CN113016357A - All-terrain picking robot - Google Patents
All-terrain picking robot Download PDFInfo
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- CN113016357A CN113016357A CN202110289984.XA CN202110289984A CN113016357A CN 113016357 A CN113016357 A CN 113016357A CN 202110289984 A CN202110289984 A CN 202110289984A CN 113016357 A CN113016357 A CN 113016357A
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an all-terrain picking robot and a picking method thereof, the all-terrain picking robot comprises a frame, two rear driving assemblies, two front axle assemblies, a manipulator component, a control module and a power module, wherein the two sides of the rear part and the front part of the frame are respectively provided with a rear wheel and an independently driven front wheel, the rear wheel is connected with the rear part of the frame through the corresponding rear driving assembly, the front wheel is flexibly connected with the front part of the frame through the corresponding front axle assembly, the manipulator component is arranged at the top of the frame, the control module is respectively electrically connected with the rear driving assembly and the front axle assembly, and the control module is electrically connected with the manipulator component. The robot is driven to walk and turn by the rear driving assembly and the front axle assembly respectively, the robot moves and grabs by the manipulator assembly to complete fruit picking, the front wheels are flexibly connected with the front part of the frame by the corresponding front axle assembly, and the front axle assembly can be dynamically adjusted according to uneven terrains to better adapt to picking operation under different terrains and slopes.
Description
Technical Field
The invention relates to the technical field of picking robots, in particular to an all-terrain picking robot.
Background
Agricultural automation is a very important direction in the field of agricultural engineering, and with the development of machine vision technology (artificial intelligence), related technologies have been applied to the fields of quality detection and classification of farm products, growth environment control of agricultural products and the like to a certain extent. However, in the field of agricultural harvesting, although research has been started abroad, the application in actual agricultural production is not many. At present, the application of machine vision in agriculture in our country is largely focused on the detection field of agricultural products, only few scholars apply the technology to the picking field of farm products, agricultural picking robots have been developed for decades from appearance to date, but mature commercial products are lacking at present, our country is a big agricultural country, agricultural automation equipment has important significance for realizing 'precision agriculture' technology, so that how to apply the latest artificial intelligence directional research results to the automatic picking field in the agricultural automation equipment, and the picking robot with excellent performance is developed.
Disclosure of Invention
The invention aims to solve the technical problem of providing an all-terrain picking robot and a picking method thereof aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: an all-terrain picking robot comprises a frame, two rear driving assemblies, two front axle assemblies, a manipulator component, a control module and a power module, wherein rear wheels and independently driven front wheels are respectively arranged on the rear part and the two sides of the front part of the frame, the rear wheels are connected with the rear part of the frame through the corresponding rear driving assemblies, the front wheels are flexibly connected with the front part of the frame through the corresponding front axle assemblies, when the robot walks on a hollow road, the front wheels drive the front axle assemblies to dynamically rotate relative to the frame, the manipulator component is arranged at the top of the frame, the control module is respectively electrically connected with the rear driving assemblies and the front axle assemblies and can control the rear driving assemblies and/or the front axle assemblies to drive the frame to move, and the control module is electrically connected with the manipulator component, the power module is respectively electrically connected with the rear drive assembly, the front axle assembly, the manipulator assembly and the control module and provides power.
The invention has the beneficial effects that: according to the all-terrain robot, the rear drive assembly and the front axle assembly respectively drive the robot to walk and turn, and the robot moves and grabs through the manipulator assembly to complete fruit picking.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the rear drive assembly comprises two rear wheel suspensions, two rear wheel drive motors and a first damping component, the two rear wheel suspensions are respectively arranged on two sides of the rear portion of the frame, the rear wheel drive motors are arranged on the inner sides of the rear wheel suspensions in a one-to-one correspondence mode, the two rear wheels are arranged on the outer sides of the rear wheel suspensions in a one-to-one correspondence mode, the rear wheel drive motors are connected with the corresponding rear wheels in a transmission mode and can drive the corresponding rear wheels to rotate, the first damping component is arranged between the rear wheel suspensions and the frame, one end of the first damping component is connected with the rear wheel suspensions in a rotating mode, the other end of the first damping component is connected with the frame, and the rear wheel drive motors are electrically connected with the control module.
