CN110463447A - A kind of suction-type apple picking robot and its implementation - Google Patents
A kind of suction-type apple picking robot and its implementation Download PDFInfo
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- CN110463447A CN110463447A CN201910760938.6A CN201910760938A CN110463447A CN 110463447 A CN110463447 A CN 110463447A CN 201910760938 A CN201910760938 A CN 201910760938A CN 110463447 A CN110463447 A CN 110463447A
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- China
- Prior art keywords
- travelling platform
- robot body
- fruit
- suction
- sensing system
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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 present invention discloses a kind of suction-type apple picking robot, including three travelling platform, robot body and negative pressure suction device main modulars, a robot body is respectively installed in travelling platform top two sides, and robot body is equipped with visual sensing system before end；Travelling platform central upper portion position is equipped with negative pressure suction device；Dc generator is additionally provided on travelling platform, dc generator provides power for robot body and negative pressure suction device.Implementation method is also disclosed.The present invention realizes automatic picking, and efficiency and quality are preferable.
Description
Technical field
The present invention relates to agricultural robot technical fields, and in particular to a kind of picking efficiency is high, safe and reliable suction-type
Apple picking robot and its implementation.
Background technique
China's apple-picking is mainly by being accomplished manually at this stage, picking operation be in entire apple production process it is most time-consuming,
The laborious and highest part of cost.With agricultural industry scale, the continuous improvement of cost of labor, the continuous hair of robot technology
Exhibition, robot technology are applied to apple-picking and have become trend of the times.Fruit picking robot is developing agricultural automation, promotes
Agriculture industrialization, the important motivity of serving agriculture scale and ratio will guarantee.Fruit picking robot is not only able to achieve fruit
It accurately identifies, position, moreover it is possible to plan optimal path, effective avoidance really realizes the automatic picking of fruit.
Chinese patent application 201910227124.6 discloses a kind of trapezoidal classification collecting robot people of both arms apple-picking, packet
Autonomous mobile platform is included, autonomous mobile platform central upper portion position is equipped with robot body, the top installation of robot body
There is binocular vision sensor mechanism, the fruit transmission classification collection system being matched therewith is provided with before robot body；From
Battery group is additionally provided on main mobile platform, battery group top is equipped with central controller, and battery group is robot sheet
All motors, sensor and central controller on body and autonomous mobile platform provide power；Central controller is entire machine
The control centre of device people controls all electric elements work.It also discloses and utilizes the picking robot operational method.The machine
People's picking quality is low, is not able to satisfy the picking operation of scale apple cultivation.
Chinese patent 201820564372.0 discloses a kind of suction-type fruit picking, including trolley, tripod, cloud
Platform, telescopic device, absorption plant, recyclable device, vacuum pump and mobile power source；The absorption plant is mounted on telescopic device,
The telescopic device is mounted on holder, and the holder is mounted on tripod, and the tripod is mounted on trolley, the shifting
Dynamic power supply and vacuum pump are mounted on trolley, and the mobile power source is connected with vacuum pump, the vacuum pump and absorption plant phase
Connection, the recyclable device are connected with absorption plant.The utility model patent picking efficiency is low, and it is automatically fixed to can not achieve apple
Position and picking, cruising ability are poor.
Therefore, be the requirement for meeting apple cultivation scale at this stage, be badly in need of a kind of picking efficiency is high, picking is high-quality,
The strong apple picking robot of cruising ability.
Summary of the invention
The technical problem to be solved by the present invention is providing, a kind of picking efficiency is high, picking is high-quality, safe and reliable and continuation of the journey
The strong suction-type apple picking robot of ability and its implementation.
To achieve the above object, the present invention adopts the following technical solutions: a kind of suction-type apple picking robot, including row
Three platform, robot body and negative pressure suction device main modulars are walked, a robot is respectively installed in travelling platform top two sides
Ontology, robot body are equipped with visual sensing system before end；Travelling platform central upper portion position is equipped with negative pressure suction
Take device；Dc generator is additionally provided on travelling platform, dc generator provides for robot body and negative pressure suction device
Power；
The negative pressure suction device includes suction inlet, fruit transmission pipeline, collecting box, air inlet pipe, filter and vacuum pump,
Suction inlet is fixed on robot body end, and connect with fruit transmission pipeline；Collecting box two sides connect fruit transmission pipeline, after
Side connects air inlet pipe；Filter top is communicated through air inlet pipe with collecting box, and side is communicated through air inlet pipe with vacuum pump；Vacuum pump
Air inlet connection air inlet pipe is communicated with filter, and gas outlet is communicated with atmosphere, by the direct current for being installed on travelling platform upper rear end
Generator powered；
The robot body includes column, two side mechanical arms, a upper mechanical arm, end and visual sensing system；
Visual sensing system is installed before end；Column is fixed on travelling platform two sides, and side is arranged symmetrically two side mechanical arms, above
Mechanical arm in fixation.
