CN115226496A - Spherical fruit picking and recovering device and method - Google Patents
Spherical fruit picking and recovering device and method Download PDFInfo
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- CN115226496A CN115226496A CN202211013669.5A CN202211013669A CN115226496A CN 115226496 A CN115226496 A CN 115226496A CN 202211013669 A CN202211013669 A CN 202211013669A CN 115226496 A CN115226496 A CN 115226496A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 28
- 238000003491 array Methods 0.000 claims description 14
- 238000011084 recovery Methods 0.000 claims description 10
- 238000004064 recycling Methods 0.000 claims 2
- 230000009747 swallowing Effects 0.000 description 5
- 239000013013 elastic material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000037303 wrinkles Effects 0.000 description 2
- 241000132456 Haplocarpha Species 0.000 description 1
- 208000029154 Narrow face Diseases 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
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Classifications
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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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- 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
- A01D46/24—Devices for picking apples or like fruit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spherical fruit picking and recovering device and method, wherein the device comprises a movable base, a picking manipulator and a fruit box are arranged on the movable base, and the picking manipulator is connected with the fruit box through a hose; still install the image acquisition unit on the removal base, the inboard of hose has a plurality of bar gasbags, the bar gasbag along the hose extends, all bar gasbags all connect the air supply unit. According to the spherical fruit picking and recovering device and method, the strip-shaped air bag is arranged in the hose for recovering fruits, the control system can adjust the radius of the actual channel in the hose according to the radius of the fruits to be picked, so that the specification of the actual channel is matched with the radius of the fruits, the device can recover the fruits with different fruit diameters through the hose, and pipeline blockage or fruit damage cannot be caused.
Description
Technical Field
The invention relates to the technical field of agricultural machinery and control thereof, in particular to a spherical fruit picking and recovering device and method.
Background
Due to the development of the robot technology, the robot for picking the fruits of crops is available at present, in the fruit picking process, flexible paw picking is a common mode, however, the motion of the mechanical arm is influenced by space, chassis resonance and the like, the fruits are generally directly put back into the containing box by the mechanical arm or the fruits are recovered through the hose after the fruits are picked at present, for the fruits with regular shapes, the containing box is obviously too slow when the mechanical arm returns once after picking one fruit, and the picking efficiency can be greatly improved by using the hose to recover the fruits. Patent CN108811765A discloses an integrated fruit picking and collecting robot, which uses a hose to recover the fruits, however, the picking robot can only use a single diameter recovery hose. When fruits with different fruit diameters are recovered through the hose, pipeline blockage or fruit damage is easily caused.
Patent CN111512789A discloses a swallowing type picking method, install swallowing gasbag 23 in its picking machine main part 22, swallowing gasbag 23 is the loop configuration, and install along picking machine main part 22 array, every swallowing gasbag 23 all connects the air supply through the trachea 24 that stretches out in picking machine main part 22, the air supply carries out the rule through swallowing gasbag 23 to the array arrangement and fills the gassing, every motion segment all is blockked the buffering once when can making the fruit move along picking machine main part 22, can not produce very big speed, prevent that the fruit from impacting the damage. The scheme of this patent provides a gasbag formula solution, and it needs to cooperate complicated control to implement swallow formula fruit and retrieves, and it is with high costs to implement, and its purpose aims at not letting the fruit follow the pipeline and accelerate in succession, makes the fruit slowly fall.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides the spherical fruit picking and recovering device and the spherical fruit picking and recovering method which are low in implementation cost and enable an effective channel in a recovering hose to be matched with the outer diameter of a fruit.
The technical scheme is as follows: in order to achieve the purpose, the spherical fruit picking and recovering device comprises a movable base, wherein a picking manipulator and a fruit box are mounted on the movable base, and the picking manipulator is connected with the fruit box through a hose; the mobile base is further provided with an image acquisition unit, the inner side of the hose is provided with a plurality of strip-shaped air bags, the strip-shaped air bags extend along the hose, and all the strip-shaped air bags are connected with an air source device.
