WO2015003513A1

WO2015003513A1 - Robot and method for picking fruit of camellia oleifera

Info

Publication number: WO2015003513A1
Application number: PCT/CN2014/074850
Authority: WO
Inventors: 李立君; 高自成; 易春峰; 闵淑辉; 杨蹈宇; 程学良; 张翔; 彭少波; 李帅; 杨树松
Original assignee: 中南林业科技大学
Priority date: 2013-07-12
Filing date: 2014-04-04
Publication date: 2015-01-15
Also published as: AU2014289895A1

Abstract

Disclosed are a robot for picking fruit of Camellia oleifera and a method for picking fruit of Camellia oleifera using the robot. The robot for picking fruit of Camellia oleifera comprises a chassis (5), and a chassis travelling system (6) for driving the chassis to move and a control system (7). A picking arm (3) and a visual recognition system (4) are arranged on the chassis, vibrating picking heads (3-20) being arranged on an end of the picking arm. A three-phase asynchronous electric motor (7) providing motive power to the chassis travelling system, an electrical control cabinet (1) controlling the picking arm and the visual recognition system, and an electric generator (2) providing electric power to the Camellia oleifera fruit picker are arranged on the chassis. The control system comprises a control computer, the control computer controlling the picking arm to pick fruit according to information such as the position and size of a Camellia oleifera fruit tree collected by the visual recognition system, automatically accomplishing the process of picking Camellia oleifera fruit. The fruit picking robot has advantages such as being highly automated, having good adaptability to the picking environment, excellent compatibility between mechanisms, and being convenient for maintenance. The robot is able to ensure continuity in the picking operation, so that the picking efficiency is high.

Description

Camellia fruit picking robot and teafruit picking method thereof

Technical field

The invention relates to a picking machine for forestry economic crops and a working method thereof, in particular to a tea picking robot capable of automatically completing the picking of camellia fruit and a method for picking the camellia fruit, belonging to the technical field of forestry harvesting machinery.

Background technique

Camellia is a unique woody oil crop, and it is also one of the world's four woody edible oils with oil palm, olive and coconut. Camellia oil is called "Oriental Olive Oil". China has abundant oil tea resources. The oil proposed from Camellia oleifera is called Camellia Seed Oil, which is rich in nutrients and rich in unsaturated fatty acids such as oleic acid and linoleic acid. In addition, tea polyphenols and camellia in camellia oil have obvious effects on lowering cholesterol and anti-cancer, anti-oxidation and storage resistance. Camellia seed oil is also rich in vitamins, E, D, strontium, β-carotene, tea polyphenols, camellia, squalene and other physiologically active substances, so Camellia is an important high-quality raw material for vegetable oil. However, its harvest has a strong seasonality. For a long time, most of the oil tea plantations rely on artificial oil extraction, which consumes a lot of manpower and time, has low picking efficiency, and some oil teas are difficult to pick or pick. Security has certain threats. In the prior art, this problem has not been solved. The development of the oil tea picking machine has just started. The olive picking machine has been introduced abroad. Although the degree of automation and work efficiency of the mechanism is high, the mechanism is too complicated and the cost is too high. It is not suitable for China's current situation. Foreign research on picking robots began in the 1980s. The visual technology of picking robots has always been a research hotspot. However, most of the vision mechanisms are fixed to the picking arm or multiple cameras are fixed to the frame. The Japanese Miyazaki University robot uses two cameras, the structure is very complicated, the volume and quality are large, and the camera collection effect is not good. Domestic research on picking robots started relatively late, and the visual technology of picking robots has always been the focus of research. The strawberry picking robot of China Agricultural University fixes the visual mechanism on the picking arm. Since the vision often needs to change position, it needs to be manually changed and inconvenient to use. At the same time, some telescopic mechanisms are used at home and abroad to assist the vision system, but the main purpose is to use the single cylinder or multi-cylinder to drive the telescopic mechanism to expand and contract. The cylinder is used as the power source, which increases the structural complexity, the cost of use, and the mechanism of the telescopic mechanism. The quality increases the maintenance cost of the telescopic mechanism. Therefore, how to develop a tea-fruit picking machine suitable for China's actual use still needs to be strengthened. After searching, it has not found the same technical report directly related to the present invention, only some related patents, mainly the following:

1. The application number is 2012101407393, and the invention patent entitled "A self-propelled camellia picking machine" discloses a camellia picking machine, comprising a frame, a chassis driving system for driving the frame, the frame A picking arm and a chassis leg are mounted thereon, and a vibrating picking head is mounted at the end of the picking arm. The picking arm is a space open chain link mechanism having six degrees of freedom, and the structure comprises a rotating arm mounted on the frame by a picking arm seat, the upper end of the rotating arm is hinged with a main arm, and the main arm is sleeved The driven slider, the protruding end of the driven slider is hinged with a horizontal swing seat, and the other end of the horizontal swing seat is hinged with a vibration swing seat, and the other end of the vibration swing seat is connected to the vibrating head hanger for placing the picking head, and the vibration The picking head is suspended below the hanger.

2. The patent publication number is CN202617725, and the utility model name is “a boom structure for a camellia picking machine”, and its sovereignty is “a boom structure for a camellia picking machine, which is characterized in that The utility model comprises a support fixed on the chassis frame, a rotary arm mounted on the support and rotatable about its own axis, the rotary arm having a motor drive on one side thereof; the upper end of the rotary arm is hinged to one end of the main arm The main arm is provided with a main arm driven slider that is slidable relative to the main arm, and the main arm driven slider is hinged with a horizontal swinging seat, and the horizontal swinging seat is provided with a vibrating head sliding seat connected with the picking head; There is a hydraulic cylinder between the rotating arm and the main arm, between the main arm and the main arm follower block, between the main arm follower block and the horizontal swing seat, and between the horizontal swing seat and the vibrating head slide.

