CN115316114B - Water planting leaf dish harvesting robot based on binocular three-dimensional vision location - Google Patents
Water planting leaf dish harvesting robot based on binocular three-dimensional vision location Download PDFInfo
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- CN115316114B CN115316114B CN202211007346.5A CN202211007346A CN115316114B CN 115316114 B CN115316114 B CN 115316114B CN 202211007346 A CN202211007346 A CN 202211007346A CN 115316114 B CN115316114 B CN 115316114B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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Abstract
The invention relates to an agricultural robot. Aims to provide a water planting leaf vegetable harvesting robot based on binocular three-dimensional visual positioning; the robot can accurately position the hydroponic leaf vegetables in the greenhouse and realize full-automatic harvesting operation so as to improve the working efficiency of the hydroponic leaf vegetables harvesting process, reduce the damage rate of the hydroponic leaf vegetables, and have the characteristics of large single harvesting capacity, collection, arrangement and normalization, and convenience for large-scale harvesting and subsequent boxing of the leaf vegetables. The technical scheme is that the hydroponic leaf vegetable harvesting robot based on binocular three-dimensional visual positioning comprises a frame provided with a walking assembly and a collecting frame and a controller; the method is characterized in that: the water planting leaf vegetable harvesting robot further comprises a harvesting platform lifting mechanism which can be positioned on the frame in a front-back moving mode and drives the harvesting platform, and a leaf vegetable tilting prevention mechanism, a leaf vegetable harvesting mechanism and a leaf vegetable separating mechanism which are arranged on the harvesting platform.
Description
Technical Field
The invention relates to an agricultural robot, in particular to a water planting leaf vegetable harvesting robot based on binocular three-dimensional vision positioning.
Background
China is the country with the largest vegetable yield in the world, the annual vegetable yield accounts for about 60% of the annual world production total, and the annual leaf vegetable yield accounts for about 1/3 of the annual vegetable production total. The cultivated area of the cultivated land is smaller for people in China, so that the planting mode of the hydroponic leaf vegetables cultivated in the greenhouse and not depending on soil is rapidly developed; however, the operation mode of manual harvesting is not easy to implement and the harvesting efficiency is lower. Therefore, the automatic harvesting machine for the hydroponic leaf vegetables is generated. However, the existing automatic harvesting machinery for hydroponic leaf vegetables is not mature, and more or less has some defects.
For example, the rotary-driven type full-automatic harvesting vehicle for hydroponic leaf vegetables described in application number 202110752529.9 has the following disadvantages: 1. the damage to the external leaves of the leaf vegetables is large due to the overlarge harvesting cutting angle. 2. The chain structure can not bear the weight of the harvesting claw parts with larger weight, so that the transportation shakes, and the leaf vegetables are easy to roll in the transportation process. 3. The leaf vegetable leaves are greatly damaged by the collecting mode that the leaf vegetable falls from the high place. 4. The positioning mode of relying on the photoelectric sensor and the reflector is complex to operate, and the installation of the reflector requires a certain training skill, and the reflector needs to be repositioned after the replacement of the cultivation plate.
The full-automatic harvesting vehicle for the linear driving type hydroponic leaf vegetables, which is disclosed in the application number 202110498624.0, has the following defects: 1. the basket has smaller capacity and frequent transportation. 2. Leaf vegetables very easily drop in the in-process of horizontal transportation, cause the blade damage. 3. The edge of the picking finger is sharp, and scratches are easily left on the surface of the leaf vegetables. 4. The impact force of the harvesting cylinder driven chopping board on the leaf vegetable blades is large, the effect difference is large for leaf vegetables with different heights, and the leaf vegetables are greatly damaged in a side falling mode.
Therefore, it is very necessary to develop a new generation of water planting leaf vegetable harvesting robot with high speed, low loss and convenient positioning.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides a hydroponic leaf vegetable harvesting robot based on binocular three-dimensional visual positioning; the robot can accurately position the hydroponic leaf vegetables in the greenhouse and realize full-automatic harvesting operation so as to improve the working efficiency of the hydroponic leaf vegetables harvesting process, reduce the damage rate of the hydroponic leaf vegetables, and have the characteristics of large single harvesting capacity, collection, arrangement and normalization, and convenience for large-scale harvesting and subsequent boxing of the leaf vegetables.
