CN113099848B - Picking robot efficient picking, placing and transporting integrated platform and using method - Google Patents
Picking robot efficient picking, placing and transporting integrated platform and using method Download PDFInfo
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- CN113099848B CN113099848B CN202110622333.8A CN202110622333A CN113099848B CN 113099848 B CN113099848 B CN 113099848B CN 202110622333 A CN202110622333 A CN 202110622333A CN 113099848 B CN113099848 B CN 113099848B
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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
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention relates to a picking robot efficient picking and discharging comprehensive platform and a using method thereof, wherein the picking robot efficient picking and discharging comprehensive platform comprises a platform base, an image acquisition device, a picking device, an industrial personal computer and a conveying device, wherein the image acquisition device, the picking device and the conveying device are arranged on the platform base and are electrically connected with the industrial personal computer, the image acquisition device comprises a fixed support fixedly connected with the platform base, a movable cross beam vertically and slidably arranged on the fixed support, and a camera arranged on the movable cross beam through an adjustable support and used for acquiring depth information of a fruit picture information target picking point in real time. The camera can move freely, fruit identification under different planting standards is facilitated, and the applicability of the platform is improved; the time consumed by the mechanical arm for placing the fruits is reduced, and the picking efficiency is improved; the inside of the mechanical claw can be better attached to the surface of the fruit, and the flexible material is wrapped to reduce damage to the fruit during picking.
Description
Technical Field
The invention relates to the technical field of agricultural mechanical equipment, in particular to a picking robot efficient picking, placing and transporting integrated platform and a using method thereof.
Background
Picking is one of the important links of fruit production, at present, China still mainly uses manpower, the efficiency is low, and with the increasing trend of aging of population, rural population gradually flows to cities, the labor force is gradually reduced, and the labor cost is continuously improved. China's research on picking robots starts late compared with some developed countries, and currently, there are few machines that can be used for actual fruit picking. In addition, as some key technologies are still about to break through, the intelligence degree and efficiency of the picking machine are still about to be improved.
In recent years, with the implementation of a series of agricultural policies, the agricultural technology is further combined, the standardization of planting modes is improved, and the promotion of agricultural mechanization is facilitated. In addition, the continuous development of computer technology enables more target identification technologies to be applied to the agricultural production link, which provides good conditions for the intelligent development of the picking machine. However, the existing tomato picking machine in China at present has low efficiency, and the picking effect in a complex natural environment does not meet the requirement of actual production. Therefore, the research on the intelligent high-efficiency picking machine capable of being practically applied has important significance.
Disclosure of Invention
The invention provides a picking robot efficient picking, placing and transporting comprehensive platform and a using method thereof, aiming at the problems of low intelligent degree, low picking efficiency and the like of the existing picking machines in China, and provides an effective solution for the intelligent picking of fruits. The intelligent picking device can be used for intelligently picking mature red tomatoes or other red fruits, and has high recognition accuracy and picking efficiency.
The invention is realized by the following technical scheme, and provides a picking robot efficient picking and transporting integrated platform which comprises a platform base, an image acquisition device, a picking device, an industrial personal computer and a conveying device, wherein the image acquisition device, the picking device, the industrial personal computer and the conveying device are arranged on the platform base, the image acquisition device, the picking device and the conveying device are all electrically connected with the industrial personal computer, the image acquisition device comprises a fixed support fixedly connected with the platform base, a movable cross beam vertically and slidably arranged on the fixed support, and a camera arranged on the movable cross beam through an adjustable support, the camera is used for acquiring depth information of a fruit picture information target picking point in real time, and the adjustable support is used for adjusting the angle of the camera.
This scheme is controlled image acquisition device, the action of picking device and conveyor through the industrial computer, and vertical movement through movable crossbeam drives adjustable support, and then realizes reciprocating of camera in vertical direction, can realize the free rotation about the camera through adjustable support, and the free movement of camera is favorable to the fruit discernment under the different planting standards, has improved the suitability of platform.
