CN210743384U - Teaching experiment device of intelligent fruit picking robot - Google Patents

Abstract

The utility model relates to a teaching experiment device field discloses an intelligence fruit picking robot teaching experiment device, and it includes manipulator (5), camera (4), front and back linear guide (3), controls linear guide (1), goes up lower linear guide (2), controller (8) and aversion sensor (6). The controller (8) comprises a front panel (81), a controller main circuit (82) and a rear panel (83). The basic principle of the robot autonomous movement can be learned by students through the actual operation of the students, the hardware structure of the robot for realizing the autonomous movement, the specific software operation and the function realized by the software can be well known, and the students can compile programs required by the students according to the understanding of the students to realize the related functions.

Description

Teaching experiment device of intelligent fruit picking robot

Technical Field

The utility model relates to a teaching experiment device field has especially related to an intelligence fruit picking robot teaching experiment device.

Background

With the development of related technologies such as an automation control technology, an artificial intelligence technology, a mode recognition technology, a visual perception technology and the like, intelligent robots are increasingly researched. In the field of education, many colleges and universities have established relevant courses in terms of robotics among students, play a positive role in cultivating and improving scientific literacy of the students, are popularized in numerous schools of middle and primary schools, are deeply loved by teenagers due to the characteristic of playing the schools of middle and primary schools, and have become a definite trend as the robots walk into the schools as the computers are popularized in the schools, so that the knowledge of the students about a new curiosity, namely the robots, is improved. The teaching robot is a practical training experiment platform with open characteristics suitable for students in primary, middle and primary schools, can be used for students to assemble robot structures, build circuit connection and design various software and hardware, is a fusion of various high skills, and can exercise logical thinking ability, practical ability and equipment control ability of the students. At present, a teaching robot is a robot finished product, a suit or a spare part which is specially developed by a manufacturer and aims at exciting the learning interest of students and cultivating the comprehensive ability of the students, and the teaching robot also has corresponding control software, a teaching textbook and the like besides a robot body.

The patent names are: a fruit picking robot based on machine vision, application No.: CN201611222939.8, application date: 2016.12.27, the invention comprises a frame, a wide-angle camera, a gripper, a storage battery arranged at the bottom of the frame, a left front wheel, a left rear wheel, a right front wheel and a right rear wheel arranged at the left and right sides of the frame, the wide-angle camera arranged on the frame, an image processing device arranged under the camera, automatic fruit identification realized by machine vision, and precise fruit picking realized by the mutual cooperation of the wide-angle camera and a front camera, solves the defects of precision and efficiency of three-dimensional reconstruction of a binocular camera, realizes real-time information processing, and can rapidly pick fruit.

The current robot teaching can not touch the autonomous movement of one of the most core functions of the robot; students can only visit how the robot system acts in a demonstration mode, and the students only leave some visual impressions and cannot learn the basic principle of the robot autonomous movement and know which basic hardware structures are needed for the robot to realize the autonomous movement, and control software of the robot comprises which necessary functions.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that an intelligence fruit picking robot teaching experiment device is provided, optimize user experience.

In order to solve the above problem, the utility model provides a following technical scheme:

an intelligent fruit picking robot teaching experimental device controller and a robot comprise a left linear guide rail, a right linear guide rail, an upper linear guide rail, a lower linear guide rail, a front linear guide rail, a rear linear guide rail, a camera, a manipulator, a controller and a rocker, wherein the right side of the left linear guide rail and the right linear guide rail is provided with a first anti-collision device, the left side of the left linear guide rail and the right linear guide rail is provided with a displacement sensor, and; an upper control guide rail and a lower control guide rail are arranged below the control rod, and a front linear guide rail and a rear linear guide rail are arranged on the left side of the control rod; a second anti-collision device is arranged above the upper and lower control guide rails, a manipulator is arranged on the left side of the control rod, and the front and rear linear guide rails are connected to the manipulator through connecting rods; the upper end of the control rod is provided with a rocker potentiometer which is electrically connected with the controller, and the manipulator simulates and picks fruits simulating fruit trees, wherein the fruits are mainly red ripe fruits; a camera is arranged right above the manipulator.

