CN114667845A - Picking robot capable of automatically avoiding obstacles based on machine vision and control method - Google Patents
Picking robot capable of automatically avoiding obstacles based on machine vision and control method Download PDFInfo
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- CN114667845A CN114667845A CN202210334459.XA CN202210334459A CN114667845A CN 114667845 A CN114667845 A CN 114667845A CN 202210334459 A CN202210334459 A CN 202210334459A CN 114667845 A CN114667845 A CN 114667845A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 40
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 241000132456 Haplocarpha Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification 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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- 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
- A01D46/22—Baskets or bags attachable to the picker
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a picking robot capable of automatically avoiding obstacles based on machine vision and a control method, wherein the picking robot comprises a supporting component and a control system, wherein a driving device is arranged on the supporting component, and a picking mechanism and a buffering device are arranged on the driving device; the driving device comprises a first servo motor, an output shaft of the first servo motor is fixedly connected with a threaded rod, and the outer wall of the threaded rod is in threaded connection with a power nut, and the driving device has the beneficial effects that: through setting up drive arrangement, can drive picking mechanism and carry out the removal of optional position, can realize the picking of the fruit of optional position to through the picking mechanism who sets up, under control system's assistance, can pick fruit fast, buffer is synchronous to carry out work with picking the device, and the fruit after picking is put into earlier the buffer cylinder, has prolonged the effective operating time of picking mechanism, has promoted picking speed and efficiency greatly.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a picking robot capable of automatically avoiding obstacles based on machine vision and a control method.
Background
In a new and advanced era, robots are the most important positions of helpers, and can be used for assisting or replacing human work, such as production, construction, or dangerous work, and are one of the advanced embodiments of modern technology.
The existing picking robot needs to put fruits into a box when picking one fruit, so that the picking speed is low, a large amount of manpower is consumed, and the picking cost is high.
Disclosure of Invention
The invention provides a picking robot capable of automatically avoiding obstacles based on machine vision and a control method thereof.
Therefore, the invention aims to provide an automatic obstacle avoidance picking robot based on machine vision and a control method thereof.
To solve the above technical problem, according to an aspect of the present invention, the present invention provides the following technical solutions:
a picking robot capable of automatically avoiding obstacles based on machine vision comprises a supporting assembly and a control system, wherein a driving device is mounted on the supporting assembly, and a picking mechanism and a buffering device are mounted on the driving device;
the driving device comprises a first servo motor, an output shaft of the first servo motor is fixedly connected with a threaded rod, the outer wall of the threaded rod is in threaded connection with a power nut, the power nut is embedded into a lifting plate, a guide sleeve is mounted on the lifting plate, the inner wall of the guide sleeve is in sliding connection with a fixed rod, a first bearing seat is mounted on the lifting plate, the inner wall of the first bearing seat is rotatably connected with a rotating rod through a bearing, the top end of the rotating rod is rotatably connected with a first electric telescopic rod through a pin shaft, the outer wall of the rotating rod is rotatably connected with a second electric telescopic rod through a pin shaft, and the rotating rod is rotatably connected with an output shaft of a second servo motor;
buffer includes third servo motor and box, third servo motor's output shaft fixed connection pivot, bolted connection fourth electric telescopic handle is passed through to pivot one end, bolted connection buffer cylinder is passed through to fourth electric telescopic handle one end, box bottom grafting supporting seat, the cavity has been seted up on the supporting seat, supporting seat bottom fixed connection backup pad, the pivot outer wall passes through the bearing and rotates and connect first electric telescopic handle.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: the supporting component comprises a bottom plate, universal wheels are fixedly mounted at the bottom of the bottom plate, bolt connection supporting columns are arranged on the top ends of the universal wheels, bolt connection supporting plates are arranged on the top ends of the supporting columns, supporting rods are fixedly mounted on the supporting plates, and outer walls of the top ends of the supporting rods are fixedly connected with cross rods.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: the lifting plate is provided with a first through hole and a second through hole, the guide sleeve is inserted into the first through hole, the power nut is inserted into the second through hole, and the guide sleeve and the power nut are fixed with the lifting plate through bolts.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: the output shaft of the second servo motor is fixedly connected with a first gear, the first gear is meshed with a second gear, and the second gear is fixedly installed on the rotating rod.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: the threaded rod top is rotated through the bearing and is connected the second bearing frame, second bearing frame top fixed connection horizontal pole, the dwang outer wall is rotated through the bearing and is connected L shape bracing piece, bolted connection lifter plate is passed through to L shape bracing piece bottom.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: the top end of the fixed rod is fixedly connected with the cross rod, and the bottom end of the fixed rod is fixedly connected with the supporting plate.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: picking mechanism includes the U-shaped support, the U-shaped support passes through bolted connection third electric telescopic handle, third electric telescopic handle outer wall sliding connection rectangle frame, rectangle frame outer wall fixed connection quarter butt, bolted connection U-shaped support is passed through to quarter butt one end, the rectangle frame both ends all rotate through the round pin axle and connect the actuating arm, the actuating arm inner wall rotates through the round pin axle and connects the pull rod, pull rod one end rotates through the round pin axle and connects the drive block, drive block outer wall fixed connection third electric telescopic handle.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: the inner wall of the driving arm is connected with a pin rod in a sliding mode, one end of the pin rod is fixedly connected with the limiting disc, the other end of the pin rod is fixedly connected with the clamping plate, and a spring is sleeved on the outer wall of the pin rod.