Preferably, the picking device comprises a six-shaft mechanical arm arranged on a platform base and two clamping mechanical claws arranged at the movable ends of the six-shaft mechanical arm, and flexible materials are arranged on clamping surfaces of the two clamping mechanical claws. According to the optimized scheme, the six mechanical arms are adopted, so that the flexibility of movement to a target point is higher, and the flexible material is arranged on the clamping surfaces of the two clamping mechanical claws, so that damage to the surface of a fruit can be reduced when the mechanical claws are in contact with the fruit.
Preferably, the conveying device comprises a transverse conveying belt located right in front of the picking device and a longitudinal conveying belt located on one side of the transverse conveying belt, the feeding end of the longitudinal conveying belt is located below the discharging end of the transverse conveying belt, and a collecting basket is arranged below the discharging end of the longitudinal conveying belt. The conveying device of the optimized scheme comprises a transverse conveying part and a longitudinal conveying part, after picking actions are finished, the six-shaft mechanical arm moves to the position above a transverse conveying belt corresponding to the longitudinal axis direction of a picking point, then two clamp type mechanical claws are loosened, fruits are placed on the transverse conveying belt, next picking is continued until all target fruits in a currently acquired picture are picked. Different from the traditional mode of placing the fruits in the collecting device by using the mechanical arm, the fruit picking device reduces the placing time of the mechanical arm, realizes the collection of the fruits while picking, and improves the picking efficiency; the fruit is conveyed to the longitudinal conveyor belt from the placing position while the picking device carries out next picking action, then the fruit is conveyed to the buffer device through the longitudinal conveyor belt, the fruit slides into the collecting basket through the buffer device, the collection of the fruit is realized, and the picking time occupied by conveying is avoided; the conveying device is driven by a stepping motor and is controlled by sending a pulse signal through an industrial personal computer, so that the starting and the stopping of the conveying belt are realized.
As optimization, the discharge end of the longitudinal conveyor belt is provided with a buffer device, the buffer device comprises a torsion spring and an arc plate with an upward opening, the axis of the torsion spring is transversely arranged, one end of the torsion spring is connected with the platform base through a connecting plate, and the other end of the torsion spring is connected with the arc plate. This optimization scheme's setting, tomato from vertical conveyer belt roll back through buffer, torsion spring makes the arc slope after the pressure compression that receives the fruit, plays the cushioning effect to the whereabouts of fruit, and in the tomato slided in collecting the basket, the collection of realization fruit, after the fruit slided in collecting the basket, the arc restored original position again.
As optimization, the industrial personal computer comprises an identification module, a positioning module, a picking module and a conveying module, wherein the identification module is used for detecting a fruit picture and outputting a central point pixel coordinate meeting the requirement; the positioning module is used for realizing the positioning of a picking target by converting the acquired pixel coordinates into six-axis mechanical arm coordinates and realizing the control of the closed diameter of the two-clamp type mechanical claw by converting the fruit pixel diameter into actual diameter information; the picking module is used for realizing the movement of the six-axis mechanical arm to a target picking point and a fruit placing point and controlling the opening and closing diameter and the rotating angle of the two clamping type mechanical claws; the conveying module is used for sending pulse signals to realize the transportation and collection of fruits.