The technical scheme provided by the invention is as follows: a water planting leaf vegetable harvesting robot based on binocular three-dimensional visual positioning comprises a frame provided with a walking assembly and a collecting frame and a controller; the method is characterized in that: the water planting leaf vegetable harvesting robot also comprises a harvesting platform lifting mechanism which can be positioned on the frame in a back-and-forth moving way and drives the harvesting platform, a leaf vegetable tilting prevention mechanism, a leaf vegetable harvesting mechanism and a leaf vegetable separating mechanism which are arranged on the harvesting platform;
the leaf vegetable tilting-prevention mechanism comprises a plurality of pairs of tilting-prevention baffles which are arranged in two rows and are arranged in pairs front and back, and a plurality of pairs of movable tilting-prevention baffles which are arranged in two rows and are arranged in pairs front and back; so as to ensure that the water planting leaf vegetables to be harvested in the middle of each pair of anti-tilting baffles cannot fall down; the movable anti-tilting baffles are also transversely staggered with the opposite anti-tilting baffles and can move back and forth so as to ensure that the water planting leaf vegetables to be harvested in all the anti-tilting baffles are transversely in the same straight line during operation;
the leaf vegetable separating mechanism comprises a separating and pushing beam which can be movably positioned on the harvesting platform back and forth, a leaf vegetable harvesting mechanism which is fixed on the separating and pushing beam, and a cylinder which can apply force to the separating and pushing beam in the front-back direction;
the leaf vegetable harvesting mechanism comprises a light bionic cylindrical finger beam which is horizontally arranged and can be vertically movably positioned on the separation pushing beam, a triaxial cylinder which vertically drives the light bionic cylindrical finger beam, and a plurality of pairs of light bionic cylindrical fingers which are horizontally and regularly arranged on the light bionic cylindrical finger beam.
The walking assembly comprises a walking component accommodating box arranged at the bottom of the gantry-like supporting frame, and a servo driving wheel and a V-shaped wheel which are positioned at the bottom of the walking component accommodating box and can walk along a track.
The collecting frame is arranged at the rear side of the frame, and the space in the frame is separated by a cross partition board.
The harvesting platform lifting mechanism comprises two portal frames connected with two ends of the harvesting platform driving connection beam 0107, a first pneumatic sliding table connected with each portal frame through a first linear guide rail and a harvesting platform beam connected with the first pneumatic sliding table.
The harvesting platform lifting mechanism is connected and fixed with the linear module at the top of the gantry-like supporting frame through the harvesting platform driving connection beam 0107, so that the front-back movement on the frame is realized.
The harvesting platform support section bars are arranged on the left side and the right side of the portal-like support frame, two second linear guide rails are respectively arranged on each harvesting platform support section bar along the front-back direction, and sliding blocks of the second linear guide rails are connected with bottoms of two upright posts of the portal-like frame.
The plurality of pairs of anti-tilting baffles comprise a plurality of first anti-tilting baffles transversely arranged on the cross beam of the platform main body at intervals and a plurality of second anti-tilting baffles transversely arranged on the mounting cross beam of the anti-tilting baffles at intervals; the second anti-tilting baffles are further arranged in pairs at intervals from front to back with the first anti-tilting baffles, and the lower part of a gap between the second anti-tilting baffles and the first anti-tilting baffles is opposite to one cultivation hole of the cultivation plate and also corresponds to the space between two paired light bionic cylindrical short fingers.
The movable anti-tilting baffles are transversely arranged in two rows and are arranged on the square frame at intervals, the front and rear intervals of the two rows of movable anti-tilting baffles are arranged in pairs one by one, and the lower part of a gap between the two movable anti-tilting baffles in the pairs is opposite to one cultivation hole of the cultivation plate and also corresponds to the space between the two paired light bionic cylindrical long fingers; the square frame is connected with a second pneumatic sliding table, and a sliding rod of the second pneumatic sliding table is arranged on the beam of the harvesting platform.
The separation pushing cross beam is connected with a sliding block of a third linear guide rail, and the third linear guide rail is horizontally arranged on two sides of the harvesting platform according to the front-back direction.
