CN207322127U - A kind of polyhouse-based agriculture robot based on machine vision - Google Patents
A kind of polyhouse-based agriculture robot based on machine vision Download PDFInfo
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- CN207322127U CN207322127U CN201721410930.XU CN201721410930U CN207322127U CN 207322127 U CN207322127 U CN 207322127U CN 201721410930 U CN201721410930 U CN 201721410930U CN 207322127 U CN207322127 U CN 207322127U
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Abstract
It the utility model is related to a kind of polyhouse-based agriculture robot based on machine vision, wherein input of the image capture module of robot as system, central processing unit is transferred to after gathered data, signal is exported after central processing unit processing, controls the driving unit, height adjusting unit and end effector of agricultural robot.Power module is powered to robot each several part.Compared to existing agricultural robot, more environmental informations can be obtained on the basis of sensor is not increased using machine vision so that robot is more intelligent, improves work efficiency of the robot in greenhouse；Use chassis of the mobile platform as robot at the same time, by increasing capacitance it is possible to increase the work area of robot, reduces the maintenance time of fixed equipment, reduces the maintenance cost of fixed equipment.
Description
Technical field
It the utility model is related to agricultural mechanical field, and in particular to a kind of polyhouse-based agriculture robot based on machine vision.
Background technology
In the prior art, farming is carried out using large-scale mechanical equipment mostly in agricultural production process, meets developed country
The farm cultivation of large area, but be not suitable for the small area cultivation of south east asia, such as greenhouse etc..
Existing agricultural robot, such as utility model patent《Three-dimensional precision agricultural robot and three-dimensional precision farming machine
People's device-CN201621408969》It is middle to propose to be only capable of using the agricultural robot of " gantry frame type robot " structure, this structure
The plantation of minimum area is enough carried out, the stress that the first rack excess load can be brought after area expands is deformed, and influences machine
The operating accuracy of people；Secondly the limitation of manufacturing process, it is impossible to which production meets the drive mechanism of length, it is impossible to according to actual conditions
It is adjusted, there is larger limitation.
Utility model patent《Reading intelligent agriculture pours service robot-CN201621333869》Open one kind is used for realization spray
Spill the end effector of operation, this end effector can large area sprinkling irrigation, but spray that positioning accuracy is low to easily cause waste；
And the replacement that can not carry out end effector performs other tasks, work efficiency is relatively low.
Patent of invention《Orchard operation agricultural robot in the ranks localization method-CN201510366202》It is open a kind of using sharp
The agricultural robot that optical radar navigates, although the positioning of agricultural robot can be carried out, the cost mistake of laser radar
Height, detection range are up to 6-8M and lack map feature comparison area, be not suitable for using in agricultural greenhouse.
Based on above reason, it is necessary to which a kind of agricultural robot that can carry out large area greenhouse cultivation is devised, machine
Device people not only more can be configured adaptation environment according to cultivation condition from software, can greatly improve work efficiency and oneself
Adaptability, can also complete different cultivation tasks so that robot being capable of a tractor serves several purposes by replacing end effector；With this
Image procossing is carried out using the relatively low visual apparatus of price at the same time and carry out location navigation, improve the practical value of agricultural robot.
Utility model content
The purpose of this utility model is to provide a kind of agricultural robot that can carry out large area greenhouse cultivation, uses machine
Vision completes the positioning and navigation of agricultural robot, completes a variety of cultivation tasks by replacing end effector, and can pass through
Improved in the change of software end, the adaptability of robot, solves the above-mentioned problems in the prior art.
To solve above-mentioned technical problem, technical solution provided by the utility model is：
A kind of polyhouse-based agriculture robot based on machine vision, including image capture module, driving unit, height adjust list
Member, end effector, central processing unit and power module；Input of the described image acquisition module as system, after gathered data
Central processing unit is transferred to, signal is exported after the central processing unit processing, controls the driving unit of agricultural robot, height to adjust
Save unit and end effector；The power module is powered to robot each several part；Robot uses four-wheel mobile platform
As robot chassis, four-wheel is symmetrically distributed in the both sides of robot, and is connected two-by-two with corresponding driving unit, the four-wheel
Mobile platform is designed using hollow out so that agricultural robot can carry out operation in the space that it is enclosed.
The central processing unit carries out waterproofing protection with power module, is placed in jointly in proof cabinet.
Width of the left and right two axles away from equal to the pre-set cultivation region of greenhouse in robot same horizontal line.