3. The patent publication number is CN201928661, and the utility model name is “a multi-degree-of-freedom picking arm for the camellia picking machine”. Its sovereignty is “a multi-degree-of-freedom picking arm for the camellia picking machine. The utility model is characterized in that it comprises a rotating arm mounted on the picking arm seat, the upper end of the rotating arm is hinged with a main arm, the upper end of the main arm is hinged with a jib, and the other end of the jib which is hinged at one end of the main arm is hinged with a picking head. a picking head frame for mounting a picking head is hinged at the other end of the picking head seat which is hinged on the jib at one end; the upper part of the rotating arm is provided with a slanted diagonal pull rod, and the other end of the slanting rod is hinged with a main arm long rod The other end of the main arm long pull rod is hinged with one end of a jib long pull rod, and the hinge joint of the main arm long pull rod and the jib long pull rod is hinged with one end of the other rocker, and the main arm and the jib are hinged The joint is hinged to the other end of the rocker, and the other end of the auxiliary arm long rod is hinged on the picking head; the rotating arm is provided with a rotating arm hydraulic cylinder that can drive the main arm to rotate relative to the rotating arm. The main arm is provided Main arm fluid that can drive the jib to rotate relative to the main arm a pressure cylinder, wherein the picking head seat is provided with a picking head hydraulic cylinder that can drive the picking head frame to rotate relative to the picking head seat. "The above patents relate to the mechanization of pickling of camellia, but the disclosed tea-fruit picking mechanism is too simple to achieve the objectives of the present invention; in particular, the actuators used for picking use hydraulic systems as the power source. Due to some shortcomings of the hydraulic system, including 1) the leakage of hydraulic oil and the compressibility of the liquid will affect the accuracy of the movement of the actuator, so the strict transmission ratio cannot be guaranteed. 2) It is sensitive to the change of oil temperature, it is not suitable Working at very high or very low temperature conditions 3) Energy loss (leakage loss, overflow loss, throttling loss, friction loss, etc.) is large, transmission efficiency is low, and it is not suitable for long-distance transmission. In the event of a fault, it is not easy to find the cause. The picking mechanism of the camellia picking machine has high requirements for the accuracy of the movement, and has strict requirements on the transmission ratio. If the positioning is not accurate during the picking process, the clamping force is too loose or too tight, often Causes missed picking and also requires manual picking, which affects picking efficiency, or damages camellia; and Camellia picking The working environment of the picking mechanism is generally in the mountainous area, the terrain is bad, the reliability and maintainability of the system are high, and the maintenance of the hydraulic system is often complicated.

Summary of the invention

The object of the present invention is to provide a reasonable range of picking, high picking efficiency, convenient operation, high degree of intelligence, and high inter-institutionalization, in view of the fact that the current teacup fruit picking degree is not high, the manual picking labor intensity is high, and the efficiency is low. A tea killow picking robot with good adaptability and coordination, and a practical method for picking and extracting camellia. The camellia picking robot can automatically, accurately and quickly find the proper position of the trunk of the camellia tree at different position distances and different heights, can be clamped and vibrated by the picking head, so that the mature camellia fruit falls off, the picking efficiency is high, and the operation is convenient At the same time, the damage caused to the flower tea flower buds and flower buds is small.

Through the research on the Camellia oleifera tree, which is now in the scale of the Camellia oleifera planting base, it is found that the Camellia oleifera has a greater toughness. The main stem of Camellia oleifera has no fruit. The fruit is mainly distributed at the front end of the twig of Camellia oleifera. It is distributed along the surface of the tree.

Through the above analysis, the present invention provides a kapok picking robot for realizing the object of the present invention, comprising a chassis and a walking portion, and a picking robot actuator, a power portion and a visual recognition system are mounted on the chassis and the walking portion; Through the transmission mechanism, the chassis and the walking part, the picking robot actuator and the visual recognition system are connected, and the whole tea-fruit picking robot is driven by the chassis and the walking part, and is carried out through a visual recognition system. Identifying, and then picking the camellia by the picking robot actuator; the picking robot actuator includes a boom support for supporting the actuator, the swing bracket is mounted with a rotary table, and the rotary table can rotate around its central axis a picking arm is mounted on the rotary table, the picking arm can be rotated together with the rotating table; a vibrating picking head is arranged at the end of the picking arm, and the camellia pick is picked by the vibrating picking head; the visual recognition system is a kind The imaging device of the telescopic mechanism is mounted on the frame by a telescopic mechanism.

Further, the rotating table comprises a horizontal sliding table and a vertical sliding table, and the horizontal sliding table and the vertical sliding table are fixedly connected in an "L" shape; the water sliding table is mounted with a main pulling rod bottom plate, the main pulling rod The bottom plate is hingedly connected to one end of the second shaft main arm by a hinge device, and is hingedly connected to one end of the main rod; the third shaft main arm base is mounted on the vertical sliding table, and the third shaft main arm base is hinged and third One end of the main shaft of the shaft is hingedly connected; the horizontal sliding table and the vertical sliding table are respectively provided with a horizontal sliding table servo motor and a vertical sliding table servo motor, and the horizontal sliding table servo motor drives the main rod bottom plate to horizontally move through the vertical The direct slide servo motor drives the third axis main arm base to move vertically.

Further, the picking arm comprises a second shaft main arm and a fourth shaft auxiliary arm, wherein the second shaft main arm is an inner arm, the fourth shaft auxiliary arm is an outer arm, and the second shaft main arm is connected by a hinge device The main pull rod bottom plate is connected, the other end is also hingedly connected with the fourth shaft auxiliary arm by a hinge device, and the fourth shaft support is mounted at the other end of the fourth shaft auxiliary arm, and the fourth shaft support is provided with a horizontal swing seat and a horizontal Swinging the servo motor, the horizontal swing servo motor driving the horizontal swing seat to realize left and right swing; the horizontal swing seat is connected with a vibration picking head, clamping the target trunk through the vibration picking head and vibrating to cause the mature camellia fruit to fall off, completing the oil tea Fruit picking operations.

Further, the vibrating picking head is connected to the horizontal swinging seat through the slider mechanism, and is driven by the servo motor, and at the same time, a rotating servo motor is arranged on the horizontal swinging seat, and the rotating servo motor drives the vibrating picking head to rotate the servo motor. Rotate in the direction of the axis.

Further, the hinge shaft hinged by the second shaft main arm and the fourth shaft auxiliary arm is provided with a pull rod triangular block, and a corner of the pull rod triangular block is hingedly connected with the horizontal swing seat through the auxiliary pull rod, and the other corner of the pull rod triangular block passes through the main The drawbar is hingedly connected with the bottom plate of the main pull rod to ensure that the horizontal swing seat always keeps the axis of the vibration picking head in a horizontal state when the third shaft main arm drives the second shaft main arm and the fourth shaft auxiliary arm to move.