The invention has the beneficial effects that:
the hydroponic leaf vegetable harvesting robot provided by the invention can accurately position the cultivation holes through the industrial camera, and accurately harvest and position leaf vegetables from multiple directions and multiple angles by matching with the feedback of the walking component servo system; the large-tolerance light bionic cylindrical finger used by the leaf vegetable harvesting mechanism has smaller contact area with leaf vegetables, tolerance adjustment capability, easier extraction and smaller damage to the leaf vegetables. The structure of the tilting-stopping baffle plate used by the tilting-stopping mechanism for the leaf vegetables can limit the pose of the leaf vegetables by means of the gravity of the leaf vegetables, so that the leaf vegetables can be effectively prevented from falling off in the translation process; compared with the enveloping leaf vegetable clamping mechanism, the leaf vegetable clamping mechanism has the advantages that the structure is simple, and the leaf vegetable leaves are hardly damaged; the clamping mechanism is arranged above the cultivation holes Kong Shecai, so that when the hydroponic leaf vegetables with dense planting density are planted, the clamping mechanism does not need to be directly acted on the leaf vegetables on the cultivation plate, and damage is further reduced; simultaneously, the mechanism can also be used for arranging leaf vegetables to the same plane, so that the collection frame 'one vegetable one grid' is convenient for accurate low-loss collection. The collecting frame adopts a one-dish one-grid capacity design, and is designed for high-economy hydroponic leaf vegetables with larger water content and fragile damage of the leaves, which influence selling phases; the conventional hydroponic leaf vegetables can adopt a unified collecting frame, the efficiency is higher, and the collecting system is flexible and changeable aiming at different varieties of the hydroponic leaf vegetables. The robot is automatic in whole machine and high in modernization degree, and is mainly oriented to low-loss harvesting of hydroponic leaf vegetables.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic diagram of a front view structure of the present invention.
Fig. 3 is a schematic perspective view of a frame in the present invention.
Fig. 4 is a schematic front view of a frame according to the present invention.
Fig. 5 is a schematic perspective view of a harvesting platform according to the present disclosure (position one).
Fig. 6 is a schematic diagram of a second perspective view (position one) of the harvesting platform according to the present invention.
Fig. 7 is a schematic diagram of a left-hand structure of a harvesting platform according to the present disclosure (position one).
Fig. 8 is a schematic perspective view of a harvesting platform beam according to the present invention.
Fig. 9 is a schematic perspective view of a leaf vegetable tilting prevention mechanism in the present invention.
Fig. 10 is a third perspective view of the harvesting platform according to the present invention (position two).
Fig. 11 is a schematic diagram of a left-view structure of a harvesting platform according to the present invention (position two).
Fig. 12 is a schematic perspective view of a harvesting platform according to the present invention, at position three.
FIG. 13 is a schematic view of a cultivating plate and a walking track according to the present invention.
Reference numerals:
01-frame, 1-walking part holding box, 2-servo driving wheel, 0103-V-shaped wheel, 03-leaf dish tilting prevention mechanism, 0105-collecting frame, 0106-linear module, 0107-harvesting platform driving connection beam, 0108-depth camera, 0109-harvesting platform supporting section bar, 02-harvesting platform lifting mechanism, 0201-door type frame, 0202-first linear guide rail, 0203-first pneumatic sliding table connector, 0204-first pneumatic sliding table, 0205-first sliding block connector, 0206-second sliding block connector, 0207-second linear guide rail, 03-leaf dish tilting prevention mechanism, 0301-harvesting platform beam, 0302-first tilting prevention baffle, 0303-tilting prevention baffle installation beam, 0304-second tilting prevention baffle, 0305-mouth type frame, 0306-second sliding table fixing bracket, 0307-second pneumatic sliding table, 0305-mouth type frame 0308-second pneumatic sliding table connecting piece, 0309-movable anti-tilting baffle, 0310-second square frame connecting piece, 0311-industrial camera, 04-leaf vegetable separating mechanism, 0401-cylinder mounting upright post, 0402-cylinder mounting support plate, 0403-cylinder, 0404-third linear guide rail, 0405-third sliding block connecting piece C, 0406-separation pushing beam, 0407-cylinder end connecting piece, 05-leaf vegetable harvesting mechanism, 0501-light bionic cylinder finger beam, 0502-first triaxial cylinder connecting piece, 0503-second triaxial cylinder connecting piece, 0504-triaxial cylinder, 0505-guide upright post, 0506-guide circular shaft connecting piece, 0507-guide circular shaft, 0508-linear bearing, 0509-bionic cylinder finger mounting plate, 0510-locking ring, 0511-light bionic cylinder long finger, 0512-light bionic cylinder finger short finger.
The invention is further described below with reference to the accompanying drawings.
