CN208773584U - A kind of picking robot control system - Google Patents
A kind of picking robot control system Download PDFInfo
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- CN208773584U CN208773584U CN201821618635.8U CN201821618635U CN208773584U CN 208773584 U CN208773584 U CN 208773584U CN 201821618635 U CN201821618635 U CN 201821618635U CN 208773584 U CN208773584 U CN 208773584U
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- controller
- control module
- main controller
- picking robot
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Abstract
The utility model relates to a kind of picking robot control systems, it is characterized in that, including gripper control module, mechanical arm control module, chassis control module, plane positioning system, visual identifying system and main controller, the gripper control module and mechanical arm control module pass through controller I respectively and controller II is connect with the main controller, and the chassis control module, plane positioning system and visual identifying system are connect with the main controller respectively；The size shape and spatial positional information of the visual identifying system identification fruits and vegetables are simultaneously sent to the main controller.The utility model solves the problems, such as manually to pick large labor intensity, low efficiency, realizes mechanization, automation and the intelligence of picking operation, realize and win to the accurate and lossless of fruits and vegetables, ensure that fruits and vegetables quality.
Description
Technical field
The utility model belongs to agricultural robot control technology field, and in particular to a kind of picking robot control system.
Background technique
With the rapid growth of China's agricultural economy, traditional artificial growth and artificial picking are washed in a pan by people gradually
It eliminates, because manual work is not only time-consuming but also laborious, wherein fruit and vegetable picking operation is most time-consuming, most laborious in current fruits and vegetables production chain
One of link, therefore fruit and vegetable picking replaces the trend for manually having become modern agricultural development using robot.
Existing picking robot manually controls mostly, under efficiency is very low in practical applications, and picking process
In often damage fruits and vegetables, directly affect processing and the storage in later period.In order to further promote the development of picking robot,
Need to study a kind of control system of automatic control, can not only accurate but also quick and lossless picking fruits and vegetables so that picking
Efficiency and effect it is more preferable, also allow picking fruits and vegetables it is intact, to guarantee fruits and vegetables quality.
Utility model content
The utility model devises a kind of picking robot control system, solves artificial picking large labor intensity, efficiency
Low problem realizes mechanization, automation and the intelligence of picking operation, realizes and win to the accurate and lossless of fruits and vegetables,
It ensure that fruits and vegetables quality.
To solve the above problems, the utility model uses following technical scheme:
A kind of picking robot control system, including gripper control module, mechanical arm control module, chassis control mould
Block, plane positioning system, visual identifying system and main controller, the gripper control module and mechanical arm control module are led to respectively
It crosses controller I and controller II is connect with the main controller, the chassis control module, plane positioning system and visual recognition line
System is connect with the main controller respectively；The size shape and spatial positional information of the visual identifying system identification fruits and vegetables are simultaneously sent
To the main controller.
Further, the gripper control module includes each joint motor and corresponding motor driver, and setting exists
Pressure sensor on gripper, each joint motor are connected with corresponding angular transducer respectively, each motor driver and each angle
Degree sensor is connect with the controller I respectively, and the pressure sensor is connect with the controller I.
Further, the angular transducer is potentiometer type angular transducer.
Further, the mechanical arm control module includes the steering engine and corresponding steering engine driver, each machinery of each mechanical arm
Servo motor and corresponding motor servo driver at shoulder joint, each servo motor are each configured with corresponding servo motor and compile
Code device, each steering engine driver, each motor servo driver and each encoder for servo motor connect with the controller II respectively
It connects.
Further, the chassis control module includes each wheel electrical machine and corresponding wheel electrical machine driver, each wheel electricity
Machine is each configured with corresponding wheel electrical machine encoder, each wheel electrical machine driver and each wheel electrical machine encoder respectively with
The main controller connection.
Further, each wheel electrical machine is direct current generator.