The height adjusting unit includes four linear motors and a gyroscope, one end of each linear motor with it is corresponding
Electric-motor drive unit connection, the other end is connected with robot chassis, realizes and the height on robot chassis is adjusted；In robot
Gyrohorizon is installed on chassis, realizes the closed-loop control to height adjusting unit, and linear motor fortune is controlled after obtaining angle of inclination
Move until chassis level.
The mechanical mechanism of robot is installed on robot chassis, including the transmission of the X-axis transmission mechanism of horizontal direction, Y-axis
The Z-axis transmission mechanism of mechanism and vertical direction；X-axis transmission mechanism, Y-axis transmission mechanism and the Z-axis transmission mechanism use silk
The kind of drive of bar-sliding block is into action edge transmission；Installed in X-axis transmission mechanism, Y-axis transmission mechanism and Z-axis transmission mechanism end
Limit switches, determine and realize that the movement of transmission mechanism is spacing for the precision after being resetted.
The end effector of robot includes general-purpose interface and can alias two parts；The general-purpose interface and Z-axis transmission
Mechanism end is connected, in-built electrical magnet；Can alias include sowing end, watering fertilising end, weeding end and moisture measurement
End；Permanent magnet built in end effector is simultaneously positioned on end effector stent, for can alias be replaced.
The sowing end port is prepared using 3D printing, and diameter has 2MM, 3MM and 5MM standard, meets different size of
Seed；Sow end and form absorption of the vacuum environment completion to seed using air pump driving；The watering fertilising end uses water
Pump completes the accurate sprinkling of water and Liquid Fertilizer；The weeding end is provided with spine structure, and weeding is completed using physical method.
The electromagnet of the general-purpose interface carries out partial pressure using individually power supply, power module by section board, and electric current flows through
Diode and RL circuits are controlled electromagnet.
Described image acquisition module uses 90 ° of undistorted cameras, installed in robot Z axis top center and and horizontal plane
In a certain angle, camera is used to gather Crop Information, while by identifying the black line of wheel both sides tracking and reading black line
Other Quick Response Code carries out the positioning of robot.
The central processing unit uses 3 type of Raspberry Pi.
Beneficial effect：
The polyhouse-based agriculture robot based on machine vision has the advantage that compared to traditional agricultural robot：(1)
With moveable advantage, program can be set according to different greenhouse length, compared to regular length equipment have it is very strong
Adaptability；(2) height that robot chassis can be carried out by height adjusting unit is adjusted, and is met to different height crop
Plantation demand；(3) positioned and navigated using camera, gather Crop Information, robot is improved while cost is reduced
Intelligence degree；(4) end effector can be replaced, meets different cultivation tasks, realizes a tractor serves several purposes.
Brief description of the drawings
Fig. 1 is the explanation schematic diagram of the utility model embodiment.
Fig. 2 is the partial schematic diagram of the utility model embodiment.
Fig. 3 is the structure diagram that end is sowed in embodiment.
Fig. 4 is the structure diagram of watering fertilising end in embodiment.
Fig. 5 is the structure diagram of weeding end in embodiment.
Fig. 6 is the structure diagram of embodiment moderate measurement end.
In figure：1- image capture modules, 2- central processing units, 3- driving units, 4- height adjusting units, 5- ends perform
Device, 6- power modules, 7- proof cabinets, 8- four-wheel mobile platforms, 9- linear motors, 10- gyroscopes, 11-X shaft transmissions, 12-
Y-axis transmission mechanism, 13-Z shaft transmissions, 14- screws, 15- sliding blocks, 16- general-purpose interfaces, 17- can alias, 18- sowing end
End, 19- watering fertilisings end, 20- weedings end, 21- moisture measurements end, 22- end effector stents.
Embodiment
Describe the preferred embodiment of the utility model in detail below in conjunction with the accompanying drawings.
Embodiment
A kind of polyhouse-based agriculture robot based on machine vision, wherein the image capture module 1 of robot is as system
Input, central processing unit 2 is transferred to after gathered data, signal is exported after the processing of central processing unit 2, controls the drive of agricultural robot
Moving cell 3, height adjusting unit 4 and end effector 5.Power module 6 is powered to robot each several part.Central processing unit
2 carry out waterproofing protection with power module 6, are placed in jointly in proof cabinet 7.
Agricultural robot uses chassis of the four-wheel mobile platform 8 as robot, and four-wheel is symmetrically distributed in the two of robot
Side is simultaneously connected with corresponding driving unit 3 two-by-two.Left and right two axles in robot same horizontal line away from setting in advance equal to greenhouse
The width in the cultivation region put.Four-wheel mobile platform 8 is designed using hollow out so that agricultural robot can be in the space that it is enclosed
Carry out operation.