The scheme also provides a use method of the picking robot efficient picking, placing and transporting integrated platform, which comprises the following aspects:
1. placing a platform base on a chassis, moving the chassis to a proper position, starting to operate an algorithm of an industrial personal computer, and acquiring a fruit picture and depth information of a target picking point in real time through a camera;
2. the control algorithm in the industrial personal computer comprises an identification module, a positioning module, a picking module and a conveying module; the identification module carries out preliminary detection on a fruit picture through a YOLO v4 network, a detection result is framed by a rectangular frame, then a red part in the frame is divided by HSV, and when the ratio of the number of pixels of the divided part to the total number of pixels in the detection frame exceeds 20%, the detection result is reserved and the pixel coordinate of a central point and the pixel diameter of a fruit are output; then the positioning module converts the acquired pixel coordinates into six-axis mechanical arm coordinates and outputs the converted three-dimensional mechanical arm coordinates and the actual fruit diameter;
3. after the coordinate conversion is finished, the picking device judges whether the acquired coordinate is in a picking range of the six-axis mechanical arm, if the acquired coordinate is in accordance with the picking range, the coordinate information is transmitted to the six-axis mechanical arm, and the six-axis mechanical arm moves to a target point; meanwhile, the obtained fruit diameter is converted into a PWM value of the two-clamp mechanical claw stepping motor, and the closing diameter of the two-clamp mechanical claw is determined, so that fruit damage caused by excessive closing is prevented;
4. after the fruits are clamped by the two clamping mechanical claws, the fruits are picked by rotation; the six mechanical arms move to the position above the transverse conveyor belt at the longitudinal corresponding position of the picking point, the fruit is placed on the transverse conveyor belt in the shortest path, and then the next target fruit is picked continuously; if the target fruit is not detected in the current picture, returning the six mechanical arms to the initial state, and waiting for a next picking instruction;
5. after the fruits are placed on the transverse conveyor belt, the conveying module sends instructions to stepping motors of the transverse conveyor belt and the longitudinal conveyor belt to enable the transverse conveyor belt and the longitudinal conveyor belt to move; the fruits are conveyed to the buffer device through two sections of relay of the transverse conveyor belt and the longitudinal conveyor belt, so that the fruits slide into the collecting basket below the platform through the buffer device.
As optimization, the tomatoes fall to the arc-shaped plate of the buffer device after rolling down from the longitudinal conveyor belt, the torsion spring enables the arc-shaped plate to rotate and incline after being compressed by the pressure of the fruits, the falling impact of the fruits is buffered by the deformation of the torsion spring, and the tomatoes slide into the collecting basket along the arc-shaped plate and then are restored to the initial position by the elasticity of the torsion spring. This optimization scheme adopts torsion spring's deformation to cushion, has both reduced the fruit damage, can make the fruit roll to collecting the basket smoothly simultaneously, realizes collecting to, through setting up torsion spring, make the arc rotate and reset, the arc is certain angle to the effort of fruit and the direction of gravity of fruit, thereby has reduced the vertical direction impact to the fruit.
The invention has the beneficial effects that:
1. the camera is arranged on the adjustable support, the adjustable support is arranged on the movable cross beam, the camera can freely rotate up, down, left and right through the adjustable support, the movable cross beam drives the adjustable support to further realize the up-down movement of the camera in the vertical direction, the free movement of the camera is beneficial to the fruit identification under different planting standards, and the applicability of the platform is improved;
2. the conveying device is divided into a transverse conveying belt and a longitudinal conveying belt which are driven by the stepping motor, the operation and the stop of the conveying device are controlled by the conveying module in the industrial personal computer, and the conveying device is used for conveying and collecting fruits, so that the time consumed by placing the fruits by the mechanical arm can be reduced, the platform can collect the fruits while picking, and the picking efficiency is improved;
3. the inner sides of the two clamping type mechanical claws in the picking device adopt a curved surface design, so that the surfaces of fruits can be better attached, the grabbing of overlapped fruits can be better realized, and the mechanical claws are wrapped with flexible materials to reduce mechanical damage caused by picking of the fruits; in addition, the picking module in the algorithm can convert the fruit diameter information output by the positioning module into PWM signals of the two-clamp mechanical claw stepping motor, so that the control of the closing diameter of the two-clamp mechanical claw is realized, and the fruit is prevented from being damaged by excessive closing.
