CN209897669U

CN209897669U - Variable-angle positioning picking device

Info

Publication number: CN209897669U
Application number: CN201920329914.0U
Authority: CN
Inventors: 李明; 王润涛; 王树文; 刘瑶; 谭克竹; 姜微
Original assignee: Lingnan Normal University
Current assignee: Lingnan Normal University
Priority date: 2019-03-14
Filing date: 2019-03-14
Publication date: 2020-01-07
Anticipated expiration: 2029-03-14

Abstract

The utility model relates to a technical field of agricultural automation equipment, more specifically relates to a device of picking of variable angle location. The picking machine comprises a positioning device, a capturing device, a picking mechanism and a control device, wherein the positioning device, the capturing device and the picking mechanism are respectively and electrically connected with the control device; the control device is used for controlling the positioning device, the capturing device and the picking mechanism; the positioning device is used for acquiring the space coordinates of the citrus fruits and automatically changing the angle after single picking is finished; the capturing device is used for sucking the fruits to a specified position; the picking mechanism is used for cutting the fruit stems and picking the fruit monomers without damage. Utilize the device can pick oranges and tangerines or other fruits, the overall process need not artifical the participation, and volume framework is light and handy, and the picking process is to the fruit not damaged, and production efficiency is high.

Description

Variable-angle positioning picking device

Technical Field

The utility model relates to a technical field of agricultural automation equipment, more specifically relates to a device of picking of variable angle location.

Background

The orange is one of the most important economic crops and international agricultural products and processed products in the world, is the first fruit of international trade, and is one of the important origin places of the orange in China, the orange is abundant in resources and various in excellent varieties, the picking and harvesting of the orange are key links of industrialized development, the orange can be picked when the orange peel is generally colored by 70% -80%, the orange is not easy to rot or withered water when the orange peel is too late, therefore, the orange is picked in a large amount of oranges in a short time, the surface of the orange is not damaged in the picking process, the orange can be stored for a long time and is not easy to rot, and the efficient and rapid picking method has important significance for the development of the orange industry. At the present stage, the existing picking robots on the market in China generally have the problems of large volume, high price and difficult popularization, so that the citrus harvesting is mainly carried out by a manual mode, a large amount of manpower is required, the labor intensity is high, and the production efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome above-mentioned prior art at least a defect, provide a device that can realize the automatic harvesting of fruit of variable angle location, utilize the device can pick oranges and tangerines or other fruits, the overall process need not artifical the participation, volume framework is light and handy, picking process is to the fruit not damaged, production efficiency is high.

The specific technical scheme is as follows:

a picking device with variable angle positioning comprises a positioning device, a capturing device, a picking mechanism and a control device, wherein the positioning device, the capturing device and the picking mechanism are respectively and electrically connected with the control device; the control device is used for controlling the positioning device, the capturing device and the picking mechanism; the positioning device is used for acquiring the space coordinates of the citrus fruits and automatically changing the angle after single picking is finished; the capturing device is used for sucking the fruits to a specified position; the picking mechanism is used for cutting the fruit stems and picking the fruit monomers without damage.

The utility model discloses utilize controlling means to come the automation mechanized work of controlling position device, capture device, picking mechanism, can realize that oranges and tangerines are optimum fruit location, variable angle location, fruit target adsorb, the fruit stalk cutting under the complicated background of picking in-process, whole process need not artifical the participation, full automation operation.

Furthermore, the positioning device comprises a visual positioning device and a longitudinal movable joint and a transverse movable joint which are connected with the visual positioning device, the visual positioning device is composed of a binocular camera and used for acquiring space information of images of the fruits of the oranges, the longitudinal movable joint is provided with a first motor, the transverse movable joint is provided with a second motor, after a single picking task is completed, the positioning device receives an instruction of the control device, the first motor controls the longitudinal angle transformation of the visual positioning device, and the second motor controls the transverse angle transformation of the visual positioning device to execute the next picking task.

