CN219919738U

CN219919738U - Novel apple picking robot

Info

Publication number: CN219919738U
Application number: CN202320420164.4U
Authority: CN
Inventors: 汪丽媛; 靳冰洁; 陈慧华; 朱少杰
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2023-03-08
Filing date: 2023-03-08
Publication date: 2023-10-31
Anticipated expiration: 2033-03-08

Abstract

The utility model discloses a novel apple picking robot which comprises a picking mechanical arm, a ground control vehicle, a flying picking robot and a depth camera, wherein the depth camera is respectively applied to the picking mechanical arm and the flying picking robot, and the picking mechanical arm consists of a mechanical arm rotation part, a mechanical big arm, a mechanical small arm, a mechanical wrist and a grabbing mechanical arm. The novel apple picking robot can effectively pick fruits at high positions and fruits at deep positions, the combination of the two picking modes also reduces picking time and picking difficulty to a certain extent, high-efficiency picking of the fruits is realized, picking efficiency is improved, and fruit picking cost is reduced.

Description

Novel apple picking robot

Technical Field

The utility model relates to the technical field of robots, in particular to a novel apple picking robot.

Background

At present, a plurality of research institutions at home and abroad have developed a plurality of types of apple picking robots, but the apple picking robots still have the defects of large occupied space, complex operation, high time cost, low operation efficiency and the like, so that the picking efficiency of the apple picking robots is greatly influenced, the picking environment is limited, the fruit picking and the fruit picking under the complex environment cannot be efficiently finished, and as the picking system has a complex structure, the fruit with small surrounding space can have the adverse conditions of damaging fruit tree branches, damaging the fruit integrity, influencing the smoothness of machine actions and the like for the fruits which are wound on the branches. Therefore, in order to reduce the overall picking time of the robot and improve the overall working efficiency, a novel picking robot needs to be studied.

Disclosure of Invention

The utility model aims to provide a novel apple picking robot which can effectively pick fruits at high positions and fruits at deep positions, and the combination of the two picking modes also reduces picking time and picking difficulty to a certain extent, so that efficient picking of the fruits is realized, the picking efficiency is improved, and the cost of picking the fruits is reduced.

In order to achieve the above purpose, the utility model provides a novel apple picking robot which comprises a picking mechanical arm, a ground control vehicle, a flying picking robot and a depth camera, wherein the depth camera is respectively applied to the picking mechanical arm and the flying picking robot, and the picking mechanical arm consists of a mechanical arm rotating part, a mechanical big arm, a mechanical small arm, a mechanical wrist and a grabbing mechanical arm.

Preferably, the mechanical arm rotating part can enable the picking mechanical arm to rotate 360 degrees, the mechanical big arm has 2 degrees of freedom, the mechanical small arm has at least 2 degrees of freedom, and the mechanical big arm and the mechanical small arm are connected in a parallelogram connection mode.

Preferably, the vehicle-mounted power supply for supplying power to the flying picking robot is arranged on the vehicle body of the ground control vehicle, the flying picking robot is provided with a suction pipe for sucking apples and a winding and unwinding winch device, the winding and unwinding winch device comprises a winch and a power line, and the flying picking robot is connected with the vehicle-mounted power supply through the power line.

Preferably, the ground control vehicle comprises a self-adaptive hopper and a vehicle posture adjusting structure, and the vehicle posture adjusting structure comprises a fuzzy PID controller and a hydro-pneumatic spring.

Preferably, the picking mechanical arm is connected with the body of the ground control vehicle by adopting a rotary joint, and the picking mechanical arm can move up and down at the center of an anchor point and can move within 90 degrees.

Preferably, the grabbing manipulator comprises a position detection device, a control system, a driving system and an executing mechanism.

Preferably, the depth camera comprises an RGB-D depth camera, a CCD camera and a CMOS camera sensor, wherein the RGB-D depth camera is respectively positioned on a mechanical small arm and a flying picking robot, and the CCD camera and the CMOS camera sensor are positioned at the front part of a ground control vehicle body.

The novel apple picking robot has the advantages and beneficial effects that:

1. two picking modes can be realized through the grabbing mechanical arm and the flying picking robot, the grabbing mechanical arm picks fruits at a high position, the flying picking robot picks fruits at a deep position of a crown, the combination of the two picking modes also reduces picking time and picking difficulty to a certain extent, efficient picking of the fruits is realized, picking efficiency is improved, and fruit picking cost is reduced.

2. The multi-degree-of-freedom mechanical arm is combined with the flying picking robot, so that picking efficiency can be improved, movement is convenient, operation is simple, fruit picking in a complex environment can be realized, all parts are mutually matched, cooperative work is achieved, operation efficiency is high, and environmental adaptability is good.

The technical scheme of the utility model is further described in detail through the drawings and the embodiments.