Drawings
FIG. 1 is a picking flow diagram of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a side view of the overall structure of the present invention;
FIG. 4 is a schematic structural diagram of an image capturing device according to the present invention;
FIG. 5 is a schematic view of the picking apparatus of the present invention;
FIG. 6 is a schematic view of the structure of the collecting device of the present invention;
shown in the figure:
1. platform base, 2, image acquisition device, 21, fixed bolster, 22, movable crossbeam, 23, adjustable support, 24, camera, 3, pick device, 31, six arms, 32, two formula gripper that press from both sides, 4, industrial computer, 5, conveyor, 51, horizontal conveyer belt, 52, vertical conveyer belt, 6, buffer, 61, torsion spring, 62, arc, 7, collect basket, 8, step motor, 9, connecting plate.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in fig. 2, the picking robot efficient picking, releasing and transporting integrated platform comprises a platform base 1, an image acquisition device 2, a picking device 3, an industrial personal computer 4 and a conveying device 5, wherein the image acquisition device 2, the picking device 3, the industrial personal computer 4 and the conveying device are mounted on the platform base, the image acquisition device, the picking device and the conveying device are all electrically connected with the industrial personal computer, and a control algorithm containing the platform in the industrial personal computer 4 can control the whole visual identification, positioning and picking and collecting link; conveyor's discharge end is equipped with buffer 6, and the buffer below is equipped with collection basket 7, and collects the basket and place in platform left side below, and inside parcel flexible material reduces the whole shared space of platform and the damage that the fruit caused among the fruit collection process.
The image acquisition device 2 is arranged on the right side of the picking device 3, the image acquisition device comprises a fixed support 21 fixedly connected with a platform base, a movable cross beam 22 vertically and slidably arranged on the fixed support, and a camera 24 arranged on the movable cross beam 22 through an adjustable support 23, the camera 24 is a depth camera and is used for acquiring depth information of a fruit picture information target picking point in real time, a track matched with the movable cross beam is arranged on the fixed support, and a lifting device for driving the movable cross beam to move up and down is arranged on the adjustable support, the angle of the camera is adjusted through the adjustable support, a driving device for driving the camera to rotate is arranged on the adjustable support, so that the camera can freely rotate up, down, left and right, the free movement of the camera 24 is beneficial to fruit identification under different planting standards, and the applicability of the image acquisition device is improved. The adjustable support, the driving device and the lifting device are all realized by adopting the prior art, and the structure of the adjustable support, the driving device and the lifting device is not described again.
The picking device is including installing six arms 31 on the platform base, and install two double-layered formula gripper 32 at six arm expansion ends, six arms 31 pass through the screw and are fixed with platform base 1, two double-layered formula gripper 32 are fixed with the screw, be connected with six arms 31 through the serial ports, two inboard clamping face that press from both sides formula gripper are the curved surface with the fruit adaptation, with better laminating fruit surface, and can realize the snatching of overlapping fruit better, the parcel of two clamping face that press from both sides formula gripper 32 has flexible material, the flexible material of this embodiment is the sponge, to the destruction on fruit surface when reducing the centre gripping.
The conveying device comprises a longitudinal conveyor belt 52 positioned on the left side of the picking device and a transverse conveyor belt 51 positioned right in front of the picking device, the feeding end of the longitudinal conveyor belt is positioned below the discharging end of the transverse conveyor belt, and a collecting basket 7 is arranged below the discharging end of the longitudinal conveyor belt. Horizontal conveyor belt 51 moves from right to left along the level, is responsible for transporting the fruit to vertical conveyor belt 52 from the position of placing when six arms 31 carry out next picking, and vertical conveyor belt 52 transports the fruit to its end, and the fruit gets into collection basket 7 through buffer 6 to realize the collection of fruit, and conveyor 5 is driven by step motor 8, sends pulse signal control through industrial computer 4, realizes the start and the stop of conveyer belt. The conveying device 3 is used for conveying and collecting fruits, so that the time consumed by placing the fruits by the six-axis mechanical arm 31 is reduced, the platform can collect the fruits while picking, and the picking efficiency is improved.
