CN113287420A - Pneumatic fruit picking robot and control method - Google Patents
Pneumatic fruit picking robot and control method Download PDFInfo
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- CN113287420A CN113287420A CN202110484612.2A CN202110484612A CN113287420A CN 113287420 A CN113287420 A CN 113287420A CN 202110484612 A CN202110484612 A CN 202110484612A CN 113287420 A CN113287420 A CN 113287420A
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- picking
- fruit
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- mechanical arm
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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
Abstract
The invention discloses a pneumatic fruit picking robot and a control method thereof, wherein the picking robot comprises a picking vehicle, a rotating mechanism, a picking mechanical arm and a control system, the picking mechanical arm adopts a combined driving mode of a plurality of pneumatic muscles and is formed by connecting an upper arm, a front arm and a tail end clamping hand in series, the arms are connected through a revolute pair to form three joints, an angle sensor is arranged at each joint and used for measuring the rotation angle of the joint, and the plurality of pneumatic muscles adopt a symmetrical antagonistic arrangement mode to drive each joint to rotate in a vertical plane. The main camera on the picking vehicle and the auxiliary camera on the tail end clamping hand form a visual system of the robot to guide the picking work of the robot. The control system is used for processing image information and sensor information and robot control. The picking robot has the advantages of simple and light structure, good flexibility and high efficiency, and can well replace manual labor.
Description
Technical Field
The invention belongs to the technical field of agricultural robots, and particularly relates to a pneumatic fruit picking robot and a control method.
Background
The fruit industry in China is huge, the fruit yield is at the forefront of the world every year, and the fruit picking is an important problem every time the fruit is ripe due to the short fruit picking period. Picking modes depending on manpower are higher and higher in cost, the trend of picking mechanization is inevitable, various picking robots emerge under the condition, most of the existing picking robots adopt rigid driving, and good protection can not be provided for fruit trees and fruits.
Disclosure of Invention
The invention provides a pneumatic fruit picking robot and a control method thereof, aiming at the problems of the traditional rigidly driven picking robot.
The invention is realized by adopting the following technical scheme:
a pneumatic fruit picking robot comprises a picking vehicle, a rotating mechanism, a picking mechanical arm and a control system; the picking mechanical arm adopts a combined driving mode of a plurality of pneumatic muscles and is formed by connecting an upper arm, a front arm and a tail end clamping hand in series, the arms are connected through a revolute pair to form three joints, an angle sensor is arranged at each joint and used for measuring the rotation angle of the joints, the pneumatic muscles are symmetrically arranged in an antagonistic mode to drive each joint to rotate in a vertical plane, the whole picking mechanical arm is arranged on a rotating mechanism on a picking vehicle, the degree of freedom of the picking mechanical arm in the horizontal direction is increased, a main camera is arranged at the front end of the picking vehicle and used for collecting fruit images, and a distance measuring sensor is arranged on the main camera and used for measuring the positions of fruits;
the control system comprises a computer and a singlechip and is used for receiving and processing image data and sensor data and planning and controlling the motion of the picking robot.
The invention is further improved in that the rotating mechanism is arranged in the picking vehicle, the base of the picking mechanical arm is fixed on the upper surface of the rotating mechanism, and the picking mechanical arm can be driven to rotate 360 degrees in the horizontal plane by being driven by the stepping motor.
The fruit picking machine is further improved in that the fruit picking machine further comprises an upper supporting plate, a lower supporting plate, a large connecting rod and small connecting rods, wherein a tail end clamping hand is driven by pneumatic muscles, the upper supporting plate and the lower supporting plate are connected through four supporting columns, the pneumatic muscles are arranged between the upper supporting plate and the large connecting rod, one ends of the two small connecting rods are hinged with two ends of the large connecting rod, the other ends of the two small connecting rods are respectively connected with one clamping plate through a rotating pair, a sliding block fixed in the clamping plate limits the clamping plate to move only along a guide rail, the left clamping plate and the right clamping plate are connected through springs, the clamping plate is loosened through elasticity in the air release process of the pneumatic muscles, a slave camera is arranged on the lower supporting plate, a distance measuring sensor is also arranged, and the slave camera is matched with the master camera to finish the fruit picking work.
The invention is further improved in that the protective pad is pasted on the inner side of the clamping plate to protect the fruits from being damaged.
The invention has the further improvement that the inflation and deflation of the pneumatic muscle are realized by controlling the switch of the high-speed switch valve through the PWM wave output by the singlechip, the compressed gas comes from the air pump, the air pump is connected with the pneumatic triple piece and the pressure reducing valve and then connected with the high-speed switch valve to form the gas path of the pneumatic muscle, and the air pressure sensor is arranged between the high-speed switch valve and the pneumatic muscle and used for measuring the internal pressure of the pneumatic muscle.