Further, the plane positioning system includes camera and industrial personal computer, and the camera is connected with the industrial personal computer,
The industrial personal computer is connected with the main controller；Positional relationship number between the camera acquisition picking robot chassis and fruit tree
According to and send the industrial personal computer to, the industrial personal computer sends the master control to after the data received are stored and handled
Device, the information that the main controller is transmitted according to the industrial personal computer to the chassis control module send instruction make picking robot to
Up to suitable picking position.
Further, the controller I and controller II are connect by serial ports with the main controller respectively.
Further, the main controller uses Arduino development board；The controller I uses STM series exploitation plate；It is described
Controller II uses Arduino development board.
The picking robot control system has the advantages that
(1) in the utility model, visual identifying system can identify the size shape of fruits and vegetables and spatial position and pass through master
Control the best crawl pose of device control interface fast debugging gripper, pressure sensor be used to perceive picking object and picking claw it
Between pressure, and then protect picking object it is without damage in picking process.
(2) in the utility model, plane positioning system includes camera and industrial personal computer, camera acquire trolley and fruit it
Between positional relationship after transfer data to industrial personal computer, industrial personal computer stores and transfers data to main controller after handling data, main
It controls device and sends instruction to motor driver, so that trolley is reached suitable picking position, and then realize and accurately pick operation.
(3) the utility model provides a kind of picking robot control system, easy to use, can effectively shorten and pick operation
Debug time realizes automatically continuously picking, and can guarantee accurate, lossless, quick fruit and vegetable picking, furthermore reduces artificial
Labor intensity improves picking efficiency.
Detailed description of the invention
Fig. 1: the structural schematic diagram of picking robot control system in the utility model embodiment；
Fig. 2: the structural schematic diagram of gripper control module in the utility model embodiment；
Fig. 3: gripper list refers to structural representation in the utility model embodiment；
Fig. 4: the structural schematic diagram of mechanical arm control module in the utility model embodiment；
Fig. 5: mechanical arm structural representation in the utility model embodiment；
Fig. 6: the structural schematic diagram of chassis control module and plane positioning system in the utility model embodiment.
Description of symbols:
1-gripper control module；11-pressure sensors；12-motor drivers；13-joint motors；14-angles
Sensor；2-controllers I；3-visual identifying systems；4-mechanical arm control modules；41-steering engines；42-steering engine drivers；
43-motor servo drivers；44-servo motors；45-encoder for servo motor；5-controllers II；6-main controllers；7—
Chassis control module；71-wheel electrical machine drivers；72-wheel electrical machines；73-wheel electrical machine encoders；8-plane positioning systems
System；81-fruit trees；82-cameras；83-industrial personal computers.
Specific embodiment
With reference to the accompanying drawing, the utility model is described further:
Fig. 1 to Fig. 6 shows the specific embodiment of the utility model picking robot control system.Fig. 1 is this implementation
The structural schematic diagram of picking robot control system in mode；Fig. 2 and Fig. 3 is gripper control module and machine in present embodiment
The structural schematic diagram that machinery claw list refers to；Fig. 4 and Fig. 5 is the structural representation of mechanical arm control module and mechanical arm in present embodiment
Figure；Fig. 6 is the structural schematic diagram of chassis control module and plane positioning system in present embodiment.
As shown in Figure 1, the picking robot control system in present embodiment, including gripper control module 1, mechanical arm
Control module 4, chassis control module 7, plane positioning system 8, visual identifying system 3 and main controller 6, gripper control module 1
It is connect respectively by controller I 2 and controller II 5 with main controller 6 with mechanical arm control module 4, chassis control module 7, plane
Positioning system 8 and visual identifying system 3 are connect with main controller 6 respectively.
Visual identifying system 3: the presence of target is not only detected, also to calculate the space coordinate of picking object, really
Determine the relative distance between gripper and manipulating object;Determine quality, the shape and size of target object;To robot motion's row
It walks to carry out vision guided navigation.