As a preferable scheme of the picking robot for automatic obstacle avoidance based on machine vision, the picking robot comprises: the control system comprises an instruction set module, a temporary storage module, a controller, a camera, an image acquisition module, a storage module and a comparison and analysis module.
A method for controlling a picking robot capable of automatically avoiding obstacles based on machine vision specifically comprises the following steps:
s1, storing the image of the fruit to be picked in a storage module, shooting a picture by a camera, storing the shot image in a temporary storage module by an image acquisition module, analyzing the image by a comparison analysis module, avoiding the obstacle if the fruit is not the fruit, and picking if the fruit is the fruit;
s2, starting the first servo motor to drive the threaded rod to rotate, so that the lifting plate is driven to lift, and the buffer device is driven to lift;
s3, starting a second servo motor, wherein an output shaft of the second servo motor drives a first gear to rotate, so that the second gear is driven to rotate, a rotating rod is driven to rotate, and finally a buffer device is driven to rotate;
s4, when the buffer device moves to the side of the fruit, the third electric telescopic rod contracts to drive the driving block to move, so that the two driving arms are closed, the fruit is clamped by the clamping plate, and the first electric telescopic rod contracts to pull the fruit down;
s5, simultaneously, an output shaft of the third servo motor drives the rotating shaft to rotate, so that the buffer cylinder is driven to rotate, the fourth electric telescopic rod stretches until the buffer cylinder is located below the buffer device, the third electric telescopic rod stretches to release clamping of the fruits, and the fruits fall into the buffer cylinder;
s6, when the buffer cylinder is full, the third servo motor rotates to open the supporting plate at the bottom of the buffer cylinder, so that the fruit falls into the box body.
Compared with the prior art:
1. the driving device can drive the picking mechanism to move at any position, so that fruits at any position can be picked, and the fruits can be quickly picked by the arranged picking mechanism under the assistance of the control system;
2. through setting up buffer, in step with pick the device and carry out work, during fruit after picking was put into a buffer cylinder earlier, prolonged the effective operating time of picking mechanism, promoted picking speed and efficiency greatly.
Drawings
FIG. 1 is a schematic structural view provided by the present invention;
FIG. 2 is an enlarged view of the invention at A in FIG. 1;
FIG. 3 is an enlarged view at B of FIG. 1 in accordance with the present invention;
FIG. 4 is an enlarged view at C of FIG. 2 according to the present invention;
FIG. 5 is a partial schematic view of a cushioning apparatus according to the present invention;
FIG. 6 is a top view of a lifter plate provided with the present invention;
fig. 7 is a block diagram of a control system provided by the present invention.