The height adjusting unit 4 is made of four linear motors 9 and a gyroscope 10, and the one of each linear motor 9
End is connected with corresponding electric-motor drive unit 3, and the other end is connected with robot chassis, realizes the height tune to robot chassis
Section.Gyroscope 10 is horizontally installed to robot chassis, realizes the closed-loop control to height adjusting unit 4, after obtaining angle of inclination
Linear motor movement 9 is controlled until chassis level.
The mechanical mechanism of the agricultural robot is installed on robot chassis, includes the X-axis transmission mechanism of horizontal direction
11st, the Z-axis transmission mechanism 13 of Y-axis transmission mechanism 12 and vertical direction.XYZ transmission mechanisms use the biography of screw 14- sliding blocks 15
Flowing mode is into action edge transmission.XYZ shaft ends install limit switches, determine and realize transmission for the precision after being resetted
The movement of mechanism is spacing.
The end effector 5 includes general-purpose interface 16 and can 17 two parts of alias, general-purpose interface 16 and Z-axis transmission machine
13 end of structure is connected, in-built electrical magnet；Can alias 17 include sowing end 18, watering fertilising end 19,20 and of weeding end
Moisture measurement end 21, permanent magnet built in end effector 5 are simultaneously positioned on end effector stent 22, for can alias 17 into
Row is replaced.
The sowing end 18 is made by 3D printing, and 18 end port diameter D of end effector has 2MM, 3MM and 5MM mark
Standard, meets different size of seed；End 18 forms absorption of the vacuum environment completion to seed using air pump driving.The watering
The accurate sprinkling of water and Liquid Fertilizer is completed using water pump in fertilising end 19.The weeding end 20 is provided with spine structure, uses
Physical method completes weeding.
The electromagnet of the general-purpose interface 16 carries out partial pressure, electric current stream using individually power supply, power module 6 by section board
Electromagnet is controlled through diode and RL circuits.
Described image acquisition module 1 uses 90 ° of undistorted cameras, in the top of robot Z-axis transmission mechanism 13
The heart and horizontal by certain angle, camera is used to gather Crop Information, while by identifying the black of wheel both sides tracking
Line and the Quick Response Code read by black line carry out the positioning of robot.
The central processing unit 2 uses 3 type of Raspberry Pi.
When specifically used, the work step of robot is divided into following steps：
The first step, agricultural robot carry out reset operation, complete precision by limit switch and revise；
Second step, agricultural robot is by 1 collection site image of image capture module, after the processing of central processing unit 2
The location of robot is obtained, robot is moved to target job region by vision guided navigation；
Second step, agricultural robot carry out posture by a small margin and correct so that the wheel of robot can be overlapped with black line, complete
Into being accurately positioned, while the planting information that the Quick Response Code by black line obtains this region is read, control linear motor completes robot
The lifting on chassis is to suitable position；
3rd step, if performing sowing task, selects the sowing end 18 of suitable bore, the center control at seeds
Device 2 controls air pump to complete the absorption of seed, then moves an XYZ shaft transmissions arrival execution point closing air pump and completes sowing, heavy
To void region inside mobile platform, all sowing finishes the multiple step；If performing watering fertilising task, watering is selected to apply first
Fertile end 19, after selecting water or the corresponding hose of nutrient solution, mobile XYZ shaft transmissions reach execution point and complete to irrigate, and repeat
Void region is all irrigated and is finished inside the step to mobile platform；If performing weeding task, weeding end 19 is selected, according to
The weeds centre coordinate that image procossing obtains, then moves XYZ shaft transmissions arrival execution point and end is inserted into soil, complete
Physical damage weeds root system；If performing moisture measurement task, moisture measurement end 20 is selected, then moves XYZ axis drivers
Structure reaches execution point and end is inserted into soil, completes the measurement of humidity；
4th step, after the task of one's respective area is completed, agricultural robot moves forward length as Y-axis transmission mechanism length
Distance, carries out the task of next section, until the image display of image acquisition device 1 after treatment completes all of the section
Task, so far completes task, then repeats step 1.
The above, is only the preferred embodiment of the utility model, not makees limit in any form to the utility model
System, any person skilled in the art, is not departing from the range of technical solutions of the utility model, according to the utility model
Technical spirit, any simple modification, equivalent substitution and the improvement made to above example etc., still falls within the utility model
Within the protection domain of technical solution.