Preferably, gripper control module 1 includes each joint motor 13 and corresponding motor driver 12, and setting exists
Pressure sensor 11 on gripper, each joint motor 13 are connected with corresponding angular transducer 14 respectively, each motor driver
12 and each angular transducer 14 connect respectively with controller I 2, pressure sensor 11 is connect with controller I 2, such as Fig. 2 and Fig. 3 institute
Show.
In the present embodiment, angular transducer 14 is potentiometer type angular transducer.
In the present embodiment, gripper is three finger grippers, and each finger includes three articulations digitorum manus；Gripper control module 1
It is used to control the movement of corresponding joint motor 13 including 9 joint motor drivers 12.
Preferably, mechanical arm control module 4 includes the steering engine 41 and corresponding steering engine driver 42, each machinery of each mechanical arm
Servo motor 44 and corresponding motor servo driver 43 at shoulder joint, each servo motor 44 are each configured with corresponding servo
Motor encoder 45, each steering engine driver 42, each motor servo driver 43 and each encoder for servo motor 45 respectively with control
Device II 5 connects, as shown in Figure 4 and Figure 5.Each servo motor 44 controls the large arm of corresponding mechanical arm and the movement of forearm, each rudder
Machine 41 controls corresponding mechanical arm relative to the rotation on chassis, accurately picks fruit by controlling the position of mechanical arm
It is real.Controller II 5 passes data to motor servo driver 43, to control the movement of servo motor 44, finally realizes machine
The large arm of tool arm and the movement of forearm, meanwhile, controller II 5 passes data to steering engine driver 42, to control steering engine 41
Movement, it is final to realize mechanical arm relative to the rotation on chassis.
Preferably, chassis control module 7 includes each wheel electrical machine 72 and corresponding wheel electrical machine driver 71, each wheel electricity
Machine 72 is each configured with corresponding wheel electrical machine encoder 73, and each wheel electrical machine driver 71 and each wheel electrical machine encoder 73 divide
It is not connect with main controller 6, as shown in Figure 6.
In the present embodiment, each wheel electrical machine 71 is direct current generator.
Preferably, plane positioning system 8 includes camera 82 and industrial personal computer 83, and camera 82 and industrial personal computer 83 connect, work
Control machine 83 and main controller 6 connect；Camera 82 acquires the positional relationship data between picking robot chassis and fruit tree 81 and passes
Industrial personal computer 83 is given, industrial personal computer 83 sends main controller 6,6 basis of main controller to after the data received are stored and handled
The information that industrial personal computer 83 transmits, which sends instruction to chassis control module 7, makes picking robot reach suitable picking position, such as Fig. 6
It is shown, it is accurately picked to realize.
Preferably, controller I 2 and controller II5 pass through serial ports respectively and connect with main controller 6.
In the present embodiment, main controller 6 uses Arduino development board；Controller I 2 uses STM series exploitation plate；Controller
II 5 use Arduino development board.
In the utility model, then the form and size of 3 collecting fruit of visual identifying system transfer data to main controller
6, main controller 6 makes gripper adjustment crawl posture by controller I 2；Pressure sensor 11 will be collected during the adjustment
Signal passes to controller I 2, realizes the control of gripper power, and then realizes and do not damage fruit when gripper grabs fruit.This
Outside, gripper articulations digitorum manus junction is additionally provided with angular transducer 14, and angular transducer 14 is connect with controller I 2, thus real
The adjustment of existing gripper picking posture.
In the utility model, by plane positioning system, the spatial relation of fruit and trolley is collected, to make trolley
Suitable picking position is reached, realizes accurately picking fruit.
In the utility model, the shapes and sizes of fruit, and the control for passing through main controller are collected by visual identifying system
The best crawl pose of interface fast debugging gripper makes pressure sensing by installing pressure sensor in gripper module
Collected signal is passed to controller I by device, realizes the power control of manipulator, and then gripper is avoided to damage fruit in picking
It is real, guarantee fruit quality.Namely the utility model can go out manipulator according to the shape of variety classes fruits and vegetables, size Virtual Debugging
Various best crawl postures, to guarantee in picking process that fruit damage is small.