Preferably, the controller comprises a front panel, a controller main circuit and a rear panel, wherein the front panel is electrically connected with the controller main circuit, and the controller main circuit is electrically connected with the rear panel;

preferably, the front panel comprises a key control switch, a liquid crystal screen display, a power switch and a rocker potentiometer interface, the key control switch, the liquid crystal screen display, the power switch and the rocker potentiometer interface are electrically connected, the key control switch has different setting parameters, and an automatic picking mode and a manual picking mode are realized.

Preferably, the controller main circuit comprises a driving control module, a CPU module, a sensor measuring module, an A/D conversion module, a storage module, an output control module, a display module and a keyboard control module, the driving control module drives the sensor module and the A/D conversion module, signals of the A/D conversion module are transmitted to the CPU module, signals output by the CPU module are transmitted to the storage module, the storage module transmits the stored signals to an output interface, the output interface is connected to the display module and the case control module, and a front panel of the case control module comprises a key control switch, a liquid crystal display, a power switch and a rocker potentiometer interface.

Preferably, the controller main circuit comprises a driving control module, a CPU module, a sensor measuring module, an A/D conversion module, a storage module, an output control module, a display module and a keyboard control module;

preferably, the rear panel comprises a power interface, a first port, a second port and a third port, the power interface, the first port, the second port and the third port are electrically connected, the first port is electrically connected with the displacement sensor, the left linear guide rail and the right linear guide rail, the second port is electrically connected with the upper linear guide rail, the lower linear guide rail, the front linear guide rail, the rear linear guide rail and the camera, and the third port is electrically connected with the manipulator and the camera.

The utility model discloses owing to adopted above technical scheme, have apparent technological effect: the utility model discloses a to the setting of key switch parameter, can realize automatic picking mode and manual picking mode. For the manual picking mode, in-zone picking and out-of-zone picking can be performed according to the positioning of the manipulator position. Under the condition of an automatic picking mode, the position of the mechanical arm is set to directly carry out automatic picking. Meanwhile, the camera can identify ripe red fruits, so that bad fruits and immature fruits can be prevented from being picked. The basic principle of the robot autonomous movement can be learned by students through the actual operation of the students, the hardware structure of the robot for realizing the autonomous movement, the specific software operation and the function realized by the software can be well known, and the students can compile programs required by the students according to the understanding of the students to realize the related functions.

Drawings

FIG. 1 is a schematic structural view of example 1.

Fig. 2 is a diagram of a controller in embodiment 1.

Fig. 3 is a front panel diagram of the controller in embodiment 1.

Fig. 4 is a controller main circuit diagram in embodiment 1.

Fig. 5 is a rear panel diagram of the controller in embodiment 1.

The names of the parts indicated by the numerical references in the above figures are as follows: 1-left and right linear guide rails, 2-upper and lower linear guide rails, 3-front and rear linear guide rails, 4-camera, 5-manipulator, 6-displacement sensor, 7-connecting rod, 8-controller, 9-second anti-collision device, 10-remote sensing potentiometer, 11-first anti-collision device, 12-control rod, 13-analog fruit tree, 81-front panel, 82-controller main circuit, 83-rear panel, 811-key control switch, 812-liquid crystal display, 813-power switch, 814-rocker potentiometer interface, 831-power interface, 832-first port, 833-second port and 834-third port.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to the attached figure 1, an intelligent fruit picking robot teaching experimental device comprises a left linear guide rail 1, a right linear guide rail 1, an upper linear guide rail 2, a lower linear guide rail 2, a front linear guide rail 3, a back linear guide rail 3, a camera 4, a manipulator 5, a controller 8 and a control rod 12, wherein a first anti-collision device 11 is arranged on the right side of the left linear guide rail 1, a displacement sensor 6 is arranged on the left side of the left linear guide rail 1, the control rod 12 is arranged in the middle of the left linear guide rail 1, the upper linear guide rail 2 and the lower linear guide rail 2 are arranged below the control rod 12, the front linear guide rail 3 and the back linear guide rail 3 are arranged on the left side of the control rod 12, a second anti-collision device 9 is arranged above the upper linear guide rail 2 and the lower linear guide rail 2 are arranged below the second anti-collision device 9, the upper linear guide rail 2 and, the manipulator 5 simulates picking fruit simulating a fruit tree 13, which is red ripe fruit.