Further, a side of the rotary table is provided with a power device for driving the rotation of the rotary table, comprising being mounted on the chassis a rotary table servo motor, a first shaft reducer and a coupling; the rotary table servo motor drives the rotary table through a coupling through a first shaft reducer, and when the rotary table needs to rotate, Lock yourself.

Further, the telescopic mechanism of the visual recognition system is a three-stage telescopic mechanism, wherein two segments are movable joint arms, and two movable joint arms are connected to each other; and then mounted on the frame beam.

Further, the telescopic mechanism comprises a frame, an electric motor, a transmission device, a frame beam mounted on the frame, an I-section arm mounted on the frame beam and relatively movable; mounted on the I-section arm and capable of a relatively movable II-section arm; telescopic guides respectively disposed on both sides of the frame beam, the I-section arm and the II-section arm; the motor drives the I-section arm and II through the transmission and the telescopic guide The arm is telescopically moved to realize visual collection of the tree object by the camera.

A method for picking a camellia fruit, which is picked by a camellia picking robot with a chassis and a walking part, a picking robot actuator, a power part and a visual recognition system, and the power part drives the chassis and the walking part to reach a designated picking point, and then passes The visual recognition system on the picking robot is used for identification, and then the picking robot actuator is used to pick the camellia.

Further, the picking robot actuator picking the camellia is provided with a boom support on the chassis, a rotary table is mounted on the boom support, and a picking arm is mounted on the rotary table, and the picking arm can be used together with the rotating table Rotating; the end of the picking arm is equipped with a vibrating picking head, and the pickled tea is picked by a vibrating picking head.

Further, the vibrating picking head picks the camellia fruit by clamping the target trunk through a chuck mounted on the vibrating picking head, and then picking up the camellia fruit by the vibration of the vibrating picking head to complete the picking of the camellia fruit.

Further, the visual recognition system performs the identification that the camera device is mounted on a telescopic mechanism that can be folded and folded, and the position of the camera device is moved by the extension or folding of the telescopic mechanism to facilitate the realization of the tree. Visual collection of body targets.

Further, the visual recognition system is a binocular stereoscopic vision recognition system, and the binocular stereoscopic vision recognition system uses a binocular stereo vision measurement method to acquire a spatial position of the target; the binocular stereo vision measurement method is based on a parallax principle and utilizes an imaging device. Obtaining two images of the object to be measured from different positions, and calculating the three-dimensional geometric information of the object by calculating the positional deviation between the corresponding points of the image, the binocular stereo vision measurement method directly simulates the human visual processing scene The method of object can flexibly measure the stereoscopic information of the scene under various conditions, and has the advantages of high efficiency, appropriate precision, simple system structure and low cost, and is very suitable for online and non-contact product detection and control, since image acquisition is It is done in an instant, so the binocular stereo vision measurement method is a very effective measurement method.

Further, the visual recognition system includes two cameras and a telescopic mechanism, and the telescopic mechanism includes a frame, an electric motor, a transmission device, a frame beam mounted on the frame, and is mounted on the frame beam and relatively movable. I-section arm; a 2-section arm mounted on the I-section arm and capable of relative movement; telescopic guides respectively disposed on both sides of the frame beam, the I-section arm and the II-section arm; the motor passing through the transmission And the telescopic guiding device drives the I-section arm and the II-section arm for telescopic movement to realize visual collection of the tree object by the camera.

Further, the picking of the camellia includes the following steps:

Step 1: Collect information such as the location, size, and fruit of the camellia tree through a visual recognition system, and send the collected information back to the control computer;

Step 2: The control system comprehensively processes the information fed back by the visual recognition system, analyzes and judges the position of the pickled tea picking robot relative to the camellia tree, the clamping position of the picking arm on the camellia tree and the vibration frequency and vibration of the vibrating picking head. Job information such as time;

Step 3: The control system controls the tea picking robot to dock on the edge of the camellia tree according to the result of the analysis. The picking arm of the camellia picking robot adjusts the vibrating picking head to the clamping position of the camellia tree under the guidance of the control system. And clamping, complete the preparation work before picking;

Step 4: The vibrating picking head applies the appropriate frequency and amplitude vibration to the camellia fruit tree under the guidance and control of the control system, and maintains a certain time. The inertia force generated by the vibration separates the camellia fruit from the branches to realize the picking of the camellia fruit. Step 5: The visual identification system again collects information on the camellia fruit tree to determine whether the harvesting completion standard is reached; if the picking standard is reached, the vibration picking head is loosened, the picking arm is taken back, and the picking operation of the camellia fruit is completed; if the picking standard is not met, The control system adjusts the vibration frequency and amplitude according to the secondary information collected by the visual recognition system to vibrate the Camellia oleifera tree twice until the picking completion standard is reached, the vibration picking head is released, the picking arm is taken back, and the picking operation of the camellia fruit is completed.

The invention has the advantages that: according to the characteristics of the Chinese camellia tree, the invention is picked by a walking can of camellia The robot uses the visual recognition system for recognition and automatically picks up by the picking robot actuator. It has the characteristics of good picking effect, no damage to the branches, and labor-saving and high efficiency. Especially in the present invention, the picking arm is integrally fixed to the chassis through the boom support. The rotating arm is driven by the rotating arm servo motor to connect the rotating coupling, and the rotating arm is rotated by the first shaft reducer through the coupling. When the rotating arm needs to rotate, the angle limiting device can lock by itself. dead. The second shaft main arm and the main pull rod are driven by the slide servo motor, and the third shaft main arm is driven by the second shaft main arm through the second shaft third shaft connecting block, and then driven by the fourth shaft jib and the auxiliary rod The movement of the four-axis bearing to achieve the purpose of the expansion and contraction of the actuator. The third shaft main arm is driven to rotate by the slide servo motor, and the secondary shaft, the main rod and the second shaft main arm are moved by the fourth shaft auxiliary arm to realize the vertical movement of the actuator. The horizontal swing seat is driven by the horizontal swing servo motor to realize its own left and right swing. The vibration picking head is mounted on the horizontal swing seat, and is driven up and down by the upper and lower servo motors. Finally, the vibration is picked up by the rotation of the servo motor. The motor rotates in the direction of the axis. Therefore, the entire actuator has a total of six degrees of freedom. At the time of picking, the posture of the vibrating picking head is adjusted by the moving parts, so that the vibrating picking head clamps the target trunk and vibrates so that the mature camellia fruit falls off, and the tea picking operation is completed.