Drawings

FIG. 1 is a schematic view of the overall structure of an embodiment of a novel apple picking robot of the present utility model;

FIG. 2 is a schematic view of a picking robot arm in an embodiment of a novel apple picking robot of the present utility model;

FIG. 3 is a schematic view of a flying picking robot in an embodiment of a novel apple picking robot of the present utility model;

fig. 4 is a schematic diagram of a vehicle posture adjusting structure in an embodiment of the novel apple picking robot.

Reference numerals

1. A picking mechanical arm; 2. a grabbing manipulator; 3. a flying picking robot; 4. a ground control vehicle; 5. a vehicle posture adjusting structure; 6. a depth camera; 7. a mechanical arm; 8. a mechanical large arm; 9. a suction pipe; 10. and a power supply line.

Detailed Description

The technical scheme of the utility model is further described below through the attached drawings and the embodiments.

Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

As shown in the figure, the novel apple picking robot comprises a picking mechanical arm 1, a ground control vehicle 4, a flying picking robot 3 and a depth camera 6, wherein the depth camera 6 is respectively applied to the picking mechanical arm 1 and the flying picking robot 3, and the picking mechanical arm 1 consists of a mechanical arm rotation part, a mechanical big arm 8, a mechanical small arm 7, a mechanical wrist and a grabbing mechanical arm 2.

The mechanical arm rotating part enables the picking mechanical arm 1 to rotate 360 degrees, the mechanical big arm 8 has 2 degrees of freedom, the mechanical small arm 7 has not less than 2 degrees of freedom, and the mechanical big arm 8 and the mechanical small arm 7 are connected in a parallelogram connection mode. The horizontal and vertical movements of the parallelogram-shaped robotic arm are more flexible than the rectangular configuration of the conventional approach.

The vehicle body of the ground control vehicle 4 is provided with a vehicle-mounted power supply for supplying power to the flying picking robot 3, the flying picking robot 3 is provided with a suction pipe 9 for sucking apples and a winding and unwinding winch device, the winding and unwinding winch device comprises a winch and a power line 10, and the flying picking robot 3 is connected with the vehicle-mounted power supply through the power line 10. The vehicle-mounted power supply supplies power for the flying picking robot 3 in real time, so that the flying picking robot 3 can work for 24 hours. The flying picking robot 3 is connected with the vehicle-mounted power supply through a power supply wire 10, the length of the power supply wire 10 determines the free moving distance of the flying picking robot 3, the longer the length is, the larger the reachable distance of the flying picking robot 3 is, apples at higher positions can be picked, but starting weight is increased, and the speed of the flying picking robot 3 is limited, so that the length of the power supply wire 10 is limited in a certain range.

The ground control vehicle 4 comprises a self-adaptive hopper and a vehicle posture adjusting structure 6, and the vehicle posture adjusting structure 6 comprises a fuzzy PID controller and a hydro-pneumatic spring. The traditional vehicle posture adjusting technology is often controlled by adopting a common reversing valve, so that phenomena such as overcharge, overdischarge, oscillation and the like are easy to occur, and the problem of poor adjusting precision is easy to occur. In order to further improve the adjusting precision and shorten the adjusting time, the driving gesture adjustment is performed by adopting a fuzzy PID algorithm. The hydraulic principle and the control system are designed, and key technologies such as fuzzy PID controller and control algorithm design are researched. The high-precision automatic adjustment of the vehicle control posture is realized by utilizing corresponding control logic and control algorithm. The height adjustment of the vehicle attitude is realized by effectively controlling the oil quantity of the oil chamber in the hydro-pneumatic spring. When the picking field is uneven or has a slope, the vehicle posture adjusting system can adjust timely according to local landforms so as to adapt to the ground with different flatness, so that fruits in the self-adaptive vehicle hopper are prevented from falling out due to overlarge ground inclination, and the integrity of the fruits is ensured.

The picking mechanical arm 1 is connected with the body of the ground control vehicle 4 through a rotary joint, and the picking mechanical arm 1 can move up and down at the center of an anchor point and can move within 90 degrees. The picking mechanical arm 1 takes the relative angular displacement of each adjacent part of the arm as a motion coordinate, has flexible action, small occupied space and large working range, and can bypass various barriers in a narrow space.

The grabbing manipulator 2 comprises a position detection device, a control system, a driving system and an executing mechanism. The geometrical parameters are chosen such that the gripper robot 2 can reach every possible drop position in the robot work space. Each joint is driven by a DynamixelPro model L54-50-S500-R to increase torque output, speed and reduce backlash. During movement of the picking robot arm 1, sensors monitor the position and torque applied by each shaft. If the torque applied is too great, the scheduler will be notified so that it can abort the picking operation and continue picking the next fruit.

