CN112772150A - A software mechanical system for fruit is gathered - Google Patents
A software mechanical system for fruit is gathered Download PDFInfo
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- CN112772150A CN112772150A CN202110243083.7A CN202110243083A CN112772150A CN 112772150 A CN112772150 A CN 112772150A CN 202110243083 A CN202110243083 A CN 202110243083A CN 112772150 A CN112772150 A CN 112772150A
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- soft
- fruit
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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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- Life Sciences & Earth Sciences (AREA)
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a software mechanical system for fruit collection, and relates to the technical field of AI intelligent collection. The soft mechanical system comprises a movable base, a hydraulic telescopic rod and a pneumatic soft collecting claw; the mobile base comprises a shell, a power supply driving assembly and a microcontroller; the bottom of the hydraulic telescopic rod is arranged on the movable base, and the top of the hydraulic telescopic rod is provided with a pneumatic soft acquisition claw; the pneumatic soft acquisition claw comprises a flexible material base and three soft fingers which are divergently distributed in a triangular cone shape; for each soft finger, at least three gas chambers distributed in a regular triangle are arranged in the soft finger, the gas chambers are mutually independent, and the gas chambers are communicated with an external pneumatic control device through gas holes at the root part of the soft finger; according to the invention, the soft fingers of the pneumatic soft collecting claw are used for flexibly clamping and fixing the surface of the target fruit, so that the technical effects of accurately and harmlessly collecting fruits with different sizes and different appearance characteristics are achieved.
Description
Technical Field
The invention relates to the technical field of AI intelligent acquisition, in particular to a software mechanical system for fruit acquisition.
Background
China is a big producing country of fruit products, and the desire of people for pursuing healthy high-quality life is enhanced along with the improvement of living standard of people, so that people pay more attention to the aspects of nutrient components, freshness and the like of fruits.
In order to improve the fruit picking efficiency and avoid the damage of the fruit picking process to the appearance or the internal nutritive value of the fruit as much as possible, the existing fruit picking technology generally adopts a picking machine to carry out efficient intelligent picking on the fruit. For example, application number CN202011171572.8 discloses an intelligent fruit picking operation vehicle, which comprises an underframe, a support frame plate, a driving assembly, a power supply, a control cabinet, a grabbing cantilever assembly, a tail end fruit picking assembly, a collecting weighing assembly and an image collecting assembly; by adopting the intelligent automatic picking device, workers do not need to stand a ladder or bend down to pick, only the collection basket needs to be replaced, intelligent automatic picking is realized, automatic path finding and fruit searching picking can be realized by the aid of the GPS integrated in the control cabinet and the image acquisition assembly, real-time recording of picking data can be realized by the aid of the electronic weighing platform, fruit picking with stems can also be realized by the aid of the terminal fruit picking assembly, freshness of fruits is guaranteed, manual labor intensity is reduced on the whole, picking efficiency is improved, and the fruit preservation period is prolonged.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems:
the collection subassembly of current intelligent fruit picking machine is rigid structure usually, and often the size is comparatively fixed, and the demand of gathering when can't satisfy not unidimensional fruit gathers, and the collection subassembly is relatively poor in the control accuracy of aspects such as gathering dynamics, collection angle, produces the harm very easily to fruit at the undifferentiated collection in-process of unidimensional fruit.
Disclosure of Invention
In view of the above problems in the prior art, the present invention provides a soft mechanical system for fruit collection.
According to an aspect of the embodiment of the invention, a soft mechanical system for fruit collection is provided, which is characterized by comprising a movable base, a hydraulic telescopic rod and a pneumatic soft collection claw;
the movable base comprises a shell, a power supply driving assembly and a microcontroller, wherein a movable roller is arranged at the bottom of the shell, the movable roller is respectively in electrical signal connection with the power supply driving assembly and the microcontroller, and the microcontroller is also in electrical signal connection with the hydraulic telescopic rod;
the bottom of the hydraulic telescopic rod is mounted on the movable base, and the top of the hydraulic telescopic rod is provided with the pneumatic soft collecting claw;
the pneumatic soft acquisition claw comprises a flexible material base and three soft fingers which are divergently distributed in a triangular cone shape; for each soft finger, at least three gas chambers distributed in a regular triangle are arranged in the soft finger, the gas chambers are mutually independent, and the gas chambers are communicated with an external pneumatic control device through gas holes at the root part of the soft finger; the inner side of each soft finger is provided with a strain limiting layer, the strain limiting layer is used for limiting the inward bending direction of each soft finger, a pressure sensor is further arranged in the strain limiting layer, and the pressure sensor is in electrical signal connection with the microcontroller; the tail end of each soft finger is provided with a cutting assembly, and the cutting assembly is used for cutting and separating the root joint of the target fruit.
