranged at the upper end of the gantry column 15. The upper funnel 8 is connected with an air pump 12 through a first hose 10, the air pump 12 is connected with the upper end of a second hose 11, and the lower end of the second hose 11 is connected with a third hose 20 through a three-way port.

The lower funnel 21 is fixed on the gantry column 15, the opening is upward, the lower funnel 21 is connected with the third hose 20, and the third hose 20 is connected with the sliding table 25.

A slide groove 27 is arranged on the chassis 1, and the slide table 25 can be horizontally reciprocated on the slide groove 27 by being driven by a motor. The turnover box 4 is arranged on the chassis 1, and the side surface of the turnover box is parallel to the sliding groove 27 and can be replaced immediately.

The upper funnel 8 receives the fruit picked by the second mechanical arm 6, and enters the first hose 10, and the fruit in the first hose 10 is sucked to the second hose 11 through the suction force of the air pump 12 and enters the third hose 20 through the three-way port.

The lower funnel 21 receives the fruit picked by the first robot 9 directly into the third hose 20. The fruit in the third hose 20 rolls out from the outlet 26 of the third hose 20 on the sliding table 25 through the sliding table 25 and enters the turnover box 4. The sliding table 25 is connected with a sliding groove 27 on the chassis 1, and the sliding table 25 horizontally slides on the sliding groove 27 through the driving of a motor, so that fruits with different colors can be placed in different separated areas of the turnover box 4. Specifically, the robotic arm has transmitted the color information of the fruit to the industrial personal computer via the depth camera while picking the fruit. The turnover box 4 is provided with different areas separated by using partition plates, and the industrial personal computer controls the outlet pipe orifices 26 to move to the different areas so as to place fruits with different colors in the corresponding areas.

The chassis 1, the turntable 16, the first lifting table 14, the second lifting table 5 and the sliding table 25 are respectively provided with a built-in motor.

The industrial personal computer is electrically connected with the depth camera 29, the air pump 12, the mechanical arm motor, and the built-in motors of the chassis 1, the turntable 16, the first lifting table 14, the second lifting table 5 and the sliding table 25. The industrial personal computer is used as a control core of the whole machine and controls the chassis 1 to move forward and stop; rotation of the turntable 16; lifting the first lifting platform 14 and the second lifting platform 5; receive image information of the depth camera 29; the first mechanical arm 9 and the second mechanical arm 6 are driven to complete picking actions; the air pump 12 and the sliding table 25 are controlled to move to complete the split charging and storing work of the fruits.

The control panel 23 displays a human-computer interaction interface, and is combined with the display screen 24 to realize the functions of controlling the whole machine, interacting information and the like for an operator. A display screen 24 and a control panel 23 are installed above the industrial personal computer, and the control panel is located on the right side of the display screen 24.

The working process of the invention is as follows:

the robot is started through the control panel 23. When the robot is started, the cameras 3 on the chassis 1 are started simultaneously, the video in front of the robot is shot, and the data are transmitted to an industrial personal computer integrated on the chassis 1. And processing the video in an industrial personal computer, and extracting the advancing route of the robot. The robot advances by means of the crawler belt 2, so that the robot can walk stably in the field. During the process of traveling, the gyroscope 22 on the chassis 1 can perform auxiliary correction on the advancing route of the robot, and prevent the robot from deviating to cause adverse effects.

Before picking the fruit tree 31, the push rod 19 pushes the gantry structure out, and the double-push-rod parallel mode enables the process to be stable. The turntable 16 rotates to drive the gantry structure to rotate 90 degrees out, and harvesting operation is carried out. The robot moves forward to drive the gantry structure to cross the fruit tree 31. The gantry column 15 is connected with a turntable 16, supported by legs 17, and provided with universal wheels 18 for facilitating steering and advancing of the gantry structure. The gantry column 15 is connected with the gantry beam 7 through a gear rack, and the gantry span can be adjusted under the action of the motor 13, so that the gantry is suitable for different tree widths. The first mechanical arm 9 is connected with the gantry column 15 through the first lifting platform 14, and the second mechanical arm 6 is connected with the gantry beam 7 through the second lifting platform 5, so that the autonomous height adjustment can be performed. The robot arm includes a robot arm body 28, a depth camera 29, and a gripper 30. During collection, the depth camera 29 on the mechanical arm main body 28 collects three-dimensional information of the fruit tree 31, feeds the three-dimensional information back to the industrial personal computer, is processed by the industrial personal computer, identifies fruits with different colors, performs spatial positioning, moves in cooperation with the six-degree-of-freedom serial mechanical arm through the lifting platform, accurately reaches the fruit position, and picks the fruits through the gripper 30. The first mechanical arm 9 puts the fruit into the lower funnel 21 and enters the third hose 20; the second arm 6 places the fruit into the upper hopper 8, through the first hose 10, the fruit is sucked into the second hose 11 by the air pump 12, and through the three-way port into the third hose 20. The fruit in the third hose 20 rolls out from the outlet pipe opening 26 through the sliding table 25 and enters the turnover box 4, and in the process, the flexible hose can effectively reduce the damage rate of the fruit. The sliding table 25 is connected with the chassis 1 through a sliding chute 27, and the sliding table 25 can horizontally slide along the sliding chute 27 to realize the classified storage of the fruits with different colors.