In the figure: the support assembly 1, the bottom plate 11, the universal wheel 111, the support column 12, the support plate 13, the support rod 14, the cross bar 15, the second bearing seat 151, the support seat 16, the cavity 161, the fixing rod 17, the driving device 3, the first servo motor 31, the threaded rod 32, the lifting plate 33, the first through hole 331, the second through hole 332, the guide sleeve 333, the power nut 334, the rotating rod 34, the L-shaped support rod 341, the first bearing seat 342, the first electric telescopic rod 35, the second electric telescopic rod 36, the second servo motor 37, the first gear 371, the second gear 38, the picking mechanism 300, the U-shaped bracket 301, the third electric telescopic rod 302, the rectangular frame 303, the driving arm 304, the clamping plate 306, the pull rod 307, the driving block 308, the short rod 312, the pin rod 313, the limiting disc 314, the spring 315, the buffer device 4, the rotating shaft 41, the third servo motor 42, the buffer cylinder 43, the fourth electric telescopic rod 44, and the box 45.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention provides a picking robot capable of automatically avoiding obstacles based on machine vision, which refers to fig. 1-7 and comprises a supporting assembly and a control system, wherein a driving device is arranged on the supporting assembly, and a picking mechanism and a buffering device are arranged on the driving device;
the driving device comprises a first servo motor, an output shaft of the first servo motor is fixedly connected with a threaded rod, the outer wall of the threaded rod is in threaded connection with a power nut, the power nut is embedded into a lifting plate, a guide sleeve is mounted on the lifting plate, the inner wall of the guide sleeve is in sliding connection with a fixed rod, a first bearing seat is mounted on the lifting plate, the inner wall of the first bearing seat is rotatably connected with a rotating rod through a bearing, the top end of the rotating rod is rotatably connected with a first electric telescopic rod through a pin shaft, the outer wall of the rotating rod is rotatably connected with a second electric telescopic rod through a pin shaft, and the rotating rod is rotatably connected with an output shaft of a second servo motor;
buffer includes third servo motor and box, third servo motor's output shaft fixed connection pivot, bolted connection fourth electric telescopic handle is passed through to pivot one end, bolted connection buffer cylinder is passed through to fourth electric telescopic handle one end, box bottom grafting supporting seat, the cavity has been seted up on the supporting seat, supporting seat bottom fixed connection backup pad, the pivot outer wall passes through the bearing and rotates and connect first electric telescopic handle.
The supporting assembly comprises a bottom plate, a universal wheel is fixedly mounted at the bottom of the bottom plate, the top end of the universal wheel is connected with a supporting column through a bolt, the top end of the supporting column is connected with the supporting plate through a bolt, a supporting rod is fixedly mounted on the supporting plate, the outer wall of the top end of the supporting rod is fixedly connected with a cross rod, the supporting assembly is characterized in that a first through hole and a second through hole are formed in the lifting plate, a guide sleeve is inserted into the first through hole, a power nut is inserted into the second through hole, the guide sleeve and the power nut are both fixed with the lifting plate through bolts, the supporting assembly is characterized in that an output shaft of a second servo motor is fixedly connected with a first gear, the first gear is meshed with a second gear, the second gear is fixedly mounted on a rotating rod, the top end of a threaded rod is rotatably connected with a second bearing seat through a bearing, the top end of the second bearing seat is fixedly connected with the cross rod, the dwang outer wall passes through the bearing and rotates the L shape bracing piece of connection, bolted connection lifter plate is passed through to L shape bracing piece bottom, its characterized in that, fixed rod top fixed connection horizontal pole, fixed rod bottom fixed connection backup pad.
Picking mechanism includes the U-shaped support, the U-shaped support passes through bolted connection third electric telescopic handle, third electric telescopic handle outer wall sliding connection rectangle frame, rectangle frame outer wall fixed connection quarter butt, bolted connection U-shaped support is passed through to quarter butt one end, the rectangle frame both ends all are through round pin hub connection actuating arm of rotation, the actuating arm inner wall is through round pin hub connection pull rod of rotation, pull rod one end is through round pin hub connection driving block of rotation, driving block outer wall fixed connection third electric telescopic handle, its characterized in that, actuating arm inner wall sliding connection pin rod, spacing dish of pin rod one end fixed connection, other end fixed connection splint, the cover is equipped with the spring on the pin rod outer wall.