The picking arm of the invention is a space open chain connecting rod structure, has six degrees of freedom, has a reasonable working space, is consistent with the required picking space, has good coordination between the components in the picking process, has reasonable speed matching, and adopts electromechanical integration control. The integration degree is high, the degree of automation is high, the installation operation is convenient, the picking environment is adaptable, the inter-organization coordination is good, the continuity of the picking action can be ensured, the picking efficiency is high, the maintenance is convenient, and the utility is strong.

In the present invention, the visual recognition system is a binocular stereoscopic vision recognition system, and the binocular stereoscopic vision recognition system uses a binocular stereo vision measurement method to acquire a spatial position of the target; the binocular stereo vision measurement method is based on the parallax principle and utilizes imaging. The device acquires two images of the object to be measured from different positions, and calculates the three-dimensional geometric information of the object by calculating the positional deviation between the corresponding points of the image. The binocular stereo vision measurement method directly simulates the manner in which the human vision processes the scene, and Flexibility to measure the stereo information of the scene under various conditions has the advantages of high efficiency, appropriate precision, simple system structure and low cost. It is very suitable for online and non-contact product detection and control. Since image acquisition is completed in an instant, Therefore, the binocular stereo vision measurement method is a very effective measurement method.

DRAWINGS

Figure 1 is a schematic front view of the present invention; 2 is a schematic top plan view of the present invention;

3 is a schematic front view showing the picking arm of the present invention;

4 is a schematic top plan view of the picking arm of the present invention;

Figure 5 is a partial structural view of the A direction of Figure 3;

Figure 6 is a front view showing the structure of the telescopic mechanism of the present invention;

Figure 7 is a schematic rear view of the telescopic mechanism of the present invention;

Figure 8 is a schematic top plan view of the present invention.

In the figure: 1. Electrical control cabinet, 2. Generator, 3. Picking arm, 4. Visual identification system, 5. Chassis, 6. Chassis driving system, 7. Three-phase asynchronous motor;

3- 1. Rotary table servo motor, 3-2. First axis reducer, 3-3. Boom support, 3-4. Coupling, 3-5. Rotary table, 3-6. Horizontal slide 3-7. Main pull rod bottom plate, 3-8. Vertical slide table, 3-9. Vertical slide table servo motor, 3-10. Third axis main arm base, 3-11. Main pull rod, 3-12 .The third axis main arm, 3-13. The second axis main arm, 3-14. The tie rod triangle, 3-15. The secondary rod,

3- 16. Fourth-axis jib, 3-17. Fourth-axis support, 3-18. Horizontal oscillating servo motor, 3-19. Vibration servo motor, 3-20. Vibration picking head, 3-21. Head, 3-22. Servo servo motor, 3-23. Upper and lower servo motor, 3-24. Horizontal slide servo motor, 3-25. Rotary servo motor, 3-26. Horizontal swing seat; 3-27. Bevel gear;

4- 1. Rack, 4-2. Guide sheave, 4-3. Extend the wire rope, 4-4. External pulley, 4-5. Section I arm, 4-6. Frame beam,

4- 7. Pulley one, 4-8. Section II arm, 4-9. Link one, 4-10. Fixing pin one, 4-11. Pulley three, 4-12. Built-in pulley, 4-13. Pulley Second, 4-14. Pulley four, 4-15. Retract the wire rope, 4-16. Pulley six, 4-17. Pulley five, 4-18. Fixed pin two, 4-19. Lianban II, 4-20. Pulley eight, 4-21. Pulley seven, 4-22. Motor, 4-23. Two-way clutch, 4-24. Extend the roller, 4-25. Retract the roller.

detailed description

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work. As shown in the drawings, the present invention provides a camellia picking robot comprising a chassis 5, a chassis driving system 6 for driving the chassis 5 to move, and a control system. The chassis 5 is provided with a picking arm 3 and a visual recognition system 4, and the picking arm 3 The end is equipped with a picking head, and the chassis 5 is provided with a three-phase asynchronous motor 7 for powering the chassis driving system 6, an electric control cabinet 1 for controlling the interaction of the kumquat picking robots, and power generation for the camellia picking machine. Machine 2, the control system includes a PLC disposed in the electric control cabinet 1, and the control system controls the position and size of the camellia tree collected by the visual recognition system 4 to control the colloidal picking robots to cooperate with each other to perform the picking operation, and automatically complete the oil tea The fruit picking process realizes intelligent picking operations without manual intervention and high picking efficiency.

