CN211745440U

CN211745440U - Intelligent robot is picked to fruit

Info

Publication number: CN211745440U
Application number: CN201922203160.7U
Authority: CN
Inventors: 王成琳; 李春江; 赵立军
Original assignee: Chongqing University of Arts and Sciences
Current assignee: Chongqing University of Arts and Sciences
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-10-27
Anticipated expiration: 2029-12-10

Abstract

The invention discloses an intelligent fruit picking robot, which comprises a robot module and a control module for controlling the robot module; the robot module comprises a movable chassis, a support structure fixed on the movable chassis, a worm structure arranged on the support structure, a worm gear structure hinged with the support structure and meshed with the worm structure, a connecting rod rotating synchronously with the worm gear structure, a camera shooting assembly arranged on the connecting rod, a lifting assembly connected with the connecting rod, and a picking assembly arranged at the tail end of the connecting rod and connected with the lifting assembly; the control module comprises a picking unit for controlling the picking assembly, a vision unit connected with the camera assembly, a driving unit for controlling the rotation of the worm structure and a lifting unit for controlling the lifting assembly; picking the subassembly and including forward and rearward fruit sleeve, the connecting rod includes a plurality of mounting holes, the arm is installed to the mounting hole.

Description

Intelligent robot is picked to fruit

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent fruit picking robot.

Background

As the design and manufacturing technology of agricultural machinery tends to mature and the electronic information technology develops rapidly, a batch of various mechatronic technical products applied to manufacturers are developed and are equipped on the agricultural machinery, so that the agricultural production operation that the working objects such as cultivation, rice transplanting, wheat harvesting and the like are homogeneous planes is mechanized and automated. However, it is extremely difficult to realize mechanization and automation of works such as weeding, thinning, vegetable harvesting, and fruit harvesting, which are distributed in work objects and need to be selected according to judgment, and these works require high intelligence of agricultural machinery.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Based on the reasons, the invention provides an intelligent fruit picking robot.

Disclosure of Invention

In order to meet the requirements, the invention aims to provide an intelligent fruit picking robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent fruit picking robot comprises a robot module and a control module for controlling the robot module;

the robot module comprises a movable chassis, a support structure fixed on the movable chassis, a worm structure arranged on the support structure, a worm gear structure hinged with the support structure and meshed with the worm structure, a connecting rod rotating synchronously with the worm gear structure, a camera shooting assembly arranged on the connecting rod, a lifting assembly connected with the connecting rod, and a picking assembly arranged at the tail end of the connecting rod and connected with the lifting assembly;

the control module comprises a picking unit for controlling the picking assembly, a vision unit connected with the camera assembly, a driving unit for controlling the rotation of the worm structure and a lifting unit for controlling the lifting assembly;

picking the subassembly and including forward and rearward fruit sleeve, the connecting rod includes a plurality of mounting holes, the arm is installed to the mounting hole.

In a possible embodiment, the driving unit drives the worm structure and the worm gear structure to drive the fruit sleeve to rotate, and the vision unit judges whether the fruit enters the fruit sleeve.

In a possible embodiment, the vision unit further determines whether the size of the fruit has reached a preset value by means of the camera assembly.

In one possible embodiment, the picking unit controls the robotic arm to shear when the fruit size reaches a preset value.

In one possible embodiment, the visual unit identifies the fruit branches through the camera assembly, and plans the moving track of the mechanical arm, so that the mechanical arm can cut the fruit branches.

In one possible embodiment, the bracket structure is provided with a plurality of mounting holes, and the worm gear structure is mounted in the mounting holes through a hinge shaft; the connecting rod is provided with sleeve arms which are respectively arranged on two sides of the worm gear structure and sleeved on the hinged shaft.

In one possible embodiment, the worm structure is connected with a driving motor through a coupling, and the driving motor is electrically connected with the driving unit.

In one possible embodiment, the lifting assembly comprises a lifting motor, and a connecting seat connected with an output end of the lifting motor, and the picking assembly is mounted on the connecting seat.

Compared with the prior art, the invention has the beneficial effects that: by adopting the fruit picking robot, the automatic navigation technology based on panoramic vision and taking the fruit real object as the reference can be realized, and the automatic cutting of the mechanical arm is realized, so that the intelligent picking effect is achieved; adopt in the aspect of picking robot's information perception and processing to have subassembly and the lifting unit of making a video recording to strengthen picking robot's practicality, reduce picking robot's intelligent control level requirement for this scheme can realize information, knowledge communication between people and the picking robot, neither need establish the picking robot who has super intellectuality, can avoid again between people and the picking robot hard, the direct contact of carving the board, the compliance and the dexterity of increase system.

The invention is further described below with reference to the accompanying drawings and specific embodiments.

