CN115648164A

CN115648164A - Rotary recognition harvesting robot device and method

Info

Publication number: CN115648164A
Application number: CN202211310268.6A
Authority: CN
Inventors: 马伟; 杨其长; 张梅
Original assignee: Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Current assignee: Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2023-01-31

Abstract

The disclosure relates to the technical field of harvesting robots, in particular to a rotary recognition harvesting robot device and method. The harvesting machine comprises a mounting frame, a walking device, a harvesting device, a recognition device and a controller; the harvesting device comprises a harvesting track, a harvesting mechanical arm and a picking mechanical arm, the harvesting mechanical arm is mounted on the harvesting track and can move on the harvesting track, the harvesting mechanical arm is used for grabbing the cultivation bags, and the picking mechanical arm is used for picking crops in the cultivation bags; the identification device is used for collecting the position information of the crops; the walking device is used for driving the robot device to move; the controller is respectively and electrically connected with the harvesting mechanical arm, the picking mechanical arm, the recognition device and the walking device. Through the setting of the track of gathering in this embodiment, the arm of gathering and the arm of picking, this disclosure can enough reduce the human cost by a wide margin, can avoid the tired scheduling problem of picking personnel again, can also improve picking efficiency through mechanization, automation, finally can reach the purpose that improves the income.

Description

Rotary recognition harvesting robot device and method

Technical Field

The disclosure relates to the technical field of harvesting robots, in particular to a rotary recognition harvesting robot device and method.

Background

At present, aiming at edible fungi and medicinal materials, cylindrical cultivation bags are generally adopted for cultivation. When crops are mature, a large amount of workers are still intensively used for picking, so that not only is much labor force needed and the cost wasted, but also the picking personnel need to stoop continuously and the labor force is consumed greatly.

Disclosure of Invention

In order to solve the technical problem, the present disclosure provides a rotary recognition harvesting robot device and a method.

The utility model provides a rotary recognition harvesting robot device, which comprises a mounting rack, a walking device, a harvesting device, a recognition device and a controller;

the harvesting device is arranged on one side of the mounting frame and comprises a harvesting track, a harvesting mechanical arm and a picking mechanical arm, the harvesting mechanical arm and the picking mechanical arm are four-degree-of-freedom mechanical arms, the harvesting mechanical arm is arranged on the harvesting track and can move on the harvesting track and is used for grabbing cultivation bags, the picking mechanical arm is arranged on one side of the harvesting track, and after the harvesting mechanical arm grabs the cultivation bags, the picking mechanical arm is used for picking crops in the cultivation bags;

the number of the identification devices is multiple, and the identification devices are used for collecting position information of crops;

the walking device is arranged at the bottom of the mounting frame so as to drive the robot device to move;

the controller is respectively and electrically connected with the harvesting mechanical arm, the picking mechanical arm, the recognition device and the walking device.

Optionally, the recovery track is an endless track.

Optionally, the number of harvesting robotic arms is multiple.

Optionally, the front end of the picking mechanical arm and the front end of the picking mechanical arm are both made of rubber.

Optionally, the controller is configured to receive an image captured by the recognition device, identify and position the crop according to the image, and adjust the path of the walking device and the steering directions of the harvesting mechanical arm and the picking mechanical arm according to the image.

Optionally, the identification device is a CCD detector.

Optionally, the identification device can automatically determine the priority, and determine the picking priority order of each crop in the current scene by using the shielding coefficient of each crop as a decision element of the picking priority order; and according to the picking priority order of each crop, sequentially sending the three-dimensional coordinates of each crop to the picking robot, and driving the robot to pick continuously.

Optionally, the walking device is a plurality of walking wheels symmetrically arranged on two opposite sides of the mounting frame, guide parts are arranged in the circumferential direction of the walking wheels, and the guide parts are used for being accommodated on the walking track so that the walking device walks along the walking track.

Optionally, the number of the traveling rails is two, the two traveling rails are parallel and extend along a straight line, the diameter of the guide portion is smaller than that of the traveling wheels, and when the traveling device runs on the traveling rails, the upper surface of the traveling rail is in contact with the guide portion.

