CN112166824A - Fruit picking robot based on rectangular coordinate type mechanical arm - Google Patents
Fruit picking robot based on rectangular coordinate type mechanical arm Download PDFInfo
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- CN112166824A CN112166824A CN202011100614.9A CN202011100614A CN112166824A CN 112166824 A CN112166824 A CN 112166824A CN 202011100614 A CN202011100614 A CN 202011100614A CN 112166824 A CN112166824 A CN 112166824A
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- mechanical arm
- rectangular coordinate
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- fruit picking
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a fruit picking robot based on a rectangular coordinate type mechanical arm, which comprises a frame, a driving system, an industrial personal computer, a rectangular coordinate type mechanical arm, an image recognition system, an end effector and the like. The fruit picking machine has the advantages that the target fruits are picked in a positioning mode through plane rectangular coordinates, corresponding X, Y, Z-axis coordinates are calculated by projecting fruit images in corresponding areas, and then the rectangular coordinate type mechanical arm is used for picking the fruits, so that the degree of freedom of the mechanical arm is reduced, a picking path of the mechanical arm is simpler and more convenient, and further, a program algorithm for automatically picking the fruits is simple and stable. Through reasonable design rectangular coordinate formula arm for the robot can adapt to more and pick the task, and then makes picking procedure algorithm more compatible robot. And the robot is provided with a GPS navigation system, can realize full autonomous navigation and travel when working in an orchard, realizes full-automatic fruit picking operation, and has the advantages of high working efficiency, simple structure and convenient maintenance and assembly.
Description
Technical Field
The invention relates to the field of intelligent agricultural robots, and particularly discloses a fruit picking robot based on a rectangular coordinate type mechanical arm.
Background
For domestic orchard farmers, fruit picking is always one of the most labor-consuming and time-consuming links in fruit production over the years, about 40% of labor force is required in the whole production process, agricultural labor force is in shortage along with the acceleration of the urbanization process in China, and labor cost is also rising continuously.
The current fruit picking robot mainly has the following problems: the degree of freedom of arm is more for the picking motion path of arm is comparatively complicated with robot picking procedure algorithm, and then has increaseed the working property demand of industrial computer, makes the work unstable in the complicated fruit of robot is picked, appears the industrial computer phenomenon of dying down when serious. In addition, the structures of the devices are complex, so the production cost is high, the maintenance cost is high, and certain professional knowledge is required for maintenance personnel; secondly, they load and unload also comparatively difficultly, when needing to follow the spare part with changing, are difficult to realize the product module and assemble.
Disclosure of Invention
Therefore, in order to solve the above-mentioned deficiencies, the present invention provides a fruit picking robot based on rectangular coordinate type mechanical arm, which projects the fruit image into the corresponding area, calculates the corresponding X, Y, Z axis coordinate, and then adopts the working means of rectangular coordinate type mechanical arm to pick the fruit, so as to reduce the degree of freedom of the mechanical arm, make the mechanical arm picking path more simple and convenient, and further make the program algorithm of automatic fruit picking be simple and stable. Through reasonable design rectangular coordinate formula arm for the robot can adapt to more and pick the task, and then makes picking procedure algorithm more compatible robot. The robot is provided with a GPS navigation system, can realize full autonomous navigation running during operation in an orchard, realizes full-automatic fruit picking operation, lightens the labor intensity of fruit growers, improves the economic benefit of the orchard, has simple and full-automatic structure, is easy to operate and control by the fruit growers, can realize modular assembly, has low manufacturing cost and is easy to realize batch production. The fruit picking robot can pick fruits fully automatically, can realize full autonomous navigation running during orchard operation, and is high in working efficiency, simple in structure, convenient to maintain and assemble and easy to realize product module assembly.