In a preferred embodiment, the mobile base is further provided with a negative pressure suction device, the negative pressure suction device is communicated with a negative pressure suction air hole in the center of the flexible material base through a negative pressure air pipe, the negative pressure suction device is electrically connected with the microcontroller, and the suction device is used for sucking the air pressure between the flexible material base and the target fruit into negative pressure through the negative pressure suction air hole of the flexible material base when the microcontroller detects that the distance between the flexible material base and the target fruit is 0, so that the flexible fixation of the flexible material base and the bottom of the target fruit is realized.
In a preferred embodiment, the flexible material base is of a funnel-shaped sucker structure, a camera device is arranged at the center of the flexible material base, the camera device is in electric signal connection with the microcontroller in the mobile base and is used for shooting a target image corresponding to a target fruit and sending the target image to the microcontroller, and the microcontroller performs direction identification and distance identification between the flexible material base and the target fruit according to the target image.
In a preferred embodiment, the pneumatic soft collecting claw is used for realizing the inward bending angle and bending degree control of each soft finger through the air pressure change of each air chamber inside each soft finger.
In a preferred embodiment, the pneumatic soft collecting claw is made of flexible silica gel.
In a preferred embodiment, the pressure sensor is made of a conductive flexible velostat material.
In a preferred embodiment, each soft finger in the pneumatic soft acquisition paw is provided with a pressure sensor at least 3 preset joint sections.
Compared with the prior art, the soft mechanical system for fruit collection provided by the invention has the following advantages:
the invention provides a soft mechanical system for fruit collection, which comprises a movable base, a hydraulic telescopic rod and a pneumatic soft collecting claw, wherein the movable base is provided with a plurality of grooves; the movable base comprises a shell, a power supply driving assembly and a microcontroller, wherein a movable roller is arranged at the bottom of the shell, the movable roller is respectively in electrical signal connection with the power supply driving assembly and the microcontroller, and the microcontroller is also in electrical signal connection with the hydraulic telescopic rod; the bottom of the hydraulic telescopic rod is mounted on the movable base, and the top of the hydraulic telescopic rod is provided with the pneumatic soft collecting claw; the pneumatic soft acquisition claw comprises a flexible material base and three soft fingers which are divergently distributed in a triangular cone shape; for each soft finger, at least three gas chambers distributed in a regular triangle are arranged in the soft finger, the gas chambers are mutually independent, and the gas chambers are communicated with an external pneumatic control device through gas holes at the root part of the soft finger; the inner side of each soft finger is provided with a strain limiting layer, the strain limiting layer is used for limiting the inward bending direction of each soft finger, a pressure sensor is further arranged in the strain limiting layer, and the pressure sensor is in electrical signal connection with the microcontroller; the tail end of each soft finger is provided with a cutting assembly, and the cutting assembly is used for cutting and separating the root joint of the target fruit. According to the invention, the soft fingers of the pneumatic soft collecting claws are used for flexibly clamping and fixing the surface of the target fruit, so that the technical problem that the existing fruit collecting device cannot accurately and harmlessly collect fruits with different sizes and different apparent characteristics can be solved, and the technical effect of accurately and harmlessly collecting the fruits with different sizes and different apparent characteristics can be achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram illustrating the construction of a soft mechanical system for fruit harvesting according to an exemplary embodiment.
Fig. 2 is a schematic front view of a soft finger according to an exemplary embodiment.
Fig. 3 is a schematic top view of a soft finger according to an exemplary embodiment.
FIG. 4 is a pictorial diagram of a soft-body mechanical system for fruit harvesting of a soft-body finger, according to an exemplary embodiment.
Detailed Description
The present invention is described in detail below with reference to specific embodiments (but not limited to) and the accompanying drawings, the specific method of the embodiments is only for illustrating the invention, the scope of the invention is not limited by the embodiments, the invention can be applied to various modifications and changes of shape and structure, and these equivalents based on the invention are also within the scope of the claims of the present invention.
