CN116210458B - Picking method using ridge culture type strawberry picking robot - Google Patents
Picking method using ridge culture type strawberry picking robot Download PDFInfo
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- CN116210458B CN116210458B CN202310346773.4A CN202310346773A CN116210458B CN 116210458 B CN116210458 B CN 116210458B CN 202310346773 A CN202310346773 A CN 202310346773A CN 116210458 B CN116210458 B CN 116210458B
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 89
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 35
- 240000009088 Fragaria x ananassa Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 111
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 235000021012 strawberries Nutrition 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000010008 shearing Methods 0.000 claims description 43
- 235000013399 edible fruits Nutrition 0.000 claims description 14
- 230000000694 effects Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000001502 supplementing effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- 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
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention discloses a picking method using a ridge culture type strawberry picking robot, which comprises a frame, a running mechanism arranged on the frame, a picking device, a collecting frame, an ultrasonic sensor I, an ultrasonic sensor II, an attitude sensor, a OpenMV camera and a main controller, wherein the frame is provided with a first frame and a second frame; the picking device comprises a rectangular coordinate system mechanical arm and a cutter, the rectangular coordinate system mechanical arm can drive the cutter to move to a target position, an ultrasonic sensor I is used for detecting the position relation between the picking robot and a ridge, an ultrasonic sensor II is used for detecting the distance between the side edge of the picking robot and the side face of the ridge, a OpenMV camera is used for identifying mature red strawberries passing through the robot in the walking process and judging real-time distance information between the target red strawberries to be picked and the cutter of the picking device, and a main controller is used for controlling a travelling mechanism and the picking device to act according to detection data of each sensor to finish the strawberry picking work on the ridge.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a picking method using a ridge culture type strawberry picking robot.
Background
The strawberry production cost is high, the labor cost is high, meanwhile, the strawberry picking period is short, if the strawberry is not picked in time, the strawberry can be overripe and can not be eaten, and the burden of fruit farmers can be increased. Moreover, china is in the world midstream in the aspects of automatic picking and mechanized planting, mainly manual picking. This is the greatest cost to the strawberry grower and is also a great operational uncertainty.
In order to improve the strawberry picking efficiency, reduce the strawberry picking cost, accelerate the development of strawberry planting industry and improve the economic benefit of fruit farmers, the development of strawberry picking robots is urgently needed to solve the problems.
Disclosure of Invention
The invention mainly aims to overcome the defects of low strawberry picking efficiency and high strawberry picking cost, and provides a picking method using a ridge culture type strawberry picking robot.
The invention is realized by the following technical scheme:
A picking method using a ridge culture type strawberry picking robot, the method adopts the ridge culture type strawberry picking robot, and comprises a frame, a running mechanism arranged on the frame, a picking device, a collecting frame, an ultrasonic sensor I, an ultrasonic sensor II, an attitude sensor, a OpenMV camera and a main controller;
the walking mechanism is used for controlling the robot to walk;
The picking device is used for picking strawberries; the picking device comprises a rectangular coordinate system mechanical arm and a cutter, the cutter is arranged on the rectangular coordinate system mechanical arm, the rectangular coordinate system mechanical arm is used for driving the cutter to move to a target position, and the cutter is used for hooking, clamping and cutting strawberry stalks;
the collecting frame is used for collecting the picked strawberries;
The ultrasonic sensor I is used for detecting the position relation between the picking robot and the ridge and is used for realizing ridge crossing operation;
The ultrasonic sensor II is used for detecting the distance between the side edge of the picking robot and the side edge of the ridge;
The gesture sensor is used for detecting the walking direction of the picking robot in real time;
the OpenMV camera is used for identifying mature red strawberries passing through in the walking process of the robot and judging real-time distance information between the target red strawberries to be picked and a cutter of the picking device;
the main controller is used as a core control unit of the robot and is connected with the ultrasonic sensor I, the ultrasonic sensor II, the gesture sensor, the OpenMV camera, the travelling mechanism and the picking device, and controls the travelling mechanism and the picking device to act according to detection data of the ultrasonic sensor I, the ultrasonic sensor II, the gesture sensor and the OpenMV camera to finish the strawberry picking work on ridges;
The picking method using the ridge culture type strawberry picking robot comprises the following steps:
