CN115104432A - Picking robot system and method with cooperation of unmanned aerial vehicle and mechanical vehicle - Google Patents
Picking robot system and method with cooperation of unmanned aerial vehicle and mechanical vehicle Download PDFInfo
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- CN115104432A CN115104432A CN202210798425.6A CN202210798425A CN115104432A CN 115104432 A CN115104432 A CN 115104432A CN 202210798425 A CN202210798425 A CN 202210798425A CN 115104432 A CN115104432 A CN 115104432A
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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
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Abstract
The application discloses a picking robot system and a picking robot method with cooperation of an unmanned aerial vehicle and a mechanical vehicle, wherein the system comprises a ground carrier, a controller and the unmanned aerial vehicle; the unmanned aerial vehicle carries a mechanical arm, and the unmanned aerial vehicle picks picked objects through the mechanical arm; the ground carrier is provided with a funnel device and a storage device, after the unmanned aerial vehicle finishes picking, the ground carrier receives picked objects through the funnel device, and the picked objects are stored through the storage device. The application provides ground carrier and unmanned aerial vehicle's cooperation, can adapt to complicated changeable topography, has realized that the higher fruit of tree body is picked to the low cost, or the long fruit in narrow space department, can not visit in the position of lift and arm.
Description
Technical Field
The application relates to the field of agricultural automation, in particular to a picking robot system and a picking robot method based on cooperation of an unmanned aerial vehicle and a mechanical vehicle.
Background
The picking period of the fruits is generally short, and if the fruits cannot be picked in time, the fruits are over-ripe and rotten, so that waste and economic loss are caused. Therefore, how to pick the fruits efficiently and accurately becomes a problem to be solved.
The existing picking robot mostly uses more than six mechanical arms to pick fruits, but the height of the mechanical arms is often insufficient, and the fruits at higher positions cannot be picked. The additional arrangement of a scissor lift or a crank arm can solve the height problem, but the chassis needs to bear extra high weight, so that the picking robot is high in cost and energy is wasted; in addition, the additional arrangement of the crank arm also requires that the chassis is provided with extendable supporting feet to prevent the elevator or the crank arm from turning over, which occupies a very large space; finally, the six mechanical arms move slowly, the moving space is large, and the fruit trees are easy to cut and rub.
Therefore, the above technical problems in the related art need to be solved.
Disclosure of Invention
The present application is directed to solving one of the technical problems in the related art. Therefore, the picking robot system and the picking robot method based on cooperation of the unmanned aerial vehicle and the mechanical vehicle can pick fruits efficiently and accurately, and therefore the problem to be solved is solved.
According to an aspect of an embodiment of the present application, there is provided a picking robot system with a cooperation of an unmanned aerial vehicle and a mechanical vehicle, the system comprising a ground vehicle, a controller and an unmanned aerial vehicle;
the unmanned aerial vehicle carries a mechanical arm, and the unmanned aerial vehicle picks picked objects through the mechanical arm;
the ground carrier is provided with a funnel device and a storage device, and after the unmanned aerial vehicle finishes picking, the ground carrier receives picked objects through the funnel device and stores the picked objects through the storage device;
the controller controls the ground carrier and the unmanned aerial vehicle to operate through wireless signals.
In one embodiment, the drone uses a depth binocular camera and visual SLAM algorithm for obstacle avoidance, picking positioning and movement.
In one embodiment, the depth binocular camera obtains depth distance information and two-dimensional plane images of the unmanned aerial vehicle from the picking object, and obtains a three-dimensional stereo model according to the depth distance information and the two-dimensional plane images.
In one embodiment, after the unmanned aerial vehicle moves to a preset position, a control instruction is sent to the mechanical arm to control the mechanical arm to pick fruits;
and the preset position is the position of the picking object in the grabbing range of the mechanical arm.
In one embodiment, the hopper device and the storage device are connected by a helical conduit through which the hopper device delivers pickles to the storage device.
In one embodiment, the ground carrier is informed by the unmanned aerial vehicle after picking is completed, and the ground carrier is lifted to a corresponding position according to the height of the picked object after being informed, wherein the corresponding position is a position where the distance between the funnel device and the picked object is less than a preset distance.
In one embodiment, the ground vehicle is a tracked vehicle.
According to an aspect of the embodiments of the present application, there is provided a picking robot method with cooperation of an unmanned aerial vehicle and a mechanical vehicle, which is applied to the picking robot system with cooperation of an unmanned aerial vehicle and a mechanical vehicle described in the previous embodiments, the method includes:
picking the picked objects by an unmanned aerial vehicle;
receiving the picked objects through a ground carrier after picking, and storing the picked objects;
and controlling the ground carrier and the unmanned aerial vehicle to operate through wireless signals.