Further, the trapping apparatus comprises a sucker, a pressure adjusting device and an air exhaust adjusting device, a soft rubber pad is arranged at a suction port of the sucker to reduce a contact gap between the sucker and a fruit, the adsorption degree of the adsorbed fruit is improved, a pressure sensor is arranged at the bottom of the sucker to detect pressure information generated by the fruit on the sucker, and the pressure information is used as a guide parameter of the pressure adjusting device, the sucker is connected with one end of the pressure adjusting device through a hose, and the other end of the pressure adjusting device is connected with the air exhaust adjusting device through a hose.

Further, the pressure adjusting device includes a pressure valve and a third motor that controls the flow rate of the gas by driving a valve opening angle of the pressure valve.

Further, the air exhaust adjusting device comprises an air pump and a fourth motor, the air pump is provided with an air inlet and an air outlet, the fourth motor drives the air pump to exhaust air from the air inlet to adjust the suction force of the sucker, and the exhausted air is discharged from the air outlet.

Furthermore, the picking mechanism comprises a picking terminal and a mechanical arm, the picking terminal is arranged at the tail end of the mechanical arm, and a root axis point of the mechanical arm is fixed below the positioning device.

Furthermore, the picking terminal comprises two hollow hemispherical structures and an arched support, the two hemispherical structures are respectively fixed at two ends of the arched support, a sawtooth cutter is arranged at the notch of each hemispherical structure, a stretching structure is arranged at the center of the arched support and comprises a steel wire and a fifth motor, two sides of a rotating shaft of the fifth motor are fixedly connected with two sides of the center of the arched support through the steel wire, a pressure sensor at the bottom of the sucker detects pressure data, a control device sends an instruction, and the rotating shaft of the fifth motor rotates to enable the steel wire to stretch two sides of the arched support, so that the hemispherical structures at two ends of the arched support are closed to cut fruit stalks.

Furthermore, the two hemispheroid structures mutually form an included angle of 60 degrees and have a center distance of 10cm, and are respectively fixed at the two ends of the arched support, so that fruits can fall between the two hemispheroid structures conveniently, and the buffer foam layer is attached to the inner part of each hemispheroid structure, so that the damage to the fruits in the picking process can be reduced.

Furthermore, the bottoms of the two hemispherical structures, which are close to the median line on the side of the arched support, are provided with semicircular notches, the center of the arched support is an inverted triangular groove, the groove is connected with the stretching structure, and the tip part of the groove is connected with the tail end of the mechanical arm.

Furthermore, the function of the control device is realized by combining an ARM, a DSP and a singlechip.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model provides a variable angle location's harvesting device can realize that the coordination of works such as optimum fruit location, variable angle location, fruit target absorption, fruit stalk cutting links up under the complicated background of oranges and tangerines picking in-process, and whole process need not artifical the participation, has realized the automation of real meaning and has picked, can promote well-scale oranges and tangerines and pick automated production.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the positioning device of the present invention.

Fig. 3 is a schematic structural diagram of the capturing device of the present invention.

Fig. 4 is a schematic structural diagram of the picking mechanism of the present invention.

Fig. 5 is a schematic drawing of the structure.

Fig. 6 is a flow chart of the picking control of the utility model.

In the figure: 100-a positioning device; 200-a capture device; 300-a picking mechanism; 400-a control device; 1-a binocular camera; 2-a longitudinally movable joint; 3-a first motor; 4-transverse movable joints; 5-a second motor; 6-a sucker; 7-soft rubber cushion; 8-a pressure sensor; 9-a hose; 10-a pressure valve; 11-a third motor; 12-an air inlet; 13-air outlet; 14-a fourth motor; 15-an air pump; 16-hemisphere structure; 17-a serrated cutter; 18-semicircular gaps; 19-an arcuate support; 20-steel wires; 21-a fifth motor; 22-mechanical arm.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

