CN112470708A - Robot picking and recycling system and operation method for mandarin orange fruits - Google Patents

Robot picking and recycling system and operation method for mandarin orange fruits Download PDF

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Publication number
CN112470708A
CN112470708A CN202011280149.1A CN202011280149A CN112470708A CN 112470708 A CN112470708 A CN 112470708A CN 202011280149 A CN202011280149 A CN 202011280149A CN 112470708 A CN112470708 A CN 112470708A
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China
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hemispherical
fruit
finger
picking
end effector
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CN202011280149.1A
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CN112470708B (en
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刘继展
席宁
彭赟
单海勇
候广宇
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Jiangsu University
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Jiangsu University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes

Abstract

The invention provides a robot picking and recycling system and an operation method for mandarin orange fruits, and belongs to the field of agricultural robots. The robot picking and recovering system consists of an end effector and a fruit conveying device, wherein the end effector is of a two-hemispherical-surface finger structure with short blades on fingertips, and the robot is used for picking and recovering the short stalks of all directions of the closed orange tree crown by controlling the action of finger clamping and bouncing of the hemispherical surface and matching with a scraper conveyor and a conveying hose of the fruit conveying device. The invention solves the problem of recovery of downward fruit picking by the robot and has simple and reliable structure.

Description

Robot picking and recycling system and operation method for mandarin orange fruits
Technical Field
The invention relates to the field of agricultural robots, in particular to a robot picking and recycling system and an operation method for mandarin orange fruits.
Background
With the sharp reduction of agricultural labor force, the robot picking of fresh forest fruits becomes a key subject at home and abroad, and various picking robot schemes aiming at different forest fruits are continuously emerging. The mandarin oranges are traditional high-quality fruits in China, each mandarin orange bears hundreds of kilograms of fruits, the harvesting completely depends on manpower at present, the labor cost of only picking reaches 0.7-1.2 yuan/kilogram, and the requirement of robot picking is urgent.
The picking of the mandarin oranges requires short stalk to avoid damaging the peel in case transportation. Meanwhile, the crown of the mandarin orange is seriously closed, the fruit stalks are hard and short, the mandarin orange is small and has dense fruits, and the fruits are dense due to the fact that the fruits are close to the upper portion of the crown under good light and ventilation conditions, the picking is usually finished by the mechanical arm of the robot in an inclined downward mode. Because the distance between the picking position at the upper part of the crown and the fruit placing position after picking is far, the operation of fruit placing back and forth by depending on the mechanical arm to avoid collision with the crown is complex, the energy consumption is overlarge, the efficiency is extremely low, and the production requirement is difficult to meet. At present, a mode that a robot sends the picked fruits into a hose to recycle the fruits into a basket is welcomed, but the mode is only suitable for conveying the fruits from a picking position along the hose by means of gravity, and the requirement that a mechanical arm obliquely downwards finishes picking and recycling is difficult to meet.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a robot picking and recycling system and an operation method for mandarin orange fruits, which realize the picking and recycling of short stalks of all directions of a closed mandarin orange crown by a robot.
The present invention achieves the above-described object by the following technical means.
A robot picking and recovering system for mandarin orange fruits comprises an end effector and a fruit conveying device, wherein the end effector comprises a hemispherical finger, a swing rod, a hemispherical finger rotating shaft, a connecting rod, a straight moving part and a rack, and the end effector is symmetrical relative to the action direction of the straight moving part; the straight moving piece is arranged on the rack, the straight moving piece is hinged with one end of the connecting rod, the other end of the connecting rod is hinged to the middle rear portion of the swing rod, one end, close to the connecting rod, of the swing rod is hinged with the rack, the other end of the swing rod is fixed with the tail end of the hemispherical finger, the hemispherical finger is provided with a hemispherical finger rotating shaft close to the tail end, and the front end of the hemispherical finger is provided with a short blade.
In the technical scheme, the fruit conveying device comprises a scraper conveyor and a conveying hose, wherein one end, far away from the end effector, of the scraper conveyor aligns to the upper opening of the conveying hose.