The beneficial effects of the further scheme are as follows: through the rear wheel that rear wheel driving motor drive corresponds rotates to with the whole walking of front wheel drive robot in the lump, simultaneously first damper can play the shock attenuation effect at the robot walking in-process, guarantee the stability of robot walking.
Further: the front axle assembly comprises a front axle, two front wheel steering motors, two couplers and two fork-shaped second damping assemblies, the front axle is in an arch shape with a high middle part and two low ends, the middle part of the front axle is rotatably connected with one side corresponding to the front part of the frame, two ends of the front axle are respectively provided with an installation seat with a hollow inner part, the two front wheel steering motors are respectively arranged at two ends of the front axle, the driving ends of the front wheel steering motors extend into the corresponding installation seats and are in transmission connection with the upper ends of the corresponding couplers, the two second damping assemblies are respectively arranged at two ends of the front axle and are positioned below the front axle, the upper ends of the second damping assemblies extend into the corresponding installation seats and are in transmission connection with the lower ends of the corresponding couplers, the front wheels are rotatably arranged between the lower ends of the second damping assemblies, the front wheel steering motor can drive the corresponding second damping assembly to drive the corresponding front wheel to rotate through the coupler.
The beneficial effects of the further scheme are as follows: through will the middle part of front axle with the front portion of frame corresponds one side and rotates and is connected to cooperate two front wheels, can self-adaptation its and the angle of frame on the one hand so when the robot walks to uneven road surface, in order to satisfy the picking demand of all-terrain, on the other hand every two front wheels that the front axle cooperation corresponds can make the robot walk stability when the road surface of uneven terrain better, guarantee that the robot accomplishes the picking smoothly.
Further: the middle part of the front axle is provided with a first connecting seat, one side of the front part of the frame corresponding to the front part of the frame is provided with a second connecting seat corresponding to the first connecting seat, the first connecting seat and the second connecting seat are rotatably connected through a rotating shaft, and the first connecting seat and the second connecting seat can rotate through the rotating shaft so as to dynamically adjust the angle between the front axle and the frame according to different terrains.
The beneficial effects of the further scheme are as follows: the first connecting seat and the second connecting seat are rotatably connected through the rotating shaft, so that when the robot walks to uneven road surfaces, the front axle can rotate relative to the frame through the rotating shaft to adaptively adjust the angle between the front axle and the frame, so that the robot can better adapt to the road surfaces of different terrains and guarantee the walking reliability of the robot.
Further: the manipulator assembly comprises two arms cooperating with the manipulator and a rotating seat capable of rotating in the circumferential direction, the rotating seat is arranged at the top of the frame, the manipulators are connected with the base through corresponding mechanical arms, the two manipulators are symmetrically arranged on two sides of the rotating seat, and the mechanical arms can drive the corresponding manipulators to move and grab fruits or cut branches and leaves at the end parts of the fruits.
The beneficial effects of the further scheme are as follows: the rotating seat can drive the mechanical arm to move, pick fruits or cut branches and leaves at the end parts of the fruits, so that the fruits are picked from fruit trees smoothly, the automatic picking of the fruits can be realized by matching the walking of a robot, the picking efficiency is greatly improved, and the manual strength is reduced.
Further: the all-terrain picking robot further comprises a collecting frame, the collecting frame is arranged on the frame, and the mechanical arm can drive the corresponding mechanical arm to move so as to place the grabbed fruits into the collecting frame.
The beneficial effects of the further scheme are as follows: through setting up the collection frame can be convenient the fruit that the manipulator will snatch is put into in the collection frame, the follow-up batch of being convenient for concentrates the transfer, improves and picks efficiency.
Further: the rear driving assembly, the front axle assembly and the manipulator assembly are detachably arranged on the frame respectively.
The beneficial effects of the further scheme are as follows: through with back drive assembly, front axle assembly and manipulator subassembly can dismantle the setting respectively and be in on the frame, can install respectively and dismantle to every part like this, also make things convenient for follow-up maintenance and maintenance greatly.