Step one: when the ridge culture type strawberry picking robot starts to work, the ridge end side moves in the direction perpendicular to the ridge, and when the ultrasonic sensor I detects the ridge end, the robot stops moving and moves along the length direction of the ridge; in the moving process of the robot on the ridge, the main controller judges the distance between the main controller and the ridge side in real time according to the detection data of the ultrasonic sensor II and timely adjusts the travelling mechanism, so that strawberries are prevented from being accidentally injured by the travelling mechanism;
step two: when OpenMV cameras identify mature red strawberries, the master controller controls the robot to stop moving;
Step three: the master controller controls the picking device to start to act, and controls the rectangular coordinate system mechanical arm to drive the cutter to move to the picking position of the red strawberry target to be picked according to the distance information between the red strawberry target and the cutter detected by the OpenMV camera in real time;
Step four: the main controller controls a shearing steering engine of the shearing device to drive the movable knife to rotate clockwise and the fixed knife to be closed, the strawberry stalks are hooked, clamped and sheared, the strawberry stalks are continuously clamped after shearing, the shearing device is moved to the position of the collecting frame by operating a rectangular coordinate system mechanical arm, then the shearing steering engine drives the movable knife to rotate anticlockwise and the fixed knife to be separated, and the strawberry fruits are placed in the collecting frame;
step five: the master controller controls the robot to continuously move to the next red strawberry position and finish picking according to the fourth step until the picking work of the whole ridge is finished;
step six: when the robot leaves the ridge, the robot continues to move towards the direction perpendicular to the ridge, when the ultrasonic sensor I detects the end of the next ridge, the robot stops moving towards the length direction along the new ridge, and then the second step to the fifth step are repeated, so that the picking work of the new ridge is completed.
In the technical scheme, 2 rectangular coordinate system mechanical arms are symmetrically arranged on two sides of the frame, each rectangular coordinate system mechanical arm comprises a vertical screw rod sliding table mechanism, a transverse direct current electric push rod, a push rod sliding table connecting piece, an upper travel switch and a lower travel switch, the vertical screw rod sliding table mechanism is vertically fixed on the frame, the push rod sliding table connecting piece is arranged on a sliding table of the vertical screw rod sliding table mechanism, and the transverse direct current electric push rod is fixed on the push rod sliding table connecting piece; the upper travel switch is fixed at the top of the screw rod sliding table mechanism, and the lower travel switch is fixed at the bottom of the screw rod sliding table mechanism.
In the technical scheme, the shearing device comprises a cutter seat, a movable cutter, a fixed cutter, a shearing steering engine and a movable cutter buffer block, wherein the fixed cutter is fixedly arranged on the cutter seat, the shearing steering engine is arranged on the cutter seat, the movable cutter is arranged on one side of the fixed cutter and is connected with an output shaft of the shearing steering engine, and the movable cutter is driven to rotate through the shearing steering engine so as to realize clutch action with the fixed cutter; the inner side surface of the fixed knife is provided with a cutting edge groove, the inner side surface of the movable knife is provided with a cutting edge, and when the fixed knife and the movable knife are closed, the cutting edge is inserted into the cutting edge groove to complete shearing; the inside at the sword that moves is provided with the spring buffer block, and the effect of spring buffer block is: firstly, the buffer function is achieved when the movable knife and the fixed knife are closed; secondly, in the closing process of the movable knife and the fixed knife, the spring buffer block clamps the strawberry stalks between the spring buffer block and the fixed knife, and then the strawberry stalks are sheared, so that the shearing effect is ensured; thirdly, after the movable knife and the fixed knife are completely closed, the sheared strawberry stalks can be clamped between the spring buffer blocks and the fixed knife, so that the strawberry fruits are prevented from falling off, and the sheared strawberry fruits are brought to the collecting frame for unloading by operating the rectangular coordinate system mechanical arm; the inner side of the outer end of the movable knife is also provided with a guide hook for hooking the strawberry stalks into the space between the movable knife and the fixed knife when the movable knife and the fixed knife are closed and preventing the strawberry stalks from separating from the movable knife and the fixed knife in the closing process.
In the technical scheme, the number of the collecting frames is 2, and the collecting frames are fixed at two sides of the bottom of the frame.
In the technical scheme, the number of the ultrasonic sensors I is 2, and the ultrasonic sensors I are arranged at the positions right in front of two sides of the frame.
In the above technical scheme, ultrasonic sensor II has 2, installs in frame bottom both sides respectively to ultrasonic sensor II's detection direction is towards the inboard of frame.