The filter is fixed on travelling platform top, is located at two robot body middle positions.
The collecting box is fixed on travelling platform top front end,
The vacuum pump is fixed on travelling platform top, is located at two robot body middle positions.
Reticulated cell is opened on rear side of the cabinet of the collecting box.
Second technical solution of the invention is a kind of suction-type apple picking robot implementation method, the specific steps are as follows:
1) dc generator is switched on, and is that visual sensing system and servo motor are powered；
2) the cmos video camera imaging instrument of visual sensing system captures the two dimensional image of fruit, and depth calibrator captures
The depth information of fruit, and the 3D rendering of real-time Transmission colour；
3) the cmos video camera of visual sensing system by GigE Interface integration to visual sensing system mainboard, by fruit
Colored 3D rendering be transferred to image processor；
4) image processor identifies the position of fruit by GA genetic algorithm, and using fitness function Function as foundation
Confidence breath and maturity information；
Fruit information is transferred to digital signal processor DSP, and the chip of DSP, will by I/O interface to real time signal processing
Control signal is transferred to servo-system, realizing route planning and position control.
Compared with existing apple picking, there is following gain effect:
1. the automatic picking of apple can be realized
Visual sensing system is installed before robot body end of the present invention；Respectively install one in travelling platform top two sides
A robot body, travelling platform central upper portion position are equipped with negative pressure suction device；When needing apple-picking, it is mounted on machine
Information, is transmitted and is controlled servo motor, keep suction inlet accurate by the visual sensing system identification of device human agent end, positioning apple
Reach target position.Apple reaches collecting box under the effect of the pressure, by fruit transmission pipeline, it is achieved that apple
Automatic picking and collection.
2. apple-picking is more efficient
A robot body is respectively installed in travelling platform top of the present invention two sides, and robot body is equipped with before end
Visual sensing system；Travelling platform central upper portion position is equipped with negative pressure suction device；Since travelling platform two sides respectively install one
A robot body when apple-picking operation, may be implemented the apple of two sides while pick, so the efficiency of apple-picking is more
It is high.
3. the quality of apple-picking is more preferable
(1) apple is picked using negative pressure suction type mode due to the present invention, suction inlet forms pressure and picks apple；Furthermore it inhales
Entrance is disposed with soft rubber ring, scratches so avoiding picking machine machinery claw in picking to apple, to improve from principle
The quality of picking apple.
(2) since fruit transmission pipeline of the invention uses screwed hose, the damage in transmission process to fruit is avoided；This
Outside, collecting box bottom first layer arranges that felt, the second layer arrangement sponge, the fruit for avoiding apple from collecting in storage collide with, so
It can more make the pericarp of apple more intact, the appearance of apple is more preferable.
4. adaptable
Since the present invention picks apple using negative pressure suction type mode, suction inlet forms pressure and picks apple, fruit transmission
Pass through fruit transmission pipeline.When needing to acquire other fruits, it need to only change the diameter of suction inlet and fruit transmission pipeline, it can be with
The picking for adapting to various fruits, so picking robot portability of the invention is good, adaptable.
5. safe and reliable
Power supply of the invention uses dc generator, and dc generator is fixed on travelling platform rear end with four bolts, is
Above-mentioned servo motor and vacuum pump power supply.The power good that dc generator provides, and cruising ability is strong, avoids mobile power source electric
Hypodynamic problem, so the operation of this picking robot is more stable, reliable.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is robot body structure schematic diagram of the present invention；
Fig. 3 is collecting box structural schematic diagram of the present invention；
Fig. 4 is the working principle of the invention figure.
In figure: 1- suction inlet, 2- fruit transmission pipeline, 3- collecting box, 4- case lid, 5- sealing rubber ring, 6- reticulated cell, 7- into
Tracheae, 8- filter, 9- vacuum pump, 10- visual sensing system, 11- robot body end, 12- link block, 13- wrist bar,
14- pull rod, 15- cylindrical bar, 16- mechanical arm, 17- servo motor, 18- pedestal, 19- column, 20- dc generator, 21- traction
Bar, 22- travelling platform, 23- robot body, 24- negative pressure suction device, 25- cabinet, 26- arm bar.