Buffer 6 sets up the discharge end at vertical conveyer belt, and is concrete, and buffer 6 includes torsion spring 61 and opening arc 62 up, and the arc is the flexible sheet, and the end of flexible arc aligns with the center of collecting the basket, and the opening width and the fruit adaptation of arc, torsion spring's axis are along horizontal setting, and torsion spring's one end is passed through connecting plate 9 and is connected with the platform base, torsion spring's the other end with the arc is connected, connecting plate and platform base rigid coupling, when the arc received fruit overdraft, and the one end that vertical conveyer belt was kept away from to the arc rotates downwards, makes torsion spring rotation compression deformation simultaneously. During the in-service use, the tomato rolls from vertical conveyer belt back through buffer, and torsion spring makes flexible arc slope after receiving the pressure compression of fruit, and the collection of fruit is realized in the tomato slides into the collection basket, and after the fruit slides into the collection basket, flexible arc resumes original position again.
The industrial personal computer 4 is installed right behind the six-axis mechanical arm 31 and is fixed with the platform base 1 through screws. The industrial personal computer comprises an identification module, a positioning module, a picking module and a conveying module, wherein the identification module is used for detecting the fruit picture and outputting a central point pixel coordinate meeting the requirement; the positioning module is used for positioning a picking target by converting the acquired pixel coordinates into six-axis mechanical arm coordinates, and controlling the closed diameter of the two clamping type mechanical claws by converting the fruit pixel diameter into actual diameter information; the picking module is used for realizing the movement of the six-axis mechanical arm to a target picking point and a fruit placing point and the control of the rotation angle of the two clamp-type mechanical claws, and can also convert the fruit diameter information output from the positioning module into PWM (pulse width modulation) signals of the two clamp-type mechanical claw stepping motor, thereby realizing the control of the closing diameter of the two clamp-type mechanical claws and preventing the damage to the fruits caused by excessive closing; the conveying module is used for sending pulse signals to realize the transportation and collection of the fruits.
As shown in fig. 1, the application method of the high-efficiency picking and placing comprehensive platform of the picking robot in the embodiment includes the following steps:
1. placing a platform base on a chassis, moving the chassis to a proper position, starting to operate an algorithm of an industrial personal computer, adjusting an adjustable support to realize upward, downward, leftward and rightward rotation of a camera, driving the camera to move in the vertical direction by utilizing the vertical movement of a movable cross beam, and acquiring a fruit picture and depth information of a target picking point in real time through the camera;
2. the control algorithm in the industrial personal computer comprises an identification module, a positioning module, a picking module and a conveying module; the identification module carries out preliminary detection on a fruit picture through a YOLO v4 network, a detection result is framed by a rectangular frame, then a red part in the frame is divided by HSV, and when the ratio of the number of pixels of the divided part to the total number of pixels in the detection frame exceeds 20%, the detection result is reserved and the pixel coordinate of a central point and the pixel diameter of a fruit are output; then the positioning module converts the acquired pixel coordinates into six-axis mechanical arm coordinates and outputs the converted three-dimensional mechanical arm coordinates and the actual fruit diameter;
3. after the coordinate conversion is finished, the picking device judges whether the acquired coordinate is in a picking range of the six-axis mechanical arm, if the acquired coordinate is in accordance with the picking range, the coordinate information is transmitted to the six-axis mechanical arm, and the six-axis mechanical arm moves to a target point; meanwhile, the obtained fruit diameter is converted into a PWM value of the two-clamp mechanical claw stepping motor, and the closing diameter of the two-clamp mechanical claw is determined, so that fruit damage caused by excessive closing is prevented;
4. after the fruits are clamped by the two clamping mechanical claws, the fruits are picked by rotation; the six mechanical arms move to the position above the transverse conveyor belt at the longitudinal corresponding position of the picking point, the fruit is placed on the transverse conveyor belt in the shortest path, and then the next target fruit is picked continuously; if the target fruit is not detected in the current picture, returning the six mechanical arms to the initial state, and waiting for a next picking instruction;
5. after the fruits are placed on the transverse conveyor belt, the conveying module sends instructions to stepping motors of the transverse conveyor belt and the longitudinal conveyor belt to enable the transverse conveyor belt and the longitudinal conveyor belt to move; the fruits are conveyed to the buffer device through two sections of relay of the transverse conveyor belt and the longitudinal conveyor belt, so that the fruits slide into the collecting basket below the platform through the buffer device.