The invention is realized in such a way that a fruit picking robot based on a rectangular coordinate type mechanical arm is constructed, and the fruit picking robot comprises a vehicle frame, a running system, an industrial personal computer, a rectangular coordinate type mechanical arm, an image recognition system and an end effector, wherein the running system is arranged at the bottom of the vehicle frame and drives the robot to run, the industrial personal computer is arranged at the top of the vehicle frame, a pair of frames are vertically arranged at the top of the vehicle frame through frame supporting seats, the frames are divided into a plurality of surface areas, the rectangular coordinate type mechanical arms are arranged at the inner sides of the surface areas of the frames, the image recognition system is arranged at the center of the frames, the end effector is arranged in each surface area of the frames and is connected with the rectangular coordinate type mechanical arm, the rectangular coordinate type mechanical arm drives the end effector to linearly move along a X, Y, Z axis in the surface, The image recognition system, the end effector, and the travel system remain electrically connected.
Further, the rectangular coordinate type mechanical arm comprises motors on two adjacent side surfaces in each surface area of the frame and ball screws connected with rotating shafts of the motors, the motors are fixedly connected with the frame, and the ball screws are rotatably connected with the motors.
Further, rectangular coordinate formula arm still includes a pair of optical axis and a slider, a pair of optical axis is different in the corresponding surface region perpendicular and ball sliding connection, the slider is opened has two through-holes, the through-hole direction is different perpendicular, the optical axis passes the through-hole, optical axis and slider sliding connection, the telescopic machanism of arm installs in the slider lateral surface, and end effector installs in telescopic machanism end.
Furthermore, a linear bearing is arranged in the through hole of the sliding block, and the optical axis is inserted into the through hole and penetrates through the linear bearing.
Furthermore, a ball screw nut is sleeved outside the ball screw, the ball screw nut is in threaded connection with the ball screw, a nut seat is further arranged on the ball screw nut, the nut seat and the ball screw nut are fixedly connected, and the optical axis and the nut seat are fixedly connected.
Furthermore, the traveling system comprises crawler wheels and a driving device, the crawler wheels are arranged on two sides of the frame, the driving device is arranged on the inner side of the crawler wheels and is connected with the frame, and the driving device drives the crawler wheels to rotate to drive the robot to travel.
Further, the driving device comprises a motor, a motor controller and a transmission mechanism.
Furthermore, the end effector consists of a hand grip and a cutting knife.
Furthermore, the industrial personal computer is connected with corresponding hardware and then applies corresponding software, so that the robot can automatically complete corresponding work tasks.
Further, the image recognition system comprises an illumination device, a lens, a camera, an image acquisition card and a visual processor.
Through the mode of marcing of motor drive athey wheel, the robot of being convenient for is marchd in the complicated woodland of topography, and it is wide to be applicable to the topography scope.
The optical axis passes through the screw to be installed on the nut seat, is equipped with linear bearing in two holes of slider respectively, again with linear bearing inner hole cover and optical axis for the optical axis drives the frictional resistance of the motion of slider little, and the motion efficiency is high.
The technical scheme provided by the invention has the following beneficial effects:
according to the fruit picking robot based on the rectangular coordinate type mechanical arm, the corresponding X, Y, Z axis coordinate is calculated by projecting the fruit image into the corresponding area, and then the technical means of picking the fruit by the rectangular coordinate type mechanical arm is adopted, so that the program algorithm of the mechanical arm for automatically picking the fruit is simple and stable. The robot is provided with a GPS navigation system, can realize full autonomous navigation running during operation in an orchard, realizes full-automatic fruit picking operation, lightens the labor intensity of fruit growers, improves the economic benefit of the orchard, has simple and full-automatic structure, is easy to operate and control by the fruit growers, can realize modular assembly, has low manufacturing cost and is easy to realize batch production. Through reasonable design rectangular coordinate formula arm for the robot can adapt to more and pick the task, and then makes picking procedure algorithm more compatible robot.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a right side view of the apparatus of the present invention;
FIG. 3 is a rear view of the apparatus of the present invention;
FIG. 4 is a top view of the apparatus of the present invention;
FIG. 5 is an enlarged view of a portion of area A of FIG. 2;
FIG. 6 is a schematic diagram of a rectangular coordinate robot arm picking system of the present invention;
FIG. 7 is a schematic view of a Cartesian robot of the present invention;
FIG. 8 is a block diagram of the hardware system architecture of the present invention;
FIG. 9 is a block diagram of the software system architecture of the present invention;
in the figure: 1. a frame; 2. a crawler wheel; 3. a frame; 4. an industrial personal computer; 5. an end effector; 6. an image recognition system; 7. an optical axis; 8. a ball screw; 9. a frame support seat; 10. a motor; 11. a rectangular coordinate mechanical arm; 12. a travel system; 13 a slide block; 14. multistage telescopic machanism.
