CN116210445B - Pineapple picking robot and picking method thereof - Google Patents
Pineapple picking robot and picking method thereof Download PDFInfo
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- CN116210445B CN116210445B CN202310447623.2A CN202310447623A CN116210445B CN 116210445 B CN116210445 B CN 116210445B CN 202310447623 A CN202310447623 A CN 202310447623A CN 116210445 B CN116210445 B CN 116210445B
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- 235000013399 edible fruits Nutrition 0.000 abstract description 9
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pineapple picking robot and a picking method thereof, wherein the pineapple picking robot comprises a vehicle body part and a pineapple collecting frame, an opening is formed in the pineapple collecting frame, a vertical conveying belt is connected to the opening, two transverse conveying belts are butted at the other end of the vertical conveying belt, a mechanical arm mounting platform is arranged on the side of the two transverse conveying belts, a plurality of triaxial picking mechanical arms are arranged on the mechanical arm mounting platform, and a three-dimensional depth camera is fixed on each triaxial picking mechanical arm; the tail end of the triaxial picking mechanical arm is also provided with a plurality of groups of flexible clamping jaws. The automatic pineapple picking robot provided by the invention can replace fruit farmers to finish pineapple picking work, four rows of pineapples can be picked at the same time, and the picking efficiency is greatly improved. In order to avoid damaging fruits in the picking process, the inner sides of fingers of the picking robot, namely the parts touching the fruits, are provided with four-finger flexible clamping jaws, and the clamping jaws have a special air bag structure, so that the quality of pineapple can be well protected.
Description
Technical Field
The invention relates to the field of pineapple picking, in particular to a pineapple picking robot and a pineapple picking method.
Background
Traditional pineapple picking work is usually mainly performed manually, and fruit farmers pick ripe pineapples one by one in pineapple fields, and then put the pineapples into a collection basket carried by the pineapples or transport the pineapples to specific fruit collection places through a plurality of agricultural conveying belts. The growth of stock plant under the pineapple is comparatively vigorous, and the pineapple blade on top layer is harder and sharp when the pineapple is ripe, and very easily by the cutting during manual picking, and the every row of trunk leaf has basically all been crisscross the furrow that has covered in the pineapple field, this greatly increased the complexity that the people walked in the pineapple field, very inconvenient fruit growers walked and carry out picking work, moreover the people's physical power is also limited, and impossible continuous operation, and the automatic picking robot of pineapple can replace fruit growers to accomplish the work effectively.
The existing single-row pineapple picking robot can only pick one row of pineapple, can not pick several rows at the same time, and the picking efficiency is difficult to meet the picking requirement of large-scale pineapple; moreover, the single-row pineapple picking robot needs to be operated by workers familiar with the operation, so that the labor cost is high; moreover, the picking process of the existing single-row picking robot is relatively violent, the consumption rate is higher when pineapple is picked, and the income of fruit farmers is relatively reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a pineapple picking robot which can perform multi-row picking, is suitable for large-scale picking and reduces picking loss and a picking method thereof.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: the pineapple picking machine comprises a machine body part, wherein a pineapple collecting frame is arranged on the machine body part, an opening is formed in the pineapple collecting frame, a vertical conveying belt is connected to the opening, two transverse conveying belts are butted at the other end of the vertical conveying belt, a mechanical arm mounting platform is arranged on the side of each transverse conveying belt, a plurality of triaxial picking mechanical arms are arranged on the mechanical arm mounting platform, and a three-dimensional depth camera is fixed on each triaxial picking mechanical arm; the tail end of the triaxial picking mechanical arm is also provided with a plurality of groups of flexible clamping jaws, and each group of flexible clamping jaws comprises two flexible clamping jaws which are symmetrically arranged.
The three-shaft picking mechanical arm comprises a base turbine box, a vertical chassis turbine shaft is arranged on the base turbine box, a chassis turbine is connected to the bottom of the chassis turbine shaft, a chassis worm is connected to the chassis turbine, and the chassis worm is fixedly connected with an output shaft of a chassis servo motor; the upper end of the chassis turbine shaft is connected with a chassis turbine shaft upper flange cover, the chassis turbine shaft upper flange cover is connected with a chassis flange cover, the chassis flange cover is connected with a chassis driving arm seat, the top of the chassis driving arm seat is hinged with a large arm, the top of the large arm is hinged with a small arm, a three-dimensional depth camera mounting shell is arranged on the small arm, and the three-dimensional depth camera is mounted in the three-dimensional depth camera mounting shell; the bottom of the base turbine box is provided with a box base; the outer part of the base turbine box is also provided with a box body electric box; the upper end of the chassis turbine shaft is fixed on the base turbine box through a chassis turbine shaft upper flange cover, and the lower end of the chassis turbine shaft is fixed on the box base through a chassis turbine shaft lower flange cover.
Further, the rotating ends of the big arm and the small arm are respectively provided with a U-shaped hinge joint, and the two sides of the U-shaped hinge joint are respectively provided with a driving through hole; shoulder cycloid speed reducers are further arranged on two sides of the top of the chassis driving arm seat, the shoulder cycloid speed reducers are connected with shoulder servo motors, the output ends of the shoulder cycloid speed reducers are fixedly connected with the bottoms of the large arms, and the shoulder cycloid speed reducers are fixed outside the chassis driving arm seat through speed reducer mounting flanges; the two sides of the top of the large arm are respectively provided with an elbow planetary reducer, the elbow planetary reducers are connected with elbow servo motors, and the output ends of the elbow planetary reducers are fixedly connected with the bottom of the small arm; the output ends of the shoulder cycloid speed reducer and the elbow planetary speed reducer are fixedly connected with the driving through hole.