A harvesting method adopts the rotary recognition harvesting robot device and comprises the following steps:

s10: starting the harvesting robot, collecting images of the surrounding environment by the recognition device and transmitting the images to the controller, determining the position of the crops as a picking area by the controller to drive the walking device to reach the picking area, and stopping the walking device;

s20: after the crops arrive at the picking area, the recognition device collects the images of the crops, executes picking priority decision according to the shielding coefficients of the crops, and sequentially sends the three-dimensional coordinates of the crops to a picking robot:

s30: according to the picking priority of the crops, the walking device starts to move so that the harvesting robot is close to the crops with the highest priority;

s40: the harvesting mechanical arm starts to work, rotates on the annular harvesting track, and then grabs the cultivation bag where the crop is located;

s50: the recognition device works again, the images of the crops on the picking mechanical arm are collected and transmitted to the controller, and when the linear distance between the collected images and the picking mechanical arm is shortest, the picking mechanical arm works to pick the crops;

s60: the harvesting mechanical arm continues to rotate, and the controller places the cultivation bags on the harvesting mechanical arm to an initial position;

s70: controlling the walking device to move to the next crop according to the crop picking priority, and repeating the steps S40-S60;

s80: and after the recognition device confirms that no crops exist in the current visual field, controlling the walking device to move to the next picking area continuously, and repeating the steps S10-S70.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the controller can control the traveling device to move to the picking area after the recognition device recognizes and determines the picking area of the crops, then the recognition device recognizes and determines the crops needing to be picked again, the controller controls the traveling device to travel to the position near the crops needing to be picked again, then the picking mechanical arm starts to work to grab the cultivation bag where the crops needing to be picked exist, and the picking mechanical arm further carries the cultivation bag to move on the picking track until the recognition device recognizes that the cultivation bag reaches the position closest to the picking mechanical arm, at the moment, the picking mechanical arm stops moving, the picking mechanical arm starts to work to pick the crops on the cultivation bag, and the picking of the crops is completed.

Through the setting of gathering the track in this embodiment, gathering the arm and picking the arm, this openly can automize and pick the crops of cultivation bag cultivation such as mushroom and medicinal material, can enough reduce the human cost by a wide margin, can avoid the manpower again to pick the tired scheduling problem of picker that causes, can also improve through mechanization, automation and pick efficiency, finally can reach the purpose that improves the income.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is an overall schematic view of a rotary recognition harvesting robot device according to an embodiment of the present disclosure.

Wherein, 1, mounting rack; 2. a traveling device; 21. a traveling wheel; 22. a guide portion; 3. a harvesting device; 31. harvesting a track; 32. a harvesting mechanical arm; 33. picking up the mechanical arm; 4. an identification device; 5. a controller; 6. a crop; 7. and (5) walking on a track.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The present disclosure provides a rotary recognition harvesting robot device, as shown in fig. 1, comprising a mounting frame 1, a walking device 2, a harvesting device 3, a recognition device 4, and a controller 5. In this embodiment, as shown in fig. 1, the mounting frame 1 includes a horizontal truss and a vertical truss, the harvesting device 3 is disposed on one side of the mounting frame 1, that is, the harvesting device 3 is disposed on one side of the vertical truss, the harvesting device 3 includes a harvesting track 31, a harvesting mechanical arm 32 and a picking mechanical arm 33, the harvesting mechanical arm 32 and the picking mechanical arm 33 are both four-degree-of-freedom mechanical arms, and the four-degree-of-freedom mechanical arms 32 and the picking mechanical arm 33 can move to different directions. Moreover, the harvesting mechanical arm 32 is mounted on the harvesting track 31 and can move on the harvesting track 31, the harvesting mechanical arm 32 is used for grabbing the cultivation bags, the picking mechanical arm 33 is arranged on one side of the harvesting track 31, and after the harvesting mechanical arm 32 grabs the cultivation bags, the picking mechanical arm 33 is used for picking the crops 6 in the cultivation bags. The number of the identification devices 4 is plural, and the identification devices 4 are used for collecting position information of the crops 6. The walking device 2 is arranged at the bottom of the mounting frame 1 to drive the robot device to move. The controller 5 is electrically connected with the picking mechanical arm 32, the picking mechanical arm 33, the recognition device 4 and the walking device 2 respectively.