The depth camera 6 comprises an RGB-D depth camera 6, a CCD camera and a CMOS camera sensor, the RGB-D depth camera 6 being located on the mechanical arm 7 and the flying picking robot 3, respectively. The mechanical arm 7, the flying picking robot 3 and the car body part all use the depth camera 6, and the mechanical arm 7 and the flying picking robot 3 capture apples by means of the RGB-D depth camera 6 and capture apples by means of an image processing technology and a three-dimensional reconstruction technology. Firstly, acquiring image information of a target object, and processing an acquired sample image by using an image processing technology to improve the image quality; then dividing the target object from the image background, and extracting feature information such as color, contour and the like by using a related feature calculation method; and finally, positioning three-dimensional space positions of fruits and picking points, and sending position information to the grabbing manipulator 2 and the flying picking robot 3.

The CCD camera and the CMOS camera sensor are located at the front of the body of the ground control car 4. The camera data senses objects in the surrounding environment to identify objects on the road. The working principle is that after the lens collects images, the photosensitive component circuit and the control component in the camera process the images and convert the images into digital signals capable of being processed, so that the surrounding environment conditions of the vehicle are perceived, and the functions of collision early warning, lane deviation warning, pedestrian detection and the like are realized.

After processing by the depth camera 6, the crown image is processed by the vision system to detect the fruits in the image and locate their position in 3D space, the system will determine the order in which the fruit is picked up for location. Next, an optimized motion profile is generated and streamed to each controller. When in place, the grasping manipulator 2 is activated to separate the target fruit from the crown.

When the robot is used, the ground control vehicle 4 is parked below a fruit tree to be picked, the vehicle posture of the ground control vehicle 4 is adjusted according to the ground environment through the vehicle posture adjusting structure 6, the CCD camera and the CMOS camera sensor, the picking mechanical arm 1 picks fruits at the lower part of the fruit tree and the position, which is close to the outer part of the fruit tree, of the fruit tree according to the RGB-D depth camera 6, the fruits picked by the grabbing mechanical arm 2 are placed into the self-adaptive vehicle hopper through the movement of the picking mechanical arm 1, meanwhile, the flying picking robot 3 picks fruits at the depth of the crown or the position higher than the crown according to the positioning of the RGB-D depth camera 6, after the flying picking robot 3 recognizes the apples, the apples are sucked by the aid of the suction pipe 9, and the apples are placed into the self-adaptive vehicle hopper.

Therefore, the novel apple picking robot can effectively pick fruits at high positions and fruits at deep positions, the combination of the two picking modes also reduces picking time and picking difficulty to a certain extent, efficient picking of the fruits is achieved, picking efficiency is improved, and fruit picking cost is reduced.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting it, and although the present utility model has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the utility model can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the utility model.

Claims

1. Novel apple picking robot, its characterized in that: the device comprises a picking mechanical arm, a ground control vehicle, a flying picking robot and a depth camera, wherein the depth camera is respectively applied to the picking mechanical arm and the flying picking robot, and the picking mechanical arm consists of a mechanical arm rotating part, a mechanical large arm, a mechanical small arm, a mechanical wrist and a grabbing mechanical arm.

2. A novel apple picking robot as claimed in claim 1 wherein: the mechanical arm rotating part enables the picking mechanical arm to rotate 360 degrees, the mechanical big arm has 2 degrees of freedom, the mechanical small arm has not less than 2 degrees of freedom, and the mechanical big arm and the mechanical small arm are connected in a parallelogram connection mode.

3. A novel apple picking robot as claimed in claim 1 wherein: the vehicle-mounted power supply for supplying power to the flying picking robot is arranged on a vehicle body of the ground control vehicle, the flying picking robot is provided with a suction pipe for sucking apples and a winding and unwinding winch device, the winding and unwinding winch device comprises a winch and a power line, and the flying picking robot is connected with the vehicle-mounted power supply through the power line.

4. A novel apple picking robot as claimed in claim 1 wherein: the ground control vehicle comprises a self-adaptive vehicle hopper and a vehicle posture adjusting structure, and the vehicle posture adjusting structure comprises a fuzzy PID controller and an oil-gas spring.

5. A novel apple picking robot as claimed in claim 1 wherein: the picking mechanical arm is connected with the body of the ground control vehicle through a rotary joint, and can move up and down at the center of an anchor point and can move within 90 degrees.

6. A novel apple picking robot as claimed in claim 1 wherein: the grabbing manipulator comprises a position detection device, a control system, a driving system and an executing mechanism.

7. A novel apple picking robot as claimed in claim 1 wherein: the depth camera comprises an RGB-D depth camera, a CCD camera and a CMOS camera sensor, wherein the RGB-D depth camera is respectively positioned on the mechanical arm and the flying picking robot, and the CCD camera and the CMOS camera sensor are positioned at the front part of the ground control vehicle body.