Further: the all-terrain picking robot further comprises an acquisition module, the acquisition module is arranged on the frame and is electrically connected with the control module and used for acquiring environment information of a picking field and pose information of the robot;
the control module is used for calculating picking path information of the picking robot according to the environment information of the picking field and the pose information of the robot and generating a control instruction;
and the control module is used for controlling the rear drive assembly and the front axle assembly to respectively drive the corresponding rear wheels and front wheels to move and turn according to the control instruction so as to control the robot to walk according to the picking path, and is also used for controlling the double-arm manipulator assembly to move according to the control instruction so as to finish picking fruits.
The beneficial effects of the further scheme are as follows: the picking path is calculated by analyzing the environmental information of the picking field and the pose information of the robot through the acquisition module, so that the robot is controlled to walk according to the picking path and is simultaneously controlled to pick fruits through the manipulator assembly, full-automatic picking is realized, the picking cost is greatly reduced, and the picking efficiency is improved.
The invention also provides a picking method of the all-terrain picking robot, and the method comprises the following steps of:
the collecting module collects environmental information of a picking field and pose information of the robot;
the control module is used for calculating picking path information of the picking robot according to the environment information of the picking field and the pose information of the robot and generating a control instruction;
and the control module controls the rear drive assembly and the front axle assembly to respectively drive the corresponding rear wheels and front wheels to move and turn according to the control instruction so as to control the robot to walk according to the picking path, and controls the double-arm manipulator assembly to move according to the control instruction so as to finish picking fruits.
According to the picking method of the all-terrain picking robot, the collection module can collect the environmental information of the picking field and the pose information of the robot in real time, so that the control module analyzes the environmental information of the picking field and the pose information of the robot and calculates the picking path, the robot is controlled to walk according to the picking path, and the manipulator assembly is controlled to pick fruits, so that full-automatic picking is realized, the picking cost is greatly reduced, and the picking efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of an all-terrain picking robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a vehicle frame according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a rear drive assembly according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a front axle assembly according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a front axle assembly obstacle crossing according to an embodiment of the present invention;
FIG. 6 is a schematic view of a wheel arrangement according to an embodiment of the present invention;
FIG. 7 is a schematic view of a steering control according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a frame, 2, a rear driving assembly, 3, a front axle assembly, 4, a manipulator assembly, 5 and a collecting frame;
21. rear wheel suspension 22, rear wheel drive motor 23, first shock absorbing assembly 24, rear wheel 31, front axle 32, front wheel 33, front wheel steering motor 34, coupling 35, second shock absorbing assembly 41, rotary seat 42, manipulator 43 and mechanical arm.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an all-terrain picking robot comprises a frame 1, two rear driving assemblies 2, two front axle assemblies 3, a manipulator assembly 4, a control module and a power module, wherein rear wheels 24 and independently driven front wheels 32 are respectively arranged on two sides of the rear part and the front part of the frame 1, the rear wheels 24 are connected with the rear part of the frame 1 through the corresponding rear driving assemblies 2, the front wheels 32 are flexibly connected with the front part of the frame 1 through the corresponding front axle assemblies 3, when the robot walks on a pothole road surface, the front wheels 32 drive the front axle assemblies 3 to dynamically rotate relative to the frame 1, the manipulator assembly 4 is arranged on the top of the frame 1, the control module is respectively electrically connected with the rear driving assemblies 2 and the front axle assemblies 3 and can control the rear driving assemblies 2 and/or the front axle assemblies 3 to drive the frame 1 to move, the control module is electrically connected with the mechanical arm component 4 and can control the mechanical arm component 4 to move so as to complete fruit picking, and the power supply module is electrically connected with the rear drive assembly 2, the front axle assembly 3, the mechanical arm component 4 and the control module respectively and provides power.
According to the all-terrain robot, the rear drive assembly 2 and the front axle assembly 3 respectively drive the robot to walk and turn, and the robot moves and grabs through the manipulator component 4 to complete fruit picking, the whole robot is simple in structure and convenient to install and maintain through modular design, the front wheels 32 are flexibly connected with the front part of the frame 1 through the corresponding front axle assemblies 3, so that the front axle assembly 3 can be dynamically adjusted according to uneven terrains to better adapt to picking operation under different terrains and slopes, the rear wheels 24 and the front wheels 32 are respectively and independently controlled, the escaping capability is high, and fruit picking can be efficiently completed.