6. The tomato rolls down from the longitudinal conveyor belt and then falls to the arc-shaped plate of the buffer device, the torsion spring enables the arc-shaped plate to rotate and incline after being compressed by the pressure of the fruits, the falling impact of the fruits is buffered by utilizing the deformation of the torsion spring, and the tomato slides into the collecting basket along the arc-shaped plate and then the arc-shaped plate is restored to the initial position by utilizing the elasticity of the torsion spring.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention may be implemented by or using the prior art, which is not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (2)
1. A use method of a picking robot high-efficiency picking, placing and transporting integrated platform, which is characterized in that,
the picking robot efficient picking and placing comprehensive platform comprises a platform base (1), an image acquisition device (2), a picking device (3), an industrial personal computer (4) and a conveying device (5), wherein the image acquisition device, the picking device and the conveying device are mounted on the platform base and are electrically connected with the industrial personal computer, the image acquisition device comprises a fixed support (21) fixedly connected with the platform base, a movable cross beam (22) vertically and slidably arranged on the fixed support, and a camera (24) mounted on the movable cross beam (22) through an adjustable support (23), the camera is used for acquiring depth information of a fruit picture information target picking point in real time, and the adjustable support is used for adjusting the angle of the camera;
the picking device comprises a six-shaft mechanical arm (31) arranged on a platform base and two clamp-type mechanical claws (32) arranged at the movable ends of the six-shaft mechanical arm, wherein flexible materials are arranged on the clamping surfaces of the two clamp-type mechanical claws (32);
the conveying device comprises a longitudinal conveying belt (52) and a transverse conveying belt (51) positioned right in front of the picking device, the feeding end of the longitudinal conveying belt is positioned below the discharging end of the transverse conveying belt, and a collecting basket (7) is arranged below the discharging end of the longitudinal conveying belt;
the discharging end of the longitudinal conveying belt is provided with a buffer device (6), the buffer device (6) comprises a torsion spring (61) and an arc-shaped plate (62) with an upward opening, the axis of the torsion spring is transversely arranged, one end of the torsion spring is connected with the platform base through a connecting plate (9), and the other end of the torsion spring is connected with the arc-shaped plate;
the industrial personal computer comprises an identification module, a positioning module, a picking module and a conveying module, wherein the identification module is used for detecting the fruit picture and outputting a central point pixel coordinate meeting the requirement; the positioning module is used for positioning a picking target by converting the acquired pixel coordinates into six-axis mechanical arm coordinates, and controlling the closed diameter of the two clamping type mechanical claws by converting the fruit pixel diameter into actual diameter information; the picking module is used for realizing the movement of the six-axis mechanical arm to a target picking point and a fruit placing point and controlling the opening and closing diameter and the rotating angle of the two clamping type mechanical claws; the conveying module is used for sending pulse signals to realize the transportation and collection of the fruits;
the use method of the high-efficiency picking and placing comprehensive platform of the picking robot comprises the following aspects:
(1) placing a platform base on a chassis, moving the chassis to a proper position, starting to operate an algorithm of an industrial personal computer, and acquiring a fruit picture and depth information of a target picking point in real time through a camera;
