CN115413479A - Water shield picking end effector based on depth vision and picking method thereof - Google Patents
Water shield picking end effector based on depth vision and picking method thereof Download PDFInfo
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- 244000267222 Brasenia schreberi Species 0.000 title claims abstract description 83
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Abstract
The invention discloses a water shield picking end effector based on depth vision and a picking method thereof, and the water shield picking end effector comprises a driving mechanism, a clamping mechanism, a shearing mechanism, a detection regulation and control system and a rack, wherein the rack is connected with a picking mechanical arm; and at the picking position, the driving mechanism is controlled to act, the clamping mechanism and the shearing mechanism are matched, and the clamping mechanism and the shearing mechanism move up and down along the rack, so that the clamping and shearing of the water shield are realized. The invention can rapidly and safely realize the picking of the water shield leaves, has high working efficiency and obviously reduces the labor intensity of pickers.
Description
Technical Field
The invention belongs to the technical field of crop picking, and particularly relates to a water shield picking end effector based on depth vision and a picking method thereof.
Background
Water shield is a rare plant in Nymphaeaceae and lake perennial, and the traditional manual picking mode is still adopted at present due to the requirements of the growing environment, picking characteristics, product quality and the like. The manual water shield picking is not only bitter, but also low in efficiency, so that the per unit yield economic income of the water shield is reduced, and the planting area of the water shield is sharply reduced.
At present, the domestic water shield picking equipment is few, the problems that when the water shield is picked, the overlapped blades cannot be enveloped and the adaptability is poor exist, and efficient and unmanned picking cannot be achieved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a water shield picking end effector based on depth vision and a picking method thereof, which realize mechanization of water shield picking and reduce the labor intensity of water shield pickers.
The present invention achieves the above-described object by the following means.
An end effector is picked to water shield based on degree of depth vision, includes:
the rack is connected to the tail end of the picking mechanical arm, and a limiting groove is formed in the rack;
the driving mechanism comprises a clamping column, and the clamping column performs circular motion;
the clamping mechanism comprises clamping driven parts, the upper and lower parts of the clamping driven parts are in clearance fit with the limiting grooves, and arc-shaped grooves A are formed in the middle parts of the clamping driven parts;
the shearing mechanism comprises a shearing driven member, a connecting rod, a sliding block, a sliding rail and a blade; the upper part of the shearing driven part is provided with an arc-shaped groove B which is opposite to the arc-shaped groove A, and one end of the clamping column penetrates into the arc-shaped groove B and the arc-shaped groove A in sequence; the lower part of the shearing driven part is connected with a sliding block through a connecting rod, and a blade is arranged at the lower part of the sliding block; the sliding rail is fixedly connected below the clamping driven member and matched with the sliding block;
the detection regulation and control system comprises a depth camera, a distance sensor and a computer, wherein the depth camera is rotatably connected to the front part of the rack, the distance sensor is arranged at the rear part of the rack, information acquired by the depth camera and the distance sensor is transmitted to the computer in real time, and the computer controls the picking mechanical arm and the driving mechanism to work;
the lower end of the frame is provided with an upper clamping finger, the lower end of the clamping driven member is also provided with a lower clamping finger, and the middle of the lower clamping finger is provided with a notch; the upper clamping finger is matched with the lower clamping finger.
In the technical scheme, the clamping column is installed on the driving disc, and the driving disc is connected with the output shaft of the steering engine.
In the technical scheme, the sponge gaskets are adhered to the opposite surfaces of the upper clamping finger and the lower clamping finger.
In the technical scheme, the connecting rod is connected with the sliding block through the sliding block connecting piece.
In the technical scheme, the lower part of the sliding block is provided with the blade through the blade connecting piece.
Among the above-mentioned technical scheme, the size setting of arc wall includes:
the distance d from the top point of the arc section of the arc groove to the center line of the straight line section 2 ＝Φ 1 /2-d 1 Distance between two end points of arc segment of arc groove
Wherein d is 1 The vertical distance from the motion starting point of the end effector to the circle center of the driving disc and the clamping stroke l of the lower clamping finger satisfy the following relation: l =2d 1 ，Ф 1 Is 2 times of the distance between the circle center of the clamping column and the circle center of the driving disc.