As shown in fig. 2, in the embodiment of the present invention, the vehicle frame 1 is a main load-bearing structure, receives loads from the road surface and the robot arm assembly 4, and is a main load-bearing part of the all-terrain robot. The strength and rigidity requirements of the all-terrain vehicle are comprehensively considered, meanwhile, the light weight principle is adopted, the frame 1 is formed by integrally welding high-strength square steel, and meanwhile, installation interfaces of modules such as the rear drive assembly 2, the front axle assembly 3 and the manipulator assembly 4 are arranged, so that the all-terrain vehicle is convenient to install and disassemble.
In the invention, the placing areas of the control module and the power module are reserved in the frame 1, and the position of each mounting interface is respectively provided with a reinforcing structure, so that the structural strength of the robot is ensured, the internal space is maximally utilized, and the layout is compact and reasonable.
In one or more embodiments of the present invention, as shown in fig. 3, the rear drive assembly 2 includes two rear wheel suspensions 21, two rear wheel drive motors 22 and a first shock absorbing assembly 23, the two rear wheel suspensions 21 are respectively disposed at both sides of the rear portion of the frame 1, the rear wheel driving motors 22 are correspondingly arranged at the inner sides of the rear wheel suspensions 21 one by one, the two rear wheels 24 are correspondingly arranged at the outer sides of the rear wheel suspensions 21 one by one, and the rear wheel driving motors 22 are in transmission connection with the corresponding rear wheels 24, and can drive the corresponding rear wheel 24 to rotate, the first shock absorption assembly 23 is arranged between the rear wheel suspension 21 and the vehicle frame 1, and one end of the first damping component 23 is rotatably connected with the rear wheel suspension 21, the other end is connected with the frame 1, and the rear wheel driving motor 22 is electrically connected with the control module. The rear wheel driving motor 22 drives the corresponding rear wheel 24 to rotate, so that the robot is driven to integrally walk together with the front wheel 32, and meanwhile, the first damping component 23 can play a damping effect in the walking process of the robot, and the walking stability of the robot is ensured. For example, when the vehicle encounters a single wheel slip through a pothole, the control module can control and reduce the power output of the rear wheel drive motor 22 on the slipping side and increase the power output of the rear wheel drive motor 22 on the opposite side, so that the all-terrain working capacity of the all-terrain vehicle can be greatly enhanced.
In practice, the requirements of all terrain are fully considered, each group of rear drive assemblies 2 comprises a first damping component 23 formed by two spring dampers, the trafficability and the damping performance of the hollow road surface are guaranteed, each all-terrain vehicle comprises two groups of rear drive assemblies 2, and each group of assemblies and the vehicle frame are respectively provided with a mounting interface, so that the mounting and the replacement are convenient.
As shown in fig. 4, in one or more embodiments of the present invention, the front axle assembly 3 includes a front axle 31, two front wheel steering motors 33, two couplers 34, and two fork-shaped second shock absorbing assemblies 35, the front axle 31 is in an arch shape with a high middle and two low ends, the middle of the front axle 31 is rotatably connected to one corresponding side of the front portion of the frame 1, two ends of the front axle 31 are respectively provided with a hollow mounting seat, the two front wheel steering motors 33 are respectively arranged at two ends of the front axle 31, a driving end of the front wheel steering motor 33 extends into the corresponding mounting seat and is in transmission connection with an upper end of the corresponding coupler 34, the two second shock absorbing assemblies 35 are respectively arranged at two ends of the front axle 1 and are located below the front axle 31, an upper end of the second shock absorbing assembly 35 extends into the corresponding mounting seat and is in transmission connection with a lower end of the corresponding coupler 34, the front wheel 32 is rotatably arranged between the lower ends of the second shock absorption assemblies 35, and the front wheel steering motor 33 can drive the corresponding second shock absorption assemblies 35 to drive the corresponding front wheels 32 to rotate through the shaft couplings 34. Through with the middle part of front axle 31 with the anterior corresponding one side of frame 1 rotates to be connected to cooperate two front wheels 32, so on the one hand can the front axle 31 self-adaptation adjust its and frame 1's angle when the robot walks to uneven road surface, in order to satisfy the picking demand of all-terrain, on the other hand every two front wheels 32 that the front axle 31 cooperation corresponds can make the robot walk stability when the road surface of uneven terrain better, guarantee that the robot accomplishes picking smoothly.