After harvesting, the push rod 19 retreats to drive the gantry mechanism to retract, the turntable 16 rotates to reset the gantry mechanism, and the robot recovers the initial state.

This process will display the real-time status on the display screen 24 and can be easily manipulated via the control panel 23.

Claims

1. The utility model provides a planer-type fruit automatic harvesting robot which characterized in that: the device comprises a camera (3), a gyroscope (22), a traveling mechanism, a gantry mechanism, a harvesting mechanism and a collecting system; wherein the content of the first and second substances,

the walking mechanism comprises a chassis (1), a crawler belt (2) and a push rod (19); wherein, the crawler belt (2) is arranged at the lower part of the chassis (1); the push rod (19) comprises a fixed end and a moving end, the fixed end of the push rod (19) is arranged on the chassis (1), and the moving end of the push rod (19) can move towards the lateral direction of the chassis (1);

the front end of the chassis (1) is provided with a camera (3);

a gyroscope (22) is arranged on the chassis (1);

the gantry mechanism comprises a gantry beam (7), a motor (13), a gantry column (15), a turntable (16), supporting legs (17) and universal wheels (18); wherein the content of the first and second substances,

the supporting leg (17) is fixedly connected with the moving end of the push rod (19); the upper end of the supporting leg (17) is provided with a turntable (16), and the turntable (16) is connected with a portal column (15) positioned above the turntable; the gantry mechanism can rotate by rotating the turntable (16) by taking the gantry column (15) as an axis;

the gantry beam (7) comprises a horizontal section and a vertical section; the upper end of the gantry column (15) is connected with the horizontal section of the gantry beam (7) in a gear-rack connection mode, and a motor (13) installed at the upper end of the gantry column (15) can control a gear to rotate, so that the gantry beam (7) is driven to move along the direction far away from or close to the gantry column (15); universal wheels (18) are respectively arranged at the lower end of the vertical section of the gantry beam (7) and the lower end of the landing leg (17) of the gantry column (15);

the harvesting mechanism comprises a first lifting platform (14), a second lifting platform (5), a first mechanical arm (9) and a second mechanical arm (6);

the first lifting platform (14) is connected with the gantry column (15) and can move up and down along the gantry column (15), and the first lifting platform (14) is fixedly connected with the first mechanical arm (9); the second lifting platform (5) is connected with the vertical section of the gantry beam (7) and can move up and down along the vertical section of the gantry beam (7),

the second lifting platform (5) is fixedly connected with the second mechanical arm (6);

the first mechanical arm (9) and the second mechanical arm (6) respectively comprise a mechanical arm main body (28), a depth camera (29) and a paw (30); a paw (30) is arranged at the tail end of the mechanical arm main body (28) through a mechanical arm motor box; the depth camera (29) is arranged on the mechanical arm motor box and is positioned above the paw (30);

the collecting system comprises an upper hopper (8), a lower hopper (21), a first hose (10), a second hose (11), a third hose (20), an air pump (12), a sliding table (25), a sliding groove (27) and a turnover box (4); wherein the content of the first and second substances,

the upper funnel (8) is arranged on the horizontal section of the gantry beam (7) and has an upward opening; the air pump (12) is arranged at the upper end of the portal column (15); the upper funnel (8) is connected with an air pump (12) through a first hose (10), the air pump (12) is connected with the upper end of a second hose (11), and the lower end of the second hose (11) is connected with a third hose (20) through a tee joint;

the lower funnel (21) is fixed on the gantry column (15) and has an upward opening, the lower funnel (21) is connected with a third hose (20), and the third hose (20) is connected with the sliding table (25);

the sliding chute (27) is arranged on the chassis (1), and the sliding table (25) can horizontally reciprocate on the sliding chute (27) through the driving of a motor; the turnover box (4) is arranged on the chassis (1), and the side surface of the turnover box is parallel to the sliding groove (27).

2. The gantry type fruit automatic harvesting robot of claim 1, characterized in that: the push rod (19) adopts a double-push-rod parallel mode.

3. The gantry type fruit automatic harvesting robot of claim 1, characterized in that: the first mechanical arm (9) and the second mechanical arm (6) are six-degree-of-freedom serial mechanical arms.