CN111923073A - Spherical fruit and vegetable picking detection intelligent robot arm and mechanical arm system - Google Patents
Spherical fruit and vegetable picking detection intelligent robot arm and mechanical arm system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/251—Colorimeters; Construction thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/359—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using near infrared light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N21/84—Systems specially adapted for particular applications
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- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
The invention relates to a spherical fruit and vegetable picking detection intelligent robot hand and a mechanical arm system, wherein the intelligent robot hand comprises an upper mounting frame, a lower mounting frame, a clamping mechanism and a near infrared spectrum detection module; the upper mounting frame is a hollow cylinder with an opening on the side wall; the lower mounting frame is a hollow cylinder with a cut-off part of the side wall; the near infrared spectrum detection module comprises an optical sensor, a light shield, a light source and a microswitch; the clamping mechanism comprises two racks, a gear, two sliding blocks, a linear guide rail, a first finger connecting piece, a second finger connecting piece and two soft rubber fingers. The mechanical arm system comprises the intelligent robot arm, a mechanical arm controller, an upper computer, a single chip microcomputer and a binocular camera. The invention has quick and sensitive response when grabbing and releasing fruits and vegetables, and can not damage the surfaces of the fruits and vegetables. The picking-detecting-grading boxing operation can be accurately and quickly finished, and the method has the characteristics of high efficiency, portability, compact structure, good universality, accurate result, multi-index detection and the like.
Description
Technical Field
The invention relates to the technical field of agricultural product picking detection, in particular to an intelligent robot arm and a mechanical arm system for picking and detecting spherical fruits and vegetables.
Background
China is the biggest fruit and vegetable producing country in the world, but the international trade competitiveness of fruits and vegetables is insufficient, taking apples as an example, the apples are large fruits in China, the export quantity continuously declines from 2013, the export price is low, the quantity of the apples subjected to commercialized treatment after being picked in China accounts for about 8% of the total output, and the lack of perfect post-harvest treatment links is an important factor for restricting the development of fruit and vegetable industries in China. The classification is to divide the fruits and vegetables into a plurality of grades according to a certain standard, is an important link of postharvest processing of the fruits and vegetables, and is an essential step for commercialization of the fruits and vegetables. The grading significance lies in that good consistency of the fruits and vegetables in the aspects of size, color, maturity and the like is achieved, the fruit and vegetable products which are uniform and have obvious grade difference are provided for consumers, defective products are removed, the occurrence of putrefaction and mildew is reduced, and the subsequent links of transportation, storage, sale and the like of the fruit and vegetable products are guaranteed. At present, domestic fruits and vegetables lack a post-picking treatment link, the detection grading process is complicated, the cost is high, and the mechanical arm system capable of realizing the integration of picking, detection and boxing is developed to effectively solve the problems, improve the production efficiency of fruit and vegetable products and improve the competitiveness of fruit and vegetable commodities in China.
Disclosure of Invention
The invention aims to provide an intelligent robot arm and a mechanical arm system for picking and detecting spherical fruits and vegetables, which solve the problems of low mechanization degree, lack of post-picking processing links, complicated detection and classification processes and the like of the conventional fruit and vegetable picking, simplify the picking and post-picking processing processes of the fruits and vegetables, and improve the picking, detection and classification efficiency.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an intelligent robot hand for picking and detecting spherical fruits and vegetables comprises an upper mounting frame, a lower mounting frame, a clamping mechanism and a near infrared spectrum detection module;
the upper mounting frame is a hollow cylinder with an opening on the side wall, the upper end is opened, the lower end is provided with a bottom, and a through hole for the optical fiber to pass through is reserved on the bottom; the upper half part of the upper mounting frame is used for connecting the mechanical arm, and the side wall of the cut-off part of the lower half part of the upper mounting frame is used for accommodating the optical sensor;
the lower mounting frame is a hollow cylinder with a cut-off part of the side wall, and a part of the lower mounting frame is cut off to mount the clamping mechanism; the clamping mechanism is connected with the lower mounting frame through a mounting plate, and a stepping motor is fixedly mounted on the mounting plate;
the near infrared spectrum detection module comprises an optical sensor, a light shield, a light source and a microswitch; an optical fiber is connected below the optical sensor, the tail part of the optical fiber is connected with an optical fiber probe, and the optical fiber probe are positioned in the lower mounting frame; a light source and a microswitch are arranged in the light shield;
the clamping mechanism comprises two racks, a gear, two sliding blocks, a linear guide rail, a first finger connecting piece, a second finger connecting piece and two soft rubber fingers; the linear guide rail is arranged on the mounting plate, the two sliding blocks are arranged on the linear guide rail, each sliding block is provided with a rack and a finger connecting piece, and the gear is arranged on an output shaft of the stepping motor; two finger connecting pieces are fixedly connected on the sliding block through bolts, two soft rubber fingers are respectively installed in the mounting grooves of the two finger connecting pieces, the outer sides of the mounting grooves are sealed, and the mounting grooves can not be separated from the soft rubber fingers during clamping.