Further, the vehicle body part comprises a base and a plurality of moving wheels fixed at the bottom of the base; the two sides of the transverse conveying belt are provided with conveying belt supporting frames, and the two sides of the vertical conveying belt are provided with transverse conveying baffles.
Further, the vertical conveying belt and the transverse conveying belt comprise two parallel cross bars, a plurality of rolling rods are arranged at the two positions, a conveying belt is arranged outside the rolling rods, and the rolling rods at the end parts are fixedly connected with an output shaft of a conveying belt rotating motor; the conveyor belt rotating motor is fixed on the cross rod through a motor chuck; a collecting guide inclined plate is arranged between the vertical conveying belt and the transverse conveying belt, a baffle piece is arranged at one side end part of the vertical conveying belt, and a support piece for fixing the baffle piece is arranged on the vehicle body part.
Further, the flexible clamping jaw comprises an elongated connecting piece, a double-head chuck, a claw fixing block, two groups of flexible clamping jaws and a rotary cutting tool fixed at the tail end of the elongated connecting piece, wherein the claw fixing block is connected to the side of the elongated connecting piece through the double-head chuck and is I-shaped, the two groups of flexible clamping jaws are respectively installed and fixed at the four ends of the claw fixing block, a flexible clamping jaw air inlet is formed in each flexible clamping jaw, the claw fixing block is connected with the flexible clamping jaw through the claw connecting piece, the claw connecting piece is L-shaped, and a flexible fixing shell is further arranged outside the flexible clamping jaw.
Further, one end of the long connecting piece is provided with a flange plate, the other end of the long connecting piece is provided with a mounting plate, a rotary cylinder is fixed on the mounting plate, and a rotary cutter is fixed on the output end of the rotary cylinder; the long connecting piece is in a regular quadrangular prism shape, and two parallel T-shaped grooves are formed in the side prismatic surface of the long connecting piece; the double-end chuck comprises an upper flange plate, a connecting shaft and a lower mounting plate, wherein the upper flange plate is connected with the connecting shaft, the connecting shaft is connected with the lower mounting plate, a plurality of mounting through holes are formed in the lower mounting plate, and the long connecting piece is connected with the double-end chuck through bolt pieces.
A picking method of a pineapple picking robot comprises the following steps:
s1: setting an initial recognition position before each pineapple picking, an accurate recognition action position in the picking process and a discharge position after each pineapple picking;
s2: the three-axis picking mechanical arm moves to an initial recognition action position, then the three-axis picking mechanical arm accurately recognizes the action position, a three-dimensional depth camera recognizes the pineapple to be picked in front, the centroid position of the pineapple image is obtained, and focusing shooting is carried out; converting the barycenter coordinates of the pineapple to be picked into a three-dimensional depth camera coordinate system by combining a three-dimensional depth camera, and calculating Euler angle data of rotation of each shaft when the three-shaft picking mechanical arm picks;
s3: the calculated Euler angle data is used for controlling the triaxial picking mechanical arm to move to a picking position, after the flexible clamping jaw moves to the picking position, the flexible clamping jaw executes the action of picking pineapple, and the flexible clamping jaw detects whether the pineapple is picked or not:
when the flexible clamping jaw does not detect the pineapple to be picked, the pineapple picking preparation fails, the triaxial picking mechanical arm returns to the initial identification action position in an idle mode, and the next pineapple identification picking is carried out;
when the flexible clamping jaw on the triaxial picking mechanical arm detects a pineapple to be picked, the pineapple is successfully picked, the flexible clamping jaw clamps the pineapple to be picked, the rotary cylinder drives the rotary cutting tool to rotate and cut off the handle of the pineapple to be picked, and then the triaxial picking mechanical arm clamps the pineapple to be picked through the flexible clamping jaw and moves to a unloading position;
s4: after the three-shaft picking mechanical arm moves the pineapple to be picked to a unloading position, the picked pineapple is placed into the input end of the transverse conveying belt by controlling the loosening flexible clamping jaw, and the picked pineapple is collected in a pineapple collecting frame of the vehicle body part through the transverse conveying belt and the vertical conveying belt;
s5, returning the triaxial picking mechanical arm to the initial identification action position, and preparing for picking the front pineapple next time;
s6, repeating the steps S2-S5 to pick the pineapple in the current row until all pineapples in the current planting row are picked.