In the above embodiment, after the recognition device 4 recognizes and determines the picking area of the crop 6, the controller 5 controls the walking device 2 to move to the picking area, then the recognition device 4 recognizes and determines the crop 6 to be picked again, the controller 5 controls the walking device 2 to move to the vicinity of the crop 6 to be picked again, then the picking mechanical arm 32 starts to operate to pick the cultivation bag where the crop 6 to be picked is located, and the picking mechanical arm 32 further carries the cultivation bag to move on the picking track 31 until the recognition device 4 recognizes that the cultivation bag reaches the position closest to the picking mechanical arm 33, at this time, the picking mechanical arm 32 stops moving, the picking mechanical arm 33 starts to operate to pick the crop 6 on the cultivation bag, and the picking of the crop 6 is completed.

Through the setting of gathering track 31, gathering arm 32 and picking arm 33 in this embodiment, this openly can automize and pick crops 6 of cultivation bag cultivation such as mushroom and medicinal material, can enough reduce the human cost by a wide margin, can avoid the manpower again to pick the tired scheduling problem of picking personnel that cause, can also improve through mechanization, automation and pick efficiency, finally can reach the purpose that improves the income.

In this embodiment, the harvesting track 31 is an endless track. The harvesting track 31 is arranged at one end, far away from the walking device 2, of the mounting frame 1 and is vertically placed, the harvesting mechanical arm 32 can move on the harvesting track 31 in the annular direction, and the picking mechanical arm 33 is arranged on the inner upper side of the harvesting track 31. The harvesting track 31 is annular, so that the motion of the harvesting mechanical arm 32 can be facilitated, and compared with harvesting tracks 31 in other shapes, the harvesting mechanical arm 32 can smoothly perform steering, accelerating or decelerating and other motions at all positions of the harvesting track 31, and the problem that the harvesting mechanical arm is difficult to continue to move when moving to an inflection point is avoided.

Further, the number of the harvesting mechanical arms 32 is multiple, and multiple harvesting mechanical arms 32 can move on the harvesting track 31 at the same time, for example, the number of the harvesting mechanical arms 32 can be two, the identification device 4 and the controller 5 can select two crops 6 suitable for harvesting, and the two harvesting mechanical arms 32 respectively harvest the two crops 6 and then cooperate with the harvesting manipulator to complete the harvesting of the two crops 6 at the same time, so as to improve the working efficiency of the harvesting robot. Of course, the number of the harvesting robot arms 32 in this embodiment is not necessarily limited to a specific number, and one or more may be possible, and the specific number may be determined according to the upper operation limits of the controller 5 and the recognition device 4.

In order to prevent the harvesting robot from damaging the crops 6, the front ends of the harvesting mechanical arms 32 and the picking mechanical arms 33 are made of rubber. When the cultivation bags are grabbed and the crops 6 are picked, the front ends of the picking mechanical arms 32 and the picking mechanical arms 33 cannot do hard damage to the crops 6 because the rubber has elasticity.

Specifically, the recognition device 4 and the controller 5 are connected to the recognition device 4 in a communication manner, as described above, the controller 5 is also installed on the mounting frame 1, the controller 5 is used for receiving the image shot by the recognition device 4, the controller 5 identifies and positions the crops 6 according to the image, and the controller 5 adjusts the path of the walking device 2 and the steering directions of the harvesting mechanical arm 32 and the picking mechanical arm 33 according to the image. That is, in this embodiment, the recognition device 4 plays a role in the whole harvesting process of the harvesting robot, one is to determine the walking path in the walking process of the walking device 2, the other is to determine the position information of the cultivation bag in the grabbing process of the harvesting mechanical arm 32, and the other is to determine the position information of the crop 6 in the cultivation bag in the picking process of the picking mechanical arm 33, and finally, the picking process of the crop 6 is completed.

Further, the recognition device 4 is a CCD detector. The CCD detector has a strong self-scanning function, good image definition, can capture images at any time, supports multiple combined pixel modes, and has the advantages that the innovative reading technology can fully reduce noise, a higher sensitivity and a higher conversion effect are achieved, and the image has a very high signal-to-noise ratio. Compared with the traditional camera, the CCD detector has the advantages of small volume, high reliability, high sensitivity, strong light resistance, vibration resistance, magnetic field resistance, small distortion, long service life, clear image, simple and convenient operation and the like.