The picking arm 3 comprises a boom support 3-3 for supporting the actuator, the boom support 3-3 is arranged on the frame of the chassis 5; a rotary table 3-5 which can be rotated about its own central axis, the rotary table 3- 5 Installed on the boom support 3-3, the control system sets the angular limit to the rotary table 3-5, and can lock itself when the rotary table 3-5 reaches the limit angle; a power unit for driving the rotation of the rotary table 3-5, including a rotary table servo motor 3-1 for driving the rotation of the rotary table 3-5, and the rotary table servo motor 3-1 is disposed on the frame of the chassis 5; The servo motor 3-1 is coupled to the first shaft reducer 3-2, and the first shaft reducer 3-2 is coupled to the coupling 3-4. Coupling 3-4 for transmitting power to the rotary table 3-5, the coupling 3-4 is coupled between the first shaft reducer 3-2 and the rotary table 3-5; an " ^L " connection Fixed horizontal slide table 3-6 and vertical slide table 3-8, horizontal slide table 3-6 fixedly connected to rotary table 3-5, horizontal slide table 3-6 and vertical slide table 3-8 respectively There are horizontal slide servo motor 3-24 and vertical slide servo motor 3-9, second shaft main arm 3-13 and main pull rod 3-11 are driven by horizontal slide 3-6, vertical slide servo motor 3 -9 for driving the third shaft main arm 3-12 to rotate; the second shaft main arm 3-13 hingedly mounted on the horizontal slide table 3-6; the main pull rod bottom plate 3 provided on the horizontal slide table 3-6 7; main pull rods 3-11 hingedly mounted on the main tie rod bottom plate 3-7; third shaft main arm bases 3-10 disposed on the vertical slide table 3-8, the third main shaft main arm bases 3-10 may Sliding on the vertical slide table 3-8; hingedly mounted on the third shaft main arm base 3-10 on the third shaft main arm 3-12; respectively with the second shaft main arm 3-13 and the third shaft main arm 3-12 hingedly connected fourth shaft jib 3-16; secondary tie rod 3-15 arranged in parallel with the fourth shaft jib 3-16; respectively with the main rod 3-11, the second shaft a pull rod triangle 3-14 connected to the arm 3-13 and the auxiliary pull rod 3-15; a fourth shaft support 3-17 hingedly connected to the auxiliary pull rod 3-15 and the fourth shaft auxiliary arm 3-16, respectively; The four-axis support 3-17 is provided with a horizontal swing seat 3-26 and a horizontal swing servo motor 3-18, and the horizontal swing servo motor 3-18 drives the horizontal swing seat 3-26 to realize left-right swing; 26 The upper vibrating picking head 3-20, the vibrating picking head 3-20 is equipped with a collet 3-21 for gripping the target trunk, and a gripping servo motor 22 for driving the collet 3-21 to clamp the target trunk for A transmission bevel gear 3-27 for transmitting the servo motor 3-22 power, for driving the vibration picking head 3-20 to perform a servo motor 3-23 swinging up and down at a certain angle, for driving the vibration picking head 3-20 around the central axis Rotating rotary servo motor 3-25 for driving vibration picking head 3-20 vibration servo motor 3-19 and torque protection device with vibration of a certain frequency and amplitude, chuck 3-21 clamping of vibration picking head 3-20 The target trunk, when the collet 3-21 is clamped, the torque protection device issues a command to cause the clamping servo motor 3-22 to no longer output power to the transmission bevel gear 3-27, thereby achieving the clamping overload protection of the collet 3-21. To prevent the gear bevel gear 3-27 from jumping due to overload, the vibration servo motor 3-19 drives the vibration picking head 3-20 to vibrate at a certain frequency and amplitude so that the mature camellia fruit falls off, and the tea picking operation is completed.

The visual recognition system 4 is a binocular stereoscopic vision recognition system, and the binocular stereoscopic vision recognition system uses a binocular stereo vision measurement method to acquire the spatial position of the target; the binocular stereo vision measurement method is based on the parallax principle and utilizes the imaging device from different positions. Obtaining two images of the object to be measured, and calculating the three-dimensional geometric information of the object by calculating the positional deviation between the corresponding points of the image, the binocular stereo vision measurement method directly simulates the manner in which the human vision processes the scene, and can be under various conditions. Flexible measurement of the stereoscopic information of the scene has the advantages of high efficiency, appropriate accuracy, simple system structure and low cost. It is very suitable for online and non-contact product detection and control. Since image acquisition is completed in an instant, binocular stereo vision The measurement method is a very effective measurement method.

The visual recognition system 4 includes two cameras and a telescopic mechanism including a frame 4-1, an electric motor 4-22, a transmission, a frame beam 4-6 mounted on the frame 4-1, and a frame beam 4- 6 inner side slides are provided on both sides; I section arms 4-5 are mounted on the frame beams 4-6 and can be relatively moved, and the sides of the I section arms 4-5 are fixed and matched with the inner air slides. The outer pulley 4-4 connects the frame beam 4-6 and the I section arm 4-5, and the I section arm 4-5 slides through the outer pulley 4-4 in the inner slide of the frame beam 4-6. , the relative sliding between the frame beam 4-6 and the I section arm 4-5; the II section arm 4-8 mounted on the I section arm 4-5 and relatively movable, the I section arm 4-5 is provided Inner air slide, II section arm 4-8 The upper connection is fixed with built-in pulley 4-12 which can be sleeved on the inner slide of the I section arm 4-5, and realizes the I section arm 4-5 and the II section arm 4- 8 movable connection; telescopic guides respectively arranged on the sides of the frame beam 4-6, the I section arm 4-5 and the II section arm 4-8, the telescopic guiding device comprises 4-6, I section arranged on the frame beam Arm 4-5 and II section arm 4-8 - side extension The guiding device is provided with retracting guides on the other side of the frame beam 4-6, the I section arm 4-5 and the II section arm 4-8. The extension guiding device is used for realizing the extension capability of the telescopic mechanism, including the guide sheave 4-2 disposed on the frame 4-1, and the pulleys 4-7 disposed at the outer ends of the frame beams 4-6, disposed at I The pulleys 4-13 at the outer ends of the arms 4-5, the plates 4-9 vertically fixed at the outer ends of the I-section arms 4-5, and the pulleys 3 4-11 disposed at the upper ends of the plates 4-9 , Set the fixing pin 4-10 at the lower end of the joint plate 4-9, the pulley 4 4-14 set at the outer end of the II section arm 4-8 and wrap around the guide sheave 4-2, the pulley 4-7, the pulley 2 4-13, the extension wire 4-3 between the pulley 3 4-11 and the pulley 4 4-14, the extension wire 4-3 - the end is connected to the transmission device, and the other end of the extension wire rope 4-3 is fixed 4-10 on a fixing pin, projecting rope ₄ - ₃ wound sequence as shown in Figure 1. The retracting guide is used to realize the retracting capability of the telescopic mechanism, including the second plate 4-19 vertically disposed on the frame 4-1, and the second plate 4-19 on the second plate 4-19 is provided with a pulley 5 4-17 and a fixed pin 2 4 18, the pulley 5 4-17 installation position is slightly higher than the I section arm 4-5, the pulley 6-16 set at the outer end of the I section arm 4-5, the pulley 7-4 set at the outer end of the I section arm 4-5 21, set the pulley 8-20 at the outer end of the squat arm 4-8 and the retracted wire rope 4 between the pulley 5 4-17, the pulley 6 4-16, the pulley 7 4-21 and the pulley 8 4-20 15, the retracting wire rope 4-15-end is connected to the transmission device, and the other end of the retracting wire rope 4-15 is fixed on the fixing pin 2 4-18, and the winding sequence of the retracting wire rope 4-15 is as shown in Fig. 3. The motor 4-22 drives the I-section arm 4-5 and the II-section arm 4-8 for telescopic movement through a transmission and a telescopic guide, and the transmission includes an extension roller 4-24 associated with the motor 4-22, and a retracting roller 4 -25 and two-way clutch 4-23; the extension roller 4-24 is associated with the extension wire 4-3, the retraction roller 4-25 is associated with the retraction wire 4-15, and the wire is extended by the rotation of the motor 4-22 4-3 and the retracting wire ropes 4-15 are power output to realize the movement of the telescopic mechanism, thereby realizing the visual collection of the tree target by the camera.