Specific embodiment
The present invention is further illustrated with case study on implementation with reference to the accompanying drawing, but does not add in any way to the present invention
With limitation, according to the teachings of the present invention made any change or replacement, are all belonged to the scope of protection of the present invention.
As shown in Figures 1 to 3, the present invention includes 24 3 travelling platform 22, robot body 23 and negative pressure suction device masters
Want module.A robot body 23 is respectively installed in 22 two sides of travelling platform, is equipped with visual sensing before robot body 23
System 10；22 central upper portion position of travelling platform is equipped with negative pressure suction device；DC generation is additionally provided on travelling platform 22
Machine 20 provides power for robot body 23 and negative pressure suction device 24；
The negative pressure suction device includes suction inlet 1, fruit transmission pipeline 2, collecting box 3, air inlet pipe 7, filter 8 and true
Sky pump 9.Suction inlet 1 is fixed on robot body end 11, and connect with fruit transmission pipeline 2；It is flat that collecting box 3 is fixed on walking
22 top front end of platform, two sides connect fruit transmission pipeline 2, and rear side connects air inlet pipe 7；Filter 8 is fixed on travelling platform top,
Positioned at two 23 middle positions of robot body, top connection air inlet pipe 7 communicated with collecting box 3, side connect air inlet pipe 7 with very
Sky pump 9 communicates；Vacuum pump 9 is fixed on 22 top of travelling platform, is located at two 23 middle positions of robot body, air inlet connection
Air inlet pipe 7 is communicated with filter 8, and gas outlet is communicated with atmosphere, by the dc generator for being installed on 22 upper rear end of travelling platform
20 power supplies；
The robot body 22 includes the upper mechanical arm 16 of 19, two, column side mechanical arm 16, one, end 11 and vision
Sensor-based system 10.Visual sensing system 10 is installed before end 11, two sides in left and right are separately connected a side mechanical arm 16, on
Face connects upper mechanical arm 16；Column 19 is fixed on 22 two sides of travelling platform, and a side mechanical arm is fixed in two sides in left and right respectively
16, upper mechanical arm 16 is fixed above.
Suction inlet rear end side is matched with cylinder prominent before robot body end, uniformly distributed with four screws
Mode is mutually fixed, and rubber ring is arranged in suction inlet front end, and suction inlet lower part connects fruit transmission pipeline, and rubber ring and pipeline pass through glue
Dress mode is fixed on suction inlet.
The collecting box 3 includes the cabinet 25 for being fixed on travelling platform 22, the case lid 4 matched with cabinet；
The cabinet 25, is fixed in travelling platform 22 by way of screw, and bottom first layer arranges felt, second layer cloth
Sponge, box mouth laying sealant circle 5 are set, two sides open circular hole and are connected by mucilage binding mode with fruit transmission pipeline 2, after
It opens reticulated cell 6 and is connected by mucilage binding mode with air inlet pipe in face；
The case lid 6 is protruded and is matched on the inside of surface and cabinet 25, and is sealed by sealing rubber ring 5.
Travelling platform 22 is fixed on by screw in 8 bottom of filter, and 8 top of filter is connected by way of pipe screw thread
It taps into tracheae 7 and is communicated with collecting box 3,7 side of filter is opened circular hole and connected air inlet pipe 7 and and vacuum pump in a manner of pipe screw thread
9 communicate.
Travelling platform 22 is fixed on by screw in 9 bottom of vacuum pump, and 9 air inlet of vacuum pump and air inlet pipe 7 are with pipe spiral shell
The mode of line is connected and is communicated with filter 8, and vacuum pump 9 is connected and with two cables by DC generation with dc generator 20
Machine power supply.
The visual sensing system 10 includes the circuit board that 11 inner wall of end is fixed in a manner of screw, is fixed in end 11
The sensor module of front；
Before the circuit board center weld has center processor, sensor module to be threadingly fixed on end 11
The signal wire extraction in face, sensor module is welded in circuit board.