In the technical scheme, the alpha of the rotation angle of the steering engine meets the following requirements:
a method for picking an end effector of water shield picking based on depth vision comprises the following steps:
in the picking area, the mechanical arm drives the end effector to reach a picking initial position point, the depth camera collects images after adjusting the visual angle, the position coordinates of each blade of the brasenia schreberi are determined, the position coordinates are transmitted to the computer, whether the brasenia schreberi can be picked or not is judged, and the picking sequence is determined;
when picking can be carried out, the lower clamping fingers move to the positions below the picking blades, and the gaps of the lower clamping fingers clamp the stems of the water shield blades;
the clamping column rotates anticlockwise under the driving of the steering engine to drive the clamping driven piece and the shearing driven piece to move upwards until the clamping driven piece reaches the highest point and keeps static, and the lower clamping finger and the upper clamping finger are closed to finish clamping;
the clamping column drives the shearing driven part to continue to move upwards, so that the sliding block moves inwards, and the blade shears the blade stem to finish shearing.
Further, the method for judging whether picking is possible comprises the following steps:
distance h of end effector from water surface α Distance h from the origin of the depth camera coordinate system to the water surface 1 And (3) comparison: if | h a -h 1 Picking can be carried out with less than or equal to l/4, otherwise, the error is less than or equal to h a -h 1 I, adding the I to the coordinates of the water shield, carrying out matrix change, and calculating a comparison distance h α Said distance h α Satisfies the following conditions: h is α ＝cosθ×l α Theta is the included angle between the shooting angle of the depth camera and the front surface of the frame, l α Is the linear distance between the water shield blade and the end point of the end effector.
Further, after shearing is completed, when the end effector is located above the collecting frame, the steering engine continues to work, so that the upper clamping finger and the lower clamping finger are separated, picked blades are placed into the collecting frame, the end effector returns to the picking initial position, and the image of the depth camera at the moment and the image of the initial position before picking are compared to determine whether picking is successful.
The invention has the beneficial effects that:
(1) The picking end effector is simple in structure and strong in practicability, the clamping mechanism and the shearing mechanism are respectively arranged, the circular motion of the steering engine is converted into the vertical clamping mechanism and the transverse shearing mechanism which are generated in sequence under the driving of the single driving mechanism, and the integration is strong;
(2) The clamping mechanism and the shearing mechanism are arranged in a downward mode, so that the waterproof requirement of the driving mechanism is lowered, the practicability is high, and the implementation is convenient;
(3) According to the invention, the gap is arranged on the clamping finger below the clamping mechanism and is used for placing the stem of the water shield, so that the water shield blades can be better clamped and sheared;
(4) According to the invention, the sponge gaskets with textures are arranged on the upper and lower clamping fingers, so that the damage of the clamping fingers to the water shield blades is reduced;
(5) According to the invention, the depth camera is combined with the distance sensor, whether the water shield is picked or not is judged by using the data measured by the distance sensor in real time and the distance between the end effector and the water surface, and the water shield picking success rate is improved;
(6) The invention uses the ant colony algorithm to determine the picking sequence, and has high working efficiency.
