CN203650549U - Automatic fruit picking robot for hillsides - Google Patents
Automatic fruit picking robot for hillsides Download PDFInfo
- Publication number
- CN203650549U CN203650549U CN201320574607.1U CN201320574607U CN203650549U CN 203650549 U CN203650549 U CN 203650549U CN 201320574607 U CN201320574607 U CN 201320574607U CN 203650549 U CN203650549 U CN 203650549U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- mechanical arm
- servomotor
- control box
- tractor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to an automatic fruit picking robot for hillsides. The robot mainly comprises a hillside tractor (1), a control box (2), servo motors (3, 5 and 8), position sensors (4, 6 and 9), a mechanical arm (7), a manipulator (10), a camera (11), an infrared range sensor (12), a support frame (13), a storage battery (14) and the like. The hillside tractor (1) takes a diesel engine as a power machine, the diesel engine drives a generator to generate electricity to charge the storage battery (14), and then the storage battery (14) supplies electricity to the mechanical arm (7). The camera (11) is arranged in the middle of the manipulator (10), can capture fruit images in front of the manipulator (10) and transmits the fruit images to the control box (2); and the control box (2) processes the images, performs analysis and decision in combination with information of the infrared range sensor (12), determines actions of the robot and controls the movement of the tractor (1) and the mechanical arm (7) as well as retraction of the manipulator (10) to pick fruits. The robot is mainly used for picking the fruits growing on the hillsides and inconvenient to pick manually and has higher practicability and promotion values.
Description
Technical field
The utility model relates to a kind of picking robot, especially relates to the automatic picking robot of a kind of mountain region fruit, belongs to agricultural mechanical field.
Background technology
The invention of hillside tractor, greatly expand the suitable application area of tractor, can operation on mountain region, but still need manpower to carry out execute-in-place, can not liberate well manpower, especially on the mountain region that is difficult for plucking at manpower, seem particularly important and study a kind of robot that replaces manpower to carry out field work.The mountain region robot that mechanical arm is housed can replace manpower, carries out picking fruit work in mountain region, and can set auto-programming and automatically pluck.
Utility model content
For above-described needs, the purpose of this utility model is to provide a kind of mountain region fruit automatic picking robot, it can pass through camera collection image scene, the processing to image and the control box control to mechanical arm by control box again, complete the running of mechanical arm, realize the replacement to manpower.
To achieve these goals, mountain region of the present utility model comprises with the automatic picking robot of fruit: hillside tractor (1), control box (2), servomotor (3) (5) (8), position sensor (4) (6) (9), mechanical arm (7), manipulator (10), camera (11), infrared distance sensor (12), bracing frame (13), battery (14) etc.This hillside tractor, take diesel engine as engine, drives generator generating by diesel engine, accumulators (14) charging, then give mechanical arm (7) power supply by battery (14).Described camera (11) is contained in the middle of manipulator (10), can catch the image in manipulator (10) front; Described infrared distance sensor (12) is contained in camera (11) side; Described control box (2) is bolted on support (13); Described control box is equipped with arm processor in (2), arm processor is connected with dsp chip, driven by servomotor, position sensor (4) (6) (9), dsp chip is connected with camera (11), infrared sensor (12), dsp chip processes and passes to arm processor to image, arm processor is analyzed, and control turning to and the above rotation of motor of mechanical arm (7) of hillside tractor (1), realize the motion of mechanical arm (7) and the activity of manipulator (10); Described mechanical arm (7) is bolted on bracing frame (13); Described battery (14) is bolted on tractor frame beam; Support (13) is steel angle structure, and left and right, bottom respectively has two supporting legs to be welded on vehicle frame; Support frame as described above (13) is bolted on tractor (1); Described manipulator has three fingers, and each finger has two dactylus, between dactylus, connects with servomotor; Each servomotor is connected with control box (2) by wire; Above-mentioned hillside tractor is diesel tractor.
The utlity model has following advantage:
1) on hillside tractor, fill mechanical arm, can pluck and be grown in mountain region and manpower is plucked inconvenient fruit, liberation manpower.
2) first obtain fruit position by camera, then make manipulator accurately shift to fruit by fruit expansion of proportion in image, and position in conjunction with infrared distance sensor, catch fruit by manipulator subsequently.
Accompanying drawing explanation
Embodiment of the present utility model is described below with reference to accompanying drawings.
Accompanying drawing 1 is the front view of the automatic picking robot of the utility model a kind of mountain region fruit.
Accompanying drawing 2 is front views of the utility model manipulator.
Accompanying drawing 3 is structural representations in the utility model control box.