The upper half part of the upper mounting frame is provided with mounting holes, the mounting holes are fixedly connected with the mechanical arm through bolts, the mounting holes are uniformly distributed along the circumference of the upper half part of the upper mounting frame at intervals of 30 degrees, and the mounting angle can be adjusted; the upper mounting frame is also provided with a wire outlet hole for leading out a power supply wire and a data wire of the light source and the optical sensor.
The mounting plate and the lower mounting frame are connected and positioned through 4 bolts.
The light shield is arranged at the lower end of the lower mounting rack and is positioned between the first finger connecting piece and the second finger connecting piece; the light shield is used for providing a darkroom environment for spectrum collection and eliminating the interference of ambient light.
The optical sensor is a marine optical STS-NIR optical sensor; the optical sensor is used for collecting spectral information of 650-1100 nanometer wave bands of fruits and vegetables.
The soft rubber finger is made of a soft rubber material and is processed by a 3D printing method; the two soft rubber fingers adopt a bionic fin structure.
The anti-skidding thin slice that a layer of rubber material was pasted to flexible glue finger inboard for prevent that the fruit vegetables from sliding, guarantee stable centre gripping.
The light source is formed by six halogen tungsten lamps which are annularly arranged.
A mechanical arm system comprises the intelligent mechanical arm, a mechanical arm controller, an upper computer, a single chip microcomputer and a binocular camera; the intelligent robot hand is arranged at the end part of the mechanical arm, and the upper computer is respectively connected with the single chip microcomputer, the binocular camera, the mechanical arm controller and the optical sensor; the singlechip is connected with the stepping motor and the microswitch; the binocular camera and the base of the mechanical arm are relatively fixed;
the mechanical arm controller is used for supplying power to the mechanical arm, receiving and converting signals sent by the upper computer and controlling the stepping motors of all shafts of the mechanical arm to operate; the binocular camera is used for acquiring images of fruits and vegetables and storing the images into the upper computer; the upper computer is used for controlling the picking, detecting, grading and boxing processes, analyzing and processing the quality information of the fruits and the vegetables, controlling the mechanical arm to move, calculating the rotation angle value of the stepping motor and sending the rotation angle value to the single chip microcomputer. The single chip microcomputer is used for receiving the rotation angle value of the stepping motor and controlling the stepping motor to rotate by a certain angle, so that the intelligent robot can grab the fruits and vegetables and pick the fruits and vegetables.
The mechanical arm is an industrial six-shaft mechanical arm.
A picking-detecting-grading integrated method for spherical fruits and vegetables applies the mechanical arm system and comprises the following steps:
(1) the binocular camera acquires images of the spherical fruits and vegetables and stores the images into the upper computer, the upper computer calculates the color, the diameter size, the existence of external defects and the coordinate position of the spherical fruits and vegetables by using an SSD algorithm, judges whether the spherical fruits and vegetables are mature or not according to the size and the color of the spherical fruits and vegetables, and executes a next picking program if the spherical fruits and vegetables are mature;
(2) the upper computer controls the mechanical arm to move according to the coordinate position of the spherical fruits and vegetables to pick the spherical fruits and vegetables, the intelligent robot hand triggers the micro switch while grabbing the spherical fruits and vegetables, the near infrared spectrum detection module on the intelligent robot hand collects the spectral data of the spherical fruits and vegetables and substitutes the spectral data-soluble solid content relation prediction model established by a multiple linear regression method to obtain the soluble solid content of the fruits and vegetables as internal quality information;
(3) the color, the diameter and the external defect information of the spherical fruits and vegetables are combined to be used as the spherical fruit and vegetable rating grade, and the upper computer controls the mechanical arm to place the spherical fruits and vegetables into boxes with different grades to finish grading and boxing.