Here, every group front axle assembly 3 structure is unanimous, front axle assembly 3 comprises front axle 31, two front wheel steering motors 33 and two forked type second shock attenuation subassemblies 35, consider the requirement of full topography, front axle assembly 2 is the independent suspension structure also, every group front axle assembly comprises two second shock attenuation subassemblies 35 of 2 four spring shock absorbers, two sets of front axle assemblies 2 are the flexonics through front axle 21 and frame 1 simultaneously, can be according to the angle between different slope requirements self-adaptation adjustment front axle 21 and frame 1, the trafficability characteristic and the off-road ability of climbing of all terrain vehicle on complicated road surface have been strengthened greatly, every group front axle assembly 2 is equipped with the installing port with frame 1, easy to assemble and change. In addition, here, the front wheel 32 is provided with a private clothes motor and an electronic brake, which are respectively electrically connected with the control module, and the control module controls the walking and steering of the front wheel, including controlling the linear speed and steering angle of the front wheel and the opening and closing of the electronic brake.
The all-terrain picking robot fully considers the requirements of all terrains, such as special road conditions of pothole pavements, mountainous regions, sandy lands and the like, and simultaneously ensures the stability requirement of the manipulator assembly 4 in the fruit picking process, adopts a six-wheel independent suspension structure, the six wheels are all driven by independent motors, the four front wheels 32 at the front part are used as the front walking mechanism of the frame 1, each front wheel 32 is respectively provided with a walking motor for driving the front wheel to rotate, the rear wheel 24 is driven to rotate by the corresponding rear wheel driving motor 22, and the front wheel steering motor 33 is matched to drive the corresponding front wheel 32 to steer, so that the normal walking and steering of the robot can be realized.
As shown in fig. 5, which is a schematic obstacle crossing diagram of the picking robot of the present invention, as shown in the figure, a steep slope with inconsistent left and right angles and a larger slope is provided, the all-terrain robot is designed by a flexible front axle, the left and right front axles 21 automatically adjust angles according to different slopes to adapt to road conditions, and the six wheels are independent suspensions, so that the robot has good shock absorption and trafficability.
In one or more embodiments of the present invention, a first connecting seat is disposed in a middle portion of the front axle 31, a second connecting seat corresponding to the first connecting seat is disposed on a side corresponding to a front portion of the frame 1, the first connecting seat and the second connecting seat are rotatably connected by a rotating shaft, and the first connecting seat and the second connecting seat can rotate by the rotating shaft, so as to dynamically adjust an angle between the front axle 31 and the frame 1 according to different terrains. The first connecting seat and the second connecting seat are rotatably connected through the rotating shaft, so that when the robot walks to uneven road surfaces, the front axle 31 can rotate relative to the frame 1 through the rotating shaft to adaptively adjust the angle between the front axle and the frame 1, so that the robot can better adapt to the road surfaces of different terrains, and the walking reliability of the robot is ensured.
In one or more embodiments of the present invention, the manipulator assembly 4 includes a dual-arm cooperative manipulator composed of two manipulators 42 and a rotating seat 41 capable of rotating circumferentially, the rotating seat 41 is disposed on the top of the frame 1, the manipulators 42 are connected to the base 41 through corresponding manipulators 43, and the two manipulators 42 are symmetrically disposed on both sides of the rotating seat 41, and the manipulators 43 can drive the corresponding manipulators 42 to move and grab the fruit or cut branches and leaves at the end of the fruit. The rotating seat 41 can drive the mechanical arm 42 to move, pick fruits or cut branches and leaves at the end parts of the fruits, so that the fruits are picked from fruit trees smoothly, the automatic picking of the fruits can be realized by matching with the walking of a robot, the picking efficiency is greatly improved, and the labor intensity is reduced.
