CN112720529A

CN112720529A - Multi-mechanical-arm cooperation harvesting robot

Info

Publication number: CN112720529A
Application number: CN202011592180.9A
Authority: CN
Inventors: 马伟; 杨其长
Original assignee: Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Current assignee: Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-04-30
Anticipated expiration: 2040-12-29
Also published as: CN112720529B

Abstract

The utility model relates to an intelligent agriculture equips technical field, especially relates to a multimachine arm cooperation harvesting robot. The multi-mechanical-arm cooperative harvesting robot comprises a mounting frame, and an identification truss, a harvesting truss and a grading truss which are arranged on the mounting frame; the identification truss is provided with an identification device for identifying target vegetables; a harvesting manipulator for harvesting the identified target vegetables is arranged on the harvesting truss; and the grading truss is provided with a grading manipulator for grading the harvested target vegetables. The multi-mechanical-arm cooperative harvesting robot can be used for harvesting vegetables to finish the operations of identification, harvesting and sorting once, and secondary operation is avoided, so that the problem of vegetable damage caused by secondary operation is avoided; the multi-mechanical-arm cooperation harvesting robot is suitable for harvesting vegetables such as lettuce, Chinese cabbage and cauliflower which are industrially cultivated, and is wide in applicability.

Description

Multi-mechanical-arm cooperation harvesting robot

Technical Field

The utility model relates to an intelligent agriculture equips technical field, especially relates to a multimachine arm cooperation harvesting robot.

Background

The vegetable factory harvesting is a link consuming manpower and material resources, the traditional vegetable (such as lettuce, Chinese cabbage, cauliflower and the like) harvesting mainly depends on manpower, and the trend of mechanization is inevitable. However, the single robot for harvesting also has secondary operation of sorting, which causes damage to the vegetable leaves.

Disclosure of Invention

To solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides a multi-robot cooperative harvesting robot.

The utility model provides a multi-mechanical-arm cooperation harvesting robot, which comprises a mounting rack, and an identification truss, a harvesting truss and a grading truss which are arranged on the mounting rack; the identification truss is provided with an identification device for identifying target vegetables; a harvesting manipulator for harvesting the identified target vegetables is arranged on the harvesting truss; and the grading truss is provided with a grading manipulator for grading the harvested target vegetables.

Optionally, install the supporter that is used for placing the target vegetables of harvest on the mounting bracket, be equipped with on the supporter and be used for detecting hierarchical detection device to the target vegetables of placing.

Optionally, at least two grading conveyor belts are installed on the installation frame, and the grading manipulator is used for placing the target vegetables on the storage rack on the corresponding grading conveyor belt according to the detection result of the detection device.

Optionally, the grading conveyor belt is arranged to be inclined downwards in a direction from a start end to an end of the grading conveyor belt, and the end of the grading conveyor belt is used for containing and receiving the shipping boxes.

Optionally, a traveling wheel is installed at the bottom of the mounting frame, and a steering gear for controlling the advancing direction of the equipment is arranged on the mounting frame.

Optionally, the quantity of walking wheel is a plurality of, and is a plurality of two walking wheels are a set of for the both sides of the seedbed of cultivation vegetables are provided with the baffle respectively, the walking wheel can walk on the track that the baffle formed.

Optionally, the harvesting manipulator comprises a manipulator body, and a clamping device and a picking blade which are movably mounted on the manipulator body, the clamping device is used for lifting the identified target vegetables, and the picking blade is used for cutting off the roots of the lifted target vegetables.

Optionally, the clamping device comprises two opposite inflatable clamping fingers, and the two clamping fingers rotate horizontally and oppositely by 185 degrees to jointly lift the identified target vegetable.

Optionally, the clamping finger is a flexible member having an inflation cavity for inflating high pressure gas.