The specific steps of picking the spherical fruits and vegetables in the step (2) are as follows: the upper computer substitutes the measured fruit and vegetable diameters into a formula (1) for calculation, the rotation angle numerical value of the stepping motor is sent to the single chip microcomputer, the single chip microcomputer controls the stepping motor to rotate for a certain angle to grab the fruit and vegetable, and then the mechanical arm moves to pick the fruit and vegetable;
the rotation angle theta of the stepping motor during grabbing is determined by the following formula:
D0distance/mm when fingers are in an open state;
d, the diameter/mm of the fruits and vegetables;
s is the finger pressing distance/mm;
m is the gear module;
and z is the number of gear teeth.
The invention designs a spherical fruit and vegetable picking-detecting-grading integrated method based on a mechanical arm hardware system by utilizing a machine vision technology and a near infrared spectrum technology, and builds a spherical fruit and vegetable picking-detecting-grading mechanical arm system, thereby realizing the picking of spherical fruits and vegetables and the simultaneous detection of the internal and external quality, and carrying out grading and boxing according to the detection result. The implementation process of the invention is divided into the following four aspects:
1. the design one kind has simultaneously picks and detects the intelligent robot hand of function, and spherical fruit vegetables can be picked to this intelligent robot hand to after successfully snatching the fruit vegetables, gather the inside quality information of fruit vegetables. Add the detection function on the basis that end effector snatched the function, this intelligent robot hand should have good suitability to snatching spherical fruit vegetables.
2. And obtaining appearance quality information such as color, diameter size, external defects and the like of the spherical fruits and vegetables by using a machine vision method. An SSD (Single Shot Multi Box Detector) algorithm is a deep learning algorithm with high accuracy and high operation speed, apples are used as picking objects, an apple identification and positioning model is trained by the SSD algorithm, and information such as the color, the diameter, the external defects, the position coordinates and the like of the apples can be acquired when the model processes images containing the apples. The color, size and external defect information of the apples serve as graded external quality standards, and the position coordinates are sent to the mechanical arm controller by the upper computer to control the mechanical arm to move to pick the apples.
3. By utilizing the near infrared spectrum technology, the fruit and vegetable spectral information is collected, a soluble solid content prediction model is established, the soluble solid content of the fruit and vegetable can be predicted according to the spectral information, and the soluble solid content is closely related to sweetness in sense, so that the method has important significance by taking the soluble solid content as an internal quality index.
4. And controlling the processes of picking, detecting and grading boxing by using an upper computer, and displaying grading detection results in real time.
The invention has the beneficial effects that:
1) the spherical fruit and vegetable picking and detecting intelligent robot hand is arranged on the tail end shaft of the mechanical arm, can realize the functions of picking, detecting and graded boxing, has flexible moving capability, and can accurately and quickly finish the operations of picking, detecting and graded boxing. The intelligent robot has two basic functions: (1) the spherical fruits and vegetables can be clamped; (2) the spectrum information of the spherical fruits and vegetables can be collected. And the intelligent robot hand has compact structure, small volume and light weight.
2) The clamping mechanism of the intelligent robot hand can pick and stably clamp spherical fruits and vegetables, has quick and sensitive response when grabbing and releasing the fruits and vegetables, is low in flexibility of parts in direct contact with the surfaces of the fruits and vegetables, and cannot damage the surfaces of the fruits and vegetables when clamping the fruits and vegetables.
3) The invention also comprises a structure capable of collecting the near infrared spectrum information of the fruits and vegetables, the structure is light and small and can be installed on an intelligent robot, the structure collects the spectrum information of the fruits and vegetables by using the optical sensor, the positions of the optical sensor and the optical fiber are reasonably arranged, the optical fiber is ensured not to be bent as far as possible, and the influence of ambient light on the spectrum collection is avoided during the actual work.