Furthermore, at least one circle of airbag arrays are fixed in the hose, and each circle of airbag array comprises a plurality of strip-shaped airbags.
Furthermore, a plurality of circles of air bag arrays are arranged in the hose, and the specifications of the strip-shaped air bags belonging to the same air bag array are the same; and all strip-shaped air bags contained in the same air bag array are inflated and deflated together.
Furthermore, the strip-shaped air bags belonging to the same air bag array are all connected with the same air cavity positioned at the end part of the hose, and an air inlet pipe and an exhaust pipe are arranged between the air cavity and the air source device.
Further, the picking manipulator comprises a mechanical arm and a claw mounted at the executing tail end of the mechanical arm;
a bracket connected with the execution tail end of the mechanical arm is arranged at the end part of the hose;
the support comprises a first support body and a second support body which are hinged with each other, and the first support body and the second support body are respectively connected with the execution tail end of the mechanical arm and the end part of the hose;
an electric push rod is arranged between the first frame body and the second frame body.
Furthermore, the claw comprises a base body bracket, a claw body, a telescopic bracket, a connecting rod and a driving motor;
the base body bracket comprises a first plate part and a second plate part, wherein the first plate part is connected with the execution tail end of the mechanical arm, the second plate part is parallel to the first plate part, and a plurality of support rods are connected between the first plate part and the second plate part;
all the supporting rods penetrate through the telescopic bracket, the driving motor is installed on the inward side of the second plate part and drives the telescopic bracket to move in a translation mode relative to the seat body bracket;
the claw bodies are hinged on the second plate part in a circumferential array; the connecting rod is connected between each claw body and the telescopic support.
Furthermore, the claw body has a triangular hollow frame body, a plurality of parallel ribs are arranged in the hollow frame body, and the hollow frame body and the ribs are flexible.
A spherical fruit picking and recovering method is based on the spherical fruit picking and recovering device and is implemented by a control system, and the method comprises the following steps:
collecting an image through the image collecting unit;
obtaining fruit information according to the image, wherein the fruit information comprises fruit radius data;
controlling the air source device to operate according to the fruit radius data to change the inflating quantity of the strip-shaped air bag so as to change the radius of an effective channel in the hose;
controlling the picking manipulator to carry out picking operation;
and throwing the picked fruits into the fruit box through the hose.
Further, the controlling the air source device to operate according to the fruit radius data to change the inflation quantity of the strip-shaped air bag so as to change the radius of the effective channel in the hose comprises the following steps:
calculating the radius of a target channel according to the fruit radius data;
calculating the target inflation quantity of the strip-shaped air bag according to the radius of the target channel;
controlling the operation of the air source device according to the target inflation quantity so as to adjust the radius of an actual effective channel in the hose.
Further, the picking manipulator comprises a mechanical arm and a claw hand arranged at the executing tail end of the mechanical arm; a bracket connected with the execution tail end of the mechanical arm is arranged at the end part of the hose; the support comprises a first support body and a second support body which are hinged with each other, and the first support body and the second support body are respectively connected with the execution tail end of the mechanical arm and the end part of the hose; an electric push rod is arranged between the first frame body and the second frame body;
before the delivering the picked fruit through the hose to the fruit box, further comprising:
controlling the electric push rod to operate so that the relative state of the first frame body and the second frame body is changed into a working state;
controlling the mechanical arm to operate so that the inlet of the hose is positioned below the claw;
controlling the paw to release the fruit.
Has the beneficial effects that: according to the spherical fruit picking and recovering device and method, the strip-shaped air bag is arranged in the hose for recovering fruits, the control system can adjust the radius of the actual channel in the hose according to the radius of the fruits to be picked, so that the specification of the actual channel is matched with the radius of the fruits, the device can recover the fruits with different fruit diameters through the hose, and pipeline blockage or fruit damage cannot be caused.