Optionally, the recognition device is an image recognition system.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the multi-mechanical-arm cooperative harvesting robot provided by the disclosure has the advantages that the recognition truss, the harvesting truss and the grading truss are mounted on the mounting frame, the recognition device arranged on the recognition truss can be used for recognizing target vegetables (for example, the recognition device can be used for recognizing whether the vegetables are mature or not so as to recognize mature vegetables), the harvesting manipulator on the harvesting truss can be used for harvesting the recognized target vegetables (such as mature vegetables), and the grading manipulator on the grading truss can be used for grading the harvested target vegetables (such as mature vegetables) (for example, sorting the harvested target vegetables according to the high-quality grade of the vegetables), so that the vegetables harvested by the multi-mechanical-arm cooperative harvesting robot can be recognized, harvested and sorted once, secondary operation is avoided, and the problem of vegetable damage caused by secondary operation is reduced; the multi-mechanical-arm cooperation harvesting robot is suitable for harvesting vegetables such as lettuce, Chinese cabbage and cauliflower which are industrially cultivated, and is wide in applicability.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a multi-robot cooperative harvesting robot according to an embodiment of the present disclosure;

fig. 2 is a schematic view of a harvesting manipulator of the multi-manipulator collaborative harvesting robot in a state close to lettuce according to the embodiment of the present disclosure;

fig. 3 is a schematic diagram of states of a harvesting manipulator of the harvesting robot with multiple mechanical arms cooperating to harvest vegetables when the harvesting manipulator picks up and cuts the lettuce.

Wherein, 1-a mounting rack; 2-identifying the truss; 3, harvesting a truss; 4-grading the truss; 5-a recognition device; 6-a harvesting manipulator; 7-grading mechanical arm; 8-a shelf; 9-first-class vegetable grading conveyer belt; conveying the 10-second-class vegetables in a grading manner; 11-shipping boxes; 12-a travelling wheel; 13-a diverter; 14-a baffle; 15-lettuce;

101-a first upright; 102-a second upright; 103-a third column; 104-a beam;

301-a first gripping finger; 302-picking knives; 303-second gripper finger.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

As shown in fig. 1, embodiments of the present disclosure provide a multi-robot cooperative harvesting robot, including: mounting frame 1 and installation are in identification truss 2, harvesting truss 3 and hierarchical truss 4 on mounting frame 1. Wherein, the identification truss 2 is provided with an identification device 5 for identifying target vegetables; a harvesting manipulator 6 for harvesting the identified target vegetables is arranged on the harvesting truss 3; the grading truss 4 is provided with a grading manipulator 7 for grading the harvested target vegetables.

The multi-mechanical-arm cooperative harvesting robot provided by the embodiment of the disclosure has the advantages that the mounting frame 1 is provided with the identification truss 2, the harvesting truss 3 and the grading truss 4, the identification device 5 arranged on the identification truss 2 can be used for identifying target vegetables (for example, can be used for identifying whether the vegetables are mature or not so as to identify the mature vegetables), the harvesting manipulator 6 arranged on the harvesting truss 3 can be used for harvesting the identified target vegetables (such as the mature vegetables), the grading manipulator 7 arranged on the grading truss 4 can be used for grading the harvested target vegetables (such as the mature vegetables) (for example, sorting the harvested target vegetables according to the quality grade of the vegetables), therefore, the multi-mechanical-arm cooperation harvesting robot can harvest vegetables once to complete recognition, harvesting and sorting, and secondary operation is avoided, so that the problem of vegetable damage caused by secondary operation is reduced.

The harvesting robot with the cooperation of the multiple mechanical arms is suitable for harvesting vegetables such as lettuce, Chinese cabbage and cauliflower which are cultivated in factories, and is wide in applicability. In fig. 1, the harvesting robot with multiple coordinated robot arms according to the present disclosure is illustrated only by taking harvesting of lettuce as an example (reference numeral 15 in fig. 1 indicates lettuce), and this is only for assisting in explaining the configuration of the harvesting robot with multiple coordinated robot arms according to the present disclosure, and is not intended to limit the use of the harvesting robot with multiple coordinated robot arms according to the present disclosure.