Further, the step S2 further includes the following steps:
s21: establishing a three-dimensional depth camera coordinate system by taking a convex lens optical center of the three-dimensional depth camera as a coordinate origin; the positive X-axis direction of the three-dimensional depth camera coordinate system is the direction vertical to the outward direction of the convex lens of the camera, the positive Y-axis direction is the direction of the right side of the camera, and the positive Z-axis direction is the direction of the upper side of the camera;
s22: the three-axis picking mechanical arm moves to an initial identification action position, the three-dimensional depth camera shoots an image of a pineapple in front, the pineapple with the largest anchor frame area in the shot image is identified as a pineapple to be picked, focusing shooting is carried out on the pineapple to be picked, shooting data of the pineapple to be picked at the moment of focusing shooting are obtained, a center point of the image of the pineapple to be picked is obtained through the shooting data to serve as a center of mass, center-of-mass coordinates of the pineapple to be picked are obtained, the center-of-mass coordinates are converted into a three-dimensional depth camera coordinate system by combining a center-of-mass coordinate conversion formula, and the center-of-mass coordinate conversion formula is as follows:
wherein u and v are respectively the pixel coordinates of the x-axis and the y-axis of the midpoint of the pineapple image in the pineapple image coordinate system, the origin of the pineapple image coordinate system is the top left corner vertex of the pineapple image, and the positive direction of the x-axis is downward toward the right and the positive direction of the y-axis; c x And c y Is the center point o of the pineapple image 1 Pixel coordinates, center point o 1 Taking the vertex of the upper left corner of the anchor frame of the pineapple image to be picked as an origin for the imaging point of the convex lens optical center o of the three-dimensional depth camera on the image; f (f) x And f y The focal lengths of pixels on the x-axis and the y-axis respectively; x is X c 、Y c 、Z c The coordinates of X, Y, Z axes of the pineapple centroid under a three-dimensional depth camera coordinate system are respectively;
s23: establishing a pineapple barycenter coordinate system to be picked by taking the pineapple barycenter to be picked as an origin, wherein the positive direction of an X omega axis is the moving advancing direction of the vehicle body part, the positive direction of a Y omega axis is the right side of the vehicle body part, and the positive direction of a Z omega axis is the vertical upward direction of the vehicle body part;
s24: the Euler angles alpha, beta and gamma of three axes x, y and z are calculated respectively by utilizing an external parameter matrix and combining a total rotation matrix and a translation matrix, and the calculation method is as follows:
R＝R(α，β，γ)
R(α,β,γ)＝Rz(γ)Ry(β)Rx(α)
wherein, alpha, beta and gamma are Euler angles of three axes x, y and z respectively; r (α, β0, γ) is the total rotation matrix; rx (α) is a sub-rotation matrix rotated by α about axis X; ry (beta) is a sub-rotation matrix rotated by beta about the Y-axis; rx (alpha) is a sub-rotation matrix rotated gamma about the Z axis; dx, dy, and dz are translational distances in X, Y and Z axes, respectively; r (α, β, γ) is the total rotation matrix; x omega, Y omega and Z omega are the coordinates of X, Y, Z in the centroid coordinate system of the pineapple to be picked respectively; x omega 1 、Yω 1 、Zω 1 X of convex lens optical center o of three-dimensional depth camera under center of mass coordinate system of pineapple to be picked c 、Y c 、Y c Coordinates of the axes.
The beneficial effects of the invention are as follows:
the invention has simple structure and low production cost, is suitable for picking large-scale pineapples, can simultaneously pick a plurality of rows of pineapples, is suitable for picking large-scale pineapples, and assists or replaces fruit farmers to finish the pineapple picking operation in the pineapple fields. Compared with the existing relatively mature single-row pineapple picking robot, the picking robot provided by the invention can realize multi-row pineapple picking, has low operation requirement on operators, greatly improves the picking efficiency, and greatly reduces the labor cost.
The clamping device disclosed by the invention adopts the four-finger flexible clamping jaw, the four-finger flexible clamping jaw is of an air bag structure made of flexible materials, the damage to pineapple in the picking process is small, and the quality of pineapple can be well protected.
According to the pineapple picking machine, the pineapple is collected by the three belt driving devices, the pineapple picked by the mechanical arm is collected by the two transverse conveying belts, and then is conveyed to the vertical conveying belt, and is conveyed into the pineapple collecting frame of the car body part, so that the pineapple can be collected conveniently after picking.
The three-axis picking mechanical arm disclosed by the invention has three degrees of freedom in total, wherein the three degrees of freedom comprise two rotational degrees of freedom of an elbow part and a shoulder part on the front, back, upper and lower planes, one 360-degree rotational degree of freedom of a base, the mechanical arm can move on the front, back, upper and lower planes, the action is driven by a corresponding speed reducer driven by two servo motors for driving joints to rotate, the whole rotation of the mechanical arm is realized by the servo motors of the base, and the pineapple picking in a larger range can be realized, so that the pineapple picking of the current picking row is met.
The pineapple picking robot is matched with the picking method, so that the pineapple to be picked can be automatically identified, the picking mechanical arms are automatically controlled to move to the vicinity of the pineapple to be picked, the pineapple is picked, each mechanical arm is only responsible for picking one row of pineapple, the picking continuity is good, and the picking efficiency is higher.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a pineapple picking robot of the present invention;
FIG. 2 is a schematic view of the structure of a vehicle body part;
FIG. 3 is a schematic view of a collecting device;
FIG. 4 is a second schematic diagram of the structure of the collecting device;
FIG. 5 is a schematic structural view of a three-axis picking arm;
FIG. 6 is a schematic diagram II of a three-axis picking arm;
fig. 7 is a schematic structural view III of a three-axis picking mechanical arm;
fig. 8 is a schematic structural view of a three-axis picking mechanical arm;
FIG. 9 is a schematic diagram of a four-finger flexible jaw;
FIG. 10 is a schematic diagram II of a four-finger flexible jaw;
FIG. 11 is a schematic diagram III of a four-finger flexible jaw;
FIG. 12 is a schematic view of an initial recognition position of a three-axis picking robot;
FIG. 13 is a schematic diagram of a three-axis picking robot precise identification position;
fig. 14 is a schematic view of a three-axis picking arm fine discharge position.