4) The invention also discloses a method for identifying and positioning fruits and collecting the appearance quality information of the fruits from the growing environment of the fruits and the vegetables, which comprises the steps of obtaining images of the fruits and the vegetables by utilizing a machine vision technology, segmenting the fruits from a complex background by using a deep learning algorithm, further obtaining the information of the diameters, the external damage conditions, the coordinate positions and the like of the fruits and the vegetables, taking the diameters and the existence of the external damage as external quality indexes of the fruits and the vegetables, and using the coordinate information for controlling the mechanical arm to move to pick the fruits and the vegetables.
5) The invention also discloses a comprehensive fruit and vegetable grade evaluation method, which evaluates the grade of the fruit and vegetable according to the obtained quality information inside and outside the fruit and vegetable. The traditional fruit and vegetable grading index is single, the machine vision technology is utilized to obtain the external quality information of the fruits and vegetables, the near infrared spectrum technology is utilized to obtain the internal quality information of the fruits and vegetables, and the fruit and vegetable grading is comprehensively evaluated according to the indexes such as the diameters of the fruits and vegetables, the external defects, the content of soluble solids and the like.
Compared with a table type detection grading device, the spherical fruit and vegetable picking, detecting and grading mechanical arm system has the advantages of being more flexible and high in degree of freedom, has a picking function, and can finish detection and grading while picking fruits and vegetables. The fruit and vegetable can be processed from agricultural products into commodities with obvious grade difference in a very short time, the fruit and vegetable picking and post-picking processing procedures are simplified to the maximum extent, and the fruit and vegetable facility removal processing is realized. The invention realizes the simultaneous detection of the internal and external qualities of the fruits and vegetables by utilizing a machine vision technology and a near infrared spectrum technology. The machine vision processing module based on the SSD algorithm can accurately identify and position fruits and vegetables from a complex environment, eliminates the influence of interferents and ambient light in the background, and is more accurate and practical than the traditional image processing method. The spectrum information of the apples acquired by the near infrared spectroscopy can accurately predict the content of soluble solids, and the internal quality information can be rapidly detected without damage. The device and the method have important significance for building a picking-detecting-boxing integrated spherical fruit and vegetable picking treatment production line, improving the production efficiency of fruit and vegetable products and improving the added value of fruit and vegetable commodities in China.
The spherical fruit and vegetable picking and detecting mechanical arm device realizes the integrated operation of picking, detecting and grading and boxing, and has the characteristics of high efficiency, portability, compact structure, good universality, accurate result, multi-index detection and the like.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic diagram of an intelligent robot hand according to the present invention.
FIG. 2 is a schematic view of a clamping mechanism of the intelligent robot hand of the present invention.
FIG. 3 is a system flow diagram of the present invention.
Figure 4 is a schematic view of a robotic arm system of the present invention.
Fig. 5 is an exploded view of the smart robot of the present invention.
The multifunctional fruit and vegetable mounting rack comprises a mounting plate 1, a mounting plate 2, a finger connecting piece I3, an anti-skidding sheet 4, a light source 5, a micro switch 6, a soft rubber finger 7, a light shield 8, a finger connecting piece II 9, a sliding block 10, a rack 11, a stepping motor 12, an optical sensor 13, a gear 14, a linear guide rail 15, an upper computer 16, a binocular camera 17, a mechanical arm 18, a single chip microcomputer 19, a spherical fruit and vegetable 20, an upper mounting rack 21 and a lower mounting rack 21
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 5, an intelligent robot hand for picking and detecting spherical fruits and vegetables comprises an upper mounting frame, a lower mounting frame, a clamping mechanism and a near infrared spectrum detection module;
the upper mounting frame is a hollow cylinder with an opening on the side wall, the upper end is opened, the lower end is provided with a bottom, and a through hole for the optical fiber to pass through is reserved on the bottom; the upper half part of the upper mounting frame is used for connecting the mechanical arm, mounting holes are formed in the upper half part of the upper mounting frame, the upper half part of the upper mounting frame and the mechanical arm are fixedly connected through bolts, the mounting holes are uniformly distributed at intervals of 30 degrees along the circumference of the upper half part of the upper mounting frame, the mounting angle can be adjusted, and wire outlet holes are designed, so that power supply wires and data wires of the light source and the optical sensor can be conveniently led out; the lower half of the upper mounting bracket is cut away to form a partial side wall for receiving the optical sensor 12.