In this embodiment, the recognition device 4 can automatically determine the priority, and determine the picking priority order of each crop 6 in the current scene by using the occlusion coefficient of each crop 6 as a decision element of the picking priority order; and according to the picking priority order of each crop 6, sequentially sending the three-dimensional coordinates of each crop 6 to the picking robot, and driving the robot to pick continuously. The setting of priority can be given the setting of a harvesting sequence of harvesting robot to sheltering from the coefficient and regard as the decision factor, can gather the crops 6 that are closest to the harvesting robot at first, destroy the robot when avoiding the robot to pick crops 6 far away and pick crops 6 near between the crops 6. In addition, in other embodiments, the maturity of the crop 6 may be used as a decision element of the picking priority, when the maturity of the crop 6 is different, the color of the crop 6 is different, the picture taken by the recognition device 4 is distinguished by the controller 5, and when the maturity of the crop 6 is used as the decision element of the picking priority by the robot, only the crop 6 with the maturity above a certain threshold can be picked, so as to avoid picking the immature crop 6.

In this embodiment, the traveling device 2 is a plurality of traveling wheels 21 symmetrically disposed on two opposite sides of the mounting frame 1, a guiding portion 22 is disposed in the circumferential direction of the traveling wheels 21, and the guiding portion 22 is accommodated on the traveling rail 7, so that the traveling device 2 travels along the traveling rail 7. As shown in fig. 1, a plurality of walking wheels 21 may be symmetrically disposed on both sides, so that the harvesting robot can stably move on the walking rails 7 during harvesting.

Specifically, the number of the traveling rails 7 is two in the present embodiment, the two traveling rails 7 are parallel to each other and extend along a straight line, the diameter of the guide portion 22 is smaller than that of the traveling wheels 21, and when the traveling device 2 travels on the traveling rails 7, the upper surface of the traveling rail 7 contacts the guide portion 22. In addition, the walking rail 7 of this embodiment is the unsettled walking rail 7, the harvesting robot moves on unsettled walking rail 7, in order to move steadily on unsettled walking rail 7, walking rail 7 and running gear 2 in this embodiment should all carry out adaptive size adjustment, or running gear 2 can set up the leading wheel in the below of walking wheel 21 in this embodiment, the leading wheel sets up with the cooperation of walking wheel 21, wear to establish walking rail 7 wherein, so that the harvesting robot smooth operation.

The present disclosure also provides a harvesting method, which adopts the above-mentioned rotary recognition harvesting robot device, including the following steps:

s10: starting the harvesting robot, collecting images of the surrounding environment by the recognition device 4 and transmitting the images to the controller 5, determining the position of the crops 6 as a picking area by the controller 5 to drive the walking device 2 to reach the picking area, and stopping the walking device 2;

s20: after the crop picking area is reached, the recognition device 4 collects images of the crops 6, executes picking priority decision according to the shielding coefficients of the crops 6, and sequentially sends the three-dimensional coordinates of the crops 6 to a picking robot:

s30: according to the picking priority of the crops 6, the walking device 2 starts to move so that the picking robot approaches the crops 6 with the highest priority;

s40: the harvesting mechanical arm 32 starts to work, rotates on the annular harvesting track 31, and then the harvesting mechanical arm 32 grabs the cultivation bag where the crop 6 is located;

s50: the recognition device 4 works again, the images of the crops 6 on the harvesting mechanical arm 32 are collected and transmitted to the controller 5, and when the linear distance between the crops 6 and the picking mechanical arm 33 is judged to be shortest, the picking mechanical arm 33 works to pick the crops 6;

s60: the harvesting mechanical arm 32 continues to rotate, and the controller 5 places the cultivation bag on the harvesting mechanical arm to the initial position;

s70: controlling the walking device 2 to move to the next crop 6 according to the picking priority of the crop 6, and repeating the steps S40-S60;

s80: after the recognition device 4 confirms that there is no crop 6 in the current field of view, the walking device 2 is controlled to move to the next picking area, and the steps S10 to S70 are repeated.