Suction inlet 1 and visual sensing system 10 are connected with before the end 11, two sides are respectively arranged a link block
12, a link block 12 is arranged above；
The two sides link block 12 is arranged symmetrically in 11 two sides of end, and upper chained block 12 is arranged in 11 upside of end, described
Link block 12 is fixed on end 11, there are two ball pair slot with two screws.
The mechanical arm 16 includes the arm bar 26 for being fixed on column, connects the wrist bar 13 of arm bar 26 and end 11,
Four screws are fixed on the pedestal 18 of column 19, the servo motor 17 being fixed on pedestal 18；
Servo motor 17 is fixed on nut in described 26 one end of arm bar, forms a revolute pair, 26 other end of arm bar
Using the fixed both ends of nut as the cylindrical bar 15 of ball；
The ball pair slot of described 13 one end of wrist bar and the spherical balling-up pair of 15 one end of cylindrical bar, the ball of 13 other end of wrist bar
Ball pair is formed with the spherical groove of link block 12, two wrist bars 13 are provided with cylindrical hole close to 26 one end of arm bar, are connected by pull rod 14
It connects；
The column 19 is fixedly welded on travelling platform 22, and a mechanical arm 16 is fixed in 19 two sides of column and upside respectively.
The dc generator 20 is fixed on 22 rear end of travelling platform with four bolts, is above-mentioned servo motor 17 and vacuum
9 power supply of pump.
Working principle and the course of work of the present invention:
As shown in figure 4, the starting present invention, travelling platform 22 of the invention is connect with tractor by draw bar 21, complete machine
Realize walking；Dc generator 20 is switched on, and is that visual sensing system 10 and servo motor 17 are powered；Visual sensing system 10
When cmos colour TV camera (model: Basler blaze) is close to fruit, imager captures the two dimensional image of fruit, and depth is surveyed
Amount instrument captures the depth information of fruit, and the 3D rendering of real-time Transmission colour；The cmos colour of visual sensing system 10 images
The colored 3D rendering of fruit is transferred to image procossing by the mainboard of GigE Interface integration to visual sensing system 10 by machine
Device, image processor identify the location information of fruit by (GA) genetic algorithm, and using fitness function Function as foundation
With maturity information；Fruit information is transferred to digital signal processor (DSP) (model: TMS320F28332PGFA), the core of DSP
Piece transmits control signals to servo-system, realizing route planning and position control to real time signal processing, by I/O interface,
Meet claimed below: the servo motor 17 of robot body two sides moves synchronously, and robot body end 11 can upper and lower, front and back fortune
It is dynamic, guarantee 11 face fruit of end without generating offset.Under tractor is slowly drawn, the robot body 23 of two sides can be covered
Entire three-dimensional space, two sides fruit tree are picked simultaneously, and the picking efficiency of apple can be improved；Vacuum pump 9 is switched on by DC generation
20 power supply machine of machine stabilizes to negative pressure suction device 24 and provides class vacuum state；In addition, the equal mucilage binding of all pipelines of negative pressure system is close
Envelope, the case lid 4 of collecting box 3 are sealed with cabinet 25 by sealing rubber ring 5, guarantee the leakproofness of negative pressure suction device；It is opened on rear side of cabinet 5
Reticulated cell 6 is not only avoided that be blocked by Apple, but also can be prevented branch leaf from entering air inlet pipe 7 and be blocked vacuum pump 9；Filter 8
The dust and aqueous vapor in air filtering can be effectively crossed, stability and the service life of vacuum pump 9 are improved；Mechanical arm 16 drives on end 11
1 pregroup of suction inlet position Apple, the pressure of suction inlet 1 pushes Apple, completes picking；Apple passes through fruit
Transmission pipeline 2 enters collecting box 3, falls on 25 bottom of cabinet, and felt and sponge guarantee that fruit not by injury of colliding with, is completed to collect.
Repeat the above process, can be achieved with apple efficiently, the automatic picking of high quality.