The lower mounting bracket is a hollow cylinder with a cut-off part of the side wall, and in order to reduce the weight of the intelligent robot hand, a part of the lower mounting bracket is cut off for mounting the clamping mechanism. The clamping mechanism is connected with the lower mounting frame through the mounting plate 1, the mounting plate 1 is connected with the lower mounting frame through the 4 bolts for positioning, and the stepping motor 11 is fixedly mounted on the mounting plate 1.
The near infrared spectrum detection module comprises an optical sensor 12, a light shield 7, a light source 4 and a microswitch 5; an optical fiber is connected below the optical sensor 12, the tail part of the optical fiber is connected with an optical fiber probe, and the optical fiber probe are positioned in the lower mounting frame; the light shield 7 is arranged at the lower end of the lower mounting rack and is positioned between the first finger connecting piece 2 and the second finger connecting piece 8; the light shield 7 is internally provided with a light source 4 and a microswitch 5, and the light source 4 is formed by six halogen tungsten lamps which are annularly arranged. The optical sensor 12 is used for collecting spectrum information of 650-1100 nanometer wave bands of the fruits and vegetables.
Fixture is as shown in fig. 2, fixture includes two racks 10, gear 13, two sliders 9, linear guide 14, finger connecting piece 2, finger connecting piece two 8 and two flexible glue fingers 6, and the scheme of grabbing that indicates two both can stabilize the spherical fruit vegetables of centre gripping, also has better centre gripping effect to the spherical fruit vegetables that are not very regular, can also reduce intelligent robot hand's volume. When the stepping motor 11 drives the gear to rotate, the two racks oppositely open and close. A linear guide rail 14 is arranged on the mounting plate 1, two sliding blocks 9 are arranged on the linear guide rail 14, each sliding block 9 is provided with a rack 10 and a finger connecting piece, and a gear 13 is arranged on an output shaft of a stepping motor 11; two finger connecting pieces are fixedly connected on the sliding block 9 through bolts, two soft rubber fingers 6 are respectively installed in the installation grooves of the two finger connecting pieces, the outer sides of the installation grooves are sealed, and the installation grooves can not be separated from the soft rubber fingers during clamping. The flexible glue finger 6 is made of a flexible glue material and is processed by a 3D printing method, certain deformation capacity is achieved, the surface of fruits and vegetables cannot be damaged, the finger shape refers to a bionic fin structure, the structure can wrap the surface of an object when the finger of an intelligent robot hand grabs the object, and the spherical fruits and vegetables have good applicability. The anti-skidding thin slice 3 of one deck rubber material is pasted to the flexible glue finger inboard, and when the spherical fruit vegetables of flexible glue finger centre gripping, anti-skidding thin slice 3 and fruit vegetables surface direct contact can prevent that the fruit vegetables from sliding, guarantees to stabilize the centre gripping. The power transmission route of the clamping mechanism is as follows in sequence: step motor output shaft → gear → rack → slide block → finger connecting piece → soft rubber finger. Compared with pneumatic and hydraulic driving modes, the motor driving device has the advantages of sensitive response, small installation volume, simple structure, low cost, low noise in working and the like.
The spectral information of spherical fruits and vegetables is collected by using an ocean optical STS-NIR optical sensor, an optical fiber is connected with the optical sensor, and the tail part of the optical fiber is connected with an optical fiber probe. The bottom of the intelligent manipulator is provided with a light source 4 consisting of 6 halogen tungsten lamps which are annularly arranged, when spherical fruits and vegetables are close to the optical fiber probe, the microswitch 5 at the bottom is triggered, the microswitch 5 is controlled by the single chip microcomputer, the single chip microcomputer 18 sends an instruction to the upper computer 15 after being triggered, and the upper computer controls the optical sensor 12 to complete spectrum collection. The light shield 7 provides a darkroom environment for spectrum collection, and eliminates the interference of ambient light. And substituting the spectral data into the built prediction model by the upper computer, and calculating the content prediction value of the soluble solid matters.
A schematic of the inventive arm system is shown in fig. 4.