Claims (10)
- A kind of 1. polyhouse-based agriculture robot based on machine vision, it is characterised in that：Including image capture module, driving unit, Height adjusting unit, end effector, central processing unit and power module；Input of the described image acquisition module as system, Central processing unit is transferred to after gathered data, signal is exported after the central processing unit processing, controls the driving of agricultural robot Unit, height adjusting unit and end effector；The power module is powered to robot each several part；Robot uses four Mobile platform is taken turns as robot chassis, four-wheel is symmetrically distributed in the both sides of robot, and connects two-by-two with corresponding driving unit Connect, the four-wheel mobile platform is designed using hollow out so that agricultural robot can carry out operation in the space that it is enclosed.
- 2. the polyhouse-based agriculture robot according to claim 1 based on machine vision, it is characterised in that：The central processing Device carries out waterproofing protection with power module, is placed in jointly in proof cabinet.
- 3. the polyhouse-based agriculture robot according to claim 1 based on machine vision, it is characterised in that：The same water of robot Width of the left and right two axles away from equal to the pre-set cultivation region of greenhouse on horizontal line.
- 4. the polyhouse-based agriculture robot according to claim 1 based on machine vision, it is characterised in that：The height is adjusted Unit includes four linear motors and a gyroscope, one end of each linear motor are connected with corresponding electric-motor drive unit, The other end is connected with robot chassis, realizes the height adjusting to robot chassis；Gyrohorizon is installed on robot chassis, Realize the closed-loop control to height adjusting unit, linear motor movement is controlled until chassis level after obtaining angle of inclination.
- 5. the polyhouse-based agriculture robot according to claim 1 based on machine vision, it is characterised in that：The machinery of robot Mechanism is installed on robot chassis, including the Z axis of the X-axis transmission mechanism of horizontal direction, Y-axis transmission mechanism and vertical direction passes Motivation structure；X-axis transmission mechanism, Y-axis transmission mechanism and the Z-axis transmission mechanism are carried out using the kind of drive of screw-sliding block Power transmission；Limit switches are installed in X-axis transmission mechanism, Y-axis transmission mechanism and Z-axis transmission mechanism end, for being answered Precision behind position determines and realizes that the movement of transmission mechanism is spacing.
- 6. the polyhouse-based agriculture robot according to claim 5 based on machine vision, it is characterised in that：The end of robot Actuator includes general-purpose interface and can alias two parts；The general-purpose interface is connected with Z-axis transmission mechanism end, built-in electromagnetic Iron；Can alias include sowing end, watering fertilising end, weeding end and moisture measurement end；Built in end effector forever Magnet is simultaneously positioned on end effector stent, for can alias be replaced.
- 7. the polyhouse-based agriculture robot according to claim 6 based on machine vision, it is characterised in that：The sowing end Port is prepared using 3D printing, and diameter has 2MM, 3MM and 5MM standard, meets different size of seed；Sowing end uses air pump Driving forms absorption of the vacuum environment completion to seed；The accurate of water and Liquid Fertilizer is completed using water pump in the watering fertilising end Sprinkling；The weeding end is provided with spine structure, and weeding is completed using physical method.
- 8. the polyhouse-based agriculture robot according to claim 6 based on machine vision, it is characterised in that：The general-purpose interface Electromagnet partial pressure is carried out by section board using individually power supply, power module, electric current flows through diode and RL circuits to electromagnetism Iron is controlled.
- 9. the polyhouse-based agriculture robot according to claim 1 based on machine vision, it is characterised in that：Described image gathers Module uses 90 ° of undistorted cameras, is used installed in robot Z axis top center and horizontal by certain angle, camera In collection Crop Information, while by identifying that the black line of wheel both sides tracking and the Quick Response Code read by black line carry out robot Positioning.
- 10. according to polyhouse-based agriculture robot of the claim 1-9 any one of them based on machine vision, it is characterised in that：Institute State central processing unit and use 3 type of Raspberry Pi.