In order to ensure the high efficiency of picking operation and the damage to fruits, the picking manipulator of the all-terrain picking robot uses a double-arm cooperative manipulator, one manipulator 42 is responsible for picking fruits and putting the picked fruits into the collecting basket 5, and the other manipulator 42 is responsible for shearing branches and leaves at the end parts of the fruits. The frame 1 is provided with a mounting hole position, and the manipulator assembly 4 and the collecting basket 5 are detachably mounted on the frame 1 through the mounting hole position.
Optionally, in one or more embodiments of the present invention, the all-terrain picking robot further includes a collection frame 5, the collection frame 5 is disposed on the vehicle frame 1, and the robot arm 43 drives the corresponding robot arm 42 to move so as to place the grabbed fruit into the collection frame 5. Through the arrangement of the collecting frame 5, the mechanical arm 42 can conveniently place the grabbed fruits into the collecting frame 5, so that the subsequent batch centralized transfer is facilitated, and the picking efficiency is improved.
Optionally, in one or more embodiments of the present invention, the rear driving assembly 2, the front axle assembly 3 and the robot assembly 4 are detachably disposed on the vehicle frame 1, respectively. Through with rear drive assembly 2, front axle assembly 3 and manipulator subassembly 4 can dismantle the setting respectively and be in on the frame 1, can install respectively and dismantle to every part like this, also make things convenient for follow-up maintenance and maintenance greatly.
In one or more embodiments of the invention, the all-terrain picking robot further comprises an acquisition module, the acquisition module is arranged on the vehicle frame 1, and the acquisition module is electrically connected with the control module and is used for acquiring environment information of a picking field and pose information of the robot;
the control module is used for calculating picking path information of the picking robot according to the environment information of the picking field and the pose information of the robot and generating a control instruction;
and the control module is used for controlling the rear drive assembly 2 and the front axle assembly 3 to respectively drive the corresponding rear wheels 24 and the corresponding front wheels 32 to move and turn according to the control instruction so as to control the robot to walk according to the picking path, and is also used for controlling the double-arm manipulator assembly 4 to move according to the control instruction so as to finish picking fruits.
The collecting module can collect the environment information of the picking field and the pose information of the robot in real time, so that the control module analyzes the environment information of the picking field and the pose information of the robot and calculates a picking path, the robot is controlled to walk according to the picking path, and the manipulator assembly 4 is controlled to pick fruits, so that full-automatic picking is realized, the picking cost is greatly reduced, and the picking efficiency is improved.
Here, the acquisition module includes an inertial navigation module: providing the robot with GPS absolute coordinates (longitude and latitude signals) and relative position coordinates (calculating the pose of the robot from declination signals);
a vision module: the robot obtains surrounding environment information, can update picking targets in the environment and complete a path planning algorithm;
a photoelectric sensor module: providing information for acquiring the picking target quantity for the robot, and optimizing the robot on a calculation path planning algorithm;
the motor driving and coding module: and the motion control and the speed measurement of the robot are realized.
In the operation process of the all-terrain picking robot, the position information of the robot is collected, the vision module is used for sending the collected image information to the operation unit of the control module, the robot creates or modifies the environment information by using the image information, a control instruction is generated to a motion control unit in the control module through related algorithms such as position comparison, path planning and the like, the motion control unit receives the control instruction of a sensor (such as a photoelectric sensing module) of functional hardware while receiving the instruction transmitted by the operation unit, and the control instruction is generated to a corresponding driving motor after comprehensive processing, so that the autonomous decision and autonomous control of a robot platform are completed.
As shown in fig. 6 and 7, when turning, the turning angle and the turning linear velocity of each wheel are different depending on the structure of the robot. The following strategies are adopted for steering during steering: and when the vehicle turns to the left, 1 wheel is the target steering angle and the target steering speed, the rest wheels are calculated according to 1 wheel, when the vehicle turns to the right, 6 wheels are the target steering angle and the target steering speed, and the rest wheels are calculated according to 6 wheels. When steering left, the model is as follows, the input quantity is steering angle theta and steering speed V. The fixed parameters include the width W of the frame (chassis) and the front spacing LfRear spacing Lb. The output being the angle theta of each wheelxAnd linear velocity V of each wheelxWherein R isxCorresponding to the turning radius of the wheels.