A robotic arm system, comprising: arm 17, arm controller, intelligent robot hand, host computer 15, singlechip 18, binocular camera 16. The robot arm 17 is an industrial six-axis robot arm. The intelligent robot hand is arranged at the end part of the mechanical arm 17, and the upper computer 15 is respectively connected with the single chip microcomputer 18, the binocular camera 16, the mechanical arm controller and the optical sensor 12; the singlechip 18 is connected with the stepping motor 11 and the microswitch 5; the binocular camera and the base of the mechanical arm are relatively fixed;
the mechanical arm controller is used for supplying power to the mechanical arm 17, receiving and converting signals sent by the upper computer and controlling the operation of stepping motors of all shafts of the mechanical arm. The binocular camera 16 is used for acquiring images of fruits and vegetables and storing the images into the upper computer; the upper computer is used for controlling the picking, detecting, grading and boxing processes, analyzing and processing the quality information of the fruits and the vegetables, controlling the mechanical arm to move, calculating the rotation angle value of the stepping motor and sending the rotation angle value to the single chip microcomputer. The single chip microcomputer is used for receiving the rotation angle value of the stepping motor and controlling the stepping motor 11 to rotate by a certain angle, so that the intelligent robot can grab the fruits and vegetables and pick the fruits and vegetables.
The detection function is completed by the near infrared spectrum detection module and the machine vision detection module together. The near infrared spectrum detection module uses a halogen tungsten lamp as a light source and uses an optical sensor to acquire the spectrum information of 650-1100 nanometer wave bands of the fruits and vegetables; the machine vision detection module acquires images of fruits and vegetables by using a binocular camera, processes the acquired images by using a model trained by an SSD algorithm, can acquire information such as color, diameter, external defects, position coordinates and the like of spherical fruits and vegetables 19, provides information reference for grading and provides position coordinates for grabbing; an industrial six-axis mechanical arm is used for driving an intelligent robot hand to complete a series of operations such as picking, placing and the like. The upper computer controls the picking and detecting boxing process, so that the system collects the internal and external quality information of the fruits and vegetables at a proper time, analyzes and processes the quality information of the fruits and vegetables, and controls the mechanical arm to move to complete the classification boxing of the fruits and vegetables.
To obtain the position and appearance quality information of the fruits and vegetables, the machine vision module uses a binocular camera 16 to acquire images of the spherical fruits and vegetables. The binocular camera and the mechanical arm base are relatively fixed, and the image coordinates of the camera can be converted into mechanical arm coordinates through calibration. During working, the binocular camera acquires images of fruits and vegetables and stores the images into a specific position of the upper computer, and the upper computer inputs the acquired images into a trained model of the SSD algorithm. The SSD algorithm is a deep learning target detection algorithm, the interference of background environment and light and shade on fruit and vegetable identification can be eliminated by utilizing a deep learning method, the fruit and vegetable can be accurately identified and positioned from the obtained image and can be separated from the background, and information such as position coordinates, colors, the diameter of the fruit and vegetable, the existence of external defects and the like can be further obtained. Whether the apples are ripe or not can be intelligently judged according to the color and the diameter of the spherical fruits and vegetables, and if the spherical fruits and vegetables are ripe, the upper computer controls the mechanical arm to reach a picking point according to the obtained position coordinates of the fruits and vegetables. The rotating angle of the stepping motor of the intelligent manipulator is related to the diameter of the fruits and vegetables. The rotation angle theta of the stepping motor during grabbing is determined by the following formula:
D0distance/mm when fingers are in an open state;
d, the diameter/mm of the fruits and vegetables;
s is the finger pressing distance/mm;
m is the gear module;
and z is the number of gear teeth.
The upper computer substitutes the measured fruit and vegetable diameter into the upper formula to calculate, sends the rotating angle numerical value of the stepping motor to the single chip microcomputer, the single chip microcomputer controls the stepping motor to rotate for a certain angle to grab the fruit and vegetable, and then the mechanical arm moves to pick the fruit and vegetable.
Software used by the upper computer is based on a Microsoft visual studio development environment, is written by using C language, and mainly has the following functions: the mechanical arm is controlled to move to pick, the machine vision module and the near-infrared detection module are controlled to collect fruit and vegetable information, detection results such as the diameter size of the fruit and vegetable, external defects, the content of soluble solids and the like are integrated to evaluate the grade of the fruit and vegetable, and the mechanical arm is controlled to move to a corresponding position according to the grade information to finish boxing. The upper computer controls the mechanical arm to complete the working cycle of picking, detecting and grading boxing, and then the next working cycle is started.
