CN113841513A - Picking robot - Google Patents
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- CN113841513A CN113841513A CN202111178664.3A CN202111178664A CN113841513A CN 113841513 A CN113841513 A CN 113841513A CN 202111178664 A CN202111178664 A CN 202111178664A CN 113841513 A CN113841513 A CN 113841513A
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- 235000013399 edible fruits Nutrition 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 11
- 238000005452 bending Methods 0.000 claims description 8
- 239000007779 soft material Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention discloses a picking robot, which comprises a picking platform and a moving platform, wherein the picking platform is arranged on the picking platform; the robot picking platform mechanical arm comprises a flexible picking tail end, a continuous mechanical arm with a hollow channel and a joint mechanical arm. The robot improves the identification range of the vision system through the lifting device. The flexible picking tail end of the robot can be tightly attached to fruits, so that the robot is suitable for fruits of different shapes, and lossless picking is realized. In the picking process of the picking robot, the mechanical arm is an executor with changed postures and also is a fruit conveying pipeline, the positioning picking process and the fruit conveying process are synchronously executed, and the picking efficiency is improved.
Description
Technical Field
The invention mainly relates to the technical field of picking, in particular to an agricultural picking robot.
Background
The robot is an intelligent machine which works semi-autonomously or fully autonomously and has the characteristics of perception, decision making, execution and the like. Science and technology are rapidly developed, and robots begin to integrate with daily life. With the social progress, the agriculture gradually goes to mechanization, modernization and intellectualization. In the aspect of agricultural production, the picking process is one of the most time-consuming and resource-consuming links, the working intensity is high, the labor force demand is high, and the robot is the best choice to replace manpower, so that the picking robot gradually becomes the key point for developing intelligent agriculture. Traditional picking robot is mostly rigid structure, has quick accurate characteristics, but the structure is complicated, the flexibility ratio is limited and environmental suitability is weak, inefficiency. Traditional picking arm is picked terminal to single fruit research and development, does not possess general ability of snatching.
Disclosure of Invention
Aiming at the problems, the invention aims to solve the problems that in the prior picking technology, the robot is complex in structure and low in flexibility, poor in environment adaptability, single in fruit target to be grabbed and low in action redundancy efficiency caused by the fact that an end effector repeatedly moves to and fro between the target and a collecting box in the picking process. The picking robot is controlled by a PC (personal computer), has a binocular recognition system, and can pick fruits continuously and grab and collect fruits flexibly.
The picking robot is characterized by comprising a picking platform and a moving platform. The picking platform comprises a rigid-flexible combined picking mechanical arm, a 4-degree-of-freedom joint mechanical arm, a continuous mechanical arm with a hollow channel and a flexible picking terminal, and further comprises a binocular camera system, an elastic hose, a collecting box, a driving motor unit, an air pressure driver and a PC (personal computer). The mobile platform comprises a frame and crawler travel equipment. The mobile platform is connected with the picking platform through bolts.
The picking platform combines the picking mechanical arm (hereinafter referred to as picking mechanical arm) rigidly and flexibly, and the joint mechanical arm comprises: the base is fixedly connected with the platform, the first section arm and the base are driven by a motor to complete rotary motion, the second section arm and the first section arm are driven by the motor to complete pitching motion, the third section arm and the second section arm are driven by the motor to complete pitching motion, and the tail end and the third section arm are driven by the motor to complete pitching motion; the L-shaped connecting plate is fixedly connected with the tail end of the joint mechanical arm and fixedly connected with the continuous mechanical arm base segment; the continuous mechanical arm consists of segments, an elastic corrugated pipe, an auxiliary spring and a driving wire and can finish the actions of stretching and bending deformation; the flexible picking tail end comprises a pneumatic finger and a positioning ring, the fixing ring is fixedly connected with the tail end of the continuous mechanical arm, and the pneumatic finger is fixedly connected with the positioning ring. The pneumatic finger is made of soft materials, and tightly adheres to the fruits by depending on the soft characteristics in the bending process.