In one embodiment, the method further comprises:
obtaining depth distance information and a two-dimensional plane image from the unmanned aerial vehicle to a picked object;
and obtaining a three-dimensional model according to the depth distance information and the two-dimensional plane image.
In one embodiment, the method further comprises:
notifying the ground carrier after picking is completed;
and lifting the ground carrier to a corresponding position according to the height of the picked objects, wherein the corresponding position is a position where the distance between the funnel device of the ground carrier and the picked objects is less than a preset distance.
The beneficial effects of the unmanned aerial vehicle and mechanical vehicle cooperative picking robot system and method provided by the embodiment of the application are as follows: the system comprises a ground carrier, a controller and an unmanned aerial vehicle; the unmanned aerial vehicle carries a mechanical arm, and the unmanned aerial vehicle picks picked objects through the mechanical arm; the ground carrier is provided with a funnel device and a storage device, after the unmanned aerial vehicle finishes picking, the ground carrier receives picked objects through the funnel device, and the picked objects are stored through the storage device. The application provides ground carrier and unmanned aerial vehicle's cooperation, can adapt to complicated changeable topography, has realized that the higher fruit of tree body is picked to the low cost, or the long fruit in narrow space department, can not visit in the position of lift and arm.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a general design diagram of a picking robot system with a cooperative unmanned aerial vehicle and a mechanical vehicle provided in an embodiment of the present application;
FIG. 2 is a side view of a robotic vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a telescopic pipe according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of the present application and in the drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
Fruits are common crops, the picking period is short, and if the fruits cannot be picked in time, the fruits are over-ripe and rotten, so that huge waste and economic loss are caused. Therefore, how to help farmers pick fruits efficiently and accurately becomes a difficult problem.
In response to this situation, it is a good choice to use machinery to help farmers complete picking in a short time. The existing picking robot mostly uses more than six mechanical arms to pick fruits, but the height of the mechanical arms is often insufficient, and the fruits at higher positions cannot be picked. The additional arrangement of a scissor lift or a crank arm can solve the height problem, but the chassis needs to bear extra high weight, so that the picking robot is high in cost and energy is wasted; in addition, the additional arrangement of the crank arm also requires that the chassis is provided with extendable supporting feet to prevent the elevator or the crank arm from turning over, which occupies a very large space; and finally, the six mechanical arms move slowly, the moving space is large, and fruit trees are easy to scrape and rub. To these problems, this application has designed a fruit by unmanned aerial vehicle, automatic flexible pipeline and tracked vehicle chassis constitute and has picked unmanned aerial vehicle system. The system is provided with a mechanical arm on the unmanned aerial vehicle, and fruits with higher tree bodies or fruits which are grown in narrow spaces and cannot enter the positions of the lifter and the mechanical arm are picked at low cost.
Fig. 1 is an overall design drawing of a picking robot system with a cooperative unmanned aerial vehicle and a mechanical vehicle provided in an embodiment of the present application, as shown in fig. 1, the picking robot system with a cooperative unmanned aerial vehicle and a mechanical vehicle provided in the present application includes: a ground vehicle, a controller and an unmanned aerial vehicle; the unmanned aerial vehicle carries a mechanical arm, and the unmanned aerial vehicle picks picked objects through the mechanical arm; the ground carrier is provided with a funnel device and a storage device, and after the unmanned aerial vehicle finishes picking, the ground carrier receives picked objects through the funnel device and stores the picked objects through the storage device; the controller controls the ground carrier and the unmanned aerial vehicle to operate through wireless signals.
Wherein, the arm material that unmanned aerial vehicle carried is light-weight carbon pipe arm, and unmanned aerial vehicle load capacity is limited, consequently need adopt firm and lightweight material as the arm material, reduces unmanned aerial vehicle's load burden.
This application adopts open source autopilot, including ground station, hardware and SDK, can use general protocol and computer, camera and other hardware etc. its main function includes: many different equipment racks/types may be controlled, including: aircraft (multi-rotor, fixed wing and vertical take-off and landing), ground vehicles and underwater vehicles. The method is applicable to hardware selection of device controllers, sensors and other peripheral devices. Flexible flight modes and safety functions.
Secondly, in the aspect of the visual sensor, this application adopts degree of depth binocular camera, obtains the degree of depth distance information from unmanned aerial vehicle to target fruit through two cameras, and the two-dimensional plane image that shoots with the camera is compiled into three-dimensional stereo image. The application uses a deep learning algorithm and utilizes a binocular camera to detect and distinguish the categories and positions of various fruits and vegetables.