Drawings

FIG. 1 is a schematic view of an embodiment of an intelligent fruit picking robot according to the present invention;

FIG. 2 is a schematic diagram of a frame composition of a control module of the intelligent fruit picking robot according to an embodiment of the present invention;

fig. 3 is a partial structural schematic view of fig. 1.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

As shown in fig. 1 and fig. 2, the fruit picking intelligent robot of the present invention comprises two parts, namely a robot module (fig. 1) and a control module (fig. 2) for controlling the robot module;

in the embodiment shown in fig. 1, the robot module comprises a movable chassis 100, a support structure 101 fixed on the movable chassis 100, a worm structure 102 mounted on the support structure 101, a worm gear structure 103 hinged to the support structure 101 and engaged with the worm structure 102, a connecting rod 104 rotating synchronously with the worm gear structure 103, a camera assembly 105 mounted on the connecting rod 104, a lifting assembly 110 connected with the connecting rod 104, and a picking assembly 106 mounted at the end of the connecting rod 104 and connected with the lifting assembly;

in the embodiment shown in fig. 2, the control module comprises a picking unit 201 for controlling the picking assemblies, a vision unit 202 connected to the camera assembly 105, a drive unit 203 for controlling the rotation of the worm structure, and a lifting unit 204 for controlling the lifting assembly 110;

in the embodiment shown in fig. 3, the picking assembly 106 comprises a forward and a rearward facing fruit barrel 1061, the connecting rod 104 comprises a plurality of mounting holes 1041, and the mounting holes 1041 are provided with the robot arms 107.

In a preferred embodiment, a cloth bag 111 for placing fruit is arranged below the picking assembly 106.

In a preferred embodiment, the mobile chassis 100 is provided with tracks 112 to facilitate walking on mountainous terrain.

As the specific embodiment of fig. 1 and 2, the driving unit 203 drives the worm gear 102 and the worm gear 102 to drive the fruit sleeve 1061 to rotate, and the vision unit 202 determines whether the fruit enters the fruit sleeve 1061.

As a specific embodiment of fig. 1 and 2, the vision unit 203 further determines whether the size of the fruit reaches a preset value through the camera assembly 105. By adopting the mode, the fruit with the size can be picked effectively.

As the embodiment of fig. 1 and 2, when the size of the fruit reaches a preset value, the picking unit 201 controls the mechanical arm 107 to shear.

In one possible embodiment, the vision unit 203 identifies the fruit branch through the camera assembly 105 and plans the movement path of the mechanical arm 107 so that the mechanical arm 107 can cut the fruit branch. Because the effective branches of the fruit tree need to be prevented from being damaged during cutting, the vision unit 203 can also judge the diameter of the branches and perform corresponding processing according to a preset value.

In the embodiment shown in fig. 1, the support structure 101 is provided with a plurality of mounting holes 1011, and the worm gear structure 103 is mounted to the mounting holes 1011 through hinge shafts 108; the connecting rod 104 is provided with sleeve arms 109 which are respectively arranged at two sides of the worm gear structure 103 and sleeved on the hinge shaft 108. The sleeve arms 109 are arranged at two ends of the worm gear structure 103, and can effectively play a role in stabilizing the connecting rod 104.

In a possible embodiment, the worm structure 102 is connected to a driving motor through a coupling (not shown in the drawings, and a coupling in the prior art can be adopted), and the driving motor is electrically connected to the driving unit. The driving unit controls the rotating angle of the connecting rod by controlling the operation of the driving motor, so that the picking and the cutting of the mechanical arm are matched.

In one possible embodiment, the lift assembly 110 includes a lift motor 1101, and a connecting base 1102 connected to an output of the lift motor 1101, the picking assembly 106 being mounted to the connecting base 1102. Specifically, the connecting seat 1102 is driven longitudinally by the lifting motor 1101 and moves circularly by the connecting rod 104, so as to achieve multi-angle fruit picking.

With the development of computer technology and information acquisition and processing technology, the application research of new technologies such as artificial intelligence and machine vision in agricultural machinery has gained attention. The research of agricultural robots combining agricultural technology, mechanical technology, electronic technology, information technology and artificial intelligence technology is one of the research hotspots in the research field of agricultural machines at home and abroad at present. Machine vision replaces visual organs with various imaging systems as input sensitive means, and a computer replaces a brain to finish processing and interpretation, so that certain tasks can be finished according to certain degree of intelligence of visual sensitivity and feedback. Particularly, in recent years, the rapid development of machine vision technology provides a new solution for the autonomous navigation of agricultural robots and the identification of crops; the appearance of the panoramic stereo vision technology provides great convenience for the autonomous navigation of the agricultural robot and the identification and positioning of crops.