For ease of description, a X, Y, Z coordinate system is employed herein, as shown in FIG. 1; the front and back directions are Y directions, the left and right directions are X directions, and the vertical directions are Z directions.
The water planting leaf vegetable harvesting robot provided by the invention comprises a 01 frame, a 02 harvesting platform lifting mechanism, a 03 leaf vegetable tilting prevention mechanism, a 04 leaf vegetable separation mechanism and a 05 leaf vegetable harvesting mechanism.
Referring to fig. 1,2, 13; the harvesting platform is positioned on the frame, can move along the Y direction, and is positioned below the gantry-like frame beam and above the cultivation plate (also movably positioned above the two parallel cylindrical rails). The harvesting platform lifting mechanisms are arranged on two sides of the harvesting platform. The leaf vegetable tilting prevention mechanism is arranged above the harvesting platform. The leaf vegetable separating mechanism is arranged above the harvesting platform, and the position of the leaf vegetable separating mechanism is located on the same plane with the leaf vegetable tilting prevention mechanism. The leaf vegetable harvesting mechanism is arranged below the harvesting platform, and the leaf vegetable harvesting mechanism is arranged below the leaf vegetable tilting-prevention platform and above the cultivation plate.
Referring to fig. 3, fig. 4; the frame is used for robot integral walking, collecting frame placement, leaf vegetable integral identification positioning and supporting a harvesting platform; the mechanism comprises a walking component containing box 0101, a servo driving wheel 0102, a V-shaped wheel 0103, a gantry-like supporting frame 0104, a collecting frame 0105, a linear module 0106, a harvesting platform driving connecting beam 0107, a depth camera 0108 and a harvesting platform supporting section bar 0109. The walking part accommodating box is arranged at the bottoms of two sides of the gantry-like supporting frame, a braking device, a power supply device and a control computing unit (not shown in the figure) are contained in the walking part accommodating box, and the servo driving wheel and the V-shaped wheel are arranged at the bottoms of the unilateral walking part accommodating box in a front-back distribution manner and are contacted with the cylindrical rail. The collection frame is totally eight to be arranged at the frame rear, has the cross baffle to block in it, can hold a high economic fragile hydroponic leaf dish strain in the single baffle space, has spacing arch (not marked in the drawing) on the board of placing of collection frame bottom, prevents to collect the frame and opens and stop and remove the in-process at the robot and take place to rock. The linear module (linear transmission device; outsourcing piece) is horizontally arranged in the middle of the top of the gantry-like support frame 0104 along the Y direction, and the linear module sliding table is connected with a cross beam of the portal-like frame in the harvesting platform lifting mechanism through a harvesting platform driving connection cross beam 0107 to provide driving force for the movement of the harvesting platform along the Y direction. And the two sides of the similar gantry type supporting frame along the Y direction are respectively provided with a harvesting platform supporting section bar, so that a main support is provided for the harvesting platform in the frame. The depth camera is arranged on the front of the gantry-like supporting frame, and can identify the variety, the integral position and the operation area of the hydroponic leaf vegetables.
See fig. 5, 7; the harvesting platform lifting mechanism is used for controlling the displacement of the harvesting platform along the Y direction and the Z direction; the mechanism comprises a door-shaped frame 0201, a first linear guide rail 0202, a first pneumatic sliding table connecting piece 0203, a first pneumatic sliding table 0204, a first sliding block connecting piece 0205, a second sliding block connecting piece 0206 and a second linear guide rail 0207; the door-shaped frame consists of a cross beam and two upright posts, and supports other parts of the lifting mechanism of the harvesting platform; the two first linear guide rails are vertically arranged on two sides of the door-shaped frame respectively, and the sliding blocks of the two first linear guide rails are connected with the harvesting platform cross beam (see fig. 8 and connection point 0301.1) through the first sliding block connecting pieces respectively, so that the harvesting platform can move up and down along the first linear guide rails; the first pneumatic sliding table 0204 is arranged inside the door-shaped frame, a sliding rod fixing frame of the sliding table is connected with two upright posts of the door-shaped frame through a first pneumatic sliding table connecting piece 0203, the front side of the sliding table is connected with a harvesting platform beam inwards (perpendicular to the paper surface and inwards in fig. 7) through a connecting piece, and the sliding table can drive the harvesting platform to move up and down along the Z direction when being started; the second linear guide rail is horizontally fixed on the harvesting platform supporting section bars 0109 on the two sides along the front-back direction, and the sliding blocks on the second linear guide rail are connected with the bottoms of the two upright posts of the door-shaped frame through the second sliding block connecting piece and are used for providing guiding and component supporting for the displacement (namely the front-back displacement) of the harvesting platform main body along the Y direction.