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| CN108450436A (en) * | 2018-05-10 | 2018-08-28 | 南京林业大学 | A kind of facility plastic greenhouse deinsectization robot |
| CN108450090A (en) * | 2018-05-16 | 2018-08-28 | 中国农业大学 | A kind of accurate perforating device of flowerpot matrix and implementation method based on machine vision |
| CN108575129A (en) * | 2018-05-10 | 2018-09-28 | 镇江临泰农业科技有限公司 | A kind of facility plastic greenhouse weed-eradicating robot |
| CN109041602A (en) * | 2018-09-12 | 2018-12-21 | 芜湖县兰馨油桃种植专业合作社 | A kind of weeder of short plant plantation |
| CN109254583A (en) * | 2018-09-08 | 2019-01-22 | 华中农业大学 | Crawler type trolley field automatic information collecting device and method |
| CN109479457A (en) * | 2018-12-26 | 2019-03-19 | 潘碧琼 | A kind of fruit and vegetable greenhouses seeding apparatus |
| CN109699253A (en) * | 2019-01-31 | 2019-05-03 | 武汉田间智能科技有限公司 | A kind of plot experiment seed printer |
| CN109799824A (en) * | 2019-01-23 | 2019-05-24 | 华中农业大学 | Field crops image collecting device based on wheeled carriage |
| CN110226373A (en) * | 2019-06-03 | 2019-09-13 | 中国农业大学 | Vegetables strain inter-row weeder structure |
| CN110249866A (en) * | 2019-07-16 | 2019-09-20 | 湘潭大学 | A kind of roxburgh anoectochilus terminal bud planting greenhouse ambient intelligence management system |
| GB2572127A (en) * | 2018-01-10 | 2019-09-25 | Xihelm Ltd | Method and system for agriculture |
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| CN111386913A (en) * | 2020-03-11 | 2020-07-10 | 清远市英德科盾科技有限责任公司 | Cutting seedling device for planting passion fruits and using method |
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| CN111631019A (en) * | 2020-06-08 | 2020-09-08 | 安徽理工大学 | Multifunctional harvesting robot for plant factory |
| CN111656911A (en) * | 2020-06-26 | 2020-09-15 | 王涛 | Digging device for planting ecological nursery stocks and operation method |
| CN111887114A (en) * | 2020-07-30 | 2020-11-06 | 高森俊毅 | Rice seed production robot |
| CN112753436A (en) * | 2021-01-06 | 2021-05-07 | 江苏大学 | Suspension type omnibearing greenhouse operation system |
| CN113330842A (en) * | 2021-06-02 | 2021-09-03 | 云南大学 | Rope-driven parallel agricultural robot system and control method thereof |
| CN113348826A (en) * | 2021-06-24 | 2021-09-07 | 南京晓庄学院 | Intelligent seeder |
| CN113370915A (en) * | 2021-07-02 | 2021-09-10 | 江苏艾格信航空科技有限公司 | AGV inspection trolley for glass greenhouse |
| CN113892471A (en) * | 2021-09-03 | 2022-01-07 | 皖西学院 | Intelligent agricultural robot and use method thereof |
| RU2766888C1 (en) * | 2021-08-06 | 2022-03-16 | Федеральное государственное бюджетное образовательное учреждение высшего образования «Ставропольский государственный аграрный университет» | Unmanned weeding robot |
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| GB2572127A (en) * | 2018-01-10 | 2019-09-25 | Xihelm Ltd | Method and system for agriculture |
| CN108575129A (en) * | 2018-05-10 | 2018-09-28 | 镇江临泰农业科技有限公司 | A kind of facility plastic greenhouse weed-eradicating robot |
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| CN109479457A (en) * | 2018-12-26 | 2019-03-19 | 潘碧琼 | A kind of fruit and vegetable greenhouses seeding apparatus |
| CN109799824A (en) * | 2019-01-23 | 2019-05-24 | 华中农业大学 | Field crops image collecting device based on wheeled carriage |
| CN109699253A (en) * | 2019-01-31 | 2019-05-03 | 武汉田间智能科技有限公司 | A kind of plot experiment seed printer |
| CN110866975A (en) * | 2019-04-25 | 2020-03-06 | 华中农业大学 | Multi-vision-based rape image acquisition device and three-dimensional feature extraction method |
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| CN111656911A (en) * | 2020-06-26 | 2020-09-15 | 王涛 | Digging device for planting ecological nursery stocks and operation method |
| CN111887114A (en) * | 2020-07-30 | 2020-11-06 | 高森俊毅 | Rice seed production robot |
| CN112753436A (en) * | 2021-01-06 | 2021-05-07 | 江苏大学 | Suspension type omnibearing greenhouse operation system |
| CN113330842A (en) * | 2021-06-02 | 2021-09-03 | 云南大学 | Rope-driven parallel agricultural robot system and control method thereof |
| CN113348826A (en) * | 2021-06-24 | 2021-09-07 | 南京晓庄学院 | Intelligent seeder |
| CN113370915A (en) * | 2021-07-02 | 2021-09-10 | 江苏艾格信航空科技有限公司 | AGV inspection trolley for glass greenhouse |
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