Crop picking operations are one of the most time consuming and labor intensive links in the crop production chain. Meanwhile, the quality of the picking operation also directly affects the subsequent processing and storage of the product. How to obtain high-quality products at low cost is a problem that must be considered and considered in the crop production link. Due to the complexity of picking operation, the scale, automation and intelligence degree of the picking operation in China is still low at present, basically, the picking operation of crops is carried out manually, and the cost of manual picking is about 8 hundred million for cotton picking every year. With the aging of population and the reduction of agricultural labor, the agricultural production cost is correspondingly improved, thus greatly reducing the market competitiveness of the product. Therefore, the picking robot is the development direction of the intelligent agricultural machine in the future.

The picking robot works in a highly unstructured environment, and the picking objects are living organisms. Compared with an industrial robot, the picking robot has the following characteristics: 1) the picking objects are tender and fragile, the shapes are complex, and the difference between individuals is large; 2) most of the picking objects are covered by leaves, branches and the like, so that the visual positioning difficulty of the robot is increased, the picking success rate is reduced, and meanwhile, higher requirements are provided for the obstacle avoidance of the picking manipulator; 3) the picking robot works in an unstructured environment, the environmental conditions change along with the change of seasons and weather, the environmental information is completely unknown and open, the requirement on the intelligent control level of the picking robot is high, and the picking robot has considerable intelligence in the aspects of vision, knowledge reasoning, judgment and the like; 4) picking objects are living and fragile organisms, and the fruits are required to be free of damage in the picking process, so that the end effector of the robot is required to have flexibility and dexterity; 5) due to the lack of research on the picking robot, the design idea of the industrial robot is used, so that the picking robot is expensive; 6) the complexity of picking operation actions, the picking robot generally carries out picking operation and movement at the same time, and the walking of a picking area is not the shortest distance connecting a starting point and a terminal point, but has the characteristics of narrow range, longer distance and the like and extends over the whole field surface; 7) due to the long duration of picking, it is desirable to avoid damage to the crop during picking, so as not to affect the yield of picking, for example, cotton picking takes 2 more months; 8) it is desirable to sort during the picking process to improve the quality of the picked product and reduce subsequent sorting processes.

No matter what kind of moving mechanism is adopted in the picking robot, the autonomous navigation problem of the mobile robot exists. At present, mobile robots have various navigation modes, and can be divided into map-based navigation, beacon-based navigation, GPS-based and visual navigation, sensor-based navigation and the like according to the difference of factors such as the integrity of environmental information, the type of navigation indication signals, navigation regions and the like. In the map-based navigation method, the work environment of the robot is input into the control system in advance to form an electronic map. This approach can be used where the structured, environmental conditions are known. Based on beacon navigation, beacons need to be set up at certain locations in the work environment. The robot detects the mutual relation between the robot and the beacon through a measuring device arranged on the body, and calculates the self pose. In this way the positioning error of the robot depends only on the relative position of the robot and the beacons, which is used in industrial automated guided vehicles. The operation environment of the picking robot is complex, and the robot is required to determine the walking direction according to the change of the environment. Therefore, visual navigation becomes the preferred method for autonomous navigation of the picking robot.

It should be noted that, as will be clear to those skilled in the art, the specific implementation processes of the above system and each unit may refer to the corresponding descriptions in the foregoing method embodiments, and for convenience and brevity of description, no further description is provided herein.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, more than one unit or component may be combined or may be integrated into another system, or some features may be omitted, or not implemented.

The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The intelligent fruit picking robot is characterized by comprising a robot module and a control module for controlling the robot module;

2. The intelligent fruit picking robot according to claim 1, wherein the driving unit drives the worm structure and the worm gear structure to drive the fruit sleeve to rotate, and the vision unit judges whether the fruit enters the fruit sleeve.

3. The intelligent fruit picking robot according to claim 2, wherein the vision unit further judges whether the size of the fruit reaches a preset value through the camera assembly.

4. The intelligent fruit picking robot according to claim 3, wherein when the size of the fruit reaches a preset value, the picking unit controls the mechanical arm to shear.

5. The intelligent fruit picking robot according to claim 4, wherein the vision unit identifies fruit branches through the camera assembly and plans a moving track of the mechanical arm so that the mechanical arm can cut the fruit branches.

6. The intelligent fruit picking robot as claimed in claim 1, wherein the support structure is provided with a plurality of mounting holes, and the worm gear structure is mounted to the mounting holes through hinge shafts; the connecting rod is provided with sleeve arms which are respectively arranged on two sides of the worm gear structure and sleeved on the hinged shaft.

7. The intelligent fruit picking robot according to claim 1, wherein the worm structure is connected with a driving motor through a coupling, and the driving motor is electrically connected with the driving unit.

8. The intelligent fruit picking robot according to claim 1, wherein the lifting assembly comprises a lifting motor, and a connecting seat connected with an output end of the lifting motor, and the picking assembly is mounted on the connecting seat.