According to the steering rules and the steering model, the following steps are known:
θ1＝θ,V1＝V
θ3＝0,V3＝R3·ω
θ4＝0,V4＝(R3+W)·ω
similarly, in the right steering, there are the steering angle θ and the steering speed V as model input quantities. The fixed parameters comprise the width W of a vehicle frame (chassis) and the front spacing LfRear spacing Lb. The output being the angle theta of each wheelxAnd linear velocity V of each wheelx：
According to the steering rules and the steering model, the following steps are known:
θ3＝0,V3＝(R4+W)·ω
θ4＝0,V4＝R4·ω
θ6＝θ,V6＝V
according to the steering principle and the model, when the robot controls steering, the controller calculates the steering angle and the linear velocity of each wheel according to the actual model parameters of the robot, dynamically controls the state of each wheel, and finally realizes the overall control of the robot, and when the robot does not steer, the steering angle of each wheel is 0 and the velocity is equal to the target velocity.
The all-terrain picking robot provided by the invention can automatically pick fruits with certain shapes and sizes under all-terrain conditions, and can realize automatic picking by combining machine vision, a manipulator and an all-terrain vehicle, so that the picking requirements under different working conditions are met, and the working range of automatic agricultural picking is greatly widened.
The invention also provides a picking method of the all-terrain picking robot, and the method comprises the following steps of:
the collecting module collects environmental information of a picking field and pose information of the robot;
the control module is used for calculating picking path information of the picking robot according to the environment information of the picking field and the pose information of the robot and generating a control instruction;
and the control module controls the rear drive assembly 2 and the front axle assembly 3 to respectively drive the corresponding rear wheels 24 and front wheels 32 to move and turn according to the control instruction so as to control the robot to walk according to the picking path, and controls the double-arm manipulator assembly 4 to move according to the control instruction so as to finish picking fruits.
According to the picking method of the all-terrain picking robot, the collection module can collect the environmental information of the picking field and the pose information of the robot in real time, so that the control module analyzes the environmental information of the picking field and the pose information of the robot and calculates the picking path, the robot is controlled to walk according to the picking path, and the manipulator assembly 4 is controlled to pick fruits, so that full-automatic picking is realized, the picking cost is greatly reduced, and the picking efficiency is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The all-terrain picking robot is characterized by comprising a frame (1), two rear driving assemblies (2), two front axle assemblies (3), a manipulator assembly (4), a control module and a power module, wherein rear wheels (24) and independently driven front wheels (32) are respectively arranged on the two sides of the rear part and the front part of the frame (1), the rear wheels (24) are connected with the rear part of the frame (1) through the corresponding rear driving assemblies (2), the front wheels (32) are flexibly connected with the front part of the frame (1) through the corresponding front axle assemblies (3), when a robot walks on a pothole road surface, the front wheels (32) drive the front axle assemblies (3) to dynamically rotate relative to the frame (1), the manipulator assembly (4) is arranged at the top of the frame (1), and the control module is respectively electrically connected with the rear driving assemblies (2) and the front axle assemblies (3), the rear drive assembly (2) and/or the front axle assembly (3) can be controlled to drive the frame (1) to move, the control module is electrically connected with the manipulator assembly (4) and can control the manipulator assembly (4) to move so as to complete fruit picking, and the power supply module is respectively electrically connected with the rear drive assembly (2), the front axle assembly (3), the manipulator assembly (4) and the control module and provides power.
2. The all-terrain picking robot according to claim 1, characterized in that the rear drive assembly (2) comprises two rear wheel suspensions (21), two rear wheel drive motors (22) and a first shock absorption assembly (23), the two rear wheel suspensions (21) are respectively arranged at two sides of the rear part of the frame (1), the rear wheel drive motors (22) are correspondingly arranged at the inner sides of the rear wheel suspensions (21), the two rear wheels (24) are correspondingly arranged at the outer sides of the rear wheel suspensions (21), the rear wheel drive motors (22) are in transmission connection with the corresponding rear wheels (24) and can drive the corresponding rear wheels (24) to rotate, the first shock absorption assembly (23) is arranged between the rear wheel suspensions (21) and the frame (1), and one end of the first shock absorption assembly (23) is in rotation connection with the rear wheel suspensions (21), the other end is connected with the frame (1), and the rear wheel driving motor (22) is electrically connected with the control module.