Drawings
Fig. 1 is a schematic view of the overall structure of a water shield picking end effector of the present invention;
fig. 2 is a schematic structural diagram of an end effector for picking water shield according to the present invention;
FIG. 3 is a schematic view of the driving mechanism of the present invention;
FIG. 4 is a schematic view of the frame structure of the present invention;
FIG. 5 is a schematic view of the gripping mechanism of the present invention;
FIG. 6 is a schematic structural view of a shearing mechanism according to the present invention;
FIG. 7 (a) is a schematic view A of the driving mechanism and the gripping mechanism according to the present invention;
FIG. 7 (B) is a schematic view B of the driving mechanism and the gripping mechanism according to the present invention;
FIG. 7 (C) is a schematic view of the driving mechanism and the gripping mechanism of the present invention;
fig. 8 is a schematic view of the mounting of the water shield picking end effector on the picking mechanical arm according to the present invention;
fig. 9 is a schematic diagram of a coordinate system of a water shield picking mechanical arm and a depth camera according to the present invention;
fig. 10 is a schematic diagram of two key location points of the water shield picking end device of the present invention for performing picking tasks;
FIG. 11 is a flow chart of water shield picking according to the present invention;
in the figure: the system comprises a driving mechanism 1, a rack 2, a clamping mechanism 3, a shearing mechanism 4, a detection regulation and control system 5, a steering engine 11, a driving disc 12, a clamping column 13, a clamping driven member 14, a shearing driven member 15, a sponge gasket 16, a connecting flange 21, a front shell 22, a rear shell 23, a camera mounting bracket 24, a connecting rod 41, a slider 42, a slider 43, a slide rail 44, a blade connecting member 45, a blade 46, a depth camera 51 and a distance sensor 52.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the water shield picking end effector based on depth vision of the present invention includes a driving mechanism 1, a gripping mechanism 3, a shearing mechanism 4, a detection regulation and control system 5, and a frame 2, where the frame 2 is connected with a picking mechanical arm (fig. 8), the driving mechanism 1 and the detection regulation and control system 5 are installed on the frame 2, and the gripping mechanism 3 and the shearing mechanism 4 are matched with the driving mechanism 1 and can move up and down along the frame 2.
As shown in fig. 2 and 4, the rack 2 includes a connecting flange 21, a front housing 22, a rear housing 23 and a camera mounting bracket 24, wherein one side of the connecting flange 21 is connected with the front housing 22, the other side is connected with the end of a picking mechanical arm (fig. 8), the camera mounting bracket 24 is fixedly connected to one side of the upper part of the front housing 22 through bolts, and the camera mounting bracket 24 can rotate relative to the front housing 22; the front shell 22 is fixedly connected with the rear shell 23 through bolts, an upper limiting groove and a lower limiting groove (figure 4) are formed in the front shell 22, and an upper clamping finger (figure 2) is arranged at the lower end of the front shell 22.
As shown in fig. 2 and 3, the driving mechanism 1 includes a steering engine 11, a driving disc 12 and a cylindrical clamping column 13, the steering engine 11 is installed on the rear housing 23, an output shaft of the steering engine 11 is in interference connection with the driving disc 12, and a circular groove is formed in the circumference of the driving disc 12 and used for fixedly installing one end of the clamping column 13; the steering engine 11 drives the driving disc 12 to rotate, and the clamping column 13 moves circularly along with the driving disc 12.
As shown in fig. 2, 3 and 5, the gripping mechanism 3 includes a gripping follower 14 and a sponge pad 16, the upper and lower ends of the gripping follower 14 are guide rods, which are in clearance fit with the upper and lower limit grooves of the front housing 22, respectively, and the gripping follower 14 slides up and down in the upper and lower limit grooves of the front housing 22 through the guide rods; an arc-shaped groove is formed in the middle of the clamping driven part 14, the other end of a clamping column 13 in the driving mechanism 1 is located in the arc-shaped groove and is tangent to the arc-shaped groove, and the clamping column 13 moves in the arc-shaped groove while doing circular motion to drive the clamping driven part 14 to move up and down; the lower end of the clamping driven part 14 is provided with a lower clamping finger (figure 3), and the middle of the lower clamping finger is provided with a gap, so that the connected stalks under the water shield blades can be clamped and fixed in the middle to wait for shearing. The surfaces of the upper and lower clamping fingers opposite to each other are stuck with textured sponge gaskets 16, so that the water shield can be better clamped, fixed and protected.