A method for controlling a picking robot capable of automatically avoiding obstacles based on machine vision specifically comprises the following steps:
s1, storing the image of the fruit to be picked in a storage module, shooting a picture by a camera, storing the shot image in a temporary storage module by an image acquisition module, analyzing the image by a comparison analysis module, avoiding the obstacle if the fruit is not the fruit, and picking if the fruit is the fruit;
s2, starting the first servo motor 31 to drive the threaded rod 32 to rotate, so as to drive the lifting plate 33 to lift and further drive the buffer device 4 to lift;
s3, the second servo motor 37 is started, an output shaft of the second servo motor 37 drives the first gear 371 to rotate, so as to drive the second gear 38 to rotate, further drive the rotating rod 34 to rotate, and finally drive the buffer device 4 to rotate, the second electric telescopic rod 36 stretches and retracts to drive the first electric telescopic rod 35 to rotate, so as to adjust the angle of the buffer device 4, and the first electric telescopic rod 35 stretches and retracts to drive the buffer device 4 to stretch and retract;
s4, when the buffer device 4 moves to the side of the fruit, the third electric telescopic rod 302 contracts to drive the driving block 308 to move, so that the two driving arms 304 are closed, the fruit is clamped by the clamping plate 306, and the first electric telescopic rod 35 contracts to pull the fruit down;
s5, simultaneously, the output shaft of the third servo motor 42 drives the rotating shaft 41 to rotate, so that the buffer cylinder 43 is driven to rotate, the fourth electric telescopic rod 44 stretches until the buffer cylinder 43 is positioned below the buffer device 4, the third electric telescopic rod 302 stretches to release clamping of the fruits, and the fruits fall into the buffer cylinder 43;
s6, when the buffer cylinder 43 is full, the third servo motor 42 rotates to open the supporting plate at the bottom of the buffer cylinder 43, so that the fruit falls into the box body 45.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a picking robot of barrier is kept away in automation based on machine vision, includes supporting component (1) and control system, its characterized in that: a driving device (3) is arranged on the supporting component (1), and a picking mechanism (300) and a buffer device (4) are arranged on the driving device (3);
the driving device (3) comprises a first servo motor (31), an output shaft of the first servo motor (31) is fixedly connected with a threaded rod (32), the outer wall of the threaded rod (32) is in threaded connection with a power nut (334), the power nut (334) is embedded into the lifting plate (33), a guide sleeve (333) is arranged on the lifting plate (33), the inner wall of the guide sleeve (333) is connected with a fixed rod (17) in a sliding way, a first bearing seat (342) is arranged on the lifting plate (33), the inner wall of the first bearing seat (342) is rotatably connected with a rotating rod (34) through a bearing, the top end of the rotating rod (34) is rotationally connected with a first electric telescopic rod (35) through a pin shaft, the outer wall of the rotating rod (34) is rotationally connected with a second electric telescopic rod (36) through a pin shaft, the rotating rod (34) is rotatably connected with an output shaft of a second servo motor (37);
buffer (4) include third servo motor (42) and box (45), output shaft fixed connection pivot (41) of third servo motor (42), bolted connection fourth electric telescopic handle (44) are passed through to pivot (41) one end, bolted connection buffer tube (43) are passed through to fourth electric telescopic handle (44) one end, box (45) bottom grafting supporting seat (16), cavity (161) have been seted up on supporting seat (16), supporting seat (16) bottom fixed connection backup pad (13), pivot (41) outer wall passes through the bearing and rotates and connects first electric telescopic handle (35).
2. The automatic obstacle avoidance picking robot based on machine vision is characterized in that the support assembly (1) comprises a bottom plate (11), universal wheels (111) are fixedly mounted at the bottom end of the bottom plate (11), the top ends of the universal wheels (111) are connected with support columns (12) through bolts, the top ends of the support columns (12) are connected with support plates (13) through bolts, support rods (14) are fixedly mounted on the support plates (13), and the outer walls of the top ends of the support rods (14) are fixedly connected with cross rods (15).
3. The picking robot capable of automatically avoiding obstacles based on machine vision is characterized in that a first through hole (331) and a second through hole (332) are formed in the lifting plate (33), the guide sleeve (333) is inserted into the first through hole (331), the power nut (334) is inserted into the second through hole (332), and the guide sleeve (333) and the power nut (334) are fixed with the lifting plate (33) through bolts.
4. The picking robot for automatic obstacle avoidance based on machine vision as claimed in claim 2, characterized in that the output shaft of the second servo motor (37) is fixedly connected with a first gear (371), the first gear (371) is engaged with a second gear (38), and the second gear (38) is fixedly mounted on the rotating rod (34).
5. The picking robot capable of automatically avoiding obstacles based on machine vision is characterized in that the top end of the threaded rod (32) is rotatably connected with the second bearing seat (151) through a bearing, the top end of the second bearing seat (151) is fixedly connected with the cross rod (15), the outer wall of the rotating rod (34) is rotatably connected with an L-shaped supporting rod (341) through a bearing, and the bottom end of the L-shaped supporting rod (341) is connected with the lifting plate (33) through a bolt.