Example 1:

as shown in fig. 1, a picking device with variable angle positioning comprises a positioning device 100, a capturing device 200, picking mechanisms 300 and a control device 400, wherein the positioning device 100, the capturing device 200 and the picking mechanisms 300 are respectively and electrically connected with the control device 400; the control device 400 is used for controlling the positioning device 100, the capturing device 200 and the picking mechanism 300; the positioning device 100 is used for acquiring the space coordinates of the citrus fruits and automatically changing a specific angle after single picking is completed; the capturing device 200 is used for sucking the fruits to a designated position; the picking mechanism 300 is used for cutting fruit stalks and picking fruit monomers without damage.

The function of the control device 400 of this embodiment is realized by combining the ARM, the DSP and the single chip, and the exterior of the control device 400 is provided with a screen and a keyboard, so as to realize interaction with a user. The control device 400 may be fixed to a bracket at the rear of the housing of the binocular camera 1 through a fixing bracket, and may be connected to each mechanism through a bus and a signal line to perform control.

As shown in fig. 2, the positioning device 100 of the present embodiment includes a binocular camera 1, a longitudinal movable joint 2, and a transverse movable joint 4, wherein the longitudinal movable joint 2 and the transverse movable joint 4 are respectively fixed on a bracket at the rear of a housing of the binocular camera 1; the longitudinal movable joint 2 is connected with a first motor 3, the transverse movable joint 4 is connected with a second motor 5, and the first motor 3 and the second motor 5 are electrically connected with the control device 400.

As shown in fig. 3, the capturing device 200 includes a suction cup 6, a soft rubber pad 7, a pressure sensor 8, a hose 9, a pressure valve 10 and an air pump 15, the soft rubber pad 7 is arranged at the mouth of the suction cup 6, the pressure sensor 8 is arranged at the bottom of the suction cup 6, the suction cup 6 is connected with the pressure valve 10 through the hose 9, the pressure valve 10 is connected with an air inlet 12 through the hose 9, and the air inlet 12 and an air outlet 13 are symmetrically arranged above the casing of the air pump 15; the third motor 11 is embedded in the pressure valve 10, the fourth motor 14 is embedded in the air pump 15, and the third motor 11 and the fourth motor 14 are electrically connected with the control device 400.

The capturing device 200 and the positioning device 100 are fixed to the bracket with the pressure valve 10 as a crossing point.

As shown in fig. 4 and 5, the picking device 300 comprises two hemispheroids 16, a sawtooth cutter 17, an arched bracket 19, a steel wire 20 and a mechanical arm 22; the hemisphere structure 16 is composed of two symmetrical hollow hemispheres, which form an included angle of 60 degrees and have a center distance of 10cm, are respectively fixed at two ends of the bow-shaped bracket 19, and the inside buffering foam layer that is attached to of hemispheroid structure 16, the incision department of hemispheroid structure 16 is equipped with cockscomb structure cutter 17, two hemispheroid structures 16 are close to bow-shaped support 19 side median line bottom and set up semi-circular opening 18, bow-shaped support 19 center is the recess of falling triangle-shaped, the recess department is equipped with tensile structure, tensile structure includes steel wire 20 and fifth motor 21, the pivot both sides of fifth motor 21 all are through steel wire 20 and bow-shaped support 19 center both sides fixed connection, the recess department is fixed with the pivot end connection of bearing and fifth motor 21 through the fixed bolster, make the pivot of fifth motor 21 can the unimpeded rotation, the tip of groove connects mechanical arm 22 terminal, fifth motor 21 is connected with controlling means 400 electricity.

Referring to fig. 1-5 again, the picking mechanism 300 is overlapped with the capturing device 200, the bottom of the sucker 6 of the capturing device 200 is fixed at a position corresponding to the circular opening of the two closed hemispherical structures 16 of the picking mechanism 300, and the origin point of the mechanical arm 22 of the picking mechanism 300 is fixed on the bracket vertically below the longitudinal movable joint 2 of the positioning device 100, namely vertically above the pressure valve 10 of the capturing device 200.