Claims (6)
1. a kind of suction-type apple picking robot, which is characterized in that filled including travelling platform, robot body and negative pressure absorbing
Three main modulars are set, travelling platform top two sides are respectively installed a robot body, installed before robot body end
There is visual sensing system；Travelling platform central upper portion position is equipped with negative pressure suction device；Direct current is additionally provided on travelling platform
Generator, dc generator provide power for robot body and negative pressure suction device；
The negative pressure suction device includes suction inlet, fruit transmission pipeline, collecting box, air inlet pipe, filter and vacuum pump, sucking
Mouth is fixed on robot body end, and connect with fruit transmission pipeline；Collecting box two sides connect fruit transmission pipeline, and rear side connects
Tap into tracheae；Filter top is communicated through air inlet pipe with collecting box, and side is communicated through air inlet pipe with vacuum pump；The air inlet of vacuum pump
Mouth connection air inlet pipe is communicated with filter, and gas outlet is communicated with atmosphere, by the DC generation for being installed on travelling platform upper rear end
Machine power supply；
The robot body includes column, two side mechanical arms, a upper mechanical arm, end and visual sensing system；End
Front is installed by visual sensing system；Column is fixed on travelling platform two sides, and side is arranged symmetrically two side mechanical arms, fixed above
Upper mechanical arm.
2. a kind of suction-type apple picking robot according to claim 1, which is characterized in that the filter is fixed on
Travelling platform top is located at two robot body middle positions.
3. a kind of suction-type apple picking robot according to claim 1, which is characterized in that the collecting box is fixed on
Travelling platform top front end.
4. a kind of suction-type apple picking robot according to claim 1, which is characterized in that the vacuum pump is fixed on
Travelling platform top is located at two robot body middle positions.
5. a kind of suction-type apple picking robot according to claim 1, which is characterized in that the cabinet of the collecting box
Rear side opens reticulated cell.
6. a kind of suction-type apple picking robot implementation method according to any one of claim 1 to 5, feature exist
In, the specific steps are as follows:
1) dc generator is switched on, and is that visual sensing system and servo motor are powered；
2) the cmos video camera imaging instrument of visual sensing system captures the two dimensional image of fruit, and depth calibrator captures fruit
Depth information, and the 3D rendering of real-time Transmission colour；
3) the cmos video camera of visual sensing system by GigE Interface integration to visual sensing system mainboard, by the coloured silk of fruit
The 3D rendering of color is transferred to image processor；
4) image processor identifies the position letter of fruit by GA genetic algorithm, and using fitness function Function as foundation
Breath and maturity information；
5) fruit information is transferred to digital signal processor DSP, and the chip of DSP will control real time signal processing by I/O interface
Signal processed is transferred to servo-system, realizing route planning and position control.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910760938.6A CN110463447A (en) | 2019-08-16 | 2019-08-16 | A kind of suction-type apple picking robot and its implementation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910760938.6A CN110463447A (en) | 2019-08-16 | 2019-08-16 | A kind of suction-type apple picking robot and its implementation |
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| CN110463447A true CN110463447A (en) | 2019-11-19 |
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ID=68511921
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| CN201910760938.6A Pending CN110463447A (en) | 2019-08-16 | 2019-08-16 | A kind of suction-type apple picking robot and its implementation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112772145A (en) * | 2021-01-08 | 2021-05-11 | 杨爱兰 | Agricultural fruit tree picking and sorting intelligent robot |
Citations (5)
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|---|---|---|---|---|
| FR2605834A1 (en) * | 1986-11-05 | 1988-05-06 | Pellenc & Motte | ROBOTIC MACHINE, IN PARTICULAR FOR FRUIT HARVESTING |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN105141932A (en) * | 2015-10-26 | 2015-12-09 | 广西职业技术学院 | Wireless acquisition processing system for cane sugar crystallized image |
| CN107258236A (en) * | 2016-04-08 | 2017-10-20 | 石河子大学 | A kind of safflower filament harvester |
| CN107690969A (en) * | 2017-11-23 | 2018-02-16 | 西北农林科技大学 | A kind of aspirated-air type apple harvests robot |
-
2019
- 2019-08-16 CN CN201910760938.6A patent/CN110463447A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2605834A1 (en) * | 1986-11-05 | 1988-05-06 | Pellenc & Motte | ROBOTIC MACHINE, IN PARTICULAR FOR FRUIT HARVESTING |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN105141932A (en) * | 2015-10-26 | 2015-12-09 | 广西职业技术学院 | Wireless acquisition processing system for cane sugar crystallized image |
| CN107258236A (en) * | 2016-04-08 | 2017-10-20 | 石河子大学 | A kind of safflower filament harvester |
| CN107690969A (en) * | 2017-11-23 | 2018-02-16 | 西北农林科技大学 | A kind of aspirated-air type apple harvests robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112772145A (en) * | 2021-01-08 | 2021-05-11 | 杨爱兰 | Agricultural fruit tree picking and sorting intelligent robot |
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Application publication date: 20191119 |
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