Below the label of each parts in figure:
1-hillside tractor, 2-control box, 3-servomotor, 4-position sensor, 5-servomotor, 6-position sensor, 7-mechanical arm, 8-servomotor, 9-position sensor, 10-manipulator, 11-camera, 12-infrared distance sensor, 13-bracing frame, 14-battery.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail with concrete enforcement:
This mountain region comprises with the assembly of the automatic picking robot of fruit: hillside tractor (1), control box (2), servomotor (3) (5) (8), position sensor (4) (6) (9), mechanical arm (7), manipulator (10), camera (11), infrared distance sensor (12), bracing frame (13), battery (14) etc.
Mechanical arm (7) comprises on mechanical arm base, two joint mechanical arms, base and two joints are all equipped with servomotor, mechanical arm (7) end is equipped with manipulator (10), three mechanical fingers are housed on manipulator (10), every finger is made up of two finger segments, servomotor is equipped with at each finger-joint place, servomotor on finger uses same control circuit, camera (11) is equipped with infrared distance sensor (12) in manipulator (10) center, and camera (10) is connected with the dsp chip in control box (2).Drive circuit, position sensor (4) (6) (9) are equipped with in each servomotor place.
Control box is equipped with control circuit in (2), comprises arm processor, dsp chip, and arm processor drives and is connected with motor, and dsp chip is connected with camera (11).
When work, first gather image by camera (11), then pass to the dsp chip in control box (2), process picture signal by dsp chip, and image is processed and is passed to arm processor, arm processor is determined the position of fruit according to the difference of color in image, again according to the data of mechanical arm (7) Position Sensor (4) (6) (9), calculate the course of tractor and the manner of mechanical arm (7), then controlling tractor advances and turns to, then rotate according to servomotor (3) (5) (8) in console signal controlling machinery arm (7), make mechanical arm (7) activity, by movement repeatedly, image proportion in the image gathering of fruit is expanded gradually, by the time when manipulator (10) approaches target, arm processor is controlled servomotor (3) (5) (8) again and is rotated, make manipulator (10) refer to tighten up, catch fruit.
According to above-mentioned description, relevant staff can, not departing from the scope of this utility model technological thought, carry out various change and modification completely.The technical scope of this utility model is not limited to the content on description, and all any modifications of making within spirit of the present utility model and principle are equal to replacement and improvement etc., within all should being included in protection domain of the present utility model.
Claims (1)
1. the automatic picking robot of fruit for mountain region, it mainly comprises: hillside tractor (1), control box (2), the first servomotor (3), primary importance sensor (4), the second servomotor (5), second place sensor (6), mechanical arm (7), the 3rd servomotor (8), the 3rd position sensor (9), manipulator (10), camera (11), infrared distance sensor (12), bracing frame (13), battery (14), this hillside tractor, take diesel engine as engine, drives generator generating by diesel engine, accumulators (14) charging, then give mechanical arm (7) power supply by battery (14), it is characterized in that described camera (11) is contained in the middle of manipulator (10), can catch the image in manipulator (10) front, described infrared distance sensor (12) is contained in camera (11) side, described control box (2) is bolted on support (13), described control box is equipped with arm processor in (2), arm processor and dsp chip, driven by servomotor, sensor (4) is put in position first, second place sensor (6), the 3rd position sensor (9) is connected, dsp chip and camera (11), infrared sensor (12) is connected, dsp chip processes and passes to arm processor to image, arm processor is analyzed, and control turning to and the rotation of the upper motor of mechanical arm (7) of hillside tractor (1), realize the motion of mechanical arm (7) and the activity of manipulator (10), described mechanical arm (7) is bolted on bracing frame (13), described battery (14) is bolted on tractor frame beam, support (13) is steel angle structure, and left and right, bottom respectively has two supporting legs to be welded on vehicle frame, support frame as described above (13) is bolted on tractor (1), described manipulator has three fingers, and each finger has two dactylus, between dactylus, connects with servomotor, each servomotor is connected with control box (2) by wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320574607.1U CN203650549U (en) | 2013-09-10 | 2013-09-10 | Automatic fruit picking robot for hillsides |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320574607.1U CN203650549U (en) | 2013-09-10 | 2013-09-10 | Automatic fruit picking robot for hillsides |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203650549U true CN203650549U (en) | 2014-06-18 |