The control device 400 comprises a DSP core and an ARM processor, the DSP core adopts a TMS320 DM6437 processor, the ARM core TMS320 DM355 comprises an ARM926EJ-S processor, the picking device collects analog signals through the binocular camera 1 and decodes the analog signals into digital images through a TVP5150 video decoder (the DSP is provided with the DSP), the DSP core receives the digital images to calculate control parameters and sends the control parameters to the ARM core through a UART interface of an asynchronous transceiving transmitter, the ARM processor runs a cycle judgment program according to the control parameters to send out a series of control signals for driving and controlling a motor of the mechanical ARM, driving and controlling an air pump, driving and stretching a structure, driving and changing the angle of the camera and the like, and the ARM returns signals to the DSP to execute the next picking program flow after jumping out of the cycle program.

In this embodiment, the control procedure of the loop judgment program of the control device 400 is as follows:

as shown in fig. 6, the power supply is started, the control device 400 sends a starting instruction, the system runs, the binocular camera 1 receives the instruction and then sends the collected citrus image to the control device 400, the control device 400 processes the image, calculates the optimal fruit centroid coordinate with the closest distance, converts the optimal fruit centroid coordinate into a control signal, drives the mechanical arm 22 to drive the suction cup 6 to move to the coordinate position, the control device 400 sends the control signal to drive the fourth motor 14, the air pump 15 starts to pump air through the air inlet 12, and simultaneously exhausts air through the air outlet 13; setting the minimum value N of the pressure of the citrus fruits, and setting the judgment condition that the sucker 6 successfully sucks as N, wherein the dynamic pressure value N > detected by the pressure sensor 8 is N; when the pressure sensor 8 does not detect pressure data meeting the conditions, the control device 400 drives the third motor 11 to drive the pressure valve 10 to be gradually opened at an angle of delta theta, if the pressure valve 10 is completely opened, namely, the angle of theta is phi, the pressure sensor 8 still does not detect the pressure data meeting the conditions, the pressure valve 10 is closed to set the angle of theta as 0, the control device 400 drives the fourth motor 14 to increase the power level delta P, the control device 400 drives the third motor 11 to drive the pressure valve 10 to be gradually opened at the angle of delta theta, the operation is circulated until the pressure sensor 8 detects the pressure data of the composite conditions, the adsorption and the capturing of the fruits are completed, the air suction amount of the suction nozzle is adjusted by adopting frequency conversion in the circulating process, and the purpose of avoiding the damage to the fruits caused by mistakenly sucking interferents such as leaves and the like and the large air suction amount due to; then the control device 400 drives the rotating shaft of the fifth motor 21 to rotate, so that the steel wire 20 drives the arched bracket 19 to contract and close the two hemispherical structures 16, and the sawtooth cutter 17 cuts fruit stalks and interfering branches to complete the current optimal fruit picking; the control device 400 drives the rotating shaft of the fifth motor 21 to rotate, so that the steel wire 20 does not shrink the arched bracket 19 any more, the arched bracket 19 returns to the initial state, the two hemispherical structures 16 are separated, and then the next optimal fruit is identified in a circulating manner until the optimal fruit is identified as 0 by the current position of the binocular camera 1; the control device 400 drives the first motor 3 to drive the longitudinal movable joint 2 to rotate up and down, the set rotation step length is 30 degrees, the longitudinal angle of the shell of the binocular camera 1 is changed accordingly, the next picking task is carried out, and the binocular camera rotates circularly in the step length of 30 degrees until the set value is completed; the control device 400 drives the second motor 5 to drive the transverse movable joint 4 to transversely rotate, the set rotating step length is 30 degrees, the shell of the binocular camera 1 rotates along with the rotating step length to carry out the next picking task, the step length is circularly rotated by 30 degrees until the set value is completed, the picking of the ground position of the whole orange picking terminal device is finished, and the picking terminal can be moved to the next ground position to pick the orange.