In the above technical scheme, the fruit conveying device further comprises an outer plate, the outer plate is parallel to the scraper conveyor and located on the upper side of the scraper conveyor, and one end, far away from the end effector, of the outer plate is connected with the upper opening of the conveying hose.
In the technical scheme, an inner transition curve is arranged between the short blade and the inner wall of the hemispherical finger.
In the technical scheme, one end of the swing rod, which is close to the connecting rod, is hinged with the rack through a swing rod rotating shaft.
In the technical scheme, the inner wall and the outer wall of the hemispherical finger are spherical surfaces, and the radius R of the inner hemispherical surface meets the following requirements: k is a radical of1Rmax≤R≤k2RmaxWherein k is1As confidence, k2To control the coefficient, RmaxIs the maximum radius of the fruit.
An operation method of a robot picking and recovering system comprises the following steps:
the method comprises the following steps that firstly, a robot picking and recycling system moves to the position above a tree crown and is obliquely aligned with the tree crown downwards, and a hemispherical finger is located at a hemispherical finger opening position;
step two, acquiring a fruit growing position, and controlling a robot picking and recovering system to align the fruit;
thirdly, the robot picking and recovering system is close to the fruits, so that the fruits enter between an upper hemispherical finger and a lower hemispherical finger (13) of the end effector;
driving a swing rod to swing outwards by the direct-acting part through a connecting rod, and driving the hemispherical finger to rotate inwards around the hemispherical finger rotating shaft to fold;
step five, after the inner walls of the upper hemispherical finger and the lower hemispherical finger contact the fruit, the hemispherical fingers are positioned at a hemispherical finger fruit-raking position, and the two hemispherical fingers are folded and simultaneously push the fruit to move upwards and obliquely along the central line of the end effector;
step six, when the upper hemispherical surface finger and the lower hemispherical surface finger are continuously folded to the hemispherical surface finger closed cutting position, the short blade cuts the fruit stem, the two hemispherical surface fingers are quickly folded to push the fruit obliquely upwards, so that the fruit reaches the fruit upper bouncing position;
and seventhly, the fruits bounce on the fruits and fall into a scraper conveyor, and are conveyed to a fruit box through a conveying hose.
The invention has the beneficial effects that: the robot picking recovery system comprises an end effector and a fruit conveying device, wherein the end effector comprises a hemispherical finger, a swing rod, a hemispherical finger rotating shaft, a connecting rod, a straight moving part and a rack, and the end effector is symmetrical relative to the action direction of the straight moving part; the straight moving piece is arranged on the rack, the straight moving piece is hinged with one end of the connecting rod, the other end of the connecting rod is hinged with the middle rear part of the swing rod, one end of the swing rod, which is close to the connecting rod, is hinged with the rack, the other end of the swing rod is fixed with the tail end of the hemispherical finger, the hemispherical finger is provided with a hemispherical finger rotating shaft close to the tail end, and the front end of the hemispherical finger is provided with a; the fruit conveying device comprises a scraper conveyor and a conveying hose, wherein one end of the scraper conveyor far away from the end effector is aligned with the upper opening of the conveying hose. The robot picking and recovering system realizes picking and recovering of short peduncles in all directions of the closed orange crown by the robot through the cooperation of spherical finger clip spring action, the scraper conveyor and the conveying hose, solves the problem of recovering fruits picked downwards by the robot, is suitable for picking fruits upwards by the robot, and has a simple and reliable structure.
Drawings
FIG. 1 is a schematic view of picking operation of the crown of mandarin orange and a robot according to the present invention;
FIG. 2 is a schematic view of a robotic picking recovery system of the present invention;
FIG. 3 is a schematic structural view of an end effector of the present invention;
FIG. 4 is a schematic view of a hemispherical finger structure according to the present invention;
fig. 5 is a schematic view of the picking-delivering part structure of the present invention.
In the figure: 1. the fruit picking and recovering device comprises a tree crown, 2, fruits, 3, a robot picking and recovering system, 4, an end effector, 5, a picking-delivering local structure, 6, a scraper conveyor, 7, an outer side plate, 8, a conveying hose, 9, fruit stems, 10, a fruit growing position, 11, a hemispherical surface finger fruit holding position, 12, a hemispherical surface finger opening position, 13, a hemispherical surface finger, 14, a hemispherical surface finger closing cutting position, 15, a hemispherical surface finger rotating shaft, 16, a fruit cutting position, 17, a swinging rod rotating shaft, 18, a rack, 19, a swinging rod, 20, a straight moving piece, 21, a short blade, 22, an outer hemispherical surface, 23, a rotating shaft hole, 24, a hinge hole, 25, an inner hemispherical surface, 26, an inner transition curve and 27, and a fruit ejecting position.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the honey orange crown 1 is tightly sealed, the fruits 2 are small and dense, and the density is increased toward the upper part of the crown 1. For the crown 1 at the upper half part, the robot picking and recovering system 3 needs to be inclined downwards to complete the picking and recovering of the fruit 2.