Referring to fig. 3, the robot can enter different working areas by operating the key control switch 811, and the relevant operation interface can be seen on the liquid crystal display 812. Firstly, setting a collection area in an operation interface of the liquid crystal display 812, and then setting a picking mode; inquiring a picking area of the manipulator; finally, the coordinates of the mechanical arm, the fruit picking quantity and the fruit picking time can be read through the interface of the liquid crystal display.

Referring to fig. 4, the driving control module is used to drive the main circuit of the controller and the sensor measuring module; the sensor measuring module mainly detects signals acquired by the sensor, then transmits the signals detected by the sensor measuring module to the A/D conversion circuit module, performs digital-to-analog conversion on the signals, and transmits the signals subjected to the digital-to-analog conversion to the CPU module; the CPU module is composed of a Cortex-M3 series STM32F103ZET6(LQFP144) processor and is used for operating and processing signals; the storage module is used for storing data processed and operated by the CPU; the stored data signals are transmitted to the output interface, the output interface transmits the signals to the display module and the keyboard control module, the display module can display real-time information, and the key control module can realize the setting of the controller.

Referring to fig. 5, the first port 831 is electrically connected to the displacement sensor 6 and the left and right linear guides 1, the second port 833 is electrically connected to the upper and lower linear guides 2 and the front and rear linear guides 3, and the third port 834 is electrically connected to the robot 5 and the camera 4.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. The utility model provides an intelligence fruit picking robot teaching experimental apparatus, linear guide (1), upper and lower linear guide (2), front and back linear guide (3), camera (4), manipulator (5), controller (8) and control lever (12) about including, its characterized in that: left and right linear guide (1) right side is equipped with first buffer stop (11), left and right linear guide (1) left side is equipped with shift sensor (6), the centre is equipped with control lever (12), linear guide (2) about there is below of control lever (12), the left side of upper and lower linear guide (2) is equipped with front and back linear guide (3), the top of upper and lower linear guide (2) is equipped with second buffer stop (9), the left side of front and back linear guide (3) is connected to manipulator (5) through connecting rod (7), the left side of control lever (12) is equipped with manipulator (5), the upper end of control lever (12) is equipped with rocking rod potentiometer (10), rocking rod potentiometer (10) and controller (8) are through electric connection, manipulator (5) simulation is picked the fruit of simulation fruit tree (13), the top of manipulator (5) is equipped with camera (4).

2. The intelligent fruit picking robot teaching experiment device of claim 1, wherein: the controller (8) comprises a front panel (81), a controller main circuit (82) and a rear panel (83), wherein the front panel (81) is electrically connected with the controller main circuit (82), and the controller main circuit (82) is electrically connected with the rear panel (83).

3. The intelligent fruit picking robot teaching experiment device of claim 1 or 2, wherein: the front panel (81) comprises a key control switch (811), a liquid crystal display (812), a power switch (813) and a rocker potentiometer interface (814), the key control switch (811), the liquid crystal display (812), the power switch (813) and the rocker potentiometer interface (814) are electrically connected, and the key control switch (811) has different setting parameters, so that an automatic picking mode and a manual picking mode are realized.

4. The intelligent fruit picking robot teaching experiment device of claim 1 or 2, wherein: the controller main circuit (82) comprises a driving control module, a CPU module, a sensor measuring module, an A/D conversion module, a storage module, an output control module, a display module and a keyboard control module, wherein the driving control module drives the sensor module and the A/D conversion module, signals of the A/D conversion module are transmitted to the CPU module, signals output by the CPU module are transmitted to the storage module, the storage module transmits stored signals to an output interface, and the output interface outputs signals to the display module and the case control module.

5. The intelligent fruit picking robot teaching experiment device of claim 1 or 2, wherein: the rear panel (83) comprises a power interface (831), a first port (832), a second port (833) and a third port (834), the power interface (831), the first port (832), the second port (833) and the third port (834) are electrically connected, the first port (832) is electrically connected with the displacement sensor (6) and the left and right linear guide rails (1), the second port (833) is electrically connected with the upper and lower linear guide rails (2) and the front and rear linear guide rails (3), and the third port (834) is electrically connected with the manipulator (5) and the camera (4).

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