The picking robot is characterized in that the pneumatic fingers of the flexible picking tail end are controlled by an air pressure driver, the flexible picking tail end can be bent when positive pressure is applied, the flexible picking tail end can be bent when negative pressure is applied, the bending direction is opposite to the positive pressure, and the flexible picking tail end can be kept upright under the action of no air pressure. The pneumatic fingers are circumferentially spaced 120 degrees apart on the retaining ring. The finger tips point in the same direction.
Picking robot, continuous type arm receive and release 3 driving wire controls by driving motor, and the driving wire passes base festival piece, middle festival piece formation sliding pair to link firmly with terminal festival piece, through receiving and releasing driving wire, drive terminal festival piece and take place the displacement, bellows and auxiliary spring receive terminal festival piece displacement extrusion, take place deformation, overall structure forms concertina movement, receive and release length through control driving wire, adjust terminal festival piece displacement and gesture, extrude bellows and auxiliary spring and form different deformations, overall structure forms bending deformation. The continuous mechanical arm is of a rigidity changing structure, the elastic coefficient K is controlled by adjusting the corrugation folding number through a machining process through 3 types of corrugated pipes, and the influence of the gravity of the continuous mechanical arm, the gravity of the flexible picking tail end and the influence of fruits in the picking process are reduced in the deformation process through the cooperation of an auxiliary spring. The minimum passing diameter of the corrugated pipe is always kept unchanged in the deformation process.
The picking robot and the joint mechanical arm section are provided with 4 driving motors, the motors and the transmission devices are integrated in the arm body to drive the arm body to move, and the total degree of freedom is 4.
The side edge of the collecting box of the picking robot is provided with a polished rod and a sliding plate, and the sliding plate can be dragged on the polished rod by an elastic hose.
The picking robot comprises a fruit conveying pipeline, a flexible picking tail end positioning ring, a continuous mechanical arm hollow pipeline, an L-shaped connecting plate hole, an elastic hose and a collecting box sliding plate.
The binocular camera system of the picking robot has a lifting function.
The mobile platform of the picking robot is crawler traveling equipment.
By adopting the technical means, the invention has the following advantages:
(1) the picking robot uses the joint mechanical arm as the rigid section, has the characteristics of simple control, high motion precision, rapidness and accuracy, uses the continuous mechanical arm with the hollow pipeline as the flexible section, has good flexibility and high degree of freedom, can finish picking actions and serve as a part of a fruit conveying pipeline, simplifies the structure of the picking robot, and enhances the adaptability of the picking robot to unstructured environments. The flexible picking tail end is used, the soft material can be tightly attached to the fruit, the stress area is increased, the grabbing success rate is high, and the damage is small. Meanwhile, the soft material can adapt to fruits of different shapes and different types, and the application range of the robot is enlarged.
(2) The binocular camera system is provided with the lifting device, so that the identification range is enlarged.
(3) The picking robot can realize a new picking form, when the flexible picking tail end is aligned with the fruit, the pneumatic fingers are closed to hold the fruit tightly, the fruit is pulled down through the movement of the mechanical arm, when the fruit is picked, the mechanical arm is deformed, the pneumatic fingers are opened, the fruit falls to the collecting box through the fruit conveying pipeline, meanwhile, the mechanical arm can continue to perform deformation movement to align and pick the next target, the redundant action of conveying the fruit to the collecting box by the flexible picking tail end is eliminated, the working efficiency is improved, and the continuous picking is realized.
(4) According to the picking robot, the inner diameter of the fruit conveying pipeline is kept unchanged in the operation process, and the fruit does not block when moving in the pipeline.
(5) The novel design structure of the invention adopts the crawler-type mobile platform to ensure that the device can stably move in agricultural planting fields and greenhouse greenhouses, and has strong adaptability. The movable platform and the picking platform are independently integrated and can be connected and detached, and the picking platform can still independently work after being separated, so that the picking platform is suitable for different requirements.
Drawings
Fig. 1 is a schematic view of the overall structure of the picking robot of the present invention.
Fig. 2 is a structural schematic diagram of a rigid-flexible combined picking mechanical arm of the picking robot.
Fig. 3 is a schematic structural view of a continuous arm segment of a rigid-flexible combination picking arm of the picking robot of the present invention.