FIG. 1 is a schematic diagram illustrating the construction of a soft mechanical system for fruit harvesting according to an exemplary embodiment. As shown in fig. 1, the soft mechanical system comprises a movable base 100, a hydraulic telescopic rod 200 and a pneumatic soft collecting claw 300;
the mobile base 100 comprises a shell 110, a power supply driving assembly 120 and a microcontroller 130, wherein a mobile roller 140 is arranged at the bottom of the shell 110, the mobile roller 140 is respectively in electrical signal connection with the power supply driving assembly 120 and the microcontroller 130, and the microcontroller 130 is also in electrical signal connection with the hydraulic telescopic rod 200; the bottom of the hydraulic telescopic rod 200 is mounted on the movable base 100, and the top of the hydraulic telescopic rod 200 is mounted with the pneumatic soft collecting claw 300; the pneumatic soft acquisition claw 300 comprises a flexible material base 310 and three soft fingers 320 which are divergently distributed in a triangular cone shape; for each soft finger 320, at least three gas chambers distributed in a regular triangle are arranged in the soft finger 320, the gas chambers are independent from each other, and the gas chambers are communicated with an external pneumatic control device through gas holes at the root part of the soft finger 320; the inner side of each soft finger 320 is provided with a strain limiting layer for limiting the bending direction of each soft finger 320 to the inside, and a pressure sensor is further arranged in the strain limiting layer and is in electrical signal connection with the microcontroller 130; the end of each soft finger 320 is provided with a cutting component, and the cutting component is used for cutting and separating the joint of the root of the target fruit.
To better illustrate the embodiment of the present invention, a schematic front view of a soft finger 320 is shown, as shown in fig. 2, a gas chamber is 321, a gas hole is 322, and a strain limiting layer is 323.
Fig. 3 is a schematic top view of the soft finger 320, in fig. 3, the air hole is 322, and the strain limiting layer is 323.
It should be noted that in one possible embodiment, the strain-limiting layer inner and outer layers are made of two elastic layer materials with different elastic moduli. When the air pressure in each air chamber of each soft body finger 320 in the pneumatic soft body collecting claw 300 is reduced through the external pneumatic control device, the elastic modulus of the elastic layer material of the inner layer of the soft body finger 320 is small, and the elastic modulus of the elastic layer material of the outer layer is large, so that the local axial change of the strain layer is limited, the local differential strain effect is realized, and the inward bending is realized, and the grabbing and releasing of the pneumatic soft body collecting claw 300 are realized through the air pressure change of the air chamber in the soft body finger 320.
When the strain limiting layer is bent inwards, pressure change data received by a pressure sensor arranged in the strain limiting layer is fed back to the microcontroller 130, and the microcontroller 130 controls the air pressure change of each air chamber of each soft finger 320 in the pneumatic soft acquisition claw 300 by an external pneumatic control device according to the pressure change data, so that the damage to the target fruit skin caused by the overlarge pressure of the pneumatic soft acquisition claw 300 on the target fruit skin is avoided. It should be noted that, for different target fruits, the microcontroller 130 may receive and store critical pressure values corresponding to the skins of the different target fruits, so as to select different grasping pressures according to the different target fruits.
In a preferred embodiment, the mobile base 100 is further provided with a negative pressure suction device, the negative pressure suction device is communicated with a negative pressure suction air hole in the center of the flexible material base 310 through a negative pressure air pipe, the negative pressure suction device is electrically connected with the microcontroller 130, and the suction device is used for sucking the air pressure between the flexible material base 310 and the target fruit to be negative pressure through the negative pressure suction air hole of the flexible material base 310 when the microcontroller 130 detects that the distance between the flexible material base 310 and the target fruit is 0, so as to realize the flexible fixation of the flexible material base 310 and the bottom of the target fruit.
In a preferred embodiment, the flexible material base 310 is a funnel-shaped sucker structure, a camera device is disposed at the center of the flexible material base 310, the camera device is electrically connected to the microcontroller 130 in the mobile base 100, and is configured to capture a target image corresponding to a target fruit and send the target image to the microcontroller 130, and the microcontroller performs direction identification and distance identification between the flexible material base 310 and the target fruit according to the target image.