As shown in fig. 2, the robotic picking recovery system 3 is composed of an end effector 4 and a fruit conveying device. The fruit conveying device comprises a scraper conveyor 6, an outer side plate 7 and a conveying hose 8, wherein the outer side plate 7 is parallel to the scraper conveyor 6 and is positioned on the upper side of the scraper conveyor 6, one end, away from the end effector 4, of the outer side plate 7 is connected with the upper opening of the conveying hose 8, and one end, away from the end effector 4, of the scraper conveyor 6 is aligned with the upper opening of the conveying hose 8. The end effector 4, and the conveyor 6, the outer side plate 7, constitute the picking-feeding partial structure in fig. 2.
As shown in fig. 3, the end effector 4 is composed of two hemispherical fingers 13, two swing rods 19, two hemispherical finger rotating shafts 15, two connecting rods 20, a straight moving member 21 and a frame 18. The end effector 4 is of a symmetrical structure with respect to the line of the direction of motion of the linear motion member 21.
As shown in fig. 4, the inner and outer walls of the hemispherical finger 13 are both spherical (the outer hemispherical surface 22 and the inner hemispherical surface 25 in fig. 4), and the radius R of the inner hemispherical surface 25 satisfies the following equation:
k1Rmax≤R≤k2Rmax (1)
wherein k is1As confidence, k in this embodiment1Taking 0.98; k is a radical of2In this embodiment, k is used to control the coefficient2Taking 1.2; rmaxIs the maximum radius of the fruit.
The front end of the hemispherical finger 13 is provided with the short blade 21, and an inner transition curve 26 is arranged between the short blade 12 and the inner wall of the hemispherical finger 13, so that the short blade 12 can not damage the fruit 2 in the closing process of the hemispherical finger 13; a rotating shaft hole 23 is formed in the middle rear part of the hemispherical finger 13, and a hemispherical finger rotating shaft 15 is arranged in the rotating shaft hole 23; the tail end of the hemispherical finger 13 is provided with a hinge hole 24, a hinge is fixed with one end of a swing rod 19 through the hinge hole 24, and the other end of the swing rod 19 is hinged with a rack 18 through a swing rod rotating shaft 17; the middle rear part of the swing rod 19 is hinged with one end of a connecting rod 20, and the other end of the connecting rod 20 is hinged with a straight moving piece 21; the straight motion piece 21 is arranged on the frame 18, and the frame 18 is mounted at the robot wrist.
As shown in fig. 2, 3 and 5, the operation method of the robot picking and recovering system for mandarin orange fruits specifically comprises the following steps:
step (1), a mechanical arm of the robot drives the robot picking and recycling system 3 to move above a tree crown 1 and obliquely downwards aim at the tree crown 1, a robot control system controls a straight moving part 21 to rapidly move in the direction close to the tree crown 1, a connecting rod 20 drives a swing rod 19 to swing inwards, the swing rod 19 drives a hemispherical finger 13 to rotate outwards around a hemispherical finger rotating shaft 15, and the hemispherical finger 13 is located at a hemispherical finger opening position 12;
step (2), acquiring a fruit growing position 10 by a control system of the robot, and controlling a picking and recovering system 3 of the robot to align to the fruit 2;
step (3), controlling the robot picking and recovering system 3 to be close to the fruits 2, and enabling the fruits 2 to enter between an upper hemispherical finger 13 and a lower hemispherical finger 13 of the end effector 4;
step (4), the robot control system controls the straight moving part 21 to rapidly move in the direction away from the fruit, so that the swing rod 19 is driven by the connecting rod 20 to swing outwards, and the swing rod 19 drives the hemispherical finger 13 to rotate inwards around the hemispherical finger rotating shaft 15 to be folded;
step (5), after the inner walls of the two hemispherical fingers 13 contact the fruit 2, the hemispherical fingers 13 are positioned at the hemispherical finger fruit-holding position 11, and the fruit 2 is pushed to move upwards and obliquely along the central line of the end effector 4 while the two hemispherical fingers 13 are folded;
step (6), when the two hemispherical fingers 13 are continuously folded to the hemispherical finger closed cutting position 14, after the short blade 12 cuts the fruit stem 9, the two hemispherical fingers 13 are rapidly folded to push the fruit 2 obliquely upwards, so that the fruit 2 reaches the fruit upper elastic position 27;
step (7), the fruit 2 is popped up at the fruit pop-up position 27 and falls into the scraper conveyor 6, the scraper conveyor 6 drives the fruit 2 to be conveyed obliquely upwards and enter the conveying hose 8, and the outer side plate 7 ensures that the fruit 2 does not fall outside in the pop-up and conveying processes;
and (8) sliding the fruits 2 into the fruit box from the conveying hose 8 by means of gravity to finish picking.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (7)

