CN114365624A - Efficient agricultural picking device based on DELTA parallel mechanical arms - Google Patents
Efficient agricultural picking device based on DELTA parallel mechanical arms Download PDFInfo
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- CN114365624A CN114365624A CN202210086174.9A CN202210086174A CN114365624A CN 114365624 A CN114365624 A CN 114365624A CN 202210086174 A CN202210086174 A CN 202210086174A CN 114365624 A CN114365624 A CN 114365624A
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- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 235000012055 fruits and vegetables Nutrition 0.000 claims abstract description 47
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- 244000126211 Hericium coralloides Species 0.000 claims description 17
- 230000003068 static effect Effects 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 5
- 230000010354 integration Effects 0.000 claims 1
- 235000013399 edible fruits Nutrition 0.000 description 12
- 238000010586 diagram Methods 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 244000241235 Citrullus lanatus Species 0.000 description 2
- 235000012828 Citrullus lanatus var citroides Nutrition 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 235000013311 vegetables Nutrition 0.000 description 2
- 244000105624 Arachis hypogaea Species 0.000 description 1
- 244000241257 Cucumis melo Species 0.000 description 1
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 1
- 240000009088 Fragaria x ananassa Species 0.000 description 1
- 241001124569 Lycaenidae Species 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 244000061456 Solanum tuberosum Species 0.000 description 1
- 235000002595 Solanum tuberosum Nutrition 0.000 description 1
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 235000020232 peanut Nutrition 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)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a high-efficiency agricultural picking device based on DELTA parallel mechanical arms, which comprises four moving tracks, two fruit and vegetable collecting mechanisms, a top plate integrated structure, a picking mechanism and two binocular vision cameras, wherein one fruit and vegetable collecting mechanism is arranged on each moving track; the top plate integrated structure is connected and arranged between the upper ends of the two fruit and vegetable collecting mechanisms; the picking mechanism comprises a Delta parallel mechanical arm arranged below the top plate integrated structure and a tail end execution picker arranged at the lower end of the Delta parallel mechanical arm; two binocular vision cameras are symmetrically arranged at two ends of the lower surface of the top plate integrated structure. In a word, the invention has the advantages of novel structure, wide applicability, accuracy, high efficiency and the like.
Description
Technical Field
The invention belongs to the technical field, and particularly relates to a high-efficiency agricultural picking device based on DELTA parallel mechanical arms.
Background
At present, China has great progress in the research of the automatic device for picking agricultural fruits and vegetables. The main stream of picking equipment can pick crops such as strawberries, eggplants, apples and oranges. The crops have the characteristics of moderate volume, bright color, very suitable mechanical picking of growing positions and the like. Most of the current devices for picking crops adopt serial mechanical arms to pick the crops or select a specific picking device according to the growth picking position characteristics of certain crops to mechanically harvest the crops.
However, the existing automatic device for agricultural picking in China has the following technical problems.
1. The current agricultural picking device has strong specificity. The picking season of the same fruit in one year is usually short and fixed, and the special picking machine undoubtedly reduces the utilization rate and increases the cost.
2. The technical requirements of crop screening are high in picking. Although picking brings great convenience, for fruits such as watermelon, melon and the like, identification and picking are very difficult due to the characteristics of difficult maturity, close fruit color to leaves and vines and the like, and related researches are few.
3. Current picking device can't be picked individual fruit vegetables of growing on the soil because the work interval of series connection arm, the series connection arm can't be picked the device that is less than the too many distances of body device. Picking devices such as combine harvesters cannot pick crops that grow long distances, such as watermelon. In addition, for crops with fruits such as peanuts and potatoes growing underground, due to the fact that the identification and picking difficulty of the fruits is high, no proper picking scheme exists at present.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an efficient agricultural picking device based on DELTA parallel mechanical arms, which has strong specificity for the current agricultural picking device; aiming at the problem that the prior picking device mostly uses a series mechanical arm and a harvesting device so that some crops cannot be picked, the invention uses a Delta parallel mechanical arm to solve the picking problem of the crops; aiming at the fact that the picking device is used for recognizing crops in a two-dimensional mode, the binocular vision system is used for recognizing the crops in a three-dimensional mode, and the problem that the crops cannot be recognized accurately is solved; aiming at the situation that most of the current agricultural picking devices are harvesting type picking, the Delta parallel mechanical arms are used for flexibly picking crops.