As shown in fig. 3, the specific method for realizing the integration of picking, detecting and grading of spherical fruits and vegetables by the mechanical arm system comprises the following steps: (1) the method comprises the steps that a binocular camera obtains images of spherical fruits and vegetables and stores the images into an upper computer, the upper computer calculates information such as color, diameter size, presence or absence of external defects and coordinate positions of the spherical fruits and vegetables by using an SSD algorithm, whether the spherical fruits and vegetables are mature is judged according to the size and color of the spherical fruits and vegetables, if the spherical fruits and vegetables are mature, a next picking program is executed, (2) the upper computer controls a mechanical arm to move to pick the spherical fruits and vegetables according to the coordinates of the spherical fruits and vegetables, an intelligent manipulator on the mechanical arm can trigger a micro switch while grabbing the spherical fruits and vegetables, a near infrared spectrum detection module on the intelligent manipulator collects spectral data of the fruits and vegetables and substitutes the spectral data-soluble solid content relation prediction model established by a multivariate linear regression method to obtain the soluble solid content of the spherical fruits and vegetables as internal quality information, (3) the, the upper computer controls the mechanical arm to place the spherical fruits and vegetables into boxes of different grades to finish grading and boxing.
The above embodiments are merely illustrative, and not restrictive, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the invention, and therefore all equivalent technical solutions also belong to the scope of the invention.
Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The utility model provides a detection intelligent robot hand is picked to spherical fruit vegetables which characterized in that includes: the device comprises an upper mounting frame, a lower mounting frame, a clamping mechanism and a near infrared spectrum detection module;
the upper mounting frame is a hollow cylinder with an opening on the side wall, the upper end is opened, the lower end is provided with a bottom, and a through hole for the optical fiber to pass through is reserved on the bottom; the upper half part of the upper mounting frame is used for connecting the mechanical arm, and the side wall of the cut-off part of the lower half part of the upper mounting frame is used for accommodating the optical sensor;
the lower mounting frame is a hollow cylinder with a cut-off part of the side wall, and a part of the lower mounting frame is cut off to mount the clamping mechanism; the clamping mechanism is connected with the lower mounting frame through a mounting plate, and a stepping motor is fixedly mounted on the mounting plate;
the near infrared spectrum detection module comprises an optical sensor, a light shield, a light source and a microswitch; an optical fiber is connected below the optical sensor, the tail part of the optical fiber is connected with an optical fiber probe, and the optical fiber probe are positioned in the lower mounting frame; a light source and a microswitch are arranged in the light shield;
the clamping mechanism comprises two racks, a gear, two sliding blocks, a linear guide rail, a first finger connecting piece, a second finger connecting piece and two soft rubber fingers; the linear guide rail is arranged on the mounting plate, the two sliding blocks are arranged on the linear guide rail, each sliding block is provided with a rack and a finger connecting piece, and the gear is arranged on an output shaft of the stepping motor; two finger connecting pieces are fixedly connected on the sliding block through bolts, two soft rubber fingers are respectively installed in the mounting grooves of the two finger connecting pieces, the outer sides of the mounting grooves are sealed, and the mounting grooves can not be separated from the soft rubber fingers during clamping.
2. The intelligent robot hand for picking and detecting spherical fruits and vegetables according to claim 1, characterized in that: the upper half part of the upper mounting frame is provided with mounting holes, the mounting holes are fixedly connected with the mechanical arm through bolts, the mounting holes are uniformly distributed along the circumference of the upper half part of the upper mounting frame at intervals of 30 degrees, and the mounting angle can be adjusted; the upper mounting frame is also provided with a wire outlet hole for leading out a power supply wire and a data wire of the light source and the optical sensor.
3. The intelligent robot hand for picking and detecting spherical fruits and vegetables according to claim 1, characterized in that: the mounting plate and the lower mounting frame are connected and positioned through 4 bolts.
4. The intelligent robot hand for picking and detecting spherical fruits and vegetables according to claim 1, characterized in that: the light shield is arranged at the lower end of the lower mounting rack and is positioned between the first finger connecting piece and the second finger connecting piece; the light shield is used for providing a darkroom environment for spectrum collection and eliminating the interference of ambient light; the light source is formed by six halogen tungsten lamps which are annularly arranged.