Drawings
FIG. 1 is a perspective view of a spherical fruit picking and recovering device;
FIG. 2 is a top view of the spherical fruit picking and recovery device;
FIG. 3 is a layout view of a strip bladder in a hose;
FIG. 4 is a schematic view showing the change in radius of the effective channel in the hose after the strip-shaped air bag is inflated;
FIG. 5 is a block diagram of a strip bladder in a preferred embodiment;
FIG. 6 is a sectional view showing the construction of a bar-shaped air bag in the preferred embodiment;
FIG. 7 is a view showing the inflation/deflation structure of the strip-shaped airbag;
FIG. 8 is a diagram showing the arrangement of a strip-shaped air bag in a hose according to another embodiment;
FIG. 9 is a block diagram of an actuation end portion of a robotic arm;
fig. 10 is a structural view of the paw.
In the figure: 1-moving the base; 2-picking manipulator; 21-a mechanical arm; 22-cleft hand; 221-seat support; 221 a-a first plate portion; 221 b-a second plate portion; 221 c-support bar; 222-a claw body; 223-a telescopic bracket; 224-a connecting rod; 225-drive motor; 3-a fruit box; 4-a flexible pipe; 51-a strip-shaped airbag; 52-gas source means; 53-air cavity; 54-an air inlet pipe; 55-an exhaust tube; 6-an image acquisition unit; 7-a scaffold; 71-a first frame; 72-a second frame; 73-electric push rod.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The spherical fruit picking and recovering device shown in fig. 1-2 comprises a movable base 1, wherein a picking manipulator 2 and a fruit box 3 are mounted on the movable base 1, and the picking manipulator 2 is connected with the fruit box 3 through a hose 4; the mobile base 1 is further provided with an image acquisition unit 6, the inner side of the hose 4 is provided with a plurality of strip-shaped air bags 51, the strip-shaped air bags 51 extend along the hose 4, and all the strip-shaped air bags 51 are connected with an air source device 52.
In the above structure, different from the solution in CN111512789A, the length of each strip-shaped air bag 51 is equal to the length of the hose 4, and each strip-shaped air bag 51 is an uninterrupted strip-shaped air bag body, and the air bag expands or contracts together with the air bag section within the full length range when being inflated or deflated. The strip-shaped bladder 51 may be formed separately and then fixed to the inner surface of the hose 4, or may be formed integrally with the hose 4.
At least one circle of airbag arrays are fixed in the hose 4, and each circle of airbag array comprises a plurality of strip-shaped airbags 51. In this way, by inflating and deflating the strip-shaped air bags 51 included in the air bag array by the air source device 52, the radius of the effective channel through which the fruit can pass in the hose 4 can be adjusted, so that the radius of the effective channel (as shown by R in fig. 3 and 4) is adapted to the radius of the fruit to be actually picked, and thus, in the process that the fruit passes through the inside of the hose 4, the damage to the fruit can be reduced or prevented, and the quality of the finally picked fruit is improved. Above-mentioned effective passageway is adjacent with a plurality of bar gasbags 51, because bar gasbags 51 extend along hose 4, consequently, when the fruit moves along effective passageway, it forms line contact or narrow face contact with between bar gasbags 51, and frictional force is less, and through the inflation volume of control bar gasbags 51, can make the effective passageway get the internal diameter slightly less than the radius of actual fruit, so when the fruit moves along hose 4, a plurality of bar gasbags 51 produced less frictional resistance to it, can make the fruit comparatively slowly get into fruit case 3.