Detailed Description
The present invention will be described in detail below with reference to the attached drawings, and the technical solutions in the embodiments of the present invention will be clearly and completely described. 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.
Referring to fig. 1, 2, 3, 4, and 5, in order to reduce the difficulty of the robot in performing picking tasks and simplify the algorithm of the robot for picking fruits, the present invention provides a fruit picking robot based on a cartesian mechanical arm, as shown in fig. 1, 2, 3, 4, and 5, the fruit picking robot of the present embodiment includes:
the vehicle frame 3, the traveling system 12, the industrial personal computer 4, the rectangular coordinate type mechanical arm 11, the image recognition system 6 and the end effector 5 are arranged at the bottom of the vehicle frame 3, the traveling system is used for driving the robot to travel, the industrial personal computer 4 is arranged at the top of the vehicle frame 3, the pair of frames 1 are vertically arranged at the top of the vehicle frame 3 through the frame supporting seat 9, the frames 1 are divided into a plurality of surface areas, the rectangular coordinate type mechanical arm 11 is provided with a plurality of surfaces and arranged at the inner side of each surface area of the frames 1, the image recognition system 6 is arranged at the center of the frames 1, the end effector 5 is arranged in each surface area of the frames 1 and is connected with the rectangular coordinate type mechanical arm 11, and the rectangular coordinate type mechanical arm 11 drives the end effector 5 to do linear motion along X, Y, Z axes.
Further, the traveling system 12 includes crawler wheels 2 and a driving device, the crawler wheels 2 are disposed on two sides of the frame 3, the driving device is disposed on the inner side of the crawler wheels 3 and keeps connected with the frame 1, the crawler wheels 2 are driven to rotate to drive the robot to travel, the robot can travel in a forest with a complex terrain by driving the crawler wheels 2 through the driving device, and the application range of the robot is wide. Through the mode of marcing of motor drive track, the robot of being convenient for is marchd in the complicated woodland of topography, and it is wide to be applicable to the topography scope.
Further, the driving device comprises a motor, a motor controller and a transmission mechanism.
Further, the image recognition system 6 includes an illumination, a lens, a camera, an image acquisition card, and a vision processor. The camera collects fruit image information on the fruit tree. Image information collected by the camera is transmitted to the industrial personal computer, the industrial personal computer solves the position coordinates of the fruit trees and the position coordinate information of the obstacles collected by the camera, and then the industrial personal computer compiles a corresponding picking program to control the mechanical arm to realize fruit picking operation.
Further, referring to fig. 6, the cartesian mechanical arm 11 is composed of a motor 10, a ball screw 8, an optical axis 7, a mechanical arm base slider 13, a multistage telescoping mechanism 14, and an end effector 5. The motor 10 is rotatably connected with the ball screw 8, a nut seat of the ball screw is fixedly connected with the optical axis 7, the optical axis 7 is slidably connected with a base sliding block 13 of the mechanical arm, the base sliding block 13 of the mechanical arm is fixedly connected with the multi-stage telescopic mechanism 14, the end effector 5 is installed at the tail end of the multi-stage telescopic mechanism 14, the motor 10 of the mechanical arm rotates to drive the screw 8 to rotate, the optical axis 7 is driven to linearly move through the nut seat on the ball screw, the base sliding block of the mechanical arm moves in a corresponding surface area, a base of the mechanical arm locks position coordinates (X, Y) of fruits in the corresponding surface area, the multi-stage telescopic mechanism 14 sends the end effector 5 to the position of the fruit along the (Z) direction coordinates of the fruits, and the end effector 5 operates at a correct position.
Further, rectangular coordinate formula arm 11 is including setting up in the motor 10 of the adjacent both sides face in each face area of frame 1 and the ball 8 of being connected with motor 10 pivot, motor 10 keeps fixed connection with frame 1, end effector 5 and ball 8 flexonics, ball 8 keeps rotating with frame 1 and is connected, and motor 10 works, and ball 8 rotates, and end effector 5 is at the linear motion of face area within range, through ball transmission, improves drive mechanism's auto-lock effect.