Fig. 4 is a schematic diagram of the closing and opening actions of the rigid-flexible combined picking mechanical arm flexible picking end of the picking robot of the present invention.
Fig. 5 is a schematic structural view of the binocular vision system of the picking robot of the present invention.
Fig. 6 is a schematic structural diagram of a driving motor group of the picking robot.
Fig. 7 is a robot picking process flow chart.
Detailed Description
The invention is described in detail below with reference to the figures and examples. But should not be taken as limiting the scope of the present application.
A picking robot (fig. 1), characterized in that the system comprises a picking platform and a moving platform.
The picking robot picking platform comprises a collecting box 1, a binocular camera system 2, an elastic hose 3, a rigid-flexible combined picking mechanical arm 4, a PC (personal computer) 5, a Bluetooth and network module 6, an air pressure driver 7, a driving motor set 8 and a platform supporting plate 9;
the rigid-flexible combined picking mechanical arm 4 of the picking robot is shown in fig. 2 and comprises an L-shaped connecting plate 201, a continuous mechanical arm 202 with a hollow pipeline, a flexible picking tail end 203, a small arm 204, a large arm 205, a large arm 206, a revolving body 207 and a base 208; the platform supporting plate 9 is fixedly connected with the base 208 through bolts, the base 208 is connected with the revolving body 207 through a rotating shaft, the revolving body 207 is connected with the large arm 206 through a rotating shaft, the large arm 206 is connected with the large arm 205 through a rotating shaft, the large arm 205 is connected with the small arm 204 through a rotating shaft, the small arm 204 is fixedly connected with the L-shaped connecting plate 201 through bolts, the L-shaped plate 201 is fixedly connected with the continuous mechanical arm 202 through bolts, and the mechanical arm 202 is fixedly connected with the flexible picking tail end 203 through bolts; the mechanical arm (comprising a small arm 204, a large arm 205, a large arm 206 and a revolving body 207) is provided with a built-in motor for controlling the degree of freedom, and each motor is connected with a PC circuit.
The structure of the continuous mechanical arm 202 with a hollow pipe is shown in fig. 3, and includes a base segment 301, four-fold bellows 302 (2), five-fold bellows 303 (2), six-fold bellows 304 (2), a front end segment 305, auxiliary springs 306 (18), driving wires 307 (3), segments 308 (4), and connecting bolts 309; the corrugated pipes (the four-fold corrugated pipe 302, the five-fold corrugated pipe 303 and the six-fold corrugated pipe 304) are all made of elastic materials and are fixedly connected with the base segment 301, the front end segment 305 and the segment 308 through connecting bolts 309. The base segment 301, the front end segment 305 and the segment 308 are provided with clamping grooves, the auxiliary spring 306 is embedded into the clamping grooves, and the base segment 301, the front end segment 305 and the segment 308 are fixedly connected by using adhesives. 3 holes are uniformly distributed on the circumference of the base segment 301, the front end segment 305 and the segment 308, and the driving wire 307 penetrates through the base segment 301 and the segment 308, is fixedly connected with the front end segment 305 and forms a sliding pair with the base segment 301 and the segment 308. The hollow pipeline 310 is composed of the middle openings of the base segment 301, the front end segment 305 and the segment 308 and the corrugated pipes (the four-fold corrugated pipe 301, the five-fold corrugated pipe 302 and the six-fold corrugated pipe 303). The drive wire 307 is guided via a hose to the drive motor group 8. The driving wire 307 drives the front segment 305 to displace under the driving of the motor, the front segment 305 moves to apply pressure to the corrugated pipe and the auxiliary spring, the corrugated pipe and the auxiliary spring deform, the whole body deforms, and the expansion, bending and deflection of the structure of the continuous mechanical arm 202 are completed by adjusting the displacement of the three driving wires by 3 degrees of freedom.
The flexible picking tip 203 is shown in fig. 4 and comprises pneumatic fingers 402 (3) and positioning rings 403, the pneumatic fingers 402 are fixedly connected with the positioning rings 403, the pneumatic fingers 402 and the fixing rings 403 form an opening 401, and the pneumatic fingers 402 are connected with the pneumatic driver 7 through air channels via air channels. The pneumatic fingers 402 can complete the closing and opening actions by adjusting the pressure through the pneumatic driver 7.