In the technical scheme, the walking mechanism is provided with 4 sets, and the walking mechanism is respectively and independently fixed at four corners of the bottom of the frame.
In the technical scheme, the travelling mechanism comprises a steering engine, a steering engine support, a thrust ball bearing, a wheel carrier, a direct current motor, a direct current frame, a driving shaft and wheels, wherein the steering engine support is fixed on a frame, the wheel carrier is positioned below the steering engine support, the steering engine is fixed on the steering engine support and is connected with an output shaft of the wheel carrier through a steering coupler, the shaft of the wheel carrier is fixedly connected with the wheel carrier, the thrust ball bearing is arranged on the shaft of the wheel carrier, and the steering engine is installed on the frame through the thrust ball bearing; the steering engine drives the wheel frame to rotate so as to realize steering; the direct current motor is transversely fixed on the outer side of the wheel frame through the direct current frame, the driving shaft is installed on the wheel frame through the deep groove ball bearings, deep groove ball bearing clamping seats are fixed below the deep groove ball bearings, the wheels are fixedly installed on the driving shaft, an output shaft of the direct current motor is connected with an input end of the driving shaft through a driving coupler, and the wheels are driven to rotate through the direct current motor to realize walking.
The invention has the advantages and beneficial effects that:
According to the invention, four-wheel independent driving and independent steering travelling mechanisms are adopted, and the functions of straight movement, turning, oblique movement, transverse movement and the like can be realized according to actual requirements, so that the strawberry picking robot has stronger adaptability and flexibility, a set of rectangular coordinate mechanical arms are respectively fixed on two sides of the robot, and when a camera identifies strawberries needing to be picked during ridge crossing operation, the robot stops travelling and picks the identified strawberries and puts the strawberries into a collecting frame. The invention can effectively save labor force and improve the automation level of strawberry harvesting links.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a ridge culture type strawberry picking robot.
Fig. 2 is a schematic view of the overall structure from below.
Fig. 3 is a schematic diagram of the structure of the travelling mechanism.
Fig. 4 is a schematic diagram of a driving structure of the travelling mechanism.
Fig. 5 is a schematic structural view of the picking device.
Fig. 6 is a schematic structural diagram of a rectangular coordinate system mechanical arm.
Fig. 7 is a schematic view of the structure of the cutter.
Fig. 8 is a schematic top view of the shears.
Fig. 9 is a schematic view of a robot and site location.
Fig. 10 is a schematic view of a robot path.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.
A picking method using a ridge culture type strawberry picking robot adopts the ridge culture type strawberry picking robot, and referring to figures 1-8, the robot comprises a frame 1, a travelling mechanism 2 arranged on the frame, a picking device 3 and a collecting frame 4.
The number of the collecting frames 4 is 2, and the collecting frames are fixed at the bottom of the frame 1 and are used for collecting picked strawberries.
The picking device 3 is fixed on the frame 1, the picking device 3 comprises a rectangular mechanical arm and a cutter, the rectangular mechanical arm is fixed on the frame 1 through a section bar, and the cutter is fixed at the tail end of the rectangular mechanical arm. Referring to fig. 5-6, specifically, 2 rectangular mechanical arms are symmetrically arranged at two sides of the frame 1, each rectangular mechanical arm comprises a vertical screw rod sliding table mechanism 27, a horizontal direct current electric push rod 24, a push rod sliding table connector 25, an upper travel switch 23 and a lower travel switch 26, the vertical screw rod sliding table mechanism 27 is vertically fixed on the frame 1 and is used for controlling the mechanical arm to move up and down, the push rod sliding table connector 25 is installed on a sliding table 35 of the vertical screw rod sliding table mechanism 27, the horizontal direct current electric push rod 24 is fixed on the push rod sliding table connector 25, and then the vertical screw rod sliding table mechanism 27 can drive the horizontal direct current electric push rod 24 to move up and down through the push rod sliding table connector 25; the upper travel switch 23 is fixed at the top of the screw rod sliding table mechanism 27, the lower travel switch 26 is fixed at the bottom of the screw rod sliding table mechanism 27, and the upper travel switch 23 and the lower travel switch 26 jointly act to limit the up-and-down movement range of the rectangular coordinate system mechanical arm.