Referring to fig. 8, 9, 10, and 13; the leaf vegetable tilting prevention mechanism is used for limiting the posture of the leaf vegetable and adjusting the falling relative position of the leaf vegetable. Because of the design of the cultivating holes of the hydroponic leaf vegetable cultivating plate, the cultivating holes in the front row and the rear row are staggered with each other for lighting leaf vegetables. For convenient harvesting, every two rows of hydroponic dishes need to be adjusted into one row (called 'normalization') which is arranged in a straight line.
The mechanism comprises a harvesting platform beam 0301, a first inclination-stopping baffle 0302, an inclination-stopping baffle mounting beam 0303, a second inclination-stopping baffle 0304, a square-shaped frame 0305, a second sliding table fixing bracket 0306, a second pneumatic sliding table 0307, a second pneumatic sliding table connecting piece 0308, a movable inclination-stopping baffle 0309, a square-shaped frame connecting piece 0310 and an industrial camera 0311. The harvesting platform cross beam (shown in figure 8) is horizontally arranged to provide main support for the harvesting platform (the harvesting platform cross beam is also provided with a tilting prevention baffle mounting cross beam 0303); the plurality of first anti-tilting baffles are sequentially arranged (transversely arranged in a row) on the side surface of the harvesting platform beam along the X direction at fixed intervals, and the plurality of second anti-tilting baffles are sequentially arranged (transversely arranged in a row) on the side surface of the anti-tilting baffle mounting beam 0303 along the X direction at fixed intervals; each first anti-tilting baffle is arranged corresponding to one second anti-tilting baffle (front and back paired arrangement), and the space between each pair of the first anti-tilting baffles is opposite to the cultivation hole of the cultivation plate below (simultaneously corresponds to the space between two light bionic cylindrical short fingers 0512); the distance and the installation height between the two baffles are adjustable, so that the diameter and the height of different leaf vegetable varieties can be adapted; the anti-tilting baffle is used for limiting the toppling of the leaf vegetables along the Y direction in the carrying process and realizing the sorting and separation of the leaf vegetables by matching with a follow-up mechanism. The square frame 0305 is horizontally arranged and movably positioned on the harvesting platform beam, the side surfaces of two opposite frame strips are mutually parallel and provided with a plurality of movable anti-tilting baffles, and the movable anti-tilting baffles on each frame strip are spaced by a distance; each movable anti-tilting baffle on one frame strip is arranged in pairs with a corresponding movable anti-tilting baffle on the other frame strip, and the position of each movable anti-tilting baffle is between two first anti-tilting baffles or between two second anti-tilting baffles; and the space between the two movable anti-tilting baffles in pairs is opposite to one cultivation hole of the cultivation plate below (simultaneously corresponding to the space between the two light bionic cylindrical long fingers 0511); the square frame can move along the Y direction under the drive of the drive source, so that the movable anti-tilting baffle can move forward to be positioned on the same straight line with the first anti-tilting baffle or the second anti-tilting baffle (when in work, the upper half part of the rear row of hydroponic leaf vegetables to be harvested can be bent between the hydroponic leaf vegetables of the front row), namely the whole row of leaf vegetables to be harvested are positioned on the same straight line, the process is called as normalization, and the drive source is a second pneumatic sliding table; the second pneumatic sliding table 0307 is connected with the square frame through a square frame connecting piece 0310, the sliding rod of the second pneumatic sliding table is installed on the second sliding table fixing support 0306 through a second pneumatic sliding table connecting piece 0308, and the bottom ends of the two sides of the second sliding table fixing support are fixedly installed on the harvesting platform cross beam.