Optionally, the unmanned aerial vehicle utilizes a depth binocular camera and a vision SLAM algorithm to avoid obstacles, position picked objects and move. In the aspect of autonomous movement control, synchronous positioning and mapping (SLAM) based on vision is adopted in the method, under the assumption that a scene is static, an image sequence is obtained through the motion of a camera, a three-dimensional model of the scene is obtained, when a crawler moves, a binocular camera of an unmanned aerial vehicle which is landed on a take-off and landing platform is called, the posture and the position of a field camera are estimated, positioning and mapping are completed, and therefore autonomous movement control is achieved.
The depth binocular camera of the embodiment obtains depth distance information and a two-dimensional plane image from the unmanned aerial vehicle to a picked object, and obtains a three-dimensional model according to the depth distance information and the two-dimensional plane image. The system can analyze which crops the current picked objects belong to according to the obtained three-dimensional model by using a related algorithm, so that operators can conveniently distinguish whether picking is required.
Optionally, after the unmanned aerial vehicle moves to a preset position, sending a control instruction to the mechanical arm to control the mechanical arm to pick the fruit; the preset position is the position of a picked object in the grabbing range of the mechanical arm. In the aspect of the arm, the three-finger flexible fruit picking manipulator that this application adopted, wherein, the rotating electrical machines is 3650 brushless direct current speed reduction planetary motor, and the manipulator motor is series lead screw step motor. The specific flow of mechanical arm control is as follows: when giving manipulator step motor forward current, three indicate promptly, then rotate for the rotating electrical machines instruction of arm, pick fruit, when unmanned aerial vehicle arrived preset position and placed fruit, put down fruit for the step motor reverse current of manipulator.
Optionally, the hopper device and the storage device are connected by a helical conduit through which the hopper device transports pickles to the storage device.
As shown in fig. 2, the ground vehicle in this embodiment is a tracked carrier. The ground of the place where crops are planted is uneven, so that the transport vehicle is required to move through the crawler belt, and the transport vehicle is prevented from turning over or breaking down.
As shown in fig. 3, it should be noted that the ground carrier is notified after the unmanned aerial vehicle finishes picking, and the ground carrier is lifted to a corresponding position according to the height of the picked object after receiving the notification, where the corresponding position is a position where the distance between the funnel device and the picked object is less than a preset distance. The unmanned plane can put the picked objects into a funnel connected with a lifting rotary pipeline of the crawler-type fruit transport vehicle, and the funnel can be lifted to a proper position according to the height of the picked fruits.
The present description also provides a specific working process when the system of the present application is applied to fruit picking, specifically comprising:
s1: firstly, a ground carrier (a crawler-type fruit transport vehicle) can arrive beside a fruit crop to wait for the unmanned aerial vehicle to take the fruit off.
S2: the unmanned aerial vehicle can fly to the side of the fruit crops, a binocular camera is used for shooting, and finally the distance and the direction between the fruit and the unmanned aerial vehicle are located from the shot pictures by utilizing the trained image recognition network formed by the neural network.
S3: after the specific position of the fruit to be picked is determined, the unmanned aerial vehicle can utilize the program set in the machine body to control the mechanical arm to twist down the fruit.
S4: then, no one will have the opportunity to place the fruit into a hopper (which will also be raised and lowered into position depending on the height of the picked fruit) to which the liftable rotating pipe of the tracked fruit transport vehicle is connected.
S5: after the fruit is placed in the funnel, the fruit is lowered to the storage box by the pipeline.
The system of picking the crop based on unmanned aerial vehicle and mechanical vehicle cluster that this application realized can be according to the position of visual positioning fruit, and crawler-type fruit transport vechicle adapts to complicated changeable fruit place topography simultaneously, and the transport capacity is powerful.
In summary, the present application proposes: (1) unmanned aerial vehicle + arm is in coordination with the model of picking fruit mechanism, does not have unmanned aerial vehicle and the model of picking fruit combination application basically among the prior art, thereby mostly all only installs the arm on the ground carrier and reaches the purpose of picking fruit. (2) The utility model provides a pick fruit unmanned aerial vehicle + helical pipeline ground carrier's cooperative control, unmanned aerial vehicle picks to fruit after, transport the containing box inside with fruit smoothly through helical pipeline, these both technologies that combine together are still blank now, this application has designed the helical pipeline from the elevating system, so, thereby when meetting the difficult descending of unmanned aerial vehicle and placing fruit, ground carrier can promote the height automatically in order to meet, the robustness of this set of system has been improved, relevant model to this is at present very few. (3) The automatic fruit containing and packaging device has the advantages that the spiral pipeline is matched with the containing box blank space, and the automatic fruit containing and packaging are achieved. (4) The cooperation of unmanned crawler and unmanned aerial vehicle is proposed, when unmanned aerial vehicle stops on the platform of taking off and landing, utilizes unmanned aerial vehicle's two mesh cameras, and operation vision SLAM algorithm controls crawler and independently walks, realizes that full-automatic fruit is picked and is carried.