As shown in fig. 2, 3 and 6, the shearing mechanism 4 includes a shearing follower 15, a link 41, a slider link 42, a slider 43, a slide rail 44, a blade link 45 and a blade 46; the shearing driven member 15 is also provided with an arc-shaped groove, and the arc-shaped groove of the clamping driven member 14 is opposite to the arc-shaped groove of the shearing driven member 15, so that the clamping driven member 14 and the shearing driven member 15 cannot move synchronously; the other end of the clamping column 13 is simultaneously positioned in the arc-shaped groove of the upper half part of the shearing driven member 15 and is tangent to the arc-shaped groove, so that the clamping column 13 drives the shearing driven member 15 to move; the lower half part of the shearing driven part 15 is respectively connected with one end of two symmetrical connecting rods 41 to form a rotating pair, and the other end of each connecting rod 41 is respectively connected with a sliding block connecting piece 42 to form a rotating pair; the slide block connecting piece 42 is fixedly connected to the upper part of the slide block 43 through a bolt, the slide rail 44 is fixedly connected to the lower part of the clamping driven piece 14 through a bolt, and the slide block 43 is matched with the slide rail 44 to form a moving pair; the lower part of the sliding block 43 is fixed with a blade connecting piece 45 through a bolt, a blade 46 is fixedly connected to the blade connecting piece 45, and the blade 46 is positioned at the lower part of the lower clamping finger; when the clamping column 13 drives the shearing driven member 15 to move up and down, the up-and-down movement of the shearing driven member 15 is converted into the transverse movement of the sliding block 43 under the action of the connecting rod 41, and the blade 46 is driven to complete the shearing of the brasenia schreberi stalks. The blade 46 adopts a staggered three-blade design, so that the abrasion of the blade during the traditional two-blade shearing can be effectively reduced, and the stem can be sheared more easily.
Because the thickness of the water shield blades is very thin, the clamping instability can be caused by the overlong stroke of the lower clamping fingers, and the range of the clamping stroke l (namely the distance between the upper clamping fingers and the lower clamping fingers when the upper clamping fingers and the lower clamping fingers are not in operation) of the lower clamping fingers is 20-straw (i) and 40mm.
In actual life, the short diameter m of the water shield leaf 1 In the range of 30<m 1 <50mm, major diameter n 1 In the range of 60<n 1 <100mm, diameter b of the stalk 1 In the range of 1.0<b 1 <4.5mm; the width of the upper clamping finger is equal to that of the lower clamping finger, if most of the water shield blades are picked, the width m of the clamping finger is larger than the maximum minor diameter (50 mm) of the water shield blades, and the length n of the clamping finger is larger than the average major diameter (80 mm) of the water shield; in order to clamp the connecting stem below the leaf of the water shield for shearing, the width b of the middle gap of the lower clamping finger is larger than the maximum diameter (4.5 mm) of the water shield stem.
As shown in fig. 7 (a), (b) and (c), the lower gripping fingers move up and down along with the gripping follower 14 and complete gripping and releasing actions in cooperation with the upper gripping fingers at the lower part of the front housing 22, and the up-and-down movement distance d of the gripping follower 14 is equal to the gripping stroke l; in FIG. 7 (a), d 1 The vertical distance from the motion starting point of the water shield picking end effector to the circle center of the driving disc 12 is 1 =2d 1 ，d 2 The distance from the top point of the arc section of the arc groove of the clamping follower 14/shearing follower 15 to the center line of the straight line section, d 3 The distance between the left end point and the right end point of the arc section of the arc groove of the clamping driven member 14/the shearing driven member 15 is equal to the diameter phi of the driving disc 12 2 The radius of the circular arc on the circular arc section of the circular arc groove is equal to the radius of the driving disc 12; Φ in FIG. 7 (b) 2 To drive the diameter of disk 12 (considering the dexterity of the end picking actuator, the size must not be too large, diameter of disk 12 Φ 2 The range is 2l-5cm<Ф 2 <2l+5cm)，Ф 3 The diameter of the clamping column 13 (considering the dexterity of the end picking actuator, the size can not be too large, and can be taken within the range of 5mm +/-2 mm, in the embodiment, phi 3 Taken as 5 mm), phi 1 Is the center of the clamping column 132 times the distance between the centers of the driving disks 12 and phi 1 ＝Φ 2 -Φ 3 (ii) a According to d 1 、Ф 1 Dimension d of 2 And d 3 Size: d 2 ＝Φ 1 /2-d 1 、
Steering wheel 11 anticlockwise rotation, for accomplishing the action of picking, turned angle alpha is:
as shown in fig. 2, the detection regulation and control system 5 is composed of a depth camera 51, a distance sensor 52, a computer and a control cabinet; the depth camera 51 is fastened on the camera bracket 24 through bolts, the relative position of the camera bracket 24 and the front shell 22 is manually adjusted, and the depth camera 51 can acquire clear water shield images through manual determination; a distance sensor 52 is mounted on the rear housing 23 for detecting the distance h from the water surface of the water shield picking end effector 1 . The information collected by the depth camera 51 and the distance sensor 52 is transmitted to a computer in real time, and the processed information is transmitted to a lower computer in the control cabinet, so that the actions of the mechanical arm and the steering engine 11 are controlled.