The main component symbols in the drawings are described as follows:
1. a vehicle body portion; 11. a base; 12. a pineapple collecting frame; 13. a moving wheel; 14. a working platform; 15. a transverse conveying baffle; 16. a mechanical arm mounting platform;
2. a collecting device; 21. a conveyor belt; 22. a cross bar; 23. a conveyor belt rotating motor; 24. a rolling stick; 25. conveyor belt support frames, 26, motor chucks; 27. a blocking member; 28. a support; 29. collecting a guide sloping plate;
3. a three-axis picking mechanical arm; 31. a base turbine box; 32. a chassis servo motor; 33. a chassis flange cover; 34. a chassis turbine shaft; 35. a flange cover is arranged on the chassis turbine shaft; 36. a chassis driving arm seat; 37. a box base; 38. a box body electric box; 39. a large arm; 311. a forearm; 312. a large arm cycloidal reducer mounting flange; 313. shoulder cycloid speed reducer; 314. a shoulder servo motor; 315. an elbow planetary reducer; 316. an elbow servo motor; 317. a three-dimensional depth camera mounting case; 318. a chassis worm; 319. a chassis turbine;
4. a flexible jaw; 41. an elongated connector; 42. a double-ended chuck; 43. a paw fixing block; 44. a flexible jaw air inlet; 45. a paw connecting piece; 46. a flexible fixed housing; 47. a flexible jaw; 48. a rotary cylinder; 49. and (5) rotary cutting tools.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
As shown in fig. 1, a pineapple picking robot comprises a body part 1 and a plurality of collecting devices 2, wherein the collecting devices 2 are divided into a transverse conveying belt and a vertical conveying belt; the pineapple picking machine comprises a machine body part 1, a pineapple collecting frame 12, an opening, a vertical conveying belt, two transverse conveying belts, a mechanical arm mounting platform 16, a plurality of three-axis picking mechanical arms 3, and a three-dimensional depth camera, wherein the opening is formed in the pineapple collecting frame 12; the tail end of the triaxial picking mechanical arm 3 is further provided with a plurality of groups of flexible clamping jaws 4, and each group of flexible clamping jaws 4 comprises two flexible clamping jaws 4 which are symmetrically arranged. The system also comprises a control system, wherein the control system comprises a power supply module, a visual processing module, a 5G communication module and a motor driving module, and the control system is preferably a singlechip.
As shown in fig. 2, the vehicle body part 1 comprises a base 11 and a plurality of moving wheels 13 fixed at the bottom of the base 11; the two sides of the transverse conveying belt are provided with conveying belt supporting frames 25, and the two sides of the vertical conveying belt are provided with transverse conveying baffles 15. The vehicle body part 1 adopts a four-wheel base and a bearing frame, the four-wheel base is used as a walking driving device, two rear movable wheels 13 are used as driving wheels, direct current is used for driving, and through mutual coordination and cooperation with a control system, rear wheel driving is realized, and the front movable wheels 13 are driven to rotate, so that the pineapple field walking is operated.
As shown in fig. 3 and 4, the vertical conveyor belt and the horizontal conveyor belt both comprise two parallel cross bars 22, a plurality of rolling rods 24 are arranged at the two positions, a conveyor belt 21 is arranged outside the rolling rods, and the rolling rods 24 at the end parts are fixedly connected with an output shaft of a conveyor belt rotating motor 23; the conveyor belt rotating motor 23 is fixed on the cross bar 22 through a motor chuck 26; a collecting guide inclined plate 29 is arranged between the vertical conveying belt and the transverse conveying belt, a baffle 27 is arranged at one side end part of the vertical conveying belt, and a support 28 for fixing the baffle 27 is arranged on the vehicle body part 1. The conveyer belt rotating motor 23 is installed on the horizontal pole 22 through motor chuck 26, the horizontal pole 22 is connected with conveyer belt support frame 25, conveyer belt support frame 25 is fixed on automobile body part 1, the axis of rotation of conveyer belt rotating motor 23 is connected with the roll rod 24, the roll rod 24 is fixed on horizontal pole 25 in proper order, the roll rod 24 drives conveyer belt 21 and rotates, thereby convey the pineapple that picks up to the next step, collect the both ends one end of direction swash plate 29 is fixed at the end of transversely collecting the conveyer belt support frame and the front end of vertically collecting the conveyer belt, supplementary pineapple is from transversely conveyer belt to vertically on the conveyer belt, finally in the pineapple collection frame 12. The front end of the longitudinal collecting conveyor belt is fixed on the vehicle body by two supporting pieces 28, the rear end is fixed with the pineapple collecting frame 12, and a baffle 27 is arranged at the front end 28 to prevent the pineapple from falling from the front end of the machine.