Referring to fig. 7-8, the shears are provided with 2 sets, which are respectively arranged on the transverse direct current electric push rods 24 of the rectangular coordinate system mechanical arm, and the transverse movement of the shears is driven by the transverse direct current electric push rods 24. Specifically, the cutter comprises a cutter seat 28, a movable cutter 29, a fixed cutter 37, a shearing steering engine 30, a shearing steering engine supporting plate 36, a movable cutter baffle 38 and a movable cutter buffer block 39, wherein the cutter seat 28 is fixed at the tail end of the direct current electric push rod 24, the fixed cutter 37 is fixedly arranged on the cutter seat 28, the shearing steering engine 30 is arranged on the cutter seat 28 through the shearing steering engine supporting plate 36, the movable cutter 29 is arranged on one side of the fixed cutter 37 and is connected with an output shaft of the shearing steering engine 30, and the movable cutter 29 is driven to rotate through the shearing steering engine 30, so that clutch action with the fixed cutter 37 is realized, namely, the shearing action on strawberries is realized; the inner side surface of the fixed knife 37 (i.e. the surface of the fixed knife opposite to the movable knife) is provided with a knife edge groove 37-1, correspondingly, the inner side surface of the movable knife 29 (i.e. the surface of the movable knife opposite to the fixed knife) is provided with a knife edge 29-1, and when the fixed knife 37 and the movable knife 29 are closed, the knife edge 29-1 is inserted into the knife edge groove 37-1 to complete shearing; the movable knife baffle 38 is installed on the outer side of the movable knife 29 and used for fixing the position of the knife edge 29-1, and the spring buffer block 39 is arranged on the inner side of the movable knife 29 (namely, the buffer block is embedded on the inner side of the movable knife 29 through a spring), and the function of the spring buffer block is as follows: firstly, the buffer function is achieved when the movable knife and the fixed knife are closed, so that the hard collision of the movable knife and the fixed knife is prevented, and the knife and the shearing steering engine are prevented from being damaged; secondly, in the closing process of the movable knife and the fixed knife, the spring buffer block clamps the strawberry stalks between the spring buffer block and the fixed knife, and then the strawberry stalks are sheared, so that the shearing effect is ensured, and the strawberry stalks can be prevented from sliding into the cutting edge groove 37-1 in the shearing process, so that the strawberry fruits move upwards to touch the cutter, and the strawberry fruits are damaged; thirdly, after the movable knife and the fixed knife are completely closed, the sheared strawberry stalks can be clamped between the spring buffer blocks and the fixed knife, so that the strawberry fruits are prevented from falling off, and the sheared strawberry fruits are brought to the collecting frame 4 for unloading by operating the rectangular coordinate system mechanical arm; the inner side of the outer end of the movable knife 29 is also provided with a guide hook 29-1 for hooking the strawberry stalks into the space between the movable knife and the fixed knife when the movable knife and the fixed knife are closed and preventing the strawberry stalks from separating from the movable knife and the fixed knife in the closing process. During operation, the shearing steering engine 30 drives the movable cutter 29 to rotate clockwise and the fixed cutter 37 to be closed, the strawberry stalks are hooked, clamped and sheared, the strawberry stalks are clamped after shearing, the strawberry stalks are moved to the position of the collecting frame 4 by operating the rectangular coordinate system mechanical arm, the shearing steering engine 30 drives the movable cutter 29 to rotate anticlockwise and the fixed cutter 37 to be separated, and the strawberry fruits are placed in the collecting frame 4.