During operation, the engine group is started, and the generator is driven to supply power to the outside, and the control computer and the electric control cabinet are started. The binocular stereo vision recognition system and the picking arm first complete the system initialization. The camellia robot first stops at the appropriate position according to the terrain, and then the industrial computer sends a control command to guide the binocular stereoscopic vision recognition system to identify and locate the target tea tree, and feed the obtained data to the control computer, and then the industrial computer completes Compare and analyze the data, then convert it into servo motor drive signals, and then send them to the motion control card. Each servo motor makes the vibration picking head reach the gripping point according to the corresponding motion command, and applies the tree target. Vibrating at a suitable frequency and amplitude, the inertia force generated by the vibration separates the camellia from the branches. Then the visual recognition system again scans and analyzes the tree target again. Whether the completion of the harvesting target is reached, if it is not reached, the picking head is controlled again, and the vibration frequency and amplitude are adjusted to perform secondary vibration on the tree target until the harvesting target is reached, the picking head is automatically loosened, the picking arm is recovered, and the oil tea fruit is completed. Picking operations. The entire picking process is completed by the control computer through the control servo system and visual recognition system, achieving highly automated and intelligent operation. Through the above-mentioned camellia picking robot, the picking method of the camellia fruit proposed by the present invention can be seen, including the following key steps:

Step 1: Collect the information such as the position, size and fruit of the camellia tree through the visual recognition system, and feed back the collected information to the control computer;

Step 3: The control system controls the camellia picking robot to stop at the edge of the camellia tree according to the result of the analysis. The picking arm of the camellia picking robot moves the vibration picking head to the clamping position of the camellia tree under the driving of the control system and Clamping, preparation for pre-harvesting;

Step 4: The vibration picking head first applies the appropriate frequency and amplitude vibration to the camellia fruit tree under the control of the control system, and maintains a certain time. The inertia force generated by the vibration separates the camellia fruit from the branches to realize the picking of the camellia fruit. Step 5: The visual identification system again collects information on the camellia fruit tree to determine whether the harvesting completion standard is reached; if the picking standard is reached, the vibration picking head is loosened, the picking arm is taken back, and the picking operation of the camellia fruit is completed; if the picking standard is not met, The control system adjusts the vibration frequency and amplitude according to the secondary information collected by the visual recognition system to vibrate the Camellia oleifera tree twice until the picking completion standard is reached, the vibration picking head is released, the picking arm is taken back, and the picking operation of the camellia fruit is completed.

In the present invention, the control system adopts PLC control, has strong anti-interference ability, high reliability, and low requirements on the working environment.

In the present invention, the picking arm is driven by a motor servo system, the motion accuracy is high, the transmission ratio is accurate, the reaction is rapid, and the vibration is small, and there is no related supporting equipment, which is convenient for miniaturization and weight reduction of the mechanism. In the present invention, the visual recognition system is a binocular stereoscopic vision recognition system, and the binocular stereoscopic vision recognition system adopts The binocular stereo vision measurement method is used to obtain the spatial position of the target; the binocular stereo vision measurement method is based on the parallax principle and uses the imaging device to acquire two images of the measured object from different positions, and calculates the positional deviation between the corresponding points of the image. To obtain the three-dimensional geometric information of the object, the binocular stereo vision measurement method directly simulates the way human vision processes the scene, and can flexibly measure the stereo information of the scene under various conditions, with high efficiency, appropriate precision, and simple system structure. It has the advantages of low cost and is very suitable for online and non-contact product detection and control. Since image acquisition is completed in an instant, the binocular stereo vision measurement method is a very effective measurement method.

In summary, we can see that the present invention proposes a camellia picking robot and a working method thereof. The camellia picking robot includes a chassis and a walking portion, and a picking robot is installed on the chassis and the walking portion. The mechanism, the power part and the visual recognition system; the power part is respectively connected with the chassis and the walking part, the picking robot actuator and the visual recognition system through the transmission mechanism, and the whole tea-fruit picking robot is driven by the chassis and the walking part, and passes through the visual recognition system Identifying, and then picking the camellia by the picking robot actuator; the picking robot actuator includes a boom support for supporting the actuator, the swing bracket is mounted with a rotating table, and the rotating table can rotate around its own axis a picking arm is mounted on the rotary table, and the picking arm can rotate together with the rotating table; a vibrating picking head is arranged at the end of the picking arm, and the camellia pick is picked by the vibrating picking head; the visual recognition system is a belt Camera device with telescopic mechanism, camera device The over-expansion mechanism is mounted on the rack.

Further, the picking arm comprises a second shaft main arm and a fourth shaft auxiliary arm, wherein the second shaft main arm is an inner arm, the fourth shaft auxiliary arm is an outer arm, and the second shaft main arm is connected by a hinge device The main pull rod bottom plate is connected, the other end is also hingedly connected with the fourth shaft auxiliary arm by a hinge device, and the fourth shaft support is mounted at the other end of the fourth shaft auxiliary arm, and the fourth shaft support is provided with a horizontal swing seat and a horizontal Swinging a servo motor, the horizontal swing servo motor driving the horizontal swing seat to achieve left and right The swinging seat is connected to the horizontal swinging seat, and the target trunk is clamped by the vibration picking head and vibrated so that the mature camellia fruit falls off, and the pickled tea fruit picking operation is completed.

Further, the vibrating picking head is connected to the horizontal swinging seat through the slider mechanism of the upper and lower sliders, and is moved up and down by the upper and lower servomotors, and the rotating servomotor is arranged on the horizontal swinging seat, and the rotating servomotor is driven. The vibrating picking head rotates about the axis of the rotating servo motor.