In one feasible implementation mode of the invention, the camera device is selected to be an 8 million-pixel Sony IMX219 sensor extended version fixed-focus camera, the object collected by the camera device is non-picked fruit and part of picked fruit under actual natural growth environment, the visual angle of human head-up or head-up view is simulated during imaging, the height of the camera is kept, and the fruit object is kept at the image center position; after the camera device collects a target image and sends the target image to the microcontroller 130, the microcontroller 130 performs image processing, performs median filtering and Gaussian smoothing on target fruits to eliminate image noise points and cavities, marks fruits to be picked in the target image out through a minimum circumscribed rectangle, records the category (such as peaches) of the target fruits at a frame, and records the vertex coordinates of the minimum circumscribed rectangle at the upper left corner and the upper right corner in the image; the original image and the corresponding marking data can now be used as a trainable item of data. The AI image identification part is based on fruit identification and positioning of deep learning, the peach is taken as a target fruit as an example, the TensorFlow neural network model fruit identification is utilized, the target fruit to be picked is identified, the edge inspection technology is utilized, the external outline of the target fruit is identified, the minimum rectangle is made on the external outline for picture cutting, the obtained sub-picture is calculated according to the percentage proportion of the pixels of the red part, the sub-picture with the percentage proportion of the pixels of the red part reaching a preset value is determined as the target image with higher fruit maturity, the preset value can be set by an operator, and the operator can pick up the fruit with the required maturity conveniently. The fruit that reached the predetermined value is considered to be a mature fruit that can be picked. Furthermore, input and output parameters of a membership function in the fuzzy logic controller are adjusted by utilizing a five-layer neural network of ANFIS, linear output parameters of the membership function are adjusted by adopting a least square algorithm, nonlinear input parameters of the membership function are adjusted by adopting a gradient descent method, and the accuracy of the coordinates of the positioned object is improved and the positioned object is positioned by applying the algorithm; in the aspect of control, the centroid coordinates are adopted to describe the position information of the fruit, and the centroid of the surface is the geometric center of the sectional graph; the hydraulic telescopic rod 200 adjusts the grabbing position and posture according to the position calibrated by the centroid coordinate, and the automatic positioning and grabbing function is realized. When the pneumatic soft collecting claw 300 contacts with the target fruit, the pressure sensor feeds back the touch data in real time, so that the fact that the pneumatic soft collecting claw 300 is contacted with the target fruit is determined.
In a preferred embodiment, the pneumatic soft collecting claw 300 is used for controlling the inward bending angle and bending degree of each soft finger 320 through the air pressure change of each air chamber inside each soft finger 320.
In a preferred embodiment, the pneumatic soft collecting claw 300 is made of flexible silicone.
In a preferred embodiment, the pressure sensor is made of a conductive flexible velostat material.
In a preferred embodiment, each soft finger 320 of the pneumatic soft acquisition paw 300 is provided with a pressure sensor at least 3 preset joint levels.
According to the soft mechanical system provided by the invention, the target fruit is intelligently grabbed and collected through the three soft fingers of the pneumatic soft collecting claw, as the soft fingers are made of flexible materials and internally provided with the gas chambers, the microcontroller can enable the inner side surfaces of the soft fingers to be attached to the skin of the target fruit to be coated when controlling the pressure of the gas chambers in the soft fingers, and the skin of the target fruit cannot be damaged by large pressure.
Further, the present invention also shows a physical schematic diagram of a soft mechanical system for fruit collection with soft fingers, as shown in fig. 4.
In summary, the soft mechanical system for fruit collection provided by the invention has the following advantages:
the invention provides a soft mechanical system for fruit collection, which comprises a movable base, a hydraulic telescopic rod and a pneumatic soft collecting claw, wherein the movable base is provided with a plurality of grooves; the movable base comprises a shell, a power supply driving assembly and a microcontroller, wherein a movable roller is arranged at the bottom of the shell, the movable roller is respectively in electrical signal connection with the power supply driving assembly and the microcontroller, and the microcontroller is also in electrical signal connection with the hydraulic telescopic rod; the bottom of the hydraulic telescopic rod is mounted on the movable base, and the top of the hydraulic telescopic rod is provided with the pneumatic soft collecting claw; the pneumatic soft acquisition claw comprises a flexible material base and three soft fingers which are divergently distributed in a triangular cone shape; for each soft finger, at least three gas chambers distributed in a regular triangle are arranged in the soft finger, the gas chambers are mutually independent, and the gas chambers are communicated with an external pneumatic control device through gas holes at the root part of the soft finger; the inner side of each soft finger is provided with a strain limiting layer, the strain limiting layer is used for limiting the inward bending direction of each soft finger, a pressure sensor is further arranged in the strain limiting layer, and the pressure sensor is in electrical signal connection with the microcontroller; the tail end of each soft finger is provided with a cutting assembly, and the cutting assembly is used for cutting and separating the root joint of the target fruit. According to the invention, the soft fingers of the pneumatic soft collecting claws are used for flexibly clamping and fixing the surface of the target fruit, so that the technical problem that the existing fruit collecting device cannot accurately and harmlessly collect fruits with different sizes and different apparent characteristics can be solved, and the technical effect of accurately and harmlessly collecting the fruits with different sizes and different apparent characteristics can be achieved.