As shown in fig. 8 and 9, the schematic diagram of the mounting of the water shield picking end effector on the picking mechanical arm and the coordinate system of each part, where the coordinate system { o } is the base coordinate system of the picking mechanical arm, the coordinate system { c } is the position coordinate system of the depth camera 51, the coordinate system { p } is the position coordinate system of a certain water shield blade on the water surface, and h is the coordinate system of the position of each part 0 Is the distance from the origin of the coordinate system o to the water surface, h 1 Is the distance from the origin of the coordinate system c to the water surface.
Labeling the water shield in the image obtained by the depth camera 51 through the computer, establishing a right-hand coordinate system (namely a coordinate system { p }) by taking the center of each water shield as an origin, and determining the coordinate of the target water shield blade by taking the short-diameter direction as an X axis, the long-diameter direction as a Y axis and the vertical water surface downward direction as a Z axis; convert water shield blade coordinate to the coordinate system (promptly coordinate system { o }) that picking arm place through matrix change, picking end effector moves under the drive of picking arm for end effector lower clamp indicates to remove to picking blade below, specifically does: as shown in fig. 10, with the coordinate system { o } as a reference coordinate system, the picking arm determines whether picking is possible at the initial position Q, and if picking is possible, the picking arm moves from the initial position Q point to a picking position F point of the water shield blade (a picking position, that is, a coordinate of the water shield blade in the mechanical arm coordinate system); wherein the conversion of the coordinates of the water shield blades and the control process of the mechanical arm are both in the prior art.
The arm judges at initial position Q whether can pick, and specific process is: an included angle between the shooting angle of the depth camera 51 and the horizontal plane of the front shell 22 is set to be theta (acute angle), and the linear distance between the water shield blade and the end point of the end effector in the image shot by the depth camera 51 is set to be l α (obtained directly by the depth camera 51) from the formula h α ＝cosθ×l α Obtaining the distance h between the end effector and the water surface α A distance h from the origin of the depth camera coordinate system { c } to the water surface is detected at the time of the distance sensor 52 1 Making a comparison if | h a -h 1 The error is less than or equal to l/4, the picking can be carried out within the range, otherwise, the error is | h a -h 1 And adding the absolute value to the coordinates of the water shield, carrying out matrix change, and judging.
When the water shield picking end effector is used for multi-blade picking, in order to reduce a motion path, the computer divides a picking sequence by ant colony algorithm (the planning method is the prior art), the picking end effector is controlled by the mechanical arm to firstly pick the blade closest to the effector (determined at a point Q), and then the blade closest to the last picking point D (i) is picked a ，j a ，k a ) For the path length between two blades, the calculation formula is as follows:
wherein (i) a ，j a ，k a ) Coordinates representing the current blade, (i) a+1 ，j a+1 ，k a+1 ) The coordinates of the next leaf.