Further, a side of the rotating table is provided with a power device for driving the rotation of the rotating table, comprising a rotary table servo motor mounted on the chassis, a first shaft reducer and a coupling; the rotary table servo motor is first The one-axis reducer drives the rotary table to rotate through the coupling, and can lock itself when the angle at which the rotary table needs to be rotated is reached.

The teacup picking method is performed by using a camellia picking robot with a chassis and a walking part, a picking robot actuator, a power part and a visual recognition system, and the power part drives the chassis and the walking part to reach a designated picking point, and then The identification is carried out by means of a visual recognition system on the picking robot, and then the picking tea implement is carried out by the picking robot actuator.

Further, the picking robot actuator picking the camellia is provided with a boom support on the chassis, a rotary table is mounted on the boom support, and a picking arm is mounted on the rotary table, and the picking arm can be used together with the rotating table Rotation A vibrating picking head is mounted at the end of the arm, and the camellia is picked by a vibrating picking head.

Further, the vibrating picking head picks the camellia fruit by clamping the camellia of the target trunk through a chuck mounted on the vibrating picking head, and then removing the camellia from the trunk by vibration of the vibrating picking head to complete the picking of the camellia fruit.

Further, the visual recognition system is a binocular stereoscopic vision recognition system, and the binocular stereoscopic vision recognition system uses a binocular stereo vision measurement method to acquire a spatial position of the target; the binocular stereo vision measurement method is based on a parallax principle and utilizes an imaging device. Obtaining two images of the object to be measured from different positions, and calculating the three-dimensional geometric information of the object by calculating the positional deviation between the corresponding points of the image, the binocular stereo vision measurement method directly simulates the manner in which the human vision processes the scene, and Flexible measurement of the stereoscopic information of the scene under various conditions, with high efficiency, appropriate accuracy, simple system structure, low cost, etc., is very suitable for online and non-contact product detection and control, since image acquisition is completed in an instant, The binocular stereo vision measurement method is a very effective measurement method.

Further, the picking of the camellia includes the following steps:

Step 3: The control system controls the camellia picking robot to dock on the edge of the camellia tree according to the result of the analysis. The picking arm of the camellia picking robot adjusts and moves the vibrating picking head to the clamping position of the camellia tree under the guiding control of the control system, and clamps, and completes the preparation work before picking;

Step 4: The vibrating picking head first applies the appropriate frequency and amplitude vibration to the camellia tree in the guiding control of the control system, and maintains a certain time. The inertia force generated by the vibration separates the camellia from the branches to realize the picking of the camellia fruit. Step 5: The visual identification system again collects information on the camellia fruit tree to determine whether the harvesting completion standard is reached; if the picking standard is reached, the vibration picking head is loosened, the picking arm is taken back, and the picking operation of the camellia fruit is completed; if the picking standard is not met, The control system adjusts the vibration frequency and amplitude according to the secondary information collected by the visual recognition system to vibrate the Camellia oleifera tree twice until the picking completion standard is reached, the vibration picking head is released, the picking arm is taken back, and the picking operation of the camellia fruit is completed.

The invention has the advantages that: according to the characteristics of the Chinese camellia tree, the invention adopts a walking tea planting robot, uses a visual recognition system for identification, and automatically picks by the picking robot actuator, which has good picking effect and does not damage the tree branches. The utility model has the advantages of labor saving and high efficiency, in particular, in the invention, the picking arm and the visual recognition system are mounted on the chassis, and the picking arm is equipped with a vibrating picking head at the end, and the chassis is equipped with a three-phase asynchronous motor for powering the chassis driving system, and electrical control a cabinet and a generator for supplying power to the camellia picking machine; the control system comprising a PLC disposed in the electrical control cabinet, wherein the control system controls the tea by the position and size of the camellia tree collected by the visual recognition system The picking robots cooperate with each other to carry out the picking operation, automatically complete the picking process of the camellia fruit, realize intelligent picking operation, without manual intervention, and have high picking efficiency.

In the invention, the picking arm is integrally fixed on the chassis by the arm support, and the rotating arm is driven by the rotating arm servo motor to connect the rotating coupling, and the rotating arm is rotated by the first shaft reducer through the coupling, when the rotation is achieved. When the arm needs to rotate at an angle, the angular limit device can be locked by itself. The second shaft main arm and the main pull rod are driven by the slide servo motor, and the third shaft main arm is driven by the second shaft main arm through the second shaft third shaft connecting block, and then driven by the fourth shaft jib and the auxiliary rod The movement of the four-axis bearing to achieve the purpose of the expansion and contraction of the actuator. The third shaft main arm is driven to rotate by the slide servo motor, and the secondary shaft, the main rod and the second shaft main arm are moved by the fourth shaft auxiliary arm to realize the vertical movement of the actuator. The horizontal swing seat is driven by the horizontal swing servo motor to realize its own left and right swing. The vibration picking head is mounted on the horizontal swing seat, and is driven up and down by the upper and lower servo motors. Finally, the servo motor is driven by the rotation, and the vibration is collected. The picking head rotates in the direction of the axis of the rotating servo motor. Therefore, the entire actuator has a total of six degrees of freedom. At the time of picking, the posture of the vibrating picking head is adjusted by the moving parts, so that the vibrating picking head clamps the target trunk and vibrates so that the mature camellia fruit falls off, and the tea picking operation is completed.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It is considered as the scope of protection of the present invention.

Claims

claims

1. A camellia oleifera fruit picking robot, characterized by: including a chassis and a walking part, on which a picking robot actuator, a power part and a visual recognition system are installed; the power part is connected to the chassis and the walking part through a transmission mechanism respectively , the picking robot actuator and the visual recognition system are connected, the chassis and the walking part drive the entire Camellia oleifera fruit picking robot to walk, and the visual recognition system identifies it, and then the picking robot actuator picks the Camellia oleifera fruit; the picking robot executes The mechanism includes an arm support for supporting the actuator. A rotary table is installed on the arm support. The rotary table can rotate around its own central axis. A picking arm is installed on the rotary table. The picking arm can rotate together with the rotary table; A vibrating picking head is provided at the end of the picking arm, and Camellia oleifera fruits are picked through the vibrating picking head; the visual recognition system is a camera device with a telescopic mechanism, and the camera device is installed on the frame through the telescopic mechanism.