Family
ID=50916985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320574607.1U Expired - Fee Related CN203650549U (en) | 2013-09-10 | 2013-09-10 | Automatic fruit picking robot for hillsides |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203650549U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481296A (en) * | 2013-09-10 | 2014-01-01 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
| CN105830644A (en) * | 2016-03-31 | 2016-08-10 | 武汉科技大学 | Robot capable of screening fruits |
| GB2553618A (en) * | 2016-06-07 | 2018-03-14 | Kms Projects Ltd | Harvesting of crops |
| CN108934342A (en) * | 2018-01-17 | 2018-12-07 | 吕梁学院 | A kind of six axis leaf vegetables plantation picking robot |
| CN109005923A (en) * | 2018-08-13 | 2018-12-18 | 上海电机学院 | A kind of full-automatic fruit picking device |
| CN109514523A (en) * | 2018-12-29 | 2019-03-26 | 贺州学院 | A kind of flexible mechanical arm |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN112772146A (en) * | 2021-01-08 | 2021-05-11 | 江苏大学 | Transportation control system and linkage control method of orchard picking tractor |
| CN114175926A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Picking machine gripper capable of adsorbing fruits |
-
2013
- 2013-09-10 CN CN201320574607.1U patent/CN203650549U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481296A (en) * | 2013-09-10 | 2014-01-01 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
| CN105830644A (en) * | 2016-03-31 | 2016-08-10 | 武汉科技大学 | Robot capable of screening fruits |
| CN105830644B (en) * | 2016-03-31 | 2020-02-07 | 武汉科技大学 | Robot capable of screening fruits |
| US11470781B2 (en) | 2016-06-07 | 2022-10-18 | Kms Projects Limited | Method and apparatus for selectively harvesting crops |
| GB2553618A (en) * | 2016-06-07 | 2018-03-14 | Kms Projects Ltd | Harvesting of crops |
| CN108934342A (en) * | 2018-01-17 | 2018-12-07 | 吕梁学院 | A kind of six axis leaf vegetables plantation picking robot |
| CN109005923A (en) * | 2018-08-13 | 2018-12-18 | 上海电机学院 | A kind of full-automatic fruit picking device |
| CN109005923B (en) * | 2018-08-13 | 2021-05-11 | 上海电机学院 | Full-automatic fruit picking device |
| CN109514523A (en) * | 2018-12-29 | 2019-03-26 | 贺州学院 | A kind of flexible mechanical arm |
| CN109514523B (en) * | 2018-12-29 | 2024-03-12 | 贺州学院 | Flexible mechanical arm |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN112772146A (en) * | 2021-01-08 | 2021-05-11 | 江苏大学 | Transportation control system and linkage control method of orchard picking tractor |
| CN114175926A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Picking machine gripper capable of adsorbing fruits |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203650549U (en) | Automatic fruit picking robot for hillsides | |
| CN103481296A (en) | Automatic fruit picking robot for hillsides | |
| CN207573956U (en) | A kind of orchard puma manipulator picker based on man-machine collaboration | |
| CN203646089U (en) | Kiwi fruit picking robot | |
| CN102124866B (en) | Wheel type mobile fruit picking robot and fruit picking method | |
| CN109392462A (en) | Pick the robot and method of day lily | |
| CN203788733U (en) | Plucking robot integrating manual mode and automatic mode | |
| CN103699095A (en) | Greenhouse plant growth posture monitoring system based on binocular stereo vision and greenhouse plant growth posture monitoring method based on binocular stereo vision | |
| CN105706637A (en) | Autonomous-navigation crawler-type multi-mechanical-arm apple picking robot | |
| CN107745756B (en) | The traveling method of six sufficient strawberry picking robots | |
| CN109220227A (en) | A kind of Famous High-quality Tea picking robot | |
| CN107611849A (en) | A kind of self-propelled power transmission cable crusing robot | |
| CN204498792U (en) | A kind of ripe apples degree based on binocular vision detects and picking robot automatically | |
| CN205983216U (en) | Agricultural information acquisition robot of new forms of energy | |
| WO2015003513A1 (en) | Robot and method for picking fruit of camellia oleifera | |
| CN104584779A (en) | Apple maturity automatic detection and picking robot based on binocular vision | |
| CN107439143A (en) | A kind of greenhouse string tomato harvester and collecting method | |
| CN209643363U (en) | A kind of intelligent weed-eradicating robot based on deep vision, system | |
| CN209527208U (en) | A kind of strawberry picking machine | |
| CN203775715U (en) | Fruit picking device | |
| CN104801023A (en) | Tennis ball picking system and method of tennis ball picking machine | |
| CN104584780A (en) | Flexible manipulator for detecting fruit maturity and harvesting | |
| CN205232839U (en) | Mobilizable automatic acquisition apple machine people | |
| CN108873845A (en) | A kind of joint greening clipping device and its working method based on artificial intelligence | |
| CN105165255A (en) | Intelligent cotton picker system based on computer vision technology and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140618 Termination date: 20150910 |
|
| EXPY | Termination of patent right or utility model |