As shown in fig. 11, a picking method of an end effector for picking water shield based on depth vision specifically includes the following steps:
step (1), a picking unmanned ship arrives at a water shield picking area, the unmanned ship stops moving, a computer controls a picking mechanical arm to extend to drive a picking end effector, as shown in fig. 10, the picking end effector arrives at a picking initial position Q point (the picking initial position can be freely set in the computer according to different picking environments), a camera support 24 is manually adjusted to enable a depth camera 51 to collect images transmitted to the computer to be clearly displayed (the camera support 24 is adjusted only at the initial position point), the computer extracts the external contour of a water shield blade after the depth camera 51 collects the images and performs channel fusion and multi-scale feature fusion, the water shield blade is further independently segmented (the process is the prior art), the position coordinate of each blade of the water shield is determined, whether the water shield can be picked or not is judged at the initial position Q point, if the water shield can be picked, the picking sequence is segmented by utilizing an ant colony calculation method, and the picking mechanical arm is transmitted to the picking mechanical arm;
step (2), clamping and positioning: the picking mechanical arm drives the picking end effector to move, so that the lower clamping finger of the end effector moves below the picking blade, and the gap of the lower clamping finger clamps the stem of the brasenia schreberi blade, and at the moment, the clamping column 13 is just positioned at the junction of the arc sections of the arc grooves of the clamping driven member 14 and the shearing driven member 15 and the straight line section, which is shown in fig. 7 (a);
step (3), clamping: the lower computer controls a steering engine 11 to drive a driving disc 12 to rotate anticlockwise, a clamping column 13 moves outwards along a straight line section of an arc groove, so that a clamping driven member 14 and a shearing driven member 15 are driven to move upwards together, the clamping column 13 just moves to the tail section of the straight line section of the arc groove, as shown in fig. 7 (b), the circle center of the clamping column 13 and the circle center of the driving disc 12 are located on the same horizontal line, the clamping column 13 moves inwards along the straight line section of the arc groove, the clamping driven member 14 and the shearing driven member 15 continue to move upwards together, the clamping column 13 moves to the junction of the arc section of the arc groove and the straight line section, the clamping driven member 14 reaches the highest point and keeps still at the moment, a lower clamping finger and an upper clamping finger are closed, and clamping action is completed, as shown in fig. 7 (c);
step (4), shearing process: the steering engine 11 continues to drive the driving disc 12 to rotate anticlockwise, the clamping column 13 continues to move along the arc groove, the clamping driven part 14 keeps static in the process, the shearing driven part 15 continues to move upwards to drive the sliding block 43 to move inwards, the blade 46 is controlled to shear the blade stem, and the shearing action is finished;
step (5), collecting process: after shearing is finished, the end effector moves to the position above the collecting frame under the driving of the picking mechanical arm, the driving mechanism 1 continues to work, so that the upper clamping finger and the lower clamping finger are separated, picked blades are placed into the collecting frame, and one-time picking is finished;
step (6), in the checking process, after the picking of the single blade is finished, the end effector returns to the picking initial position Q, the computer compares the image of the depth camera 51 at the moment with the image of the initial position before the picking, and if the water shield blade still exists in the image after the picking, the picking fails at the moment, and the picking is carried out again; if the picked blade does not exist in the image, starting to pick the next blade;
step (7), repeating the picking processes of the steps (2) to (6) until the current water shield leaf picking is finished;
and (8) moving the unmanned picking boat and starting picking at the next position.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. The utility model provides an end effector is picked to water shield based on degree of depth vision which characterized in that includes:
the frame (2) is connected to the tail end of the picking mechanical arm, and a limit groove is formed in the frame;
the driving mechanism (1) comprises a clamping column (13), and the clamping column (13) does circular motion;
the clamping mechanism (3) comprises clamping driven members (14), the upper and lower parts of the clamping driven members (14) are in clearance fit with the limiting grooves, and arc-shaped grooves A are formed in the middle parts of the clamping driven members (14);
the shearing mechanism (4) comprises a shearing driven part (15), a connecting rod (41), a sliding block (43), a sliding rail (44) and a blade (46); an arc-shaped groove B is formed in the upper portion of the shearing driven part (15) and is arranged opposite to the arc-shaped groove A, and one end of the clamping column (13) penetrates into the arc-shaped groove B and the arc-shaped groove A in sequence; the lower part of the shearing driven part (15) is connected with a sliding block (43) through a connecting rod (41), and the lower part of the sliding block (43) is provided with a blade (46); the sliding rail (44) is fixedly connected below the clamping driven member (14) and is matched with the sliding block (43);
the detection regulation and control system (5) comprises a depth camera (51), a distance sensor (52) and a computer, wherein the depth camera (51) is rotatably connected to the front part of the rack (2), the distance sensor (52) is installed at the rear part of the rack (2), information collected by the depth camera (51) and the distance sensor (52) is transmitted to the computer in real time, and the computer controls the picking mechanical arm and the driving mechanism (1) to work;
the lower end of the rack (2) is provided with an upper clamping finger, the lower end of the clamping driven member (14) is also provided with a lower clamping finger, and the middle of the lower clamping finger is provided with a notch; the upper clamping finger is matched with the lower clamping finger.