The technical scheme of the invention is as follows: a high-efficiency agricultural picking device based on DELTA parallel mechanical arms comprises:
four moving tracks;
the fruit and vegetable collecting mechanisms are arranged on every two moving tracks;
the top plate integrated structure is connected and arranged between the upper ends of the two fruit and vegetable collecting mechanisms;
the picking mechanism comprises a Delta parallel mechanical arm arranged below the top plate integrated structure and a tail end execution picker arranged at the lower end of the Delta parallel mechanical arm;
two binocular vision cameras, the symmetry sets up roof integrated configuration lower surface both ends.
Furthermore, a control system circuit board is arranged inside the top plate integrated mechanism, and the control circuit board is connected with the moving crawler, the picking mechanism and the binocular vision camera.
Further, the Delta parallel mechanical arm comprises:
the static platform is fixedly arranged on the lower surface of the top plate integrated structure;
the three servo motors are arranged on the lower surface of the static platform in a central symmetry manner;
the output shaft of each servo motor is connected with the output shaft of the servo motor through a revolute pair;
the far end of each driving arm is connected with the upper end of the driven arm group through a spherical pair;
the movable platform is arranged below the static platform, the lower ends of the three groups of the driven arm groups are connected with the upper surface of the movable platform, the middle part of the upper surface of the movable platform is connected with the middle part of the lower surface of the static platform through a constraint arm, and the tail end execution picker is arranged below the movable platform.
Furthermore, each driven arm group comprises two driven arms, and the two driven arms are respectively connected with two sides of the far end of the corresponding driving arm through spherical pairs.
Further, two driven arms of each driven arm group are arranged in a parallelogram structure.
Further, each of the moving tracks includes:
the two driving wheels are respectively arranged at the lower end of the fruit and vegetable collecting mechanism;
the driving crawler is sleeved outside the two driving wheels;
and the damping mechanism is arranged at the joint of the lower end of the driving wheel and the fruit and vegetable collecting mechanism.
Further, fruit vegetables collection mechanism includes:
the comb tooth mechanisms are arranged on the upper parts of the opposite surfaces of the two fruit and vegetable collecting mechanisms, and the heights of the comb tooth mechanisms are lower than those of the picking mechanisms;
the collecting box is arranged inside the fruit and vegetable collecting mechanism, and the comb tooth mechanism is communicated with the inside of the collecting box.
Furthermore, the collecting box is internally provided with a bearing plate, the bottom of the bearing plate is connected with the bottom of the collecting box through a spring, the initial position of the bearing plate and the bottom end of the comb tooth mechanism are positioned on the same horizontal plane, and the bearing plate gradually moves towards the bottom of the collecting box along with the increase of the weight on the bearing plate.
Furthermore, the bottom of the collecting box is provided with a limit switch.
The working method of the invention comprises the following steps: an operator needs to introduce a map of a picking area into a control system circuit board, if no map data exists, the operator needs to remotely control a picking device to carry out slam map building on the picking area, the motion planning of the picking device and the operation of a picking device executed at the tail end are controlled by the control system circuit board, a binocular vision camera finds ripe fruits and vegetables to obtain coordinates of the fruits and vegetables and stores the coordinates into a data storage area of the control system circuit board, the picking device plans an optimal picking path according to the coordinates of the fruits and vegetables and reaches the coordinate position, the binocular vision camera judges the positions of the fruits and vegetables, the coordinates of the fruits and vegetables in a three-dimensional space are calculated after the fruits and vegetables are picked, the control system circuit board calculates whether a Delta parallel mechanical arm at the position has a solution or not, ignores the data and carries out next data calculation if the solution exists, controls Delta parallel mechanical arm to move if the solution exists, and carries out position compensation on the data by combining with the current operation speed of the picking device, the servo motor drives the driving arm to rotate to obtain corresponding torque, the Delta parallel mechanical arm reaches a picking point, the tail end of the Delta parallel mechanical arm picks fruits and vegetables, the control system circuit board reversely resolves the position to the position of the fruit and vegetable collecting mechanism, the fruits are placed on the comb tooth mechanism through the Delta parallel mechanical arm, the fruits slide onto the bearing plate in the collecting box through the comb tooth mechanism, the control system circuit board continuously reversely resolves the picking device to the position of the next fruit and vegetable picking point until the binocular vision camera cannot capture the fruits and vegetables or the planning path of the picking device is finished, and the next instruction of an operator is waited.