As shown in fig. 5, 6, 7 and 8, the three-axis picking mechanical arm 3 comprises a base turbine box 31, a vertical chassis turbine shaft 34 is installed on the base turbine box 31, a chassis turbine 319 is connected to the bottom of the chassis turbine shaft 310, a chassis worm 318 is connected to the chassis turbine 319, and the chassis worm 318 is fixedly connected with an output shaft of a chassis servo motor 32; the upper end of the chassis turbine shaft 310 is connected with a chassis turbine shaft upper flange cover 35, the chassis turbine shaft upper flange cover 35 is connected with a chassis flange cover 33, the chassis flange cover 33 is connected with a chassis driving arm seat 36, the top of the chassis driving arm seat 36 is hinged with a large arm 39, the top of the large arm 39 is hinged with a small arm 311, a three-dimensional depth camera mounting shell 317 is arranged on the small arm 311, and the three-dimensional depth camera is mounted in the three-dimensional depth camera mounting shell 317; the bottom of the base turbine box 31 is provided with a box base 37; the outer part of the base turbine box 31 is also provided with a box electric box 38; the upper end of the chassis turbine shaft 34 is fixed on the base turbine box 31 through a chassis turbine shaft upper flange cover 35, and the lower end of the chassis turbine shaft 34 is fixed on the box base 37 through a chassis turbine shaft lower flange cover. The rotating ends of the large arm 39 and the small arm 311 are respectively provided with a U-shaped hinge joint, and both sides of the U-shaped hinge joint are respectively provided with a driving through hole; shoulder cycloid speed reducers 313 are further arranged on two sides of the top of the chassis driving arm seat 36, the shoulder cycloid speed reducers 313 are connected with shoulder servo motors 314, the output ends of the shoulder cycloid speed reducers 313 are fixedly connected with the bottoms of the large arms 39, and the shoulder cycloid speed reducers 313 are fixed outside the chassis driving arm seat 36 through speed reducer mounting flanges 312; the two sides of the top of the large arm 39 are provided with elbow planetary speed reducers 315, the elbow planetary speed reducers 315 are connected with elbow servo motors 316, and the output ends of the elbow planetary speed reducers 315 are fixedly connected with the bottom of the small arm 311; the output ends of the shoulder cycloid reducer 313 and the elbow planetary reducer 315 are fixedly connected with the driving through holes.
As shown in fig. 9, 10 and 11, the flexible clamping jaw 4 comprises an elongated connecting piece 41, a double-head chuck 42, a clamping jaw fixing block 43, two groups of flexible clamping jaws 47, and a rotary cutter 49 fixed at the tail end of the elongated connecting piece 41, wherein the clamping jaw fixing block 43 is connected to the side of the elongated connecting piece 41 through the double-head chuck 42, the clamping jaw fixing block 43 is in an i shape, the two groups of flexible clamping jaws 47 are respectively installed and fixed at the four ends of the clamping jaw fixing block 43, flexible clamping jaw air inlets 44 are arranged on the flexible clamping jaws 47, the clamping jaw fixing block 43 is connected with the flexible clamping jaws 47 through the clamping jaw connecting piece 45, the clamping jaw connecting piece 45 is in an L shape, and a flexible fixing shell 46 is further arranged outside the flexible clamping jaws 47.
One end of the long connecting piece 41 is provided with a flange plate, the other end is provided with a mounting plate, a rotary cylinder 48 is fixed on the mounting plate, and a rotary cutter 49 is fixed on the output end of the rotary cylinder 48; the long connecting piece 41 is in a regular quadrangular prism shape, and two parallel T-shaped grooves are formed in the side prismatic surface of the long connecting piece 41; the double-head chuck 42 comprises an upper flange plate, a connecting shaft and a lower mounting plate, wherein the upper flange plate is connected with the connecting shaft, the connecting shaft is connected with the lower mounting plate, a plurality of mounting through holes are formed in the lower mounting plate, and the long connecting piece 41 is connected with the double-head chuck 42 through bolt pieces.
A picking method of a pineapple picking robot comprises the following steps:
s1: setting an initial recognition position before each pineapple picking, an accurate recognition action position in the picking process and a discharge position after each pineapple picking; as shown in fig. 12, the initial recognition action position is that the small arm 311 is parallel to the horizontal plane, and the included angle between the small arm 311 and the large arm 39 is 45 degrees; as shown in fig. 13, the initial recognition action position is that the small arm 311 is parallel to the horizontal plane, and the included angle between the small arm 311 and the large arm 39 is 135 degrees; the discharge position is shown in fig. 14;
s2: the three-axis picking mechanical arm 3 moves to an initial recognition action position, then the three-axis picking mechanical arm 3 accurately recognizes the action position, a three-dimensional depth camera recognizes the pineapple to be picked in front, the centroid position of the pineapple image is obtained, and focusing shooting is carried out; converting the barycenter coordinates of the pineapple to be picked into a three-dimensional depth camera coordinate system by combining a three-dimensional depth camera, and calculating Euler angle data of rotation of each shaft when the three-shaft picking mechanical arm 3 picks;