It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The previous description is only for the purpose of describing particular embodiments of the present disclosure, so as to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary recognition harvesting robot device is characterized by comprising a mounting frame (1), a walking device (2), a harvesting device (3), a recognition device (4) and a controller (5);

the harvesting device (3) is arranged on one side of the mounting frame (1), the harvesting device (3) comprises a harvesting track (31), a harvesting mechanical arm (32) and a picking mechanical arm (33), the harvesting mechanical arm (32) and the picking mechanical arm (33) are four-degree-of-freedom mechanical arms, the harvesting mechanical arm (32) is mounted on the harvesting track (31) and can move on the harvesting track (31), the harvesting mechanical arm (32) is used for grabbing cultivation bags, the picking mechanical arm (33) is arranged on one side of the harvesting track (31), and after the harvesting mechanical arm (32) grabs the cultivation bags, the picking mechanical arm (33) is used for picking crops (6) in the cultivation bags;

the number of the identification devices (4) is multiple, and the identification devices (4) are used for collecting position information of crops (6);

the walking device (2) is arranged at the bottom of the mounting rack (1) to drive the harvesting robot device to move forwards;

the controller (5) is electrically connected with the picking mechanical arm (32), the picking mechanical arm (33), the recognition device (4) and the walking device (2) respectively.

2. The rotary recognition harvesting robot device according to claim 1, characterized in that the harvesting track (31) is a ring track.

3. The rotary recognition harvesting robot device of claim 1, wherein the number of harvesting robotic arms (32) is multiple.

4. The rotary recognition harvest robot apparatus of claim 1 wherein the material of the front end of the harvest robot (32) and the front end of the picker robot (33) are both rubber.

5. The rotary recognition harvesting robot device according to claim 1, characterized in that the controller (5) is configured to receive images captured by the recognition device (4), the controller (5) performs recognition and positioning on the crop (6) according to the images, and the controller (5) adjusts the path of the walking device (2) and the steering of the harvesting robot (32) and the picking robot (33) according to the images.

6. The rotary recognition harvesting robot device according to claim 1, characterized in that the recognition device (4) is a CCD detector.

7. The rotary recognition harvesting robot device according to claim 1, characterized in that the recognition device (4) is capable of automatically determining the priority, taking the occlusion coefficient of each crop (6) as a decision element of the picking prioritization, determining the picking prioritization of each crop (6) in the current scene; and sequentially sending the three-dimensional coordinates of the crops (6) to a harvesting robot according to the picking priority order of each crop (6), and driving the robot to pick continuously.

8. The rotary recognition harvesting robot device according to claim 1, wherein the walking device (2) is a plurality of walking wheels (21) symmetrically arranged on two opposite sides of the mounting frame (1), a guide part (22) is arranged on the circumference of each walking wheel (21), and the guide part (22) is used for being accommodated on the walking track (7) so that the walking device (2) walks along the walking track (7).

9. The rotary recognition harvesting robot device according to claim 8, characterized in that the number of the walking rails (7) is two, the two walking rails (7) are parallel and extend along a straight line, the diameter of the guide portion (22) is smaller than the diameter of the walking wheels (21), and when the walking device (2) runs on the walking rails (7), the upper surface of the walking rails (7) is in contact with the guide portion (22).

10. A harvesting method using the rotary recognition harvesting robot device according to any one of claims 1 to 9, comprising the steps of:

s10: starting the harvesting robot, collecting surrounding environment images by the recognition device (4) and transmitting the surrounding environment images to the controller (5), determining the position of a crop (6) as a picking area by the controller (5) to drive the traveling device (2) to reach the picking area, and stopping the traveling device (2);

s20: after the crops reach the picking area, the recognition device (4) collects images of the crops (6), carries out picking priority decision according to the shielding coefficients of the crops (6), and sequentially sends three-dimensional coordinates of the crops (6) to a picking robot:

s30: according to the picking priority of the crops (6), the walking device (2) starts to move so that the picking robot approaches the crops (6) with the highest priority;

s40: the harvesting mechanical arm (32) starts to work, rotates on the annular harvesting track (31), and then grabs the cultivation bag where the crop (6) is located by the harvesting mechanical arm (32);

s50: the recognition device (4) works again, images of crops (6) on the harvesting mechanical arm (32) are collected and transmitted to the controller (5), when the linear distance between the crops (6) and the picking mechanical arm (33) is judged to be shortest, the picking mechanical arm (33) works, and the crops (6) are picked down;

s60: the harvesting mechanical arm (32) continues to rotate, and the controller (5) places the cultivation bag on the harvesting mechanical arm to an initial position;

s70: controlling the walking device (2) to move to the next crop (6) according to the picking priority of the crop (6), and repeating the steps S40-S60;

s80: after the recognition device (4) confirms that no crops (6) exist in the current field, the walking device (2) is controlled to move to the next picking area, and the steps S10-S70 are repeated.