Further, rectangular coordinate formula arm still includes a pair of optical axis 7 and a slider, 7 criss-cross of optical axis and ball 8 flexonics, optical axis 7 and frame 1 sliding connection, slider 13 is opened there are two through-holes, through-hole direction mutually perpendicular, optical axis 7 passes the through-hole, optical axis 7 and slider sliding connection, end effector 5 installs in the slider lateral surface, leads to end effector 5's linear motion through the optical axis, avoids end effector to take place the skew at the displacement in-process, has improved the precision of displacement.
Further, a linear bearing is arranged in the through hole of the sliding block, and the optical shaft 7 is inserted into the through hole and penetrates through the linear bearing, so that the optical shaft drives the mechanical arm base sliding block to move with small friction resistance and high movement efficiency.
Furthermore, a ball screw nut is sleeved outside the ball screw 8, the ball screw nut is in threaded connection with the ball screw, a nut seat is further arranged on the ball screw nut, the nut seat and the ball screw nut are fixedly connected, the optical axis and the nut seat are fixedly connected, after the end effector 5 stops moving, the end effector can be self-locked and stops moving, and the moving precision of the end effector is improved.
The optical axis 7 is installed on the nut seat through a screw, the two inner holes of the sliding block are respectively provided with the linear bearings, and then the inner holes of the linear bearings are sleeved with the optical axis 7, so that the optical axis 7 drives the sliding block to move with small friction resistance and high movement efficiency.
Please refer to fig. 8 and fig. 9, as shown in fig. 8: the industrial personal computer 4 is electrically connected with the rectangular coordinate type mechanical arm 11, the camera, the end effector 5 and the traveling system 12. The industrial personal computer 4 is used for controlling the driving device to move forward through the information input by the serial port 1 and the adapter card and the line writing program, so that the fruit picking robot can independently drive in the orchard. After the picking point is reached, the camera collects fruit image information on the fruit tree, the collected image information is transmitted to the industrial personal computer 4 through the adapter card, the industrial personal computer 4 processes and analyzes the image information collected by the camera, the position coordinates (X, Y, Z) of the fruit in the corresponding area are calculated, and the industrial personal computer automatically compiles a program according to the calculated position coordinates and is used for controlling the picking action of the mechanical arm and the end effector to pick the fruit.
Referring to fig. 9, the software system of the robot is developed and completed in VC + +, and its program flow chart is shown in fig. 9, and the program is briefly described as follows:
each system device is initialized.
The industrial personal computer firstly collects the position coordinate and course information of the GPS through the serial port 1, collects the road surface image information shot by the camera through the adapter card, and then carries out decision analysis calculation on the collected data through the upper computer to generate a navigation control program, thereby realizing the autonomous navigation of the driving system.
The industrial personal computer collects fruit tree images shot by the camera through the adapter card, identifies and positions fruits, and stores the coordinates of the center points of the fruits. And then, the industrial personal computer solves the fruit coordinate position information, and the fruit coordinate solving result is used for automatic programming so as to control the motion of the mechanical arm.
After the mechanical arm moves to the target position, the industrial control sends an instruction to the end effector controller through the serial port 3, so that the end effector can grab the fruits until the fruits in the mechanical arm picking range are picked.
And when the mechanical arm returns to the initial navigation position, repeating the autonomous navigation and autonomous picking processes. And when the system detects that the GPS coordinate value reaches the end point, the whole picking task is finished.