s21: establishing a three-dimensional depth camera coordinate system by taking a convex lens optical center of the three-dimensional depth camera as a coordinate origin; the positive X-axis direction of the three-dimensional depth camera coordinate system is the direction vertical to the outward direction of the convex lens of the camera, the positive Y-axis direction is the direction of the right side of the camera, and the positive Z-axis direction is the direction of the upper side of the camera;
s22: the three-axis picking mechanical arm 3 moves to an initial identification action position, the three-dimensional depth camera shoots an image of a pineapple in front, the pineapple with the largest anchor frame area in the shot image is identified as the pineapple to be picked, the pineapple to be picked is subjected to focusing shooting, shooting data of the pineapple to be picked at the moment of focusing shooting are obtained, a center point of the image of the pineapple to be picked is obtained through the shooting data to serve as a center of mass, center coordinates of the pineapple to be picked are obtained, and the center of mass coordinates are converted into a three-dimensional depth camera coordinate system by combining a center of mass coordinate conversion formula, wherein the center of mass coordinate conversion formula is as follows:
wherein u and v are respectively the pixel coordinates of the x-axis and the y-axis of the midpoint of the pineapple image in the pineapple image coordinate system, the origin of the pineapple image coordinate system is the top left corner vertex of the pineapple image, and the positive direction of the x-axis is downward toward the right and the positive direction of the y-axis; c x And c y Is the center point o of the pineapple image 1 Pixel coordinates, center point o 1 Taking the vertex of the upper left corner of the anchor frame of the pineapple image to be picked as an origin for the imaging point of the convex lens optical center o of the three-dimensional depth camera on the image; f (f) x And f y The focal lengths of pixels on the x-axis and the y-axis respectively; x is X c 、Y c 、Z c The coordinates of X, Y, Z axes of the pineapple centroid under a three-dimensional depth camera coordinate system are respectively;
s23: establishing a pineapple barycenter coordinate system to be picked by taking the pineapple barycenter to be picked as an origin, wherein the positive direction of an X omega axis is the moving advancing direction of the vehicle body part 1, the positive direction of a Y omega axis is the right side of the vehicle body part 1, and the positive direction of a Z omega axis is the vertical upward direction of the vehicle body part 1;
s24: the Euler angles alpha, beta and gamma of three axes x, y and z are calculated respectively by utilizing an external parameter matrix and combining a total rotation matrix and a translation matrix, and the calculation method is as follows:
R＝R(α，β，γ)
R(α,β,γ)＝Rz(γ)Ry(β)Rx(α)
wherein, alpha, beta and gamma are Euler angles of three axes x, y and z respectively; r (α, β0, γ) is the total rotation matrix; rx (α) is a sub-rotation matrix rotated by α about axis X; ry (beta) is a sub-rotation matrix rotated by beta about the Y-axis; rx (alpha) is a sub-rotation matrix rotated gamma about the Z axis; dx, dy, and dz are translational distances in X, Y and Z axes, respectively; r (α, β, γ) is the total rotation matrix; x omega, Y omega and Z omega are the coordinates of X, Y, Z in the centroid coordinate system of the pineapple to be picked respectively; x omega 1 、Yω 1 、Zω 1 X of convex lens optical center o of three-dimensional depth camera under center of mass coordinate system of pineapple to be picked c 、Y c 、Y c Coordinates of the axes.
S3: the calculated Euler angle data is used for controlling the triaxial picking mechanical arm 3 to move to a picking position, after the flexible clamping jaw 4 moves to the picking position, the flexible clamping jaw 4 executes the action of picking pineapple, and the flexible clamping jaw 4 detects whether the pineapple is picked or not:
when the flexible clamping jaw 4 does not detect the pineapple to be picked, the pineapple picking preparation fails, the triaxial picking mechanical arm 3 returns to the initial identification action position in an idle load mode, and the next pineapple identification picking is carried out;
when the flexible clamping jaw 4 on the three-axis picking mechanical arm 3 detects a pineapple to be picked, the pineapple is successfully picked, the flexible clamping jaw 4 clamps the pineapple to be picked, the rotary cylinder 48 drives the rotary cutter 49 to rotate to cut off the handle of the pineapple to be picked, and then the three-axis picking mechanical arm 3 clamps the pineapple to be picked through the flexible clamping jaw 4 and moves to the unloading position;
s4: after the three-axis picking mechanical arm 3 moves the pineapple to be picked to a unloading position, the picked pineapple is placed into the input end of a transverse conveyor belt by controlling the loosening flexible clamping jaw 4, and the picked pineapple is collected in the pineapple collecting frame 12 of the vehicle body part 1 through the transverse conveyor belt and the vertical conveyor belt;
s5, returning the triaxial picking mechanical arm 3 to the initial identification action position, and preparing for picking the front pineapple next time;
s6, repeating the steps S2-S5 to pick the pineapple in the current row until all pineapples in the current planting row are picked.