The utility model discloses a device is picked in variable angle location can use at the mobile device, and accessible support will for example the utility model discloses several most make up earlier the assembly be whole, fix it again and carry out the harvesting equipment that removes on removing the chassis also the utility model discloses a within range. The mobile equipment comprises a plurality of displacement equipment such as a mobile chassis, a mobile trolley, mobile equipment loaded with lifting equipment and the like.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The picking device with variable-angle positioning is characterized by comprising a positioning device, a capturing device, a picking mechanism and a control device, wherein the positioning device, the capturing device and the picking mechanism are respectively and electrically connected with the control device; the control device is used for controlling the positioning device, the capturing device and the picking mechanism; the positioning device is used for acquiring the space coordinates of the citrus fruits and automatically changing the angle after single picking is finished; the capturing device is used for sucking the fruits to a specified position; the picking mechanism is used for cutting the fruit stems and picking the fruit monomers without damage;

the positioning device comprises a visual positioning device, and a longitudinal movable joint and a transverse movable joint which are connected with the visual positioning device, the visual positioning device consists of a binocular camera, the longitudinal movable joint is provided with a first motor, the transverse movable joint is provided with a second motor, the first motor controls the longitudinal angle transformation of the visual positioning device, and the second motor controls the transverse angle transformation of the visual positioning device;

the capturing device comprises a sucker, a pressure adjusting device and an air exhaust adjusting device, a soft rubber cushion is arranged at a suction port of the sucker, a pressure sensor is arranged at the bottom of the sucker, the sucker is connected with one end of the pressure adjusting device through a hose, and the other end of the pressure adjusting device is connected with the air exhaust adjusting device through a hose;

the picking mechanism comprises a picking terminal and a mechanical arm, the picking terminal is arranged at the tail end of the mechanical arm, and a root axis point of the mechanical arm is fixed below the positioning device;

the control device comprises an ARM, a DSP and a singlechip.

2. A variable angle positioning picking device as claimed in claim 1 where the pressure regulating means includes a pressure valve and a third motor which controls the flow of gas by driving the valve opening angle of the pressure valve.

3. The variable-angle positioning picking device according to claim 1, wherein the air pumping adjusting device comprises an air pump and a fourth motor, the air pump is provided with an air inlet and an air outlet, the fourth motor drives the air pump to pump air from the air inlet to adjust the suction force of the suction cup, and the pumped air is discharged from the air outlet.

4. The variable-angle positioning picking device according to claim 1, wherein the picking terminal comprises two hollow hemispheroidal structures and an arched support, the two hemispheroidal structures are respectively fixed at two ends of the arched support, a sawtooth cutter is arranged at the position of a cut of each hemispheroidal structure, a stretching structure is arranged at the central position of the arched support, the stretching structure comprises a steel wire and a fifth motor, two sides of a rotating shaft of the fifth motor are fixedly connected with two sides of the center of the arched support through the steel wire, and the rotating shaft of the fifth motor rotates to enable the steel wire to stretch two sides of the arched support, so that the hemispheroidal structures at two ends of the arched support are closed to cut fruit stalks.

5. The variable-angle positioning picking device according to claim 4, characterized in that the two hemispheres are fixed at both ends of the arched bracket respectively with an included angle of 60 degrees and a center distance of 10cm, and a buffer foam layer is attached inside the hemispheres.

6. The variable-angle positioning picking device according to claim 4, wherein the bottoms of the two hemispherical structures close to the median line on the side of the arched bracket are provided with semicircular notches, the center of the arched bracket is provided with an inverted triangular groove, the groove is connected with the stretching structure, and the tip of the groove is connected with the tail end of the mechanical arm.