Three-mechanical arm picking robotTechnical Field
The utility model relates to the field of intelligent agricultural equipment, in particular to a standardized picking robot with multiple mechanical arms in an orchard and a picking method thereof.
Background
The improvement of the mechanization and intelligence level of the apple picking robot has become one of the main directions of agricultural machinery research.
The problems of mutual shielding influence judgment of fruits, branches and leaves, uncertainty of influence of illumination conditions on the quality of acquired images under a real working environment, fruit oscillation and the like affect the recognition and positioning accuracy of apple fruits.
Under the limitation of various aspects, even if different mechanical picking systems are used, rigid collision in the picking process is unavoidable, so that fruits and fruit trees are damaged. The fruit identification and positioning, the calibration of internal and external parameters and the error brought