As shown in fig. 5, the binocular camera system 1 includes a fixed base 501, a lifting driving device 502, a visual left-eye camera 503, a visual right-eye camera 504, and a sliding connector 505; the vision left-eye camera 503 and the vision right-eye camera 504 are fixedly connected with the sliding connecting piece 505 through bolts, the fixed base 501 is provided with a groove, the sliding connecting piece 505 is embedded into the groove, the single-degree-of-freedom lifting action is completed through the driving of the lifting driving equipment 502, and the vision left-eye camera 503 and the vision right-eye camera 504 as well as the lifting driving equipment 502 are connected with the PC circuit.
The driving motor unit 8, as shown in fig. 6, includes an L-shaped link plate 601, a reduction servo motor 602, a motor positioning plate 603, a reel 604, and a hose fixing piece 605. The L-shaped connecting plate 601 is fixedly connected with the motor positioning plate 603, the speed-reducing servo motor 602 is fixedly connected with the motor positioning plate 603 through bolts, the reel 604 is fixedly connected with the output shaft of the speed-reducing servo motor 602 through a set screw, and the hose fixing piece 605 is fixedly connected with the L-shaped connecting plate 601 through bolts. The driving wire 306 of the continuous mechanical arm 202 is led to the driving motor group 8 through a hose, the hose is fixed through a hose fixing piece 605, the driving wire 306 penetrates through a central opening of the hose fixing piece 605 and an opening of the L-shaped connecting plate 601, the driving wire 306 is welded and fixed at an opening of the side edge of the winding wheel 604, and winding and unwinding movement of the driving wire 306 is achieved on the winding wheel 604 through rotary movement and winding of the speed reduction servo motor 602. The deceleration servo motor 602 is connected to the PC circuit.
The bluetooth and network module 6 has the functions of connecting bluetooth equipment, connecting a WiFi network, connecting an 4/5G network, realizing interconnection and communication, and connecting with a PC circuit.
And the pneumatic driving device 7 has the functions of an air compressor, a vacuum generator, a pressure regulating valve and an electromagnetic valve, and is connected with a PC circuit.
The mobile platform comprises a frame 10 and a crawler traveling device 11, wherein a power supply device, a control box, a Bluetooth module and a network module are arranged in the frame. The frame 10 is fixedly connected with a crawler device 11.
The picking process of the picking robot comprises the following specific steps:
the method comprises the following steps that firstly, a picking robot is arranged in a garden to be picked, a walking route is input into PC mobile control software, the route is analyzed and calculated by the software and is converted into a control signal, the control signal is transmitted to a mobile platform through a network signal, and the mobile platform moves according to an instruction. When the robot moves and deviates in the moving process, the output control signal of the mobile control software can be adjusted through remote control of Bluetooth and network equipment, and manual intervention is realized.
And step two, when the picking robot reaches the designated picking area, the mobile platform stops working. And the PC controls the vision system software to start working, opens the binocular recognition camera, starts the vision system lifting equipment, and collects the whole image in the picking area through the lifting equipment. And acquiring three-dimensional coordinate information of the fruit.
And thirdly, transmitting the three-dimensional coordinate information array into mechanical arm control system software, wherein the mechanical arm control system controls the mechanical arm to move, the process comprises the steps of roughly positioning the tail end of the picking mechanical arm, accurately positioning the tail end of the picking mechanical arm, pulling off the tomatoes by the picking mechanical arm, and roughly positioning the next step while guiding the fruits to fall by the deformation of the picking mechanical arm.
And fourthly, picking the mechanical arm to reach the fruit position. When the flexible picking end effector reaches the fruit position, the mechanical arm control system software controls the pneumatic driver to adjust the pressure intensity of the flexible picking end effector, so that the pneumatic fingers are folded to tightly hold the fruit. And then the picking mechanical arm moves to deform and drag down the fruits, and the continuous mechanical arm section of the picking mechanical arm deforms to guide the fruits to fall. The pneumatic fingers are opened by adjusting the pressure, and the fruits fall into the hollow pipeline of the continuous mechanical arm through the rear end opening of the flexible picking tail end under the action of gravity, fall along the pipeline and finally fall into the collection box through the elastic hose. When the pneumatic fingers are opened, the picking mechanical arm can perform next coarse positioning movement.