See fig. 12; the leaf vegetable separating mechanism is used for separating leaf vegetables, so that the leaf vegetables fall downwards in a harder root part, the mode is a low-loss collecting mode, and the bionic finger is pulled away from the lower part of the anti-tilting baffle; the mechanism comprises an air cylinder mounting upright post 0401, an air cylinder mounting supporting plate 0402, an air cylinder 0403, a third linear guide rail 0404, a third slide block connecting piece 0405, a separation pushing beam 0406 and an air cylinder tail end connecting piece 0407; the cylinders are horizontally arranged, the bottoms of the cylinders are arranged on cylinder mounting columns through cylinder mounting supporting plates, the cylinder mounting columns are arranged in the middle of the front of the harvesting platform cross beam, and the front ends of cylinder rods of the cylinders are connected with the middle of the separation pushing cross beam 0406 through cylinder tail end connecting pieces 0407; the separation and pushing beam is horizontally arranged along the X direction, the third linear guide rail 0404 is arranged on two sides of the harvesting platform beam, the sliding blocks of the third linear guide rail 0404 are connected with two ends of the separation and pushing beam through third sliding block connecting pieces, and the separation and pushing beam can move along the Y direction.
Referring to fig. 12, fig. 13; the leaf vegetable harvesting mechanism is used for lifting type harvesting of leaf vegetables; the mechanism comprises a light bionic cylindrical finger cross beam 0501, a first triaxial cylinder connecting piece 0502, a second triaxial cylinder connecting piece 0503, a triaxial cylinder 0504, a guide upright post 0505, a guide circular shaft connecting piece 0506, a guide circular shaft 0507 and a linear bearing 0508, wherein the light bionic cylindrical finger mounting plate 0509, a locking ring 0510, a light bionic cylindrical long finger 0511 and a light bionic cylindrical short finger 0512; four pairs of light bionic cylindrical long fingers and four pairs of light bionic cylindrical short fingers are arranged at certain intervals along the X direction; each finger is mounted on a lightweight bionic cylindrical finger cross beam by a locking ring and a lightweight bionic cylindrical finger mounting plate (see fig. 6). Four cultivation holes are distributed on the cultivation plate in a staggered mode and are arranged into two rows, eight cultivation holes are formed in the two cultivation plates in total, hydroponic leaf vegetables are cultivated in the cultivation holes, and each pair of light bionic cylindrical fingers corresponds to the positions of the cultivation holes on the cultivation plate. The light bionic cylindrical long fingers and the light bionic cylindrical short fingers are arranged in parallel, the two pairs of light bionic cylindrical long fingers and the two pairs of light bionic cylindrical short fingers are further arranged at intervals and are staggered, and the interval space between each pair of light bionic cylindrical long fingers is opposite to one cultivation hole below; because each finger is fixed on the light bionic cylindrical finger cross beam through the bolts and the corresponding pressing plates, the fixed positions of the fingers can be adjusted by rotating the bolts, so that the distance between the two fingers can be adjusted to adapt to the root parts of leaf vegetables with different diameters; the length of each finger along the Y direction is adjustable, and the positioning error of the visual positioning and servo system is adapted to with large tolerance; the light bionic cylindrical finger has lighter weight, better rigidity and smaller and smoother contact area. The triaxial cylinder is vertically arranged, is connected with the separation pushing beam through a second triaxial cylinder connecting piece and is fixed in the middle of the separation pushing beam; the first triaxial cylinder connecting piece 0502 is arranged at the bottom end of the triaxial cylinder and is connected with the middle part of the light bionic cylindrical finger cross beam 0501, and the guide upright post connecting piece 0506 is arranged at the left end and the right end of the light bionic cylindrical finger cross beam; the guide upright posts are vertically arranged, the upper ends of the guide upright posts are connected with the lower surfaces of the left side and the right side of the separation pushing cross beam, the guide circular shafts 0507 are vertically arranged, the lower ends of the guide circular shafts are inserted into guide upright post connecting pieces and fixedly connected through bolts, and the upper ends of the guide circular shafts are positioned in the guide upright posts in an up-down displacement manner through linear bearings; the function of the components is that the light bionic cylindrical finger cross beam can move along the Z direction.
In the invention, the working position signals of each mechanism and assembly are respectively transmitted to a controller (a singlechip control main board; omitted in the figure) by a plurality of sensors, a proximity switch, a depth camera, an industrial camera and an encoder, and then the working sequence and the action stroke of each mechanism and assembly are respectively controlled by the controller; these are conventional control techniques and are not described in detail herein.
The invention is also provided with a gas source (preferably an air compressor; omitted from the figures) for use in connection with each pneumatic component (e.g. a cylinder).