A control method of a pneumatic fruit picking robot comprises the following steps:
firstly, controlling a picking robot to move in front of a fruit tree to be picked through a control system, and enabling a picking mechanical arm to face the fruit tree;
ii, collecting images of fruit trees by a main camera arranged at the front end of the picking vehicle, identifying all fruits in the current images by a computer in the control system, and planning a picking path;
iii, controlling the mechanical arm to be close to the currently picked fruit, finely adjusting the mechanical arm by using the slave camera, and judging the fruit maturity according to the image in the slave camera so as to control the clamping force of the tail end clamping hand;
iv, after the fruit in the current position is picked, moving the picking robot to the next position, and repeating the steps ii and iii.
The invention is further improved in that in the step ii of the control flow, the main camera can rotate up and down to ensure that the fruits at the current position are all in the shooting range, and the planned picking path is an S-shaped path from left to right to ensure high picking efficiency.
In the step iii of the control flow, the fruit maturity is judged by the color of the fruit in the camera, and the clamping force of the tail clamping hand is changed by controlling the air pressure in the pneumatic muscle.
Compared with the prior art, the invention has at least the following beneficial technical effects:
and i, the pneumatically driven mechanical arm is lighter and can ensure a large movement space.
And ii, compared with a rigid robot, the pneumatic picking robot has better flexibility and can well protect fruits and fruit trees from being damaged.
And iii, the working efficiency of the picking robot is improved by a machine vision guide control mode.
Drawings
FIG. 1 is a schematic view of the pneumatic picking robot of the present invention;
FIG. 2 is a schematic view of the structure of the end gripper according to the present invention;
FIG. 3 is a pneumatic muscle pneumatic circuit connection diagram of the present invention;
FIG. 4 is a flow chart of the picking robot control of the present invention;
description of reference numerals:
1. picking vehicles; 2. a rotation mechanism; 3. an upper arm; 4. a pneumatic muscle; 5. a forearm; 6. an angle sensor; 7. a tail end clamping hand; 8. a main camera; 9. an upper support plate; 10. a large connecting rod; 11. a small connecting rod; 12. a slider; 13. a guide rail; 14. a slave camera; 15. a protective pad; 16. a clamping plate; 17. a lower support plate; 18. a spring; 19. a support pillar; 20. an air pump; 21. a pneumatic triplet; 22. a pressure reducing valve; 23. a high-speed switching valve; 24. an air pressure sensor.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, a pneumatic fruit picking robot mainly includes a picking cart 1, a rotating mechanism 2, a picking robot arm and a control system.
Picking car 1 adopts the mode drive that the direct current motor is back-driven, considers the relatively poor road conditions in orchard, can improve picking car 1 for crawler-type wheel.
The picking mechanical arm adopts a driving mode of combining a plurality of pneumatic muscles 4, the picking mechanical arm is formed by connecting an upper arm 3, a front arm 5 and a tail end clamping hand 7 in series, the arms are connected through a revolute pair to form three joints, an angle sensor 6 is installed at each joint and used for measuring the rotation angle of the joints, the pneumatic muscles 4 adopt a symmetrical antagonistic arrangement mode to drive each joint to rotate in a vertical plane, the whole picking mechanical arm is installed on a rotating mechanism 2 on a picking vehicle 1, the degree of freedom of the picking mechanical arm in the horizontal direction is increased, a main camera 8 is installed at the front end of the picking vehicle 1 and is responsible for collecting fruit images, and a distance measuring sensor is installed on the main camera 8 and used for measuring the position of fruits.
The control system comprises a computer and a singlechip and is responsible for receiving and processing image data and sensor data and planning and controlling the motion of the picking robot.
The rotating mechanism 2 is arranged at the upper part of the picking vehicle and is driven by a stepping motor, and the picking mechanical arm can be driven to rotate 360 degrees in the horizontal plane.
Referring to fig. 2, the tail end clamping hand 7 is also driven by the pneumatic muscle 4, the upper supporting plate 9 and the lower supporting plate 17 are connected through four supporting columns 19, the pneumatic muscle 4 is installed between the upper supporting plate 9 and the large connecting rod 10, the small connecting rod 11 and the clamping plate 16 are connected through a revolute pair, the sliding block 12 fixed in the clamping plate 16 limits the movement of the clamping plate only along the guide rail 13, the left clamping plate and the right clamping plate 16 are connected through a spring 18, the clamping plate 16 is loosened by elasticity in the deflation process of the pneumatic muscle 4, a protective pad 15 is attached to the clamping plate to protect fruits from being damaged, a slave camera 14 is installed on the lower supporting plate 17, and is also provided with a distance measuring sensor and matched with the master camera 8 to complete the picking work of the fruits.