When a plurality of circles of airbag arrays are arranged in the hose 4, the specifications of the strip-shaped airbags 51 belonging to the same airbag array are the same; and all the strip-shaped air cells 51 included in the same air cell array are inflated and deflated together. In this embodiment, the specifications of the strip airbags 51 belonging to different airbag arrays may be the same or different. As shown in fig. 8, two circles of strip-shaped airbags, namely, a heightening airbag 51a and an arc-shaped airbag 51b, are formed in the hose 4, wherein the heightening airbag 51a is fixed inside the hose 4, and the arc-shaped airbag 51b is arranged on one side of the heightening airbag 51a, which is far away from the hose 4, when the air supply device 52 is used, the air supply device can ventilate only the strip-shaped airbag 51 contained in one circle of airbag array (for example, only the arc-shaped airbag 51b is ventilated, the heightening airbag 51a is in a dry-shriveled state, and the heightening airbag 51a is integrally attached to the inner wall of the hose 4), and can also ventilate the strip-shaped airbags 51 contained in multiple circles or all airbag arrays (the arc-shaped airbag 51b and the heightening airbag 51a are ventilated at the same time), so that by combining the strip-shaped airbags 51 of different circles of airbag arrays, the adjustable range of effective passage radius can be greatly increased, and fruits with different sizes of the hose 4 can be adapted. Preferably, the heightening air bag 51a is made of an inelastic material, has a predetermined size and cross-sectional shape after being inflated, and has a cross-sectional shape preferably elongated in a circumferential direction of the tube 4, and the circular arc air bag 51b is made of an elastic material, and has different inflation amounts by being inflated with different amounts of gas, so that the heightening air bag 51a and the circular arc air bag 51b are used in combination, whereby an adjustable range of an effective passage radius can be effectively increased.
In order to realize the synchronous inflation and deflation of the strip-shaped air bags 51 belonging to the same air bag array, as shown in fig. 7, the strip-shaped air bags 51 belonging to the same air bag array are all connected with the same air cavity 53 positioned at the end part of the hose 4, and an air inlet pipe 54 and an air exhaust pipe 55 are arranged between the air cavity 53 and the air supply device 52. The strip-shaped air bags 51 belonging to different air bag arrays are connected with different air cavities 53.
In the above structure, the gas supply device 52 injects gas into the strip-shaped airbag 51 through the gas inlet pipe 54, and extracts gas from the strip-shaped airbag 51 through the gas extraction pipe 55 to control the amount of gas in the strip-shaped airbag 51. Preferably, the air inlet pipe 54 and the air exhaust pipe 55 are both provided with air valves, and when the inflation or the air exhaust is completed, the air valves are controlled to be closed so as to enable the strip-shaped airbag 51 to enter a pressure maintaining state.
The strip-shaped air bag 51 is preferably made of an elastic material, so that the strip-shaped air bag 51 does not generate wrinkles after being deflated, and the wrinkles can be prevented from rubbing the fruits to cause the fruits to pass through unsmoothly. In addition, since the strip-shaped airbag 51 made of an elastic material may become long after being inflated, and the difference in diameter between the sections (large middle inflation amount and small both end inflation amount) may cause poor uniformity of the inner diameter of the effective passage, and fruits may not pass smoothly, in order to solve the above problems, as shown in fig. 5 to 6, the strip-shaped airbag 51 of the present application has a flexible support for restricting the expansion of the strip-shaped airbag 51 therein, the flexible support includes a flexible wire 56 extending along the central axis of the strip-shaped airbag 51, a plurality of flexible wires 56 are fixed with respect to the strip-shaped airbag 51 and are circumferentially arrayed around the central axis of the strip-shaped airbag 51 (the cross section of the strip-shaped airbag 51 is circular), and the flexible wire 56 has no elasticity, and may be fixed on the inner wall of the strip-shaped airbag 51 or formed in the wall of the strip-shaped airbag 51; the flexible support further comprises a plurality of annular supports 57 perpendicular to the central axis of the strip-shaped airbag 51, the annular supports 57 are made of elastic materials, the annular supports 57 comprise circular arc portions 57a and inner concave portions 57b which are circumferentially arranged in a staggered manner, wherein the circular arc portions 57a are fixed on the inner wall of the strip-shaped airbag 51 or anchored in the wall of the strip-shaped airbag 51, the distribution density of the annular supports 57 gradually decreases in the direction from the middle portion of the strip-shaped airbag 51 to the end portion (as shown in fig. 5), that is, the annular supports 57 in the middle portion are densely distributed, and the annular supports 57 at the two ends are sparsely distributed. Through the structure, the flexible wire 56 can limit the strip-shaped air bag 51 to enable the strip-shaped air bag 51 not to be obviously lengthened when the strip-shaped air bag 51 is inflated, the concave part of the annular support 57 is gradually expanded when the strip-shaped air bag 51 is inflated, and due to the fact that the specifications of all the annular supports 57 are consistent, the annular supports 57 at two ends of the annular support 57 in the middle of the strip-shaped air bag 51 are densely distributed and sparsely distributed, all the positions of the strip-shaped air bag 51 can be evenly inflated when the strip-shaped air bag 51 is inflated, and the radius of the cross section of each position is good in consistency.