1. A robot picking and recycling system for mandarin orange fruits is characterized by comprising an end effector (4) and a fruit conveying device, wherein the end effector (4) comprises a hemispherical finger (13), a swing rod (19), a hemispherical finger rotating shaft (15), a connecting rod (20), a linear moving part (21) and a rack (18), and the end effector (4) is linearly symmetrical relative to the linear moving part (21); the straight moving piece (21) is arranged on the rack (18), the straight moving piece (21) is hinged to one end of a connecting rod (20), the other end of the connecting rod (20) is hinged to the middle rear portion of a swing rod (19), one end, close to the connecting rod (20), of the swing rod (19) is hinged to the rack (18), the other end of the swing rod (19) is fixed to the tail end of the hemispherical finger (13), a hemispherical finger rotating shaft (15) is arranged at the position, close to the tail end, of the hemispherical finger (13), and a short blade (21) is arranged at the front end of the hemispherical finger (13).
2. The robotic picking recovery system according to claim 1, characterized in that the fruit conveying device comprises a scraper conveyor (6) and a conveying hose (8), wherein an end of the scraper conveyor (6) remote from the end effector (4) is aligned with an upper mouth of the conveying hose (8).
3. The robotic picking recovery system according to claim 2, characterised in that the fruit conveying device further comprises an outer side plate (7), the outer side plate (7) being parallel to the scraper conveyor (6) and located on the upper side of the scraper conveyor (6), the end of the outer side plate (7) remote from the end effector (4) being connected to the upper mouth of the conveying hose (8).
4. The robotic picking recovery system according to claim 1, characterized in that an inner transition curve (26) is provided between the short blades (12) and the inner wall of the hemispherical fingers (13).
5. The robotic picking recovery system according to claim 1, wherein the end of the swing link (19) near the link (20) is hinged to the frame (18) by a swing link shaft (17).
6. The robotic picking recovery system of claim 1, wherein the inner and outer walls of the hemispherical fingers (13) are spherical, the radius R of the inner hemispherical surface (25) satisfying: k is a radical of1Rmax≤R≤k2RmaxWherein k is1As confidence, k2To control the coefficient, RmaxIs the maximum radius of the fruit.
7. A method of operation of a robotic picking recovery system according to claims 1-6 comprising the steps of:
firstly, the robot picking and recovering system (3) moves to the position above the tree crown (1) and is obliquely and downwards aligned to the tree crown (1), and the hemispherical finger (13) is located at a hemispherical finger opening position (12);
step two, acquiring a fruit growing position (10), and controlling a robot picking and recovering system (3) to align to the fruit (2);
step three, the robot picking and recovering system (3) is close to the fruits (2), so that the fruits (2) enter between an upper hemispherical finger and a lower hemispherical finger (13) of the end effector (4);
fourthly, the straight moving piece (21) drives the swing rod (19) to swing outwards through the connecting rod (20), and the swing rod (19) further drives the hemispherical finger (13) to rotate inwards around the hemispherical finger rotating shaft (15) to be folded;
fifthly, when the inner walls of the upper hemispherical finger and the lower hemispherical finger (13) contact the fruit (2), the hemispherical fingers (13) are positioned at a hemispherical finger fruit-holding position (11), and the two hemispherical fingers (13) are folded and simultaneously push the fruit (2) to move upwards and quickly along the central line of the end effector (4);
sixthly, when the upper hemispherical finger and the lower hemispherical finger (13) are continuously folded to the hemispherical finger closed cutting position (14), the short blade (12) cuts the fruit stem (9), and the two hemispherical fingers (13) are quickly folded to push the fruit (2) obliquely upwards, so that the fruit (2) reaches the fruit pop-up position (27);
seventhly, the fruits (2) are popped up on the fruits (27) and fall into a scraper conveyor (6) and are conveyed to a fruit box through a conveying hose (8).
CN202011280149.1A 2020-11-16 2020-11-16 Robot picking and recycling system and operation method for mandarin orange fruits Active CN112470708B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112997694A (en) * 2021-03-26 2021-06-22 江苏大学 Robot end effector for picking fruit flat-leaved stalks and operation method