Claims (6)
1. The pineapple picking robot is characterized by comprising a vehicle body part (1), wherein a pineapple collecting frame (12) is arranged on the vehicle body part (1), an opening is formed in the pineapple collecting frame (12), a vertical conveying belt is connected to the opening, two transverse conveying belts are butted at the other end of the vertical conveying belt, a mechanical arm mounting platform (16) is arranged on the side of each transverse conveying belt, a plurality of triaxial picking mechanical arms (3) are arranged on each mechanical arm mounting platform (16), and a three-dimensional depth camera is fixed on each triaxial picking mechanical arm (3);
the tail end of the triaxial picking mechanical arm (3) is also provided with a plurality of groups of flexible clamping jaws (4), and each group of flexible clamping jaws (4) comprises two flexible clamping jaws (4) which are symmetrically arranged;
the three-axis picking mechanical arm (3) comprises a base turbine box (31), a vertical chassis turbine shaft (34) is arranged on the base turbine box (31), a chassis turbine (319) is connected to the bottom of the chassis turbine shaft (310), a chassis worm (318) is connected to the chassis turbine (319), and the chassis worm (318) is fixedly connected with an output shaft of a chassis servo motor (32);
the upper end of the chassis turbine shaft (310) is connected with a chassis turbine shaft upper flange cover (35), the chassis turbine shaft upper flange cover (35) is connected with a chassis flange cover (33), the chassis flange cover (33) is connected with a chassis driving arm seat (36), the top of the chassis driving arm seat (36) is hinged with a large arm (39), the top of the large arm (39) is hinged with a small arm (311), the small arm (311) is provided with a three-dimensional depth camera mounting shell (317), and the three-dimensional depth camera is mounted in the three-dimensional depth camera mounting shell (317);
the bottom of the base turbine box (31) is provided with a box base (37); a box body electric box (38) is further arranged outside the base turbine box (31); the upper end of the chassis turbine shaft (34) is fixed on the base turbine box (31) through a chassis turbine shaft upper flange cover (35), and the lower end of the chassis turbine shaft (34) is fixed on the box base (37) through a chassis turbine shaft lower flange cover;
the flexible clamping jaw (4) comprises an elongated connecting piece (41), a double-head chuck (42), a clamping jaw fixing block (43) and two groups of flexible clamping jaws (47), and a rotary cutter (49) fixed at the tail end of the elongated connecting piece (41), wherein the clamping jaw fixing block (43) is connected to the side of the elongated connecting piece (41) through the double-head chuck (42), the clamping jaw fixing block (43) is I-shaped, the two groups of flexible clamping jaws (47) are respectively installed and fixed at the four ends of the clamping jaw fixing block (43), flexible clamping jaw air inlets (44) are formed in the flexible clamping jaws (47), the clamping jaw fixing block (43) and the flexible clamping jaws (47) are connected through the clamping jaw connecting piece (45), the clamping jaw connecting piece (45) is L-shaped, and a flexible fixing shell (46) is further arranged outside the flexible clamping jaws (47).
One end of the long connecting piece (41) is provided with a flange plate, the other end of the long connecting piece is provided with a mounting plate, a rotary cylinder (48) is fixed on the mounting plate, and the rotary cutter (49) is fixed on the output end of the rotary cylinder (48);
the long connecting piece (41) is in a regular quadrangular shape, and two parallel T-shaped grooves are formed in the side prismatic surface of the long connecting piece (41);
the double-end chuck (42) comprises an upper flange plate, a connecting shaft and a lower mounting plate, wherein the upper flange plate is connected with the connecting shaft, the connecting shaft is connected with the lower mounting plate, a plurality of mounting through holes are formed in the lower mounting plate, and the long connecting piece (41) is connected with the double-end chuck (42) through bolt pieces.
2. The pineapple picking robot as set forth in claim 1, wherein the rotating ends of the large arm (39) and the small arm (311) are provided with U-shaped hinge joints, and both sides of the U-shaped hinge joints are provided with driving through holes;
shoulder cycloid speed reducers (313) are further arranged on two sides of the top of the chassis driving arm seat (36), the shoulder cycloid speed reducers (313) are connected with shoulder servo motors (314), the output ends of the shoulder cycloid speed reducers (313) are fixedly connected with the bottoms of the large arms (39), and the shoulder cycloid speed reducers (313) are fixed outside the chassis driving arm seat (36) through speed reducer mounting flanges (312);
the two sides of the top of the large arm (39) are respectively provided with an elbow planetary reducer (315), the elbow planetary reducers (315) are connected with elbow servo motors (316), and the output ends of the elbow planetary reducers (315) are fixedly connected with the bottom of the small arm (311);
the output ends of the shoulder cycloid reducer (313) and the elbow planetary reducer (315) are fixedly connected with the driving through hole.
3. Pineapple picking robot according to claim 1, characterized in that the body part (1) comprises a base (11) and a number of moving wheels (13) fixed to the bottom of the base (11); the two sides of the transverse conveying belt are provided with conveying belt supporting frames (25), and the two sides of the vertical conveying belt are provided with transverse conveying baffles (15).
4. The pineapple picking robot according to claim 1, wherein the vertical conveying belt and the transverse conveying belt comprise two parallel cross bars (22), a plurality of rolling rods (24) are arranged on the two parts, a conveying belt (21) is arranged outside the rolling rods, and the rolling rods (24) at the end parts are fixedly connected with an output shaft of a conveying belt rotating motor (23); the conveyor belt rotating motor (23) is fixed on the cross rod (22) through a motor chuck (26); the vertical conveyor belt and the transverse conveyor belt are provided with a collecting guide inclined plate (29), one side end part of the vertical conveyor belt is provided with a baffle (27), and the vehicle body part (1) is provided with a support (28) for fixing the baffle (27).