Referring to fig. 3, the inflation and deflation of the pneumatic muscle 4 are realized by controlling the on-off of the high-speed switch valve 23 through the PWM wave output by the single chip, the compressed air comes from the air pump 20, the air pump 20 is connected with the pneumatic triple 21 (including an air filter, a pressure reducing valve and an oil atomizer) and the pressure reducing valve 22, and then connected with the high-speed switch valve 23 to form the air path of the pneumatic muscle 4, and the air pressure sensor 24 is installed between the high-speed switch valve 23 and the pneumatic muscle 4 to measure the internal pressure of the pneumatic muscle 4.
Referring to fig. 4, the picking robot of the present invention has the following working process:
in the first step, information of fruits to be picked is set, and various parameters of the system are initialized. Then, a target fruit tree to be picked is selected, the picking robot is controlled by the control system to move to the front of the fruit tree, and the part can be further improved to be machine vision guide motion, so that labor force is saved, and the automation degree is improved. The distance between the picking vehicle 1 and the target fruit tree needs to be controlled at this step, and the main camera 8 can acquire a complete fruit tree image.
And secondly, identifying all fruits contained in the image by the computer according to the fruit tree image collected by the main camera 8, then planning the path of the picking mechanical arm, measuring the position of the fruits relative to the main camera 8 through a distance measuring sensor, realizing the whole process in the computer, planning the picking path in the sequence from top to bottom and from left to right, and solving the rotation angle of each joint at the current target position through the kinematic inverse solution of the mechanical arm after planning the picking path. Control information is sent to the single chip microcomputer through a serial port, the single chip microcomputer outputs PWM (pulse width modulation) waves to control the air inflation and air deflation of the pneumatic muscle 4, so that the joint angle of the mechanical arm is changed, angle information measured by the angle sensor 6 serves as feedback to achieve angle closed-loop control, and the stability of joint movement can be improved through the matching use of antagonistic muscles in the angle control process.
Thirdly, when the picking mechanical arm moves to the position near the target fruit, the image of the target fruit is collected by the camera 14, the distance between the fruit and the camera 14 is measured, the position of the mechanical arm is adjusted, the fruit uniformity is judged according to the color depth of the fruit in the camera 14, the color depth is relative and preset, different fruit standards are different, the clamping force of the tail end clamping hand 7 is controlled according to the fruit maturity, the fruit clamping force with higher maturity is smaller, and the fruit damage caused by overlarge clamping force is avoided. The pressure value measured by the pressure sensor on the protective pad 15 is used as feedback.
Fourthly, after picking the current fruit, if the non-picked fruit exists in the image of the main camera 8, picking the next fruit according to the planned path, namely repeating the second step and the third step; and if the fruit picking in the current image is finished, returning to the first step, and moving the robot to the next picking position. Until the fruit picking of the whole orchard is finished.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A pneumatic fruit picking robot is characterized by comprising a picking vehicle (1), a rotating mechanism (2), a picking mechanical arm and a control system;
the picking mechanical arm is driven by combining a plurality of pneumatic muscles (4) and is formed by connecting an upper arm (3), a front arm (5) and a tail end clamping hand (7) in series, the arms are connected through a revolute pair to form three joints, an angle sensor (6) is installed at each joint and used for measuring the rotation angle of the joints, the pneumatic muscles (4) drive each joint to rotate in a vertical plane in a symmetrical antagonistic arrangement mode, the whole picking mechanical arm is installed on a rotating mechanism (2) on a picking vehicle (1), the degree of freedom of the picking mechanical arm in the horizontal direction is increased, a main camera (8) is installed at the front end of the picking vehicle (1) and used for collecting fruit images, and a distance measuring sensor is installed on the main camera (8) and used for measuring the positions of fruits;
the control system comprises a computer and a singlechip and is used for receiving and processing image data and sensor data and planning and controlling the motion of the picking robot.
2. A pneumatic fruit picking robot as claimed in claim 1, characterised in that the rotating mechanism (2) is mounted inside the picking vehicle (1), and the upper surface of the rotating mechanism is fixed with the base of the picking mechanical arm, and the picking mechanical arm can be driven by a stepping motor to rotate 360 degrees in the horizontal plane.
3. The pneumatic fruit picking robot according to claim 1, characterized by further comprising an upper support plate (9), a lower support plate (17), a large connecting rod (10) and a small connecting rod (11), wherein the terminal gripper (7) is driven by pneumatic muscles (4), the upper support plate (9) and the lower support plate (17) are connected through four support columns (19), the pneumatic muscles (4) are installed between the upper support plate (9) and the large connecting rod (10), one end of each of the two small connecting rods (11) is hinged with two ends of the large connecting rod (10), the other end of each of the two small connecting rods is connected with one clamping plate (16) through a revolute pair, a sliding block (12) fixed in each clamping plate (16) limits that the clamping plate can only move along the guide rail (13), the left clamping plate and the right clamping plate (16) are connected through a spring (18), and the clamping plates (16) are loosened by elasticity in the deflation process of the pneumatic muscles (4), the lower supporting plate (17) is provided with a slave camera (14) which is also provided with a distance measuring sensor and is matched with the main camera (8) to complete the picking work of the fruits.