The operation process of the invention comprises the following steps:
step one, the whole device is positioned at a starting position (shown in figures 1 and 2), the device comprises a harvesting platform positioned at the forefront end of a frame, a first pneumatic sliding table in a lifting mechanism of the harvesting platform is used for descending the harvesting platform to the bottommost end, a second pneumatic sliding table in a leaf vegetable tilting prevention mechanism is positioned at the original position, namely, a tilting prevention baffle is positioned at a staggered state, a cylinder in a leaf vegetable separation mechanism is positioned at a retracted position, a triaxial cylinder in the leaf vegetable harvesting mechanism is positioned at an extended state, namely, a light bionic cylindrical finger support is positioned at a descending state, and the states of the harvesting platform are shown in figures 5,6 and 7;
step two, a worker clicks a starting button, a robot moves forwards along a cylindrical track (moves in the Y direction), a wide-angle depth camera identifies the types and the planting areas of leaf vegetables, a three-dimensional point cloud model is built, a harvesting operation task configuration is carried out in a range of approximately estimating operation, an industrial camera below a harvesting platform beam accurately identifies the positions of cultivation holes and helps the robot to cross the holes which are not planted with the vegetables, so that the robot can prevent the empty grabbing, a servo system in a moving part can compensate the positions, and when the first row of water planting leaf vegetables is detected, the moving part calculates and decelerates in advance, so that light bionic cylindrical fingers accurately stay at the root of the first row of water planting leaf vegetables (two light bionic cylindrical fingers of each pair are diverged at two sides of the root of each water planting leaf vegetable);
thirdly, the triaxial cylinder drives the light bionic cylindrical finger and the water planting leaf vegetable clamped by the light bionic cylindrical finger to move upwards rapidly, so that the water planting leaf vegetable can be positioned between the two anti-tilting baffles; the second pneumatic sliding table drives the movable anti-tilting baffle to move (Y-direction movement) so that the hydroponic leaf vegetables in all the anti-tilting baffles are arranged in the same row in the transverse direction; the first pneumatic sliding table drives the harvesting platform to lift, so that the root parts of the light bionic cylindrical fingers and the hydroponic leaf vegetables are higher than the upper edge of the collecting frame, the linear module drives the harvesting platform to move backwards and position at the position of the first row of collecting frames (four rows in total), then the cylinder drives the light bionic cylindrical fingers to draw backwards, the hydroponic leaf vegetables are left in place under the light bionic cylindrical fingers due to the action of the anti-tilting baffle, and the light bionic cylindrical fingers are not supported under the hydroponic leaf vegetables and fall into the space of the baffle plate in a state that the root parts are downward;
step four, the air cylinder is retracted, the second pneumatic sliding table is restored to the original position, the linear module drives the harvesting platform to move forwards to return to the original position, when the harvesting platform is positioned at the forefront, the three-shaft air cylinder extends out, the first pneumatic sliding table descends, each mechanism is positioned at the initial position, then the moving part starts to move forwards continuously, and the steps two to four are repeated when the next row of hydroponic leaf vegetables are detected;
step five, when the collecting frame (four rows) of leaf vegetables are fully collected, the robot returns to the original position, a worker presses a pause button, the worker completes the carrying of the collecting frame and replaces a new collecting frame, when the collecting frame is ready, the worker resets and pauses, and the robot completes the steps two to five;
and step six, the machine vision system measures a rough operation area, and after the hydroponic leaf vegetables in the operation area are all harvested, the robot returns to the original position and sends a prompt, and then a worker turns off a power supply of the machine to finish the harvesting operation.