Compared with the prior art, the invention has the beneficial effects that: the efficient agricultural picking device based on the Delta parallel mechanical arm guides multiple picked object image characteristics into a system to realize multiple purposes of one machine, has a series of advantages of high rigidity, strong bearing capacity, small error, high precision, small self-weight load ratio, good power performance, easy control and the like based on the Delta parallel mechanical arm, has huge potential in agricultural picking, and has the advantages of three-dimensional coordinate positioning of crops by a binocular vision camera, greatly improved picking success rate and the advantage of arranging a moving crawler belt on agricultural complex terrains and natural obstacles.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a Delta parallel robot configuration of the present invention;
FIG. 3 is a structural schematic diagram of the comb mechanism of the present invention;
FIG. 4 is a schematic view of the internal structure of the collection box of the present invention;
FIG. 5 is a logic diagram of the workflow of the present invention.
The automatic picking machine comprises a moving crawler 1, a driving wheel 11, a driving crawler 12, a damping mechanism 13, a fruit and vegetable collecting mechanism 2, a comb tooth mechanism 21, a collecting box 22, a bearing plate 221, a spring 222, a limit switch 223, a top plate integrated structure 3, a control system circuit board 31, a picking mechanism 4, a parallel connection mechanical arm 41-Delta, a static platform 411, a servo motor 412, a driving arm 413, a driven arm 414, a driven arm 4141, a driven arm 415, a movable platform 416, a constraint arm 42, a tail end execution picker and a binocular vision camera 5.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Example (b): as shown in figure 1, the efficient agricultural picking device based on the DELTA parallel mechanical arms comprises four moving tracks 1, two fruit and vegetable collecting mechanisms 2, a top plate integrated structure 3, a picking mechanism 4 and two binocular vision cameras 5. Wherein:
in order to enable the picking device to reach a picking destination, each two moving tracks 1 comprise driving wheels 11, driving tracks 12 and damping mechanisms 13, and the two driving wheels 11 are respectively arranged at the lower ends of the fruit and vegetable collecting mechanisms 2; the driving crawler 12 is sleeved outside the two driving wheels 11; the damping mechanism 13 is arranged at the joint of the driving wheel 11 and the lower end of the fruit and vegetable collecting mechanism 2.