(2) the identification module carries out preliminary detection on a fruit picture through a YOLO v4 network, a detection result is framed by a rectangular frame, then a red part in the frame is divided by HSV, and when the ratio of the number of pixels of the divided part to the total number of pixels in the detection frame exceeds 20%, the detection result is reserved and the pixel coordinate of a central point and the pixel diameter of a fruit are output; then the positioning module converts the acquired pixel coordinates into six-axis mechanical arm coordinates and outputs the converted three-dimensional mechanical arm coordinates and the actual fruit diameter;
(3) after the coordinate conversion is completed, the picking device judges whether the acquired coordinate is within a picking range of the six-axis mechanical arm, if the acquired coordinate is in accordance with the picking range, the coordinate information is transmitted to the six-axis mechanical arm, and the six-axis mechanical arm moves to a target point; meanwhile, the obtained fruit diameter is converted into a PWM value of the two-clamp mechanical claw stepping motor, and the closing diameter of the two-clamp mechanical claw is determined, so that fruit damage caused by excessive closing is prevented;
(4) after the two clamping type mechanical claws clamp the fruits, the fruits are picked by rotation; the six mechanical arms move to the position above the transverse conveyor belt at the longitudinal corresponding position of the picking point, the fruit is placed on the transverse conveyor belt in the shortest path, and then the next target fruit is picked continuously; if the target fruit is not detected in the current picture, returning the six mechanical arms to the initial state, and waiting for a next picking instruction;
(5) after the fruits are placed on the transverse conveyor belt, the conveying module sends instructions to stepping motors of the transverse conveyor belt and the longitudinal conveyor belt to enable the transverse conveyor belt and the longitudinal conveyor belt to move; the fruits are conveyed to the buffer device through two sections of relay of the transverse conveyor belt and the longitudinal conveyor belt, so that the fruits slide into the collecting basket below the platform through the buffer device.
2. The use method of the picking robot efficient picking and placing comprehensive platform according to claim 1, characterized in that: the tomato rolls down from the longitudinal conveyor belt and then falls to the arc-shaped plate of the buffer device, the torsion spring enables the arc-shaped plate to rotate and incline after being compressed by the pressure of the fruits, the falling impact of the fruits is buffered by utilizing the deformation of the torsion spring, and the tomato slides into the collecting basket along the arc-shaped plate and then the arc-shaped plate is restored to the initial position by utilizing the elasticity of the torsion spring.
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| CN117292248B (en) * | 2023-10-30 | 2024-04-26 | 吉林农业大学 | Deep learning-based farmland pesticide spraying system and weed detection method |
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| US7765780B2 (en) * | 2003-12-12 | 2010-08-03 | Vision Robotics Corporation | Agricultural robot system and method |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN104956850B (en) * | 2015-08-05 | 2017-06-06 | 张永清 | A kind of Honeysuckle picking machine device people |
| CN107139182B (en) * | 2017-06-05 | 2019-05-03 | 重庆理工大学 | A kind of citrus picking robot system and its control method |
| CN107711079A (en) * | 2017-11-09 | 2018-02-23 | 于小洛 | Strawberry picking robot and strawberry picking method |
| CN109739133A (en) * | 2019-01-08 | 2019-05-10 | 太原工业学院 | Tomato picking robot system and its control method based on radar fix |
| CN109618670B (en) * | 2019-03-01 | 2024-02-06 | 南通理工学院 | Intelligent robot for picking and sorting fruits and vegetables |
| CN111742709B (en) * | 2020-04-23 | 2021-09-24 | 华南农业大学 | Banana picking device and method based on depth vision |
| CN111684924A (en) * | 2020-06-23 | 2020-09-22 | 王孟超 | Strawberry picking robot based on raspberry group |
| CN111758395A (en) * | 2020-07-21 | 2020-10-13 | 四川省机械研究设计院 | Prickly ash picking device and prickly ash vision picking robot that constitutes thereof |
| CN112136505B (en) * | 2020-09-07 | 2021-11-26 | 华南农业大学 | Fruit picking sequence planning method based on visual attention selection mechanism |
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