2. A camellia oleifera fruit picking robot as claimed in claim 1, characterized in that: the rotating platform includes a horizontal sliding platform and a vertical sliding platform, and the horizontal sliding platform and the vertical sliding platform are in an "L" shape. fixedly connected together; a main pull rod bottom plate is installed on the horizontal slide, and the main pull rod bottom plate is hingedly connected to one end of the second axis main arm through a hinge device, and is also hingedly connected to one end of the main pull rod; a third pull rod is installed on the vertical slide. The three-axis main arm base is hingedly connected to one end of the third-axis main arm through a hinge; the horizontal slide table and the vertical slide table are respectively provided with a horizontal slide table servo motor and a vertical slide table servo The motor drives the main tie rod bottom plate to move horizontally through the horizontal slide table servo motor, and drives the third-axis main arm base to move vertically through the vertical slide table servo motor.

3. A camellia oleifera fruit picking robot as claimed in claim 2, characterized in that: the picking arm includes a second axis main arm and a fourth axis auxiliary arm, wherein the second axis main arm is an inner arm, and the fourth axis The shaft sub-arm is an outer arm. One end of the second-axis main arm is connected to the main pull rod bottom plate through a hinge device, and the other end is also hingedly connected to the fourth-axis jib through a hinge device. A fourth-axis jib is installed at the other end of the fourth-axis jib. The fourth axis support is provided with a horizontal swing seat and a horizontal swing servo motor, and the horizontal swing servo motor drives the horizontal swing seat to swing left and right; the horizontal swing seat is connected to a vibrating picking head, and the horizontal swing seat is connected to a vibrating picking head. The vibrating picking head clamps the target tree trunk and vibrates to cause the mature camellia oleifera fruits to fall off, completing the camellia oleifera fruit picking operation.

4. A camellia oleifera fruit picking robot as claimed in claim 3, characterized in that: the vibrating picking head is connected to the horizontal swing base through a slider mechanism of up and down slides, and moves up and down driven by an up and down servo motor. , at the same time, there is a rotating servo motor on the horizontal swing base, and the rotating servo motor drives the vibrating picking head around the axis of the rotating servo motor. Turn.

5. A camellia oleifera fruit picking robot as claimed in claim 1, characterized in that: a tie rod triangular block is installed on the hinge axis where the second axis main arm and the fourth axis sub-arm are hinged, and one corner of the tie rod triangular block passes through The auxiliary tie rod is hingedly connected to the horizontal swing seat, and the other corner of the tie rod triangular block is hingedly connected to the main tie rod base plate to ensure that when the third axis main arm drives the second axis main arm and the fourth axis auxiliary arm to move, the horizontal swing seat Always keep the axis of the vibrating picking head horizontal.

6. A camellia oleifera fruit picking robot as claimed in claim 1, characterized in that: one side of the rotary table is provided with a power device for driving the rotation of the rotary table, including a rotary table servo motor installed on the chassis, and the first One-axis reducer and coupling; the rotary table servo motor drives the rotary table to rotate through the first-axis reducer and the coupling. When it reaches the angle at which the rotary table needs to rotate, it can lock itself; the vision The telescopic mechanism of the identification system is a three-section telescopic mechanism, two of which are movable joint arms. The two sections of movable joint arms are connected to each other and installed on the frame beam.

7. A camellia oleifera fruit picking method, characterized by: using a camellia oleifera fruit picking robot with a chassis and a walking part, a picking robot actuator, a power part and a visual recognition system for picking, and the power part drives the chassis and the walking part to the designated location The picking point is identified through the visual recognition system on the picking robot, and then the actuator of the picking robot picks the camellia oleifera fruits.

8. A method for picking Camellia oleifera fruit as claimed in claim 7, characterized in that: the actuator of the picking robot performs picking of Camellia oleifera fruit by providing an arm support on the chassis, and a rotating arm is installed on the arm support. The rotating platform is equipped with a picking arm, which can rotate together with the rotating platform; the end of the picking arm is equipped with a vibrating picking head, and the camellia oleifera fruits are picked through the vibrating picking head.

9. A camellia oleifera fruit picking method according to claim 8, characterized in that: the visual recognition system performs identification by installing the camera device on a foldable telescopic mechanism, and the telescopic mechanism extends by Or fold it up to move the position of the camera device to quickly and conveniently achieve visual collection of tree targets.

10. A Camellia oleifera fruit picking method as claimed in claim 7, characterized in that: the Camellia oleifera fruit picking includes the following steps:

Step 1: Collect the location, size and fruit bearing information of the Camellia oleifera fruit tree through the visual recognition system, and send the collected information back to the control computer; Step 2: The control system comprehensively processes the information fed back by the visual recognition system, and analyzes and determines the position of the camellia oleifera picking robot relative to the camellia oleifera fruit tree, the clamping position of the picking arm on the camellia oleifera fruit tree, and the vibration frequency and vibration of the vibrating picking head. Job information such as time;

Step 3: The control system controls the Camellia oleifera fruit picking robot to dock next to the Camellia oleifera fruit tree based on the analysis results. The picking arm of the Camellia oleifera fruit picking robot adjusts and moves the vibrating picking head to the clamping part of the Camellia oleifera fruit tree under the guidance and control of the control system. And clamp it to complete the preparation work before picking;

Step 4: The vibrating picking head is guided and controlled by the control system to first vibrate the Camellia oleifera fruit tree with appropriate frequency and amplitude, and maintain it for a certain period of time. The inertia force generated by the vibration separates the Camellia oleifera fruit from the branches, thereby realizing the harvesting of the Camellia oleifera fruit. ; Step five: The visual recognition system collects information from the Camellia oleifera fruit tree again to determine whether the picking completion standard is reached; if the picking standard is reached, the vibrating picking head is released, the picking arm is retracted, and the camellia oleifera fruit picking operation is completed; if the picking standard is not reached, Based on the secondary information collected by the visual recognition system, the control system adjusts the vibration frequency and amplitude to vibrate the Camellia oleifera fruit tree for a second time until the picking completion standard is reached. The vibration picking head is released, the picking arm is retracted, and the Camellia oleifera fruit picking operation is completed.