5. The intelligent robot hand for picking and detecting spherical fruits and vegetables according to claim 1, characterized in that: the optical sensor is a marine optical STS-NIR optical sensor; the optical sensor is used for collecting spectral information of 650-1100 nanometer wave bands of fruits and vegetables.
6. The intelligent robot hand for picking and detecting spherical fruits and vegetables according to claim 1, characterized in that: the soft rubber finger is made of a soft rubber material and is processed by a 3D printing method; the two soft rubber fingers adopt a bionic fin structure.
7. The intelligent robot hand for picking and detecting spherical fruits and vegetables according to claim 1, characterized in that: the anti-skidding thin slice that a layer of rubber material was pasted to flexible glue finger inboard for prevent that the fruit vegetables from sliding, guarantee stable centre gripping.
8. A robotic arm system, characterized by: the intelligent robot arm for picking and detecting the spherical fruits and vegetables, which comprises any one of claims 1 to 7, further comprises a mechanical arm, a mechanical arm controller, an upper computer, a single chip microcomputer and a binocular camera; the intelligent robot hand is arranged at the end part of the mechanical arm, and the upper computer is respectively connected with the single chip microcomputer, the binocular camera, the mechanical arm controller and the optical sensor; the singlechip is connected with the stepping motor and the microswitch; the binocular camera and the base of the mechanical arm are relatively fixed;
the mechanical arm controller is used for supplying power to the mechanical arm, receiving and converting signals sent by the upper computer and controlling the stepping motors of all shafts of the mechanical arm to operate; the binocular camera is used for acquiring images of fruits and vegetables and storing the images into the upper computer; the upper computer is used for controlling the picking, detecting, grading and boxing processes, analyzing and processing the quality information of the fruits and vegetables, controlling the mechanical arm to move, calculating the rotation angle value of the stepping motor and sending the rotation angle value to the single chip microcomputer; the single chip microcomputer is used for receiving the rotation angle value of the stepping motor and controlling the stepping motor to rotate by a certain angle, so that the intelligent robot can grab the fruits and vegetables and pick the fruits and vegetables.
9. A picking-detecting-grading integrated method for spherical fruits and vegetables is characterized in that: use of a robot arm system according to claim 8, comprising the steps of:
(1) the binocular camera acquires images of the spherical fruits and vegetables and stores the images into the upper computer, the upper computer calculates the color, the diameter size, the existence of external defects and the coordinate position of the spherical fruits and vegetables by using an SSD algorithm, judges whether the spherical fruits and vegetables are mature or not according to the size and the color of the spherical fruits and vegetables, and executes a next picking program if the spherical fruits and vegetables are mature;
(2) the upper computer controls the mechanical arm to move according to the coordinate position of the spherical fruits and vegetables to pick the spherical fruits and vegetables, the intelligent robot hand triggers the micro switch while grabbing the spherical fruits and vegetables, the near infrared spectrum detection module on the intelligent robot hand collects the spectral data of the spherical fruits and vegetables, and the spectral data-soluble solid content relation prediction model established by a multiple linear regression method is substituted to obtain the soluble solid content of the fruits and vegetables as internal quality information;
(3) the color, the diameter and the external defect information of the spherical fruits and vegetables are combined to be used as the spherical fruit and vegetable rating grade, and the upper computer controls the mechanical arm to place the spherical fruits and vegetables into boxes with different grades to finish grading and boxing.
10. The integrated picking-detecting-grading method for spherical fruits and vegetables according to claim 9, wherein the method comprises the following steps: the specific steps of picking the spherical fruits and vegetables in the step (2) are as follows: the upper computer substitutes the measured fruit and vegetable diameters into a formula (1) for calculation, the rotation angle numerical value of the stepping motor is sent to the single chip microcomputer, the single chip microcomputer controls the stepping motor to rotate for a certain angle to grab the fruit and vegetable, and then the mechanical arm moves to pick the fruit and vegetable;
the rotation angle theta of the stepping motor during grabbing is determined by the following formula:
D0distance/mm when fingers are in an open state;
d, the diameter/mm of the fruits and vegetables;
s is the finger pressing distance/mm;
m is the gear module;
and z is the number of gear teeth.
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