5. A picking method for the pineapple picking robot as set forth in any one of claims 1 to 4, comprising the steps of:
s1: setting an initial recognition position before each pineapple picking, an accurate recognition action position in the picking process and a discharge position after each pineapple picking;
s2: the three-axis picking mechanical arm (3) moves to an initial recognition action position, then the three-axis picking mechanical arm (3) accurately recognizes the action position, a three-dimensional depth camera recognizes a pineapple to be picked in front, the centroid position of a pineapple image is obtained, and focusing shooting is carried out; converting the barycenter coordinates of pineapple to be picked into a three-dimensional depth camera coordinate system by combining a three-dimensional depth camera, and calculating Euler angle data of rotation of each shaft when the three-shaft picking mechanical arm (3) picks;
s3: the calculated Euler angle data is used for controlling the triaxial picking mechanical arm (3) to move to a picking position, after the flexible clamping jaw (4) moves to the picking position, the flexible clamping jaw (4) executes the action of picking pineapple, and the flexible clamping jaw (4) detects whether the pineapple is picked or not:
when the flexible clamping jaw (4) does not detect the pineapple to be picked, the pineapple picking preparation fails, the triaxial picking mechanical arm (3) returns to the initial identification action position in an idle mode, and the next pineapple identification picking is carried out;
when the flexible clamping jaw (4) on the triaxial picking mechanical arm (3) detects a pineapple to be picked, the pineapple is picked successfully, the flexible clamping jaw (4) clamps the pineapple to be picked, the rotary cylinder (48) drives the rotary cutting tool (49) to rotate and cut off the handle of the pineapple to be picked, and then the triaxial picking mechanical arm (3) clamps the pineapple to be picked through the flexible clamping jaw (4) and moves to a unloading position;
s4: after the three-axis picking mechanical arm (3) moves the pineapple to be picked to a unloading position, the picked pineapple is put into the input end of the transverse conveyor belt by controlling the loosening flexible clamping jaw (4), and the picked pineapple is collected in the pineapple collecting frame (12) of the vehicle body part (1) through the transverse conveyor belt and the vertical conveyor belt;
s5, returning the triaxial picking mechanical arm (3) to an initial identification action position, and preparing for picking the front pineapple next time;
s6, repeating the steps S2-S5 to pick the pineapple in the current row until all pineapples in the current planting row are picked.
6. The picking method of pineapple picking robot according to claim 5, wherein the method for calculating euler angle data of each axis rotation when the three-axis picking mechanical arm (3) picks in step S2 is:
s21: establishing a three-dimensional depth camera coordinate system by taking a convex lens optical center of the three-dimensional depth camera as a coordinate origin; the positive X-axis direction of the three-dimensional depth camera coordinate system is the direction vertical to the outward direction of the convex lens of the camera, the positive Y-axis direction is the direction of the right side of the camera, and the positive Z-axis direction is the direction of the upper side of the camera;
s22: the three-axis picking mechanical arm (3) moves to an initial identification action position, the three-dimensional depth camera shoots an image of a pineapple in front, the pineapple with the largest anchor frame area in the shot image is identified as a pineapple to be picked, focusing shooting is carried out on the pineapple to be picked, shooting data of the pineapple to be picked at the moment of focusing shooting is obtained, a center point of the image of the pineapple to be picked is obtained through the shooting data to serve as a center of mass, center-of-mass coordinates of the pineapple to be picked are obtained, and the center-of-mass coordinates are converted into a three-dimensional depth camera coordinate system by combining a center-of-mass coordinate conversion formula, wherein the center-of-mass coordinate conversion formula is as follows:
wherein u and v are respectively the pixel coordinates of the x-axis and the y-axis of the midpoint of the pineapple image in the pineapple image coordinate system, the origin of the pineapple image coordinate system is the top left corner vertex of the pineapple image, and the positive direction of the x-axis is downward toward the right and the positive direction of the y-axis; c x And c y Is the center point o of the pineapple image 1 Pixel coordinates, center point o 1 Taking the vertex of the upper left corner of the anchor frame of the pineapple image to be picked as an origin for the imaging point of the convex lens optical center o of the three-dimensional depth camera on the image; f (f) x And f y The focal lengths of pixels on the x-axis and the y-axis respectively; x is X c 、Y c 、Z c The coordinates of X, Y, Z axes of the pineapple centroid under a three-dimensional depth camera coordinate system are respectively;
s23: establishing a pineapple barycenter coordinate system to be picked by taking the pineapple barycenter to be picked as an origin, wherein the positive direction of an X omega axis is the moving advancing direction of the vehicle body part (1), the positive direction of a Y omega axis is the right side of the vehicle body part (1), and the positive direction of a Z omega axis is the vertical upward direction of the vehicle body part (1);
s24: the Euler angles alpha, beta and gamma of three axes x, y and z are calculated respectively by utilizing an external parameter matrix and combining a total rotation matrix and a translation matrix, and the calculation method is as follows:
R＝R(α，β，γ)
R(α,β,γ)＝Rz(γ)Ry(β)Rx(α)
wherein, alpha, beta and gamma are Euler angles of three axes x, y and z respectively; r (α, β0, γ) is the total rotation matrix; rx (α) is a sub-rotation matrix rotated by α about axis X; ry (beta) is a sub-rotation matrix rotated by beta about the Y-axis; rx (alpha) is a sub-rotation matrix rotated gamma about the Z axis; dx, dy, and dz are translational distances in X, Y and Z axes, respectively; r (α, β, γ) is the total rotation matrix; x omega, Y omega and Z omega are the coordinates of X, Y, Z in the centroid coordinate system of the pineapple to be picked respectively; x omega 1 、Yω 1 、Zω 1 X of convex lens optical center o of three-dimensional depth camera under center of mass coordinate system of pineapple to be picked c 、Y c 、Y c Coordinates of the axes.
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