Claims (7)
1. A water planting leaf vegetable harvesting robot based on binocular three-dimensional visual positioning comprises a frame (01) provided with a walking assembly and a collecting frame (0105) and a controller; the method is characterized in that: the water planting leaf vegetable harvesting robot also comprises a harvesting platform lifting mechanism (02) which can be positioned on the frame in a back-and-forth moving way and drives the harvesting platform, a leaf vegetable tilting prevention mechanism (03), a leaf vegetable harvesting mechanism (05) and a leaf vegetable separating mechanism (04) which are arranged on the harvesting platform;
the leaf vegetable tilting-prevention mechanism comprises a plurality of pairs of tilting-prevention baffles which are arranged in two rows and are arranged in pairs front and back, and a plurality of pairs of movable tilting-prevention baffles (0309) which are arranged in two rows and are arranged in pairs front and back; so as to ensure that the water planting leaf vegetables to be harvested in the middle of each pair of anti-tilting baffles cannot fall down; the movable anti-tilting baffles are also transversely staggered with the anti-tilting baffles and can move back and forth so as to ensure that the water planting leaf vegetables to be harvested in all the anti-tilting baffles are transversely in the same straight line during operation;
the leaf vegetable separating mechanism comprises a separating and pushing beam (0406) which can be movably positioned on the harvesting platform back and forth, a leaf vegetable harvesting mechanism which is fixed on the separating and pushing beam, and a cylinder (0403) which can apply force to the separating and pushing beam in the front-back direction;
the leaf vegetable harvesting mechanism comprises a light bionic cylindrical finger beam (0501) which is horizontally arranged and can be vertically and movably positioned on the separation pushing beam, a triaxial cylinder (0504) which vertically drives the light bionic cylindrical finger beam, and a plurality of pairs of light bionic cylindrical fingers which are horizontally and regularly arranged on the light bionic cylindrical finger beam;
the plurality of pairs of anti-tilting baffles comprise a plurality of first anti-tilting baffles (0302) which are transversely arranged and mutually arranged on the harvesting platform cross beam (0301) at a distance, and a plurality of second anti-tilting baffles (0304) which are transversely arranged and mutually arranged on the anti-tilting baffle mounting cross beam (0303) at a distance; the second anti-tilting baffles are further arranged in pairs in a way of keeping a distance from the front to the back of the first anti-tilting baffles, and the lower part of a gap between the second anti-tilting baffles and the first anti-tilting baffles is opposite to one cultivation hole of the cultivation plate and also corresponds to the space between two paired light bionic cylindrical short fingers (0512);
the movable anti-tilting baffles are transversely arranged in two rows and are arranged on the square frame (0305) at intervals, the front and rear of the two rows of movable anti-tilting baffles are kept at intervals and are arranged in pairs one by one, and the lower part of a gap between the two movable anti-tilting baffles in the pairs is opposite to one cultivation hole of the cultivation plate and also corresponds to the space between two paired light bionic cylindrical long fingers (0511); the square frame is connected with a second pneumatic sliding table, and a sliding rod of the second pneumatic sliding table is arranged on the beam of the harvesting platform.
2. The binocular three-dimensional visual positioning-based hydroponic leaf vegetable harvesting robot according to claim 1, wherein: the walking assembly comprises a walking part accommodating box (0101) arranged at the bottom of the gantry-like supporting frame (0104), and a servo driving wheel (0102) and a V-shaped wheel (0103) which are positioned at the bottom of the walking part accommodating box and can walk along the track.
3. The binocular three-dimensional visual positioning-based hydroponic leaf vegetable harvesting robot according to claim 2, wherein: the collecting frame is arranged at the rear side of the frame, and the space in the frame is separated by a cross partition board.
4. A binocular three-dimensional visual positioning-based hydroponic leaf vegetable harvesting robot according to claim 3, wherein: the harvesting platform lifting mechanism comprises two portal frames (0201) connected with two ends of a harvesting platform driving connection crossbeam (0107), a first pneumatic sliding table (0204) connected with each portal frame through a first linear guide rail (0202) and a harvesting platform crossbeam (0301) connected with the first pneumatic sliding table.
5. The binocular three-dimensional visual positioning-based hydroponic leaf vegetable harvesting robot of claim 4, wherein: the harvesting platform lifting mechanism is connected and fixed with a linear module (0106) at the top of the gantry-like supporting frame through a harvesting platform driving connection cross beam (0107), so that the front-back movement on the frame is realized.
6. The binocular three-dimensional visual positioning-based hydroponic leaf vegetable harvesting robot of claim 5, wherein: harvesting platform support section bars (0109) are arranged on the left side and the right side of the portal-like support frame, two second linear guide rails (0207) are respectively arranged on each harvesting platform support section bar along the front-back direction, and sliding blocks of the second linear guide rails are connected with bottoms of two upright posts of the portal-like frame.
7. The binocular three-dimensional visual positioning-based hydroponic leaf vegetable harvesting robot of claim 6, wherein: the separation pushing cross beam is connected with a sliding block of a third linear guide rail (0404), and the third linear guide rail is arranged in the front-back direction and horizontally arranged on two sides of the harvesting platform.
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| CN113455181A (en) * | 2021-07-02 | 2021-10-01 | 浙江理工大学 | Rotary driving type full-automatic water-cultured leaf vegetable harvesting vehicle |
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| JP2009142226A (en) * | 2007-12-17 | 2009-07-02 | Nishizawa:Kk | Leaf vegetable harvester |
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