While the invention has been described in detail in the foregoing by way of general description, and specific embodiments and experiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof.
Claims (7)
1. A soft mechanical system for fruit collection is characterized by comprising a movable base, a hydraulic telescopic rod and a pneumatic soft collection claw;
the movable base comprises a shell, a power supply driving assembly and a microcontroller, wherein a movable roller is arranged at the bottom of the shell, the movable roller is respectively in electrical signal connection with the power supply driving assembly and the microcontroller, and the microcontroller is also in electrical signal connection with the hydraulic telescopic rod;
the bottom of the hydraulic telescopic rod is mounted on the movable base, and the top of the hydraulic telescopic rod is provided with the pneumatic soft collecting claw;
the pneumatic soft acquisition claw comprises a flexible material base and three soft fingers which are divergently distributed in a triangular cone shape; for each soft finger, at least three gas chambers distributed in a regular triangle are arranged in the soft finger, the gas chambers are mutually independent, and the gas chambers are communicated with an external pneumatic control device through gas holes at the root part of the soft finger; the inner side of each soft finger is provided with a strain limiting layer, the strain limiting layer is used for limiting the inward bending direction of each soft finger, a pressure sensor is further arranged in the strain limiting layer, and the pressure sensor is in electrical signal connection with the microcontroller; the tail end of each soft finger is provided with a cutting assembly, and the cutting assembly is used for cutting and separating the root joint of the target fruit.
2. The soft mechanical system according to claim 1, wherein the mobile base is further provided with a negative pressure suction device, the negative pressure suction device is communicated with a negative pressure suction air hole in the center of the flexible material base through a negative pressure air pipe, the negative pressure suction device is electrically connected with the microcontroller, and the suction device is used for sucking the air pressure between the flexible material base and the target fruit into negative pressure through the negative pressure suction air hole of the flexible material base when the microcontroller detects that the distance between the flexible material base and the target fruit is 0, so as to realize the flexible fixation of the flexible material base and the bottom of the target fruit.
3. The soft mechanical system according to claim 1, wherein the flexible material base is a funnel-shaped sucker structure, a camera device is arranged at the center of the flexible material base, the camera device is electrically connected with the microcontroller in the movable base, and is used for shooting a target image corresponding to a target fruit and sending the target image to the microcontroller, and the microcontroller performs direction identification and distance identification between the flexible material base and the target fruit according to the target image.
4. The soft mechanical system of claim 1, wherein the pneumatic soft collection claws are configured to control the inward bending angle and degree of bending of each soft finger by varying the pressure in each gas chamber inside each soft finger.
5. The soft mechanical system of claim 1, wherein the pneumatic soft pick-up claw is made of flexible silicone.
6. The soft mechanical system of claim 1, wherein the pressure sensor is made of a conductive flexible velostat material.
7. The soft mechanical system of claim 1, wherein each soft finger in the pneumatic soft gathering jaw is provided with a pressure sensor at least 3 preset joint segments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110243083.7A CN112772150A (en) | 2021-03-05 | 2021-03-05 | A software mechanical system for fruit is gathered |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110243083.7A CN112772150A (en) | 2021-03-05 | 2021-03-05 | A software mechanical system for fruit is gathered |
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| Publication Number | Publication Date |
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| CN112772150A true CN112772150A (en) | 2021-05-11 |
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| CN202110243083.7A Withdrawn CN112772150A (en) | 2021-03-05 | 2021-03-05 | A software mechanical system for fruit is gathered |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
-
2021
- 2021-03-05 CN CN202110243083.7A patent/CN112772150A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
| US12004451B2 (en) * | 2018-10-08 | 2024-06-11 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
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Application publication date: 20210511 |
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