2. The water shield picking end effector according to claim 1, wherein the catch (13) is mounted on a drive disc (12), the drive disc (12) being connected to an output shaft of the steering engine (11).
3. The brasenia schreberi picking end effector of claim 1, wherein sponge pads (16) are affixed to the opposing surfaces of the upper and lower gripping fingers.
4. The Brasenia schreberi picking end effector of claim 1, wherein the connecting rod (41) is connected to the slider (43) by a slider connection (42).
5. The brasenia schreberi picking end effector of claim 1, wherein the lower part of the slider (43) is provided with a blade (46) by a blade connector (45).
6. The brasenia schreberi picking end effector of claim 2, wherein the arcuate slot is sized to include:
the distance d from the top point of the arc section of the arc groove to the center line of the straight line section 2 ＝Φ 1 /2-d 1 Distance between two end points of arc segment of arc groove
Wherein d is 1 The vertical distance from the motion starting point of the end effector to the circle center of the driving disc (12) and the clamping stroke l of the lower clamping finger satisfy the following relation: l =2d 1 ，Ф 1 Is 2 times of the distance between the circle center of the clamping column (13) and the circle center of the driving disc (12).
7. The water shield picking end effector of claim 6, wherein α of the rotation angle of the steering engine (11) satisfies:
8. a picking method based on the water shield picking end effector of any one of claims 1 to 7, characterized in that:
in the picking area, the mechanical arm drives the end effector to reach a picking initial position point, the depth camera (51) collects images after adjusting a visual angle, the position coordinates of each blade of the water shield are determined, the position coordinates are transmitted to a computer, whether the water shield can be picked or not is judged, and a picking sequence is determined;
when picking can be carried out, the lower clamping fingers move to the positions below the picking blades, and the gaps of the lower clamping fingers clamp the stems of the water shield blades;
the clamping column (13) rotates anticlockwise under the driving of the steering engine (11) to drive the clamping driven member (14) and the shearing driven member (15) to move upwards until the clamping driven member (14) reaches the highest point and keeps static, and the lower clamping finger and the upper clamping finger are closed to finish clamping;
the clamping column (13) drives the shearing driven member (15) to continue to move upwards, so that the sliding block (43) moves inwards, and the blade (46) shears the blade stem to finish shearing.
9. The picking method of claim 8, wherein the method of determining whether picking is possible is:
distance h of end effector from water surface α Distance h from the origin of the depth camera coordinate system to the water surface 1 And (3) comparison: if | h a -h 1 Picking can be carried out with less than or equal to l/4, otherwise, the error is less than or equal to h a -h 1 I is added to the coordinates of the water shield, matrix change is carried out, and the comparison distance h is calculated α Said distance h α Satisfies the following conditions: h is a total of α ＝cosθ×l α Theta is an included angle between the shooting angle of the depth camera (51) and the front surface of the frame (2), and l α Is the linear distance between the water shield blade and the end point of the end effector.
10. Picking method according to claim 8, characterised in that after the cutting has been completed and the end effector is positioned above the collection frame, the steering gear (11) continues to operate so that the upper and lower gripping fingers are separated, the picked blade is placed in the collection frame, the end effector returns to the picking home position and the image of the depth camera (51) at this time is compared with the image of the initial picking position before picking to determine whether picking was successful.
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