The walking mechanism 2 is provided with 4 sets, and is respectively and independently fixed at four corners of the bottom of the frame 1 to be used as an integral support. Specifically, the method comprises the following steps: referring to fig. 3-4, the travelling mechanism 1 comprises a steering engine 10, a steering engine support 11, a steering coupler 12, a first thrust ball bearing 14, a second thrust ball bearing 13, a wheel carrier 15, a direct current motor 17, a direct current frame 18, a deep groove ball bearing 22, a driving shaft 21, wheels 16, a driving coupler 19 and a deep groove ball bearing clamping seat 20. The steering engine support 11 is fixed on the frame 1, the wheel frame 15 is positioned below the steering engine support 11, the steering engine 10 is fixed on the steering engine support 11 and is connected with the shaft of the wheel frame 15 through the steering coupler 12, the shaft of the wheel frame 15 is fixedly connected with the wheel frame 15, a first thrust ball bearing 14 and a second thrust ball bearing 13 are arranged on the shaft of the wheel frame 15, the first thrust ball bearing 14 and the second thrust ball bearing 13 are arranged on the frame 1, and the two thrust ball shafts can ensure stronger vertical supporting force; when the steering engine works, the steering engine 10 drives the wheel frame 15 to rotate, so that steering is realized; the direct current motor 17 is transversely fixed on the outer side of the wheel frame 15 through the direct current frame 18, two sides of the driving shaft 21 are respectively arranged on the wheel frame 15 through deep groove ball bearings 22, deep groove ball bearing clamping seats 20 are fixed below the deep groove ball bearings 22 and used for preventing falling, key grooves are formed in the driving shaft 21 and connected with the wheels 16 through keys, an output shaft of the direct current motor 17 is connected with an input end of the driving shaft 21 through a driving coupler 19, and then the wheels are driven to rotate through the direct current motor 17, so that walking is achieved.
Further, an ultrasonic sensor I5, an ultrasonic sensor II 9, an attitude sensor 6, openMV cameras 7, a light supplementing lamp 8 and a main controller are also arranged on the frame 1. The ultrasonic sensors I5 are 2, are arranged at the positions right in front of two sides of the frame 1 and are used for detecting the position relation between the picking robot and the ridge, and further perform ridge crossing operation. The number of the ultrasonic sensors II 9 is 2, the ultrasonic sensors II are respectively arranged on two sides of the bottom of the frame 1, and the detection direction of the ultrasonic sensors II faces the inner side of the frame 1 and is used for detecting the distance between the side edge of the picking robot and the side face of a ridge so as to prevent strawberries from being damaged due to too close distance between the ultrasonic sensors II and the ridge. The gesture sensor 6 is fixed at the top of the frame 1 and used for detecting the walking direction of the picking robot in real time and timely adjusting the walking direction when deviating. The OpenMV cameras 7 are arranged at the top of the frame 1 and downward, and are used for identifying mature red strawberries passing through in the walking process of the robot and judging the distance. The number of the light supplementing lamps 8 is 2, and the light supplementing lamps are respectively fixed on the side parts of the two OpenMV cameras 7 and are used for supplementing illumination for the OpenMV cameras 7. The main controller is used as a core control unit of the robot, is connected with the ultrasonic sensor I5, the ultrasonic sensor II 9, the gesture sensor 6, the OpenMV camera 7, the light supplementing lamp 8 and the steering engine and the motor of the travelling mechanism 2 and the picking device 3, and in the working process, the main controller controls the travelling mechanism 2 and the picking device 3 to act according to the detection data of the ultrasonic sensor I5, the ultrasonic sensor II 9, the gesture sensor 6 and the OpenMV camera 7 to finish the strawberry picking work on the ridge.
Specifically, referring to fig. 9-10, the working method of the ridge culture type strawberry picking robot is as follows:
Step one: when the ridge culture type strawberry picking robot starts to work, the ridge end side moves in the direction perpendicular to the direction A of the ridge, and when the ultrasonic sensor I5 detects the ridge end, the robot stops moving in the direction A and moves in the direction B along the length direction of the ridge; in the moving process of the robot on the ridge, the main controller can judge the distance between the main controller and the side of the ridge according to the detection data of the ultrasonic sensor II 9 in real time and timely adjust the travelling mechanism 2, so that strawberries are prevented from being accidentally injured by the travelling mechanism 2.
Step two: when OpenMV camera 7 recognizes the ripe red strawberries, the master controller controls the robot to stop moving in the direction B.
Step three: the master controller controls the picking device 3 to start to act, and controls the rectangular coordinate system mechanical arm to drive the cutter to move to the picking position of the red strawberry target according to the distance information between the red strawberry target and the cutter detected by the OpenMV camera in real time.
Step four: the main controller controls the shearing steering engine 30 of the shearing machine to drive the movable cutter 29 to rotate clockwise and the fixed cutter 37 to be closed, the strawberry stalks are hooked, clamped and sheared, the strawberry stalks are continuously clamped after shearing, the shearing machine is moved to the position of the collecting frame 4 by operating the rectangular coordinate system mechanical arm, the shearing steering engine 30 drives the movable cutter 29 to rotate anticlockwise and separate from the fixed cutter 37, and the strawberry fruits are placed in the collecting frame 4.