For fruits and vegetables picked by the picking device, a nondestructive collecting device is needed, so that a fruit and vegetable collecting mechanism 2 is arranged on each moving crawler 1, each fruit and vegetable collecting mechanism 2 comprises a comb tooth mechanism 21 and a collecting box 22, the comb tooth mechanisms 21 are arranged on the upper parts of opposite surfaces of the two fruit and vegetable collecting mechanisms 2, and the height of the comb tooth mechanisms 21 is lower than that of the picking mechanism 4; as shown in fig. 3-4, the collecting box 22 is arranged inside the fruit and vegetable collecting mechanism 2, the comb-tooth mechanism 21 is communicated with the inside of the collecting box 22, the collecting box 22 is internally provided with a bearing plate 221, the bottom of the bearing plate 221 is connected with the bottom of the collecting box 22 through a spring 222, the initial position of the bearing plate 221 and the bottom end of the comb-tooth mechanism 21 are positioned on the same horizontal plane, as the weight of the bearing plate 221 is increased, the bearing plate 221 gradually moves towards the bottom of the collecting box 22, and the bottom of the collecting box 22 is provided with a limit switch 223;
the top plate integrated structure 3 is connected between the upper ends of the two fruit and vegetable collecting mechanisms 2, a control system circuit board 31 is arranged in the top plate integrated structure 3, and the control circuit board 31 is connected with the moving crawler 1, the picking mechanism 4 and the binocular vision camera 5;
as shown in fig. 2, the picking mechanism 4 includes a Delta parallel robot arm 41 disposed below the top plate integrated structure 3 and an end effector 42 disposed at a lower end of the Delta parallel robot arm 41, and the Delta parallel robot arm 41 includes a stationary platform 411, a servo motor 412, a driving arm 413, a driven arm group 414, and a moving platform 415: the static platform 411 is fixedly arranged on the lower surface of the top plate integrated structure 3; the three servo motors 412 are arranged on the lower surface of the static platform 411 in a central symmetry manner; the output shafts of the three driving arms 413 and the servo motors 412 are connected through rotating pairs; the far end of each driving arm 413 of the three driven arm groups 414 is connected with the upper end of each driven arm group 414 through a spherical pair, each driven arm group 414 comprises two driven arms 4141, the two driven arms 4141 are respectively connected with the two sides of the far end of the corresponding driving arm 413 through the spherical pairs, and the two driven arms 4141 of each driven arm group 414 are arranged in a parallelogram structure; the movable platform 415 is arranged below the static platform 411, the lower ends of the three groups of driven arm groups 414 are connected with the upper surface of the movable platform 415, the middle part of the upper surface of the movable platform 415 is connected with the middle part of the lower surface of the static platform 411 through a constraint arm 416, and the tail end execution picker 42 is arranged below the movable platform 415;
two binocular vision cameras 5 are symmetrically arranged at two ends of the lower surface of the top plate integrated structure 3.
The working principle of the above embodiment is as follows: an operator needs to introduce a map of a picking area into the control system circuit board 31, if no map data exists, the operator needs to remotely control the picking device to carry out slam map building on the picking area, the motion planning of the picking device and the operation of the tail end execution picker 42 are completed under the control of the control system circuit board 31, as shown in fig. 5, a binocular vision camera 5 obtains coordinates of fruits and vegetables after finding ripe fruits and vegetables, and stores the coordinates into a data storage area of the control system circuit board 31, the picking device plans an optimal picking path according to the fruit coordinates and reaches a coordinate position, the binocular vision camera 5 judges the positions of the fruits and vegetables, calculates the coordinates of the fruits and vegetables in a three-dimensional space after determining that the fruits and vegetables are picked, the control system circuit board 31 calculates the position Delta and judges whether the mechanical arm 41 has a solution or not, ignores the data and carries out next data calculation, if the solution exists, the Delta is controlled and connected with the mechanical arm to move, and the position difference compensation is carried out on the data by combining the current running speed of the picking device, the servo motor 412 drives the driving arm 413 to rotate to obtain corresponding torque, so that the Delta parallel mechanical arm 41 reaches a picking point, the tail end execution picker 42 picks fruits and vegetables, the control system circuit board 31 reversely decodes the position to the position of the fruit and vegetable collecting mechanism 2, the fruits are placed on the comb tooth mechanism 21 through the Delta parallel mechanical arm 41, the fruits slide onto the bearing plate 221 in the collecting box 22 through the comb tooth mechanism 42, the control system circuit board 31 continuously reversely decodes the picking device to the position of the next fruit and vegetable picking point until the binocular vision camera cannot capture the fruits and vegetables or the planning path of the picking device is finished, and the next instruction of an operator is waited.
The specific type of the electronic element is not specially designated, and common products sold in the market can be selected as long as the use requirements of the electronic element can be met.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a device is picked to high-efficient agriculture based on DELTA arm that connects in parallel which characterized in that includes:
four moving tracks (1);
two fruit and vegetable collecting mechanisms (2), wherein each two moving tracks (1) are provided with one fruit and vegetable collecting mechanism (2);
the top plate integrated structure (3) is connected and arranged between the upper ends of the two fruit and vegetable collecting mechanisms (2);
a picking mechanism (4) comprising a Delta parallel mechanical arm (41) arranged below the top plate integrated structure (3) and an end execution picker (42) arranged at the lower end of the Delta parallel mechanical arm (41);
two binocular vision cameras (5) are symmetrically arranged at two ends of the lower surface of the top plate integrated structure (3).