6. The picking robot capable of automatically avoiding obstacles based on machine vision as claimed in claim 1, characterized in that the top end of the fixing rod (17) is fixedly connected with the cross rod (15), and the bottom end of the fixing rod (17) is fixedly connected with the supporting plate (13).
7. The picking robot capable of avoiding obstacles automatically based on machine vision is characterized in that the picking mechanism (300) comprises a U-shaped support (301), the U-shaped support (301) is connected with a third electric telescopic rod (302) through a bolt, the outer wall of the third electric telescopic rod (302) is connected with a rectangular frame (303) in a sliding mode, the outer wall of the rectangular frame (303) is fixedly connected with a short rod (312), one end of the short rod (312) is connected with the U-shaped support (301) through a bolt, the two ends of the rectangular frame (303) are both rotatably connected with a driving arm (304) through a pin shaft, the inner wall of the driving arm (304) is rotatably connected with a pull rod (307) through a pin shaft, one end of the pull rod (307) is rotatably connected with a driving block (308) through a pin shaft, and the outer wall of the driving block (308) is fixedly connected with the third electric telescopic rod (302).
8. The picking robot capable of avoiding obstacles automatically based on machine vision as claimed in claim 7, characterized in that the inner wall of the driving arm (304) is connected with a pin rod (313) in a sliding manner, one end of the pin rod (313) is fixedly connected with a limiting disc (314), the other end of the pin rod (313) is fixedly connected with a clamping plate (306), and a spring (315) is sleeved on the outer wall of the pin rod (313).
9. The picking robot for automatic obstacle avoidance based on machine vision as claimed in claim 8, wherein the control system comprises an instruction set module, a temporary storage module, a controller, a camera, an image acquisition module, a storage module and a comparison and analysis module.
10. A method of controlling the machine vision based automatic obstacle avoidance picking robot of claim 9, characterized by; the method specifically comprises the following steps:
s1, storing the image of the fruit to be picked in a storage module, shooting a picture by a camera, storing the shot image in a temporary storage module by an image acquisition module, analyzing the image by a comparison analysis module, avoiding the obstacle if the fruit is not the fruit, and picking if the fruit is the fruit;
s2, starting the first servo motor (31) to drive the threaded rod (32) to rotate, so as to drive the lifting plate (33) to lift, and further drive the buffer device (4) to lift;
s3, a second servo motor (37) is started, an output shaft of the second servo motor (37) drives a first gear (371) to rotate, so that a second gear (38) is driven to rotate, a rotating rod (34) is driven to rotate, and finally a buffer device (4) is driven to rotate, the second electric telescopic rod (36) stretches and retracts to drive a first electric telescopic rod (35) to rotate, so that the angle of the buffer device (4) is adjusted, and the first electric telescopic rod (35) stretches and retracts to drive the buffer device (4) to stretch;
s4, when the buffer device (4) moves to the side of the fruit, the third electric telescopic rod (302) contracts to drive the driving block (308) to move, so that the two driving arms (304) are closed, the fruit is clamped by the clamping plate (306), and the first electric telescopic rod (35) contracts to pull the fruit down;
s5, simultaneously, an output shaft of the third servo motor (42) drives the rotating shaft (41) to rotate, so that the buffer cylinder (43) is driven to rotate, the fourth electric telescopic rod (44) stretches until the buffer cylinder (43) is located below the buffer device (4), the third electric telescopic rod (302) stretches to release clamping of fruits, and the fruits fall into the buffer cylinder (43);
s6, when the buffer cylinder (43) is full, the third servo motor (42) rotates to open the supporting plate at the bottom of the buffer cylinder (43), so that the fruit falls into the box body (45).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210334459.XA CN114667845A (en) | 2022-03-31 | 2022-03-31 | Picking robot capable of automatically avoiding obstacles based on machine vision and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210334459.XA CN114667845A (en) | 2022-03-31 | 2022-03-31 | Picking robot capable of automatically avoiding obstacles based on machine vision and control method |
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| CN114667845A true CN114667845A (en) | 2022-06-28 |
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| CN202210334459.XA Pending CN114667845A (en) | 2022-03-31 | 2022-03-31 | Picking robot capable of automatically avoiding obstacles based on machine vision and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116856033A (en) * | 2023-06-16 | 2023-10-10 | 浙江道和机械股份有限公司 | Electrophoresis plastic spraying coating equipment for energy storage box shell |
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Application publication date: 20220628 |