Step five: and the master controller controls the robot to continuously move to the next red strawberry position and finish picking according to the step four until the picking work of the whole ridge is finished.
Step six: when the robot leaves the ridge, the robot continues to move towards the direction A, when the ultrasonic sensor I5 detects the end of the next ridge, the robot stops moving towards the direction A and moves towards the direction C along the length direction of the new ridge, and then the steps two to five are repeated to finish the picking work of the new ridge.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (7)
1. A picking method using a ridge culture type strawberry picking robot is characterized in that: the method adopts a ridge culture type strawberry picking robot which comprises a frame, a travelling mechanism arranged on the frame, a picking device, a collecting frame, an ultrasonic sensor I, an ultrasonic sensor II, an attitude sensor, a OpenMV camera and a main controller;
the walking mechanism is used for controlling the robot to walk;
The picking device is used for picking strawberries; the picking device comprises a rectangular coordinate system mechanical arm and a cutter, the cutter is arranged on the rectangular coordinate system mechanical arm, the rectangular coordinate system mechanical arm is used for driving the cutter to move to a target position, and the cutter is used for hooking, clamping and cutting strawberry stalks;
the collecting frame is used for collecting the picked strawberries;
The ultrasonic sensor I is used for detecting the position relation between the picking robot and the ridge and is used for realizing ridge crossing operation;
The ultrasonic sensor II is used for detecting the distance between the side edge of the picking robot and the side edge of the ridge;
The gesture sensor is used for detecting the walking direction of the picking robot in real time;
the OpenMV camera is used for identifying mature red strawberries passing through in the walking process of the robot and judging real-time distance information between the target red strawberries to be picked and a cutter of the picking device;
the main controller is used as a core control unit of the robot and is connected with the ultrasonic sensor I, the ultrasonic sensor II, the gesture sensor, the OpenMV camera, the travelling mechanism and the picking device, and controls the travelling mechanism and the picking device to act according to detection data of the ultrasonic sensor I, the ultrasonic sensor II, the gesture sensor and the OpenMV camera to finish the strawberry picking work on ridges;
The picking method using the ridge culture type strawberry picking robot comprises the following steps:
Step one: when the ridge culture type strawberry picking robot starts to work, the ridge end side moves in the direction perpendicular to the ridge, and when the ultrasonic sensor I detects the ridge end, the robot stops moving and moves along the length direction of the ridge; in the moving process of the robot on the ridge, the main controller judges the distance between the main controller and the ridge side in real time according to the detection data of the ultrasonic sensor II and timely adjusts the travelling mechanism, so that strawberries are prevented from being accidentally injured by the travelling mechanism;
step two: when OpenMV cameras identify mature red strawberries, the master controller controls the robot to stop moving;
Step three: the master controller controls the picking device to start to act, and controls the rectangular coordinate system mechanical arm to drive the cutter to move to the picking position of the red strawberry target to be picked according to the distance information between the red strawberry target and the cutter detected by the OpenMV camera in real time;
Step four: the main controller controls a shearing steering engine of the shearing device to drive the movable knife to rotate clockwise and the fixed knife to be closed, the strawberry stalks are hooked, clamped and sheared, the strawberry stalks are continuously clamped after shearing, the shearing device is moved to the position of the collecting frame by operating a rectangular coordinate system mechanical arm, then the shearing steering engine drives the movable knife to rotate anticlockwise and the fixed knife to be separated, and the strawberry fruits are placed in the collecting frame;
step five: the master controller controls the robot to continuously move to the next red strawberry position and finish picking according to the fourth step until the picking work of the whole ridge is finished;
Step six: when the robot leaves the ridge, the robot continues to move in the direction perpendicular to the ridge, when the ultrasonic sensor I detects the end of the next ridge, the robot stops moving along the length direction of the new ridge, and then the second step to the fifth step are repeated to finish picking work of the new ridge;
The shearing device comprises a cutter seat, a movable cutter, a fixed cutter, a shearing steering engine and a movable cutter buffer block, wherein the fixed cutter is fixedly arranged on the cutter seat, the shearing steering engine is arranged on the cutter seat, the movable cutter is arranged on one side of the fixed cutter and is connected with an output shaft of the shearing steering engine, and the movable cutter is driven to rotate through the shearing steering engine so as to realize clutch action with the fixed cutter; the inner side surface of the fixed knife is provided with a cutting edge groove, the inner side surface of the movable knife is provided with a cutting edge, and when the fixed knife and the movable knife are closed, the cutting edge is inserted into the cutting edge groove to complete shearing; the inside at the sword that moves is provided with the spring buffer block, and the effect of spring buffer block is: firstly, the buffer function is achieved when the movable knife and the fixed knife are closed; secondly, in the closing process of the movable knife and the fixed knife, the spring buffer block clamps the strawberry stalks between the spring buffer block and the fixed knife, and then the strawberry stalks are sheared, so that the shearing effect is ensured; thirdly, after the movable knife and the fixed knife are completely closed, the sheared strawberry stalks can be clamped between the spring buffer blocks and the fixed knife, so that the strawberry fruits are prevented from falling off, and the sheared strawberry fruits are brought to the collecting frame for unloading by operating the rectangular coordinate system mechanical arm; the inner side of the outer end of the movable knife is also provided with a guide hook for hooking the strawberry stalks into the space between the movable knife and the fixed knife when the movable knife and the fixed knife are closed and preventing the strawberry stalks from separating from the movable knife and the fixed knife in the closing process.