And fifthly, after picking in the current picking area is finished, resetting the mechanical arm, closing a vision system and the like, and controlling the mobile platform to move away from the current area and move to the next picking area by the mobile control software.
While the present invention has been described with reference to the preferred embodiments, it is to be understood that the present invention is not limited to the disclosed embodiments, and various equivalent changes and modifications may be made by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (7)
1. A picking robot is characterized by comprising a moving platform and a picking platform; the picking platform comprises a rigid-flexible combined picking mechanical arm, a binocular camera system, an elastic hose, a collecting box, a driving motor set, an air pressure driver and a PC (personal computer), wherein the rigid-flexible combined picking mechanical arm consists of a 4-degree-of-freedom joint mechanical arm, a continuous mechanical arm with a hollow channel and a flexible picking tail end; the mobile platform comprises a frame and crawler traveling equipment; the mobile platform is connected with the picking platform through a bolt;
the hard and soft combination picking mechanical arm is called picking mechanical arm for short, and the joint mechanical arm comprises: the base is fixedly connected with the platform, the first section arm and the base are driven by a motor to complete rotary motion, the second section arm and the first section arm are driven by the motor to complete pitching motion, the third section arm and the second section arm are driven by the motor to complete pitching motion, and the tail end and the third section arm are driven by the motor to complete pitching motion; the L-shaped connecting plate is fixedly connected with the tail end of the joint mechanical arm and fixedly connected with the continuous mechanical arm base segment; the continuous mechanical arm consists of segments, an elastic corrugated pipe, an auxiliary spring and a driving wire and can finish the actions of stretching and bending deformation; the flexible picking tail end comprises a pneumatic finger and a positioning ring, the fixing ring is fixedly connected with the tail end of the continuous mechanical arm, and the pneumatic finger is fixedly connected with the positioning ring; the pneumatic finger is made of soft materials, and tightly adheres to the fruits by depending on the soft characteristics in the bending process;
the pneumatic fingers of the flexible picking tail end of the picking robot are controlled by an air pressure driver, the picking robot can bend when applying positive pressure and bend when applying negative pressure, the bending direction is opposite to the positive pressure, and the picking robot can keep upright without the action of air pressure; the pneumatic fingers are circumferentially distributed on the positioning ring at intervals of 120 degrees; the finger tips point in the same direction.
2. A picking robot according to claim 1 characterised in that the rigid-flexible engaging picking robot arms comprise articulated and continuous robot arms and flexible picking tips.
3. A picking robot as claimed in claim 2 in which the articulated robot arm mechanism for the rigid-flexible combination of the picking robot arms is in the form of an open chain 4 degree of freedom articulated type.
4. A picking robot as claimed in claim 2 characterised in that the continuous arm of the rigid-flexible combination picking arm is of a stiffness varying construction, the stiffness variation being controlled by the bellows spring constant K, for a total of 3 different values, arranged in order of magnitude.
5. A picking robot as claimed in claim 1, characterised in that the fruit conveying duct consists of a flexible picking tip, a continuous robot arm and a flexible hose, the duct being circular in cross-section, starting at the centre of the flexible picking tip and ending at the connection plate of the collection bin.
6. A picking robot as claimed in claim 2 in which the flexible picking tip is made of soft material and is pneumatically driven.
7. A picking robot as claimed in claim 1, characterised in that the binocular camera system has a lifting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111178664.3A CN113841513A (en) | 2021-10-10 | 2021-10-10 | Picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111178664.3A CN113841513A (en) | 2021-10-10 | 2021-10-10 | Picking robot |
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| CN113841513A true CN113841513A (en) | 2021-12-28 |
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| CN202111178664.3A Pending CN113841513A (en) | 2021-10-10 | 2021-10-10 | Picking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115885694A (en) * | 2022-12-21 | 2023-04-04 | 东北林业大学 | Lifting device for utilize corrugated sheet elastic deformation to independently avoid barrier and initiatively pick based on coiling lift principle |
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