3. The all-terrain picking robot according to claim 1, characterized in that the front axle assembly (3) comprises a front axle (31), two front wheel steering motors (33), two couplers (34) and two fork-shaped second shock absorption assemblies (35), the front axle (31) is in an arch shape with a high middle and two low ends, the middle part of the front axle (31) is rotatably connected with one side corresponding to the front part of the frame (1), two ends of the front axle (31) are respectively provided with an installation seat with a hollow inner part, the two front wheel steering motors (33) are respectively arranged at two ends of the front axle (31), the driving ends of the front wheel steering motors (33) extend into the corresponding installation seats and are in transmission connection with the upper ends of the corresponding couplers (34), the two second shock absorption assemblies (35) are respectively arranged at two ends of the front axle (1) and are positioned below the front axle (31), the upper end of second damper (35) stretches into correspondingly in the mount pad, and with correspond the lower extreme transmission of shaft coupling (34) is connected, it is equipped with to rotate between the lower extreme of second damper (35) front wheel (32), front wheel steering motor (33) accessible shaft coupling (34) drive corresponds second damper (35) drive corresponds front wheel (32) rotate.
4. The all-terrain picking robot according to claim 3, characterized in that a first connecting seat is arranged in the middle of the front axle (31), a second connecting seat corresponding to the first connecting seat is arranged on one side corresponding to the front part of the frame (1), the first connecting seat and the second connecting seat are rotatably connected through a rotating shaft, and the first connecting seat and the second connecting seat can rotate through the rotating shaft, so that the angle between the front axle (31) and the frame (1) can be dynamically adjusted according to different terrains.
5. The all-terrain picking robot according to claim 1, characterized in that the manipulator assembly (4) comprises a double-arm cooperative manipulator consisting of two manipulators (42) and a rotating seat (41) capable of rotating in the circumferential direction, the rotating seat (41) is arranged at the top of the frame (1), the manipulators (42) are connected with the base (41) through corresponding mechanical arms (43), the two manipulators (42) are symmetrically arranged at two sides of the rotating seat (41), and the mechanical arms (43) can drive the corresponding manipulators (42) to move and grab fruits or cut branches and leaves at the end parts of the fruits.
6. The all terrain picking robot of claim 5, characterized by further comprising a collection frame (5), the collection frame (5) being disposed on the carriage (1), and the robotic arms (43) being capable of driving the corresponding robot arms (42) in motion to deposit the gripped fruit into the collection frame (5).
7. The all-terrain picking robot according to claim 1, characterized in that the rear drive assembly (2), the front axle assembly (3) and the manipulator assembly (4) are detachably arranged on the vehicle frame (1) respectively.
8. The all-terrain picking robot according to any one of claims 1-7, characterized by further comprising an acquisition module, wherein the acquisition module is arranged on the vehicle frame (1), is electrically connected with the control module and is used for acquiring environment information of a picking field and pose information of the robot;
the control module is used for calculating picking path information of the picking robot according to the environment information of the picking field and the pose information of the robot and generating a control instruction;
and the control module is used for controlling the rear drive assembly (2) and the front axle assembly (3) to respectively drive the corresponding rear wheels (24) and front wheels (32) to move and turn according to the control instruction so as to control the robot to walk according to the picking path, and is also used for controlling the double-arm manipulator assembly (4) to move according to the control instruction so as to finish picking fruits.
9. A picking method of an all-terrain picking robot based on any one of claims 1 to 8, characterized in that the method comprises the following steps:
the collecting module collects environmental information of a picking field and pose information of the robot;
the control module is used for calculating picking path information of the picking robot according to the environment information of the picking field and the pose information of the robot and generating a control instruction;
and the control module controls the rear drive assembly (2) and the front axle assembly (3) to respectively drive the corresponding rear wheels (24) and front wheels (32) to move and turn according to the control instruction so as to control the robot to walk according to the picking path, and controls the double-arm manipulator assembly (4) to move according to the control instruction so as to finish picking fruits.
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| WO2023226389A1 (en) * | 2022-05-24 | 2023-11-30 | 浙大城市学院 | Eccentric hemisphere wheel-type self-adaptive robot |
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