4. A pneumatic fruit picking robot as claimed in claim 3, characterised in that the gripper plate (16) is protected from damage by protective pads (15) applied on the inside.
5. The pneumatic fruit picking robot according to claim 3, wherein the pneumatic muscle (4) is inflated and deflated by controlling the high-speed switch valve (23) to be switched through a PWM (pulse-Width modulation) wave output by the single chip microcomputer, compressed air is derived from the air pump (20), the air pump (20) is connected with the pneumatic triple piece (21) and the decompression valve (22), then the pneumatic muscle (4) is formed by connecting the high-speed switch valve (23), and the air pressure sensor (24) is installed between the high-speed switch valve (23) and the pneumatic muscle (4) and used for measuring the internal pressure of the pneumatic muscle (4).
6. A control method for a pneumatic fruit picking robot according to any of claims 3 to 5 characterised by the steps of:
firstly, controlling a picking robot to move in front of a fruit tree to be picked through a control system, and enabling a picking mechanical arm to face the fruit tree;
ii, a main camera (8) arranged at the front end of the picking vehicle (1) collects images of the fruit trees, a computer in the control system identifies all fruits in the current images and plans a picking path;
iii, controlling the mechanical arm to be close to the currently picked fruit, finely adjusting the mechanical arm by using the slave camera (14), and judging the fruit maturity according to the image in the slave camera (14), thereby controlling the clamping force of the tail end clamping hand (7);
iv, after the fruit in the current position is picked, moving the picking robot to the next position, and repeating the steps ii and iii.
7. A control method of a pneumatic fruit picking robot as claimed in claim 6 characterised in that in step ii of the control flow, the main camera (8) can rotate up and down to ensure that the fruit at the current position is within the shooting range, and the planned picking path is an S-shaped path from left to right to ensure high picking efficiency.
8. The method as claimed in claim 7, wherein in the step iii, the fruit maturity is determined by the color shade of the fruit in the camera (14), and the clamping force of the end clamping hand (7) is changed by controlling the air pressure inside the pneumatic muscle (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110484612.2A CN113287420A (en) | 2021-04-30 | 2021-04-30 | Pneumatic fruit picking robot and control method |
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| CN202110484612.2A CN113287420A (en) | 2021-04-30 | 2021-04-30 | Pneumatic fruit picking robot and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113661834A (en) * | 2021-09-08 | 2021-11-19 | 盐城工业职业技术学院 | Fruit and vegetable picking robot device |
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
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| CN203072433U (en) * | 2012-12-05 | 2013-07-24 | 塔里木大学 | Pruning machine based on pneumatic muscles |
| EP3203828A1 (en) * | 2014-10-07 | 2017-08-16 | Katholieke Universiteit Leuven | Automated harvesting apparatus |
| CN109773788A (en) * | 2019-01-14 | 2019-05-21 | 西安交通大学 | A kind of fruit and vegetable picking robot and its control method |
| CN209787899U (en) * | 2019-04-29 | 2019-12-17 | 重庆科技学院 | Garden type fruit picking robot |
| CN112005726A (en) * | 2020-09-07 | 2020-12-01 | 郑州轻工业大学 | Intelligent fruit and vegetable picking device and method |
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2021
- 2021-04-30 CN CN202110484612.2A patent/CN113287420A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203072433U (en) * | 2012-12-05 | 2013-07-24 | 塔里木大学 | Pruning machine based on pneumatic muscles |
| EP3203828A1 (en) * | 2014-10-07 | 2017-08-16 | Katholieke Universiteit Leuven | Automated harvesting apparatus |
| CN109773788A (en) * | 2019-01-14 | 2019-05-21 | 西安交通大学 | A kind of fruit and vegetable picking robot and its control method |
| CN209787899U (en) * | 2019-04-29 | 2019-12-17 | 重庆科技学院 | Garden type fruit picking robot |
| CN112005726A (en) * | 2020-09-07 | 2020-12-01 | 郑州轻工业大学 | Intelligent fruit and vegetable picking device and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113661834A (en) * | 2021-09-08 | 2021-11-19 | 盐城工业职业技术学院 | Fruit and vegetable picking robot device |
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
| CN115067076B (en) * | 2022-06-13 | 2023-07-25 | 嘉应学院 | Intelligent orange picking machine and picking method |
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Application publication date: 20210824 |