2. The efficient agricultural picking device based on the DELTA parallel mechanical arms as claimed in claim 1, wherein a control system circuit board (31) is arranged inside the top plate integration mechanism (3), and the control circuit board (31) is connected with the moving crawler (1), the picking mechanism (4) and the binocular vision camera (5).
3. The efficient agricultural picking apparatus based on Delta parallel robotic arms as set forth in claim 1, wherein the Delta parallel robotic arm (41) comprises:
the static platform (411) is fixedly arranged on the lower surface of the top plate integrated structure (3);
three servo motors (412) which are arranged on the lower surface of the static platform (411) in a central symmetry manner;
three driving arms (413), wherein the output shaft of each servo motor (412) is connected through a rotating pair;
the far end of each driving arm (413) is connected with the upper end of the driven arm group (414) through a spherical pair;
the movable platform (415) is arranged below the static platform (411), the lower ends of the three groups of the driven arm groups (414) are connected with the upper surface of the movable platform (415), the middle of the upper surface of the movable platform (415) is connected with the middle of the lower surface of the static platform (411) through a constraint arm (416), and the tail end execution picker (42) is arranged below the movable platform (415).
4. A high efficiency agricultural picking apparatus based on DELTA parallel robotic arms as claimed in claim 3 wherein each set of follower arms (414) includes two follower arms (4141), two of the follower arms (4141) being connected to each side of the distal end of the corresponding master arm (413) by spherical pairs.
5. A high efficiency agricultural picking apparatus based on DELTA parallel robotic arms as claimed in claim 4 wherein both of the follower arms (4141) of each follower arm group (414) are arranged in a parallelogram configuration.
6. A high efficiency agricultural picking apparatus based on DELTA parallel robotic arms as claimed in claim 1 wherein each moving track (1) comprises:
the two driving wheels (11) are respectively arranged at the lower end of the fruit and vegetable collecting mechanism (2);
the driving crawler belt (12) is sleeved outside the two driving wheels (11);
and the damping mechanism (13) is arranged at the joint of the lower ends of the driving wheel (11) and the fruit and vegetable collecting mechanism (2).
7. The efficient agricultural picking device based on the DELTA parallel mechanical arms as claimed in claim 1, wherein the fruit and vegetable collecting mechanism (2) comprises:
the comb tooth mechanisms (21) are arranged on the upper parts of the opposite surfaces of the two fruit and vegetable collecting mechanisms (2), and the heights of the comb tooth mechanisms (21) are lower than that of the picking mechanism (4);
the collecting box (22) is arranged inside the fruit and vegetable collecting mechanism (2), and the comb tooth mechanism (21) is communicated with the inside of the collecting box (22).
8. The efficient agricultural picking device based on the DELTA parallel mechanical arms as claimed in claim 7, wherein the collection box (22) is internally provided with a bearing plate (221), the bottom of the bearing plate (221) is connected with the bottom of the collection box (22) through a spring (222), the initial position of the bearing plate (221) is on the same horizontal plane with the bottom end of the comb mechanism (21), and the bearing plate (221) gradually moves towards the bottom of the collection box (22) as the weight on the bearing plate (221) increases.
9. The efficient agricultural picking device based on the DELTA parallel mechanical arms as claimed in claim 8, wherein the collection box (22) is provided with a limit switch (223) at the bottom.
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| CN202210086174.9A CN114365624A (en) | 2022-01-25 | 2022-01-25 | Efficient agricultural picking device based on DELTA parallel mechanical arms |
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| CN202210086174.9A CN114365624A (en) | 2022-01-25 | 2022-01-25 | Efficient agricultural picking device based on DELTA parallel mechanical arms |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
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