2. The picking method using the ridge culture type strawberry picking robot according to claim 1, characterized in that: the two rectangular coordinate system mechanical arms are symmetrically arranged on two sides of the frame, each rectangular coordinate system mechanical arm comprises a vertical screw rod sliding table mechanism, a transverse direct current electric push rod, a push rod sliding table connecting piece, an upper travel switch and a lower travel switch, the vertical screw rod sliding table mechanism is vertically fixed on the frame, the push rod sliding table connecting piece is arranged on a sliding table of the vertical screw rod sliding table mechanism, and the transverse direct current electric push rod is fixed on the push rod sliding table connecting piece; the upper travel switch is fixed at the top of the vertical screw rod sliding table mechanism, and the lower travel switch is fixed at the bottom of the vertical screw rod sliding table mechanism.
3. The picking method using the ridge culture type strawberry picking robot according to claim 1, characterized in that: the number of the collecting frames is 2, and the collecting frames are fixed at two sides of the bottom of the frame.
4. The picking method using the ridge culture type strawberry picking robot according to claim 1, characterized in that: the ultrasonic sensors I are 2, and are arranged at the positions right in front of two sides of the frame.
5. The picking method using the ridge culture type strawberry picking robot according to claim 1, characterized in that: the ultrasonic sensor II has 2, installs in frame bottom both sides respectively to ultrasonic sensor II's detection direction is towards the inboard of frame.
6. The picking method using the ridge culture type strawberry picking robot according to claim 1, characterized in that: the walking mechanism is provided with 4 sets, and the walking mechanism is respectively and independently fixed at four corners of the bottom of the frame.
7. The picking method using the ridge culture type strawberry picking robot according to claim 1, characterized in that: the running mechanism comprises a steering engine, a steering engine support, a thrust ball bearing, a wheel carrier, a direct current motor, a direct current frame, a driving shaft and wheels, wherein the steering engine support is fixed on a frame, the wheel carrier is positioned below the steering engine support, the steering engine is fixed on the steering engine support and is connected with the shaft of the wheel carrier through a steering coupling, the shaft of the wheel carrier is fixedly connected with the wheel carrier, the thrust ball bearing is arranged on the shaft of the wheel carrier, and the steering engine is installed on the frame through the thrust ball bearing; the steering engine drives the wheel frame to rotate so as to realize steering; the direct current motor is transversely fixed on the outer side of the wheel frame through the direct current frame, the driving shaft is installed on the wheel frame through the deep groove ball bearings, deep groove ball bearing clamping seats are fixed below the deep groove ball bearings, the wheels are fixedly installed on the driving shaft, an output shaft of the direct current motor is connected with an input end of the driving shaft through a driving coupler, and the wheels are driven to rotate through the direct current motor to realize walking.
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| CN114679963A (en) * | 2022-04-27 | 2022-07-01 | 中国农业大学 | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method |
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| CN217608404U (en) * | 2022-06-13 | 2022-10-21 | 新疆农业大学 | Picking manipulator for high branch fruits |
| CN218587679U (en) * | 2022-11-17 | 2023-03-10 | 嘉应学院 | Intelligent picking vehicle for picking strawberries |
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| CN116210458A (en) | 2023-06-06 |
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