In addition, the application also provides a picking robot method with the cooperation of the unmanned aerial vehicle and the mechanical vehicle, which is applied to the picking robot system with the cooperation of the unmanned aerial vehicle and the mechanical vehicle of the previous embodiment, and the method comprises the following steps: picking the picked objects by an unmanned aerial vehicle; receiving the picked objects through a ground carrier after picking, and storing the picked objects; and controlling the ground carrier and the unmanned aerial vehicle to operate through wireless signals.
Optionally, the method of this embodiment further includes: acquiring depth distance information and a two-dimensional plane image of the unmanned aerial vehicle from the picking object; and obtaining a three-dimensional model according to the depth distance information and the two-dimensional plane image.
Optionally, the method of this embodiment further includes: notifying the ground carrier after picking is completed; and lifting the ground carrier to a corresponding position according to the height of the picked objects, wherein the corresponding position is a position where the distance between the funnel device of the ground carrier and the picked objects is less than a preset distance.
Similarly, the contents of the system embodiments are all applicable to the method embodiments, the functions specifically implemented by the method embodiments are the same as the system embodiments, and the beneficial effects achieved by the method embodiments are also the same as the beneficial effects achieved by the method embodiments.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion regarding the actual implementation of each module is not necessary for an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer given the nature, function, and interrelationships of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the present application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the application, which is defined by the appended claims and their full scope of equivalents.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The picking robot system with the cooperation of the unmanned aerial vehicle and the mechanical vehicle is characterized by comprising a ground carrier, a controller and the unmanned aerial vehicle;
the unmanned aerial vehicle carries a mechanical arm, and the unmanned aerial vehicle picks picked objects through the mechanical arm;
the ground carrier is provided with a funnel device and a storage device, and after the unmanned aerial vehicle finishes picking, the ground carrier receives picked objects through the funnel device and stores the picked objects through the storage device;
the controller controls the ground carrier and the unmanned aerial vehicle to operate through wireless signals.
2. The unmanned aerial vehicle and robotic vehicle coordinated picking robot system of claim 1, wherein the unmanned aerial vehicle utilizes a depth binocular camera and a vision SLAM algorithm for obstacle avoidance, picking positioning and movement.
3. The unmanned aerial vehicle and robotic vehicle coordinated picking robot system of claim 2, wherein the depth binocular camera obtains depth distance information and two-dimensional plane images of the unmanned aerial vehicle to a picked object, and obtains a three-dimensional stereo model from the depth distance information and two-dimensional plane images.
4. The unmanned aerial vehicle and mechanical vehicle cooperative picking robot system of claim 1, wherein the unmanned aerial vehicle sends control instructions to the mechanical arm to control the mechanical arm to pick fruit after moving to a preset position;
the preset position is the position of a picked object in the grabbing range of the mechanical arm.
5. The unmanned aerial vehicle and robotic vehicle coordinated picking robot system of claim 1, wherein the hopper device and the storage device are connected by a helical conduit through which the hopper device transports pickles to the storage device.
6. The unmanned aerial vehicle and robotic vehicle coordinated picking robot system of claim 1, wherein the unmanned aerial vehicle notifies the ground carrier upon completion of picking, the ground carrier is raised to a corresponding position according to a height of a picked object upon receipt of the notification, the corresponding position being a position where a distance of the funnel device from the picked object is less than a preset distance.
7. A picking robot system with unmanned aerial vehicle and robotic vehicle in cooperation according to claim 1, characterised in that the ground vehicle is a tracked vehicle.
8. Unmanned aerial vehicle and mechanical vehicle coordinated picking robot method, characterized in that, applied to the unmanned aerial vehicle and mechanical vehicle coordinated picking robot system of any one of claims 1-7, the method comprises:
picking the picked objects by an unmanned aerial vehicle;
receiving the picked objects through a ground carrier after picking, and storing the picked objects;
and controlling the ground carrier and the unmanned aerial vehicle to operate through wireless signals.
9. The unmanned aerial vehicle and robotic vehicle coordinated picking robot method of claim 8, the method further comprising:
obtaining depth distance information and a two-dimensional plane image from the unmanned aerial vehicle to a picked object;
and obtaining a three-dimensional model according to the depth distance information and the two-dimensional plane image.
10. The unmanned aerial vehicle and robotic vehicle coordinated picking robot method of claim 8, the method further comprising:
notifying the ground carrier after picking is completed;
and lifting the ground carrier to a corresponding position according to the height of the picked objects, wherein the corresponding position is a position where the distance between the funnel device of the ground carrier and the picked objects is less than a preset distance.
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