The picking manipulator 2 comprises a mechanical arm 21 and a claw 22 arranged at the executing tail end of the mechanical arm 21; the end part of the hose 4 is provided with a bracket 7 connected with the execution tail end of the mechanical arm 21; as shown in fig. 9, the support 7 includes a first frame 71 and a second frame 72 hinged to each other, and the first frame 71 and the second frame 72 are respectively connected to the actuating end of the robot arm 21 and the end of the hose 4; an electric push rod 73 is arranged between the first frame body 71 and the second frame body 72.
In the above structure, the second frame 72 is a plate-shaped structure, the second frame 72 is provided with a through hole, the end of the hose 4 is vertically installed relative to the second frame 72, and the inlet of the hose 4 is aligned with the through hole; the electric push rod 73 can push the first frame body 71 to switch between an operating state and a retreating state relative to the second frame body 72, in the operating state, the first frame body 71 and the second frame body 72 are both in an L shape, and the second frame body 72 is installed in a manner of being offset relative to the claw 22. After the gripper 22 picks up the fruit, the mechanical arm 21 is operated to make the gripper 22 in a horizontal position and the second frame 72 is located at the lower end of the gripper 22, so that the gripper 22 releases the fruit to fall into the hose 4. In the retracted state, the second frame body 72 is expanded relative to the first frame body 71, so that the second frame body 72 and the end portion of the hose 4 are retracted backward, and the claw 22 is prevented from being influenced by the second frame body 72 and the end portion of the hose 4 to pick up the fruit.
As shown in fig. 10, the gripper 22 includes a base bracket 221, a gripper body 222, a telescopic bracket 223, a connecting rod 224, and a driving motor 225; the base bracket 221 includes a first plate portion 221a connected to the end of the robot arm 21 and a second plate portion 221b parallel to the first plate portion 221a, and a plurality of support rods 221c are connected between the two plate portions; all the supporting rods 221c pass through the telescopic bracket 223, and the driving motor 225 is installed at the inward side of the second board portion 221b and drives the telescopic bracket 223 to make translational motion relative to the seat body bracket 221; a plurality of said claw bodies 222 are hinged on said second plate portion 221b in a circumferential array; the connecting rod 224 is connected between each claw body 222 and the telescopic bracket 223.
The driving motor 225 drives the telescopic bracket 223 to move through a lead screw and a lead screw nut. The claw 22 makes full use of the space in the seat body bracket 221, and has a compact structure and a good grabbing effect.
The claw body 22 has a triangular hollow frame body, a plurality of parallel rib bodies are arranged in the hollow frame body, and the hollow frame body and the rib bodies are flexible. The claw body 22 with the structure can deform and surround the fruit after contacting with the fruit, is more beneficial to picking the fruit and prevents the fruit from being damaged.