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FR2611423B1 (en) * 1987-02-25 1991-05-03 Andre Jean GRIPPING DEVICE FOR ATTACHING OBJECTS ON THE GROUND OR IN TREES
CN206651045U (en) * 2017-04-25 2017-11-21 江西硕丰果业开发有限公司 A kind of sweet shaddock picker
CN208095243U (en) * 2018-04-27 2018-11-16 中国农业科学院麻类研究所 A kind of Picker arm
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CN109168615A (en) * 2018-09-12 2019-01-11 浙江工业大学 A kind of extension type umbrella shape orange Picker arm
CN209291559U (en) * 2018-11-21 2019-08-23 长安大学 A kind of dry fruit conveyer

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Publication number Priority date Publication date Assignee Title
AU7218487A (en) * 1983-11-15 1988-10-27 Sami Elkharaldy Domestic fruit harvester
FR2611423B1 (en) * 1987-02-25 1991-05-03 Andre Jean GRIPPING DEVICE FOR ATTACHING OBJECTS ON THE GROUND OR IN TREES
CN206651045U (en) * 2017-04-25 2017-11-21 江西硕丰果业开发有限公司 A kind of sweet shaddock picker
CN208095243U (en) * 2018-04-27 2018-11-16 中国农业科学院麻类研究所 A kind of Picker arm
CN109168615A (en) * 2018-09-12 2019-01-11 浙江工业大学 A kind of extension type umbrella shape orange Picker arm
CN109105001A (en) * 2018-10-18 2019-01-01 石河子大学 A kind of bergamot pear terminal executor of picking robot and picking method
CN209291559U (en) * 2018-11-21 2019-08-23 长安大学 A kind of dry fruit conveyer

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刘继展等: "枝上柑橘果实深度球截线识别方法", 《农业机械学报》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112997694A (en) * 2021-03-26 2021-06-22 江苏大学 Robot end effector for picking fruit flat-leaved stalks and operation method

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