When the intelligent navigation system is implemented, the industrial personal computer 4 controls the motor to drive the crawler wheels 2 to rotate, the robot moves forwards, the image recognition system 6 collects road surface image information among rows of fruit trees of the orchard and fruit image information on the fruit trees and transmits the collected image information to the industrial personal computer 4, and the industrial personal computer 4 processes and analyzes the image information collected by the intelligent camera to control the autonomous navigation of the fruit picking robot in the orchard. After the picking point is reached, the industrial personal computer 4 gives a signal, the motor 10 acts, the end effector linearly moves to a coordinate point in the plane of the frame 1, the picking action is started, and the fruit is picked.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a fruit picking robot based on rectangular coordinate formula arm, its structural feature: comprises that
A frame (3);
the running system (12) is arranged at the bottom of the frame (3) and drives the robot to move forward;
the industrial personal computer (4) is arranged at the top of the frame (3);
the pair of frames (1) are vertically arranged at the top of the vehicle frame (1) through frame supporting seats (9), and the frames (1) are divided into a plurality of surface areas;
a plurality of rectangular coordinate type mechanical arms (11) arranged at the inner side of each surface area of the frame (1);
an image recognition system (6) installed at the center of the frame (1);
end effectors (5) attached to the ends of the respective rectangular coordinate type robot arms (11);
the rectangular coordinate type mechanical arm (11) moves linearly along an X, Y, Z axis in a surface area;
the industrial personal computer (4) is electrically connected with the rectangular coordinate type mechanical arm (11), the image recognition system (6), the end effector (5) and the running system.
2. A fruit picking robot based on a cartesian mechanical arm according to claim 1, characterized in that: rectangular coordinate formula arm (11) include motor (10) and ball (8) be connected with motor (10) pivot of adjacent both sides face in each face area of frame (1), motor (10) and frame (1) keep fixed connection, ball (8) keep rotating with motor (10) and are connected.
3. A fruit picking robot based on a cartesian mechanical arm according to claim 2, characterized in that: rectangular coordinate formula arm (11) still includes a pair of optical axis (7) and a slider (13), a pair of optical axis (7) in corresponding face territory different face mutually perpendicular and with ball (8) sliding connection, slider (13) are opened there are two through-holes, the through-hole direction is different face mutually perpendicular, optical axis (7) pass the through-hole, optical axis (7) and slider (13) sliding connection, the multistage telescopic machanism (14) of arm are installed in the slider lateral surface, and end effector (5) are installed in multistage telescopic machanism (14) end.
4. A fruit picking robot based on orthogonal coordinate type mechanical arm according to claim 3, characterized in that: a linear bearing is arranged in the through hole of the sliding block (13), and the optical axis (7) is inserted into the through hole and penetrates through the linear bearing.
5. A fruit picking robot based on a cartesian mechanical arm according to claim 2, characterized in that: the ball screw (8) is sleeved with a ball screw nut, the ball screw nut is in threaded connection with the ball screw, the ball screw nut is further provided with a nut seat, the nut seat is fixedly connected with the ball screw nut, and the optical axis is fixedly connected with the nut seat.
6. A fruit picking robot based on a cartesian mechanical arm according to claim 1, characterized in that: the traveling system (12) comprises crawler wheels (2) and a driving device, the crawler wheels (2) are arranged on two sides of the frame (3), the driving device is arranged on the inner side of the crawler wheels (3) and is connected with the frame (1) in a maintaining mode, and the crawler wheels (2) are driven to rotate to drive the robot to travel.
7. A fruit picking robot based on orthogonal coordinate type mechanical arm according to claim 6, characterized in that: the driving device comprises a motor, a motor controller and a transmission mechanism.
8. A fruit picking robot based on a cartesian mechanical arm according to claim 1, characterized in that: the end effector (5) consists of a gripper and a cutting knife.
9. A fruit picking robot based on a cartesian mechanical arm according to claim 1, characterized in that: the industrial personal computer (4) is connected with corresponding hardware and then applies corresponding software, so that the robot can automatically complete corresponding work tasks.
10. A fruit picking robot based on a cartesian mechanical arm according to claim 1, characterized in that: the image recognition system (6) comprises an illumination device, a lens, a camera, an image acquisition card and a vision processor.
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| CN202011100614.9A CN112166824A (en) | 2020-10-15 | 2020-10-15 | Fruit picking robot based on rectangular coordinate type mechanical arm |
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| CN202011100614.9A CN112166824A (en) | 2020-10-15 | 2020-10-15 | Fruit picking robot based on rectangular coordinate type mechanical arm |
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Cited By (1)
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Application publication date: 20210105 |