The invention also provides a spherical fruit picking and recovering method, which is based on the spherical fruit picking and recovering device and implemented by a control system, wherein the control system is connected with the picking manipulator 2, the air source device 52 and the image acquisition unit 6, and the method comprises the following steps:
step 1), collecting images through the image collecting unit 6;
step 2), obtaining fruit information according to the image, wherein the fruit information comprises fruit radius data;
in this step, the fruit information includes spatial coordinates of the fruit in addition to the radius data of the fruit.
Step 3), controlling the air source device 52 to operate according to the fruit radius data to change the inflation quantity of the strip-shaped air bag 51 so as to change the radius of an effective channel in the hose 4;
step 4), controlling the picking manipulator 2 to execute picking operation;
in this step, the control system converts the spatial coordinates of the fruits into the position coordinates of the claw 22, controls the manipulator 2 to reach the position according to the position coordinates to perform picking operation, controls the mechanical arm 21 to operate to enable the claw 22 to retreat for a set distance after picking the fruits, and then performs subsequent fruit boxing operation.
And 5) throwing the picked fruits into the fruit box 3 through the hose 4.
When a plurality of circles of airbag arrays are arranged in the hose 4, the control system selects which circles of airbag arrays are inflated and which circles of airbag arrays are deflated according to the radius of the target channel, determines the inflation amount of the strip-shaped airbags 51 corresponding to each group of airbag arrays, and finally controls the air source device 52 to respectively implement inflation and deflation operations on each group of airbag arrays.
Specifically, the step 3) specifically includes the following steps:
step 3.1), calculating the radius of a target channel according to the fruit radius data;
step 3.2), calculating the target inflation quantity of the strip-shaped air bag 51 according to the radius of the target channel;
step 3.3), controlling the operation of the air supply device 52 according to the target inflation volume so as to adjust the radius of the actual effective channel in the hose 4.
Preferably, the following steps are further included between the step 4) and the step 5):
step 6.1), controlling the electric push rod 73 to operate so that the relative state of the first frame body 71 and the second frame body 72 is changed into a working state;
step 6.2), controlling the mechanical arm 21 to operate so that the inlet of the hose 4 is positioned below the claw 22;
and 6.3) controlling the claws 22 to release the fruits.
In order to monitor whether the fruits enter the hose 4 conveniently, the second frame body 72 is provided with a first photoelectric sensor, the controller judges whether the fruits enter the hose 4 according to a signal fed back by the first photoelectric sensor, and after the fruits enter the hose 4, the electric push rod 73 retracts to enable the relative state of the first frame body 71 and the second frame body 72 to be changed into an avoiding state.
In addition, a second photoelectric sensor is installed at the outlet position of the hose 4, the controller judges whether the fruit leaves the hose 4 and enters the fruit box 3 according to a signal fed back by the second photoelectric sensor, if so, the next task of changing the inflation quantity of the strip-shaped air bag 51 is implemented, and the fruit is prevented from being clamped in the hose 4.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention, and such modifications and adaptations are intended to be within the scope of the invention.
Claims (10)
1. The spherical fruit picking and recovering device comprises a movable base (1), wherein a picking manipulator (2) and a fruit box (3) are mounted on the movable base (1), and the picking manipulator (2) is connected with the fruit box (3) through a hose (4); the movable base (1) is further provided with an image acquisition unit (6) and is characterized in that the inner side of the hose (4) is provided with a plurality of strip-shaped air bags (51), the strip-shaped air bags (51) extend along the hose (4), and all the strip-shaped air bags (51) are connected with an air source device (52).
2. Spherical fruit picking recovery device according to claim 1, characterised in that at least one circle of air bag arrays is fixed in the hose (4), each circle of air bag array comprising a plurality of strip-shaped air bags (51).
3. Spherical fruit picking and recycling device according to claim 2, characterized in that a multi-circle airbag array is arranged in the hose (4), and the strip-shaped airbags (51) belonging to the same airbag array have the same specification; and all the strip-shaped air bags (51) contained in the same air bag array are inflated and deflated together.