In the utility model, a kind of picking robot control system is provided, it is easy to use, it can effectively shorten and pick operation
Debug time realizes automatically continuously picking, to achieve the purpose that rapid picking.
Illustrative description has been carried out to the utility model above in conjunction with attached drawing, it is clear that the realization of the utility model not by
The limitation of aforesaid way, if the method concept of the utility model and the various improvement of technical solution progress are used, or without
It improves and the conception and technical scheme of the utility model is directly applied into other occasions, in the protection scope of the utility model
It is interior.
Claims (9)
1. a kind of picking robot control system, which is characterized in that including gripper control module, mechanical arm control module, bottom
Disk control module, plane positioning system, visual identifying system and main controller, the gripper control module and mechanical arm control mould
Block passes through controller I respectively and controller II is connect with the main controller, the chassis control module, plane positioning system and view
Feel that identifying system is connect with the main controller respectively；The size shape and space bit confidence of the visual identifying system identification fruits and vegetables
It ceases and is sent to the main controller.
2. picking robot control system according to claim 1, which is characterized in that the gripper control module includes
Each joint motor and corresponding motor driver, and the pressure sensor being arranged on gripper, each joint motor respectively with
Corresponding angular transducer connection, each motor driver and each angular transducer are connect with the controller I respectively, the pressure
Sensor is connect with the controller I.
3. picking robot control system according to claim 2, which is characterized in that the angular transducer is potentiometer
Formula angular transducer.
4. picking robot control system according to claim 1,2 or 3, which is characterized in that the mechanical arm controls mould
Block includes the servo motor and corresponding servo electricity at the steering engine and corresponding steering engine driver, each joint of mechanical arm of each mechanical arm
Machine driver, each servo motor are each configured with corresponding encoder for servo motor, each steering engine driver, each servo motor
Driver and each encoder for servo motor are connect with the controller II respectively.
5. picking robot control system according to claim 1,2 or 3, which is characterized in that the chassis control module
Including each wheel electrical machine and corresponding wheel electrical machine driver, each wheel electrical machine is each configured with corresponding wheel electrical machine coding
Device, each wheel electrical machine driver and each wheel electrical machine encoder are connect with the main controller respectively.
6. picking robot control system according to claim 5, which is characterized in that each wheel electrical machine is direct current
Motor.
7. according to claim 1, picking robot control system described in 2,3 or 6, which is characterized in that the plane positioning system
System includes camera and industrial personal computer, and the camera is connected with the industrial personal computer, and the industrial personal computer is connected with the main controller.
8. according to claim 1, picking robot control system described in 2,3 or 6, which is characterized in that the controller I and control
Device II processed is connect by serial ports with the main controller respectively.
9. according to claim 1, picking robot control system described in 2,3 or 6, which is characterized in that the main controller uses
Arduino development board；The controller I uses STM series exploitation plate；The controller II uses Arduino development board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821618635.8U CN208773584U (en) | 2018-10-05 | 2018-10-05 | A kind of picking robot control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821618635.8U CN208773584U (en) | 2018-10-05 | 2018-10-05 | A kind of picking robot control system |
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| Publication Number | Publication Date |
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| CN208773584U true CN208773584U (en) | 2019-04-23 |
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| CN201821618635.8U Expired - Fee Related CN208773584U (en) | 2018-10-05 | 2018-10-05 | A kind of picking robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176490A (en) * | 2018-10-05 | 2019-01-11 | 西北农林科技大学 | A kind of picking robot control system |
-
2018
- 2018-10-05 CN CN201821618635.8U patent/CN208773584U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176490A (en) * | 2018-10-05 | 2019-01-11 | 西北农林科技大学 | A kind of picking robot control system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190423 Termination date: 20191005 |
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| CF01 | Termination of patent right due to non-payment of annual fee |