In some embodiments, as shown in fig. 1, the recognition device 5 is an image recognition system. In specific implementation, images of vegetables (such as lettuce) to be harvested can be collected through an image recognition system, and mature vegetables are recognized from the vegetables to be harvested according to the collected images; and the video of the vegetables to be harvested can be collected through the image recognition system according to the requirement, and the mature vegetables can be recognized from the lettuce to be harvested according to the collected video.

In one embodiment, the image recognition system can recognize whether the lettuce (such as lettuce) to be harvested is mature by adopting two indexes, namely, the diameter of the central circle of the lettuce is between 11.2cm and 12.2 cm; and secondly, the top view projection included angle between the outer contours of the leaves of the lettuce is not more than 45 degrees in the maximum and minimum difference. And if the two indexes are met, judging the identified lettuce to be mature lettuce.

In a specific embodiment, as shown in fig. 1, the mounting rack 1 includes two first columns 101 disposed oppositely, two ends of the identification truss 2 are respectively and fixedly connected to top ends of the two first columns 101, the two first columns 101 are used for supporting the identification truss 2, the identification device 5 is installed at a middle position of the identification truss 2, and the vegetables to be harvested are identified by the identification device 5, so that target vegetables capable of being harvested are identified from the vegetables to be harvested, and subsequent harvesting work is facilitated.

In some embodiments, as shown in fig. 1, a shelf 8 for placing the harvested target vegetables is installed on the mounting rack 1, and a detection device for detecting and grading the placed target vegetables is installed on the shelf 8. During concrete implementation, can utilize detection device to detect the target vegetables of placing on supporter 8, for example this detection device can include weighing sensor, utilizes weighing sensor to weigh the target vegetables (like lettuce) of placing on supporter 8, and the quality of the heavier lettuce of weight is more excellent generally speaking to can carry out hierarchical letter sorting to lettuce according to the weight of lettuce, and then realize once accomplishing the purpose of discernment, gathering and letter sorting. Of course, the detection device is not limited to include a weighing sensor, and may include a detection element capable of detecting whether the leaf of the lettuce is damaged or not, so as to perform sorting on the lettuce in a grading manner according to whether the leaf of the lettuce is damaged or not, and further achieve the purpose of completing identification, harvesting and sorting at one time.

In one embodiment, as shown in fig. 1, the mounting frame 1 includes two second columns 102 disposed opposite to each other, two ends of the harvesting truss 3 are respectively fixedly connected to top ends of the two second columns 102, and the two second columns 102 are used for supporting the harvesting truss 3; the commodity shelf 8 is arranged below the harvesting truss 3, and two ends of the commodity shelf 8 are fixedly connected with the side parts of the two second upright posts 102 respectively. A plurality of harvesting manipulators 6 arranged at intervals are mounted on the harvesting truss 3, a plurality of placing positions corresponding to the harvesting manipulators 6 one to one are arranged on the storage rack 8, and the harvesting manipulators 6 can place harvested vegetables (such as lettuce) on the placing positions corresponding to the harvesting manipulators. Each placing position is provided with a detection sensor (such as a weighing sensor) so as to detect the lettuce placed on the corresponding placing position by using the detection sensor, and the lettuce is graded according to the detection result.

In some embodiments, as shown in fig. 1, at least two grading conveyor belts are installed on the mounting frame 1, and the grading manipulator 7 is configured to place the target vegetables on the shelf 8 on the corresponding grading conveyor belt according to the detection result of the detection device. So can utilize hierarchical manipulator 7 to place the target vegetables of different grades on different hierarchical conveyer belts to the completion is to the letter sorting work of the target vegetables of gathering. In specific implementation, the number of the grading manipulators 7 can be reasonably set according to the number of the grading conveyor belts, for example, the number of the grading manipulators 7 can be equal to the number of the grading conveyor belts, and the same grading manipulator 7 is adopted to sort the target vegetables of the same grade onto the same grading conveyor belt.

In some embodiments, as shown in FIG. 1, the staging conveyor is angled downwardly (e.g., at an angle of 15 degrees) from the beginning to the end of the staging conveyor, which is configured to receive a container 11. The sorted vegetables can be conveyed into the corresponding shipping boxes 11 through the grading conveyor belt, and the sorted vegetables are transported in a turnover mode through the shipping boxes 11.

In a specific embodiment, as shown in fig. 1, the mounting frame 1 includes two third vertical columns 103 disposed oppositely, two ends of the grading truss 4 are fixedly connected to top ends of the two third vertical columns 103, respectively, and the two third vertical columns 103 are used for supporting the grading truss 4; two grading conveyor belts, namely a first-class vegetable grading conveyor belt 9 and a second-class vegetable grading conveyor belt 10, are arranged below the grading truss 4, and two ends of each grading conveyor belt are fixedly connected with the side parts of the two third upright posts 103 respectively. Two grading manipulators 7 are arranged on the grading truss 4 at intervals, wherein one grading manipulator 7 can be used for transporting mature lettuce with good quality into one shipping box 11 through a first-class vegetable grading conveyor belt 9, and the other grading manipulator 7 can be used for transporting mature lettuce which is damaged into the other shipping box 11 through a second-class vegetable grading conveyor belt 10.

In one embodiment, as shown in fig. 1, three trusses, namely, the identification truss 2, the harvesting truss 3 and the grading truss 4, are arranged at intervals and are parallel to each other, the three trusses are connected into a whole through two cross beams 104, one end of each truss is connected with one cross beam 104, and the other end of each truss is connected with the other cross beam 104.

In some embodiments, as shown in fig. 1, the bottom of the mounting frame 1 is provided with road wheels 12, and the mounting frame 1 is provided with a steering gear 13 for controlling the advancing direction of the equipment. The walking wheels 12 are arranged at the bottom of the mounting rack 1, so that the mobile operation is realized, and the harvesting work of vegetables to be harvested at different positions is completed; the steering gear 13 is used for controlling the advancing direction of the multi-mechanical-arm cooperation harvesting robot when the harvesting robot walks on the ground.

In some embodiments, as shown in fig. 1, the number of the walking wheels 12 is multiple, the walking wheels 12 are grouped in pairs, the two sides of the seedbed for cultivating the vegetables are respectively provided with the baffle plates 14, and the walking wheels 12 can walk on the track formed by the baffle plates 14. A seedbed for cultivating vegetables can the multipurpose for as the track, can walk on the track, walking wheel 12 is used for driving this multirobot arm cooperation to gather the robot and walk on the track.

In some embodiments, as shown in fig. 2 and 3, the harvesting robot 6 includes a robot body and a gripping device movably mounted on the robot body for lifting identified target vegetables and a picking blade 302 for shearing off the roots of the lifted target vegetables. During specific implementation, the harvesting manipulator 6 is firstly moved to the position below the target vegetables to be harvested, then the target vegetables to be harvested are lifted by the clamping device, and then the roots of the lifted target vegetables are cut off by the picking knife 302, so that harvesting of the target vegetables to be harvested is achieved.

In one embodiment, as shown in fig. 2 and 3, the gripping device comprises two opposing inflatable gripping fingers (i.e. a first gripping finger 301 and a second gripping finger 303) that are rotated 185 degrees horizontally to lift the identified target vegetable together. Adopt inflatable centre gripping to indicate that the vegetables of treating to gather lift, can reduce the manipulator of gathering and gather the vegetables in-process and cause the damage to vegetables.

In specific implementation, the mechanical harvesting hand 6 is firstly moved to a position below the target vegetable to be harvested, as shown in fig. 2, which is a schematic diagram of a state that the mechanical harvesting hand 6 is close to the target vegetable to be harvested; then, the left clamping finger (i.e. the first clamping finger 301) and the right clamping finger (i.e. the second clamping finger 303) are rotated horizontally and oppositely, for example, the left clamping finger is rotated clockwise by a certain angle (e.g. preset angles such as 185 degrees, 180 degrees, 175 degrees) into the paper surface according to the direction shown in fig. 2, and the right clamping finger is rotated counterclockwise by a certain angle (e.g. preset angles such as 185 degrees, 180 degrees, 175 degrees) into the paper surface according to the direction shown in fig. 2, preferably, the rotation directions of the left clamping finger and the right clamping finger are opposite and the rotation angles are the same, so as to form the state shown in fig. 3, fig. 3 is a schematic diagram of the state when the harvesting manipulator 6 lifts and cuts the lettuce, and the two clamping fingers are used for lifting the target vegetable to be harvested together; then the root of the lifted target vegetable is cut off by the picking knife 302, so that the picking work of the target vegetable to be picked is realized.