4. Spherical fruit picking and recycling device according to claim 2, characterized in that the strip-shaped air bags (51) belonging to the same air bag array are all connected with the same air chamber (53) at the end of the hose (4), and an air inlet pipe (54) and an air exhaust pipe (55) are arranged between the air chamber (53) and the air source device (52).
5. Spherical fruit picking recovery device according to claim 1, characterised in that the picking robot (2) comprises a robot arm (21) and a gripper (22) mounted at the execution end of the robot arm (21);
a bracket (7) connected with the execution tail end of the mechanical arm (21) is arranged at the end part of the hose (4);
the support (7) comprises a first support body (71) and a second support body (72) which are hinged to each other, and the first support body (71) and the second support body (72) are respectively connected with the execution tail end of the mechanical arm (21) and the end part of the hose (4);
an electric push rod (73) is arranged between the first frame body (71) and the second frame body (72).
6. The spherical fruit picking recovery device according to claim 5, wherein the claw (22) comprises a seat body bracket (221), a claw body (222), a telescopic bracket (223), a connecting rod (224) and a driving motor (225);
the base body bracket (221) comprises a first plate part (221 a) connected with the execution tail end of the mechanical arm (21) and a second plate part (221 b) parallel to the first plate part (221 a), and a plurality of support rods (221 c) are connected between the first plate part (221 a) and the second plate part (221 b);
all the supporting rods (221 c) penetrate through the telescopic bracket (223), the driving motor (225) is installed on the inward side of the second plate portion (221 b) and drives the telescopic bracket (223) to perform translational motion relative to the seat body bracket (221);
a plurality of said claw bodies (222) are hinged in a circumferential array on said second plate portion (221 b); the connecting rod (224) is connected between each claw body (222) and the telescopic bracket (223).
7. Spherical fruit picking recovery device according to claim 6, characterised in that the claw body (22) has a triangular hollow frame with a plurality of parallel ribs inside it, both the hollow frame and the ribs being flexible.
8. A spherical fruit picking recovery method based on the spherical fruit picking recovery device of claim 1 and implemented by a control system, the method comprising:
-acquiring an image by means of the image acquisition unit (6);
obtaining fruit information according to the image, wherein the fruit information comprises fruit radius data;
controlling the air source device (52) to operate according to the fruit radius data to change the inflation quantity of the strip-shaped air bag (51) so as to change the radius of an effective channel in the hose (4);
controlling the picking manipulator (2) to carry out picking operation;
delivering picked fruits to the fruit box (3) through the hose (4).
9. The spherical fruit picking recovery method according to claim 8, wherein the controlling the air source device (52) to operate to change the inflation amount of the strip-shaped air bag (51) according to the fruit radius data so as to change the radius of the effective channel in the hose (4) comprises:
calculating the radius of a target channel according to the fruit radius data;
calculating the target inflation quantity of the strip-shaped air bag (51) according to the target channel radius;
controlling the operation of the air source device (52) according to the target inflation volume to adjust the radius of the actual effective channel in the hose (4).
10. Spherical fruit picking recovery method according to claim 8, characterised in that the picking robot (2) comprises a robot arm (21) and a gripper (22) mounted at the execution end of the robot arm (21); a bracket (7) connected with the execution tail end of the mechanical arm (21) is arranged at the end part of the hose (4); the support (7) comprises a first support body (71) and a second support body (72) which are hinged to each other, and the first support body (71) and the second support body (72) are respectively connected with the execution tail end of the mechanical arm (21) and the end part of the hose (4); an electric push rod (73) is arranged between the first frame body (71) and the second frame body (72);
before the delivering the picked fruit to the fruit box (3) through the hose (4), the method further comprises the following steps:
controlling the electric push rod (73) to operate so as to change the relative state of the first frame body (71) and the second frame body (72) into a working state;
controlling the mechanical arm (21) to operate so that the inlet of the hose (4) is positioned below the claw (22);
the claw (22) is controlled to release the fruit.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
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