It should be noted that, in order to ensure the safety of vegetable harvesting and avoid the picking blade 302 from damaging other parts of the vegetable to be harvested, the picking blade 302 is closed first, reaches the lower part of the target vegetable to be harvested, is opened, then moves forward, and then is closed to cut off the root of the target vegetable to be harvested.

In some embodiments, in order to avoid damage to the vegetables during the harvesting process of the harvesting robot 6, it is preferable that the clamping device of the harvesting robot 6 is a flexible member. In one embodiment, both fingers (i.e., first finger 301 and second finger 303) of the gripping device are flexible members having inflatable chambers for inflating a pressurized gas. Specifically, the high-pressure gas charged may be a high-pressure gas having a pressure value of 2.2 atm or more. The clamping fingers are formed into arm shapes after being inflated by inflating high-pressure gas into the inflating cavities of the clamping fingers. Of course, the clamping device is not limited to the inflatable flexible member, and other flexible members may be used.

In some embodiments, to ensure the lifting effect of the gripping fingers on the vegetable, the gripping fingers are formed as an upwardly projecting arc-shaped structure.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-mechanical-arm cooperative harvesting robot is characterized by comprising a mounting frame, and an identification truss, a harvesting truss and a grading truss which are arranged on the mounting frame;

the identification truss is provided with an identification device for identifying target vegetables;

a harvesting manipulator for harvesting the identified target vegetables is arranged on the harvesting truss;

and the grading truss is provided with a grading manipulator for grading the harvested target vegetables.

2. The multi-mechanical-arm cooperative harvesting robot as claimed in claim 1, wherein a rack for placing the harvested target vegetables is mounted on the mounting rack, and a detection device for detecting and grading the placed target vegetables is arranged on the rack.

3. The multi-mechanical-arm cooperative harvesting robot as claimed in claim 2, wherein at least two grading conveyor belts are mounted on the mounting rack, and the grading mechanical arm is used for placing the target vegetables on the shelf on the corresponding grading conveyor belts according to the detection result of the detection device.

4. The multi-robot cooperative recovery robot of claim 3, wherein the staging conveyor is inclined downwardly in a direction from the beginning to the end of the staging conveyor, the end of the staging conveyor being configured to receive a shipping container.

5. The multi-robot arm cooperative harvesting robot of claim 1, wherein a road wheel is mounted to the bottom of the mounting frame, and a steering gear for controlling the forward direction of the equipment is provided on the mounting frame.

6. The multi-mechanical-arm cooperative harvesting robot as claimed in claim 5, wherein the number of the walking wheels is multiple, the walking wheels are grouped in pairs, baffles are respectively arranged on two sides of a seedbed for cultivating vegetables, and the walking wheels can walk on a track formed by the baffles.

7. The multi-robot-arm cooperative harvesting robot according to any one of claims 1 to 6, wherein the harvesting robot comprises a robot body, and a gripping device and a picking knife movably mounted on the robot body, the gripping device is used for lifting identified target vegetables, and the picking knife is used for cutting off roots of the lifted target vegetables.

8. The multi-arm collaborative harvesting robot of claim 7, wherein the gripping device comprises two opposing inflatable gripping fingers that rotate 185 degrees horizontally in opposite directions to collectively lift the identified target vegetable.

9. The multi-robot cooperative recovery robot of claim 8 wherein the gripping fingers are flexible members having inflatable chambers for inflating high pressure gas.

10. The multi-robot arm collaborative harvesting robot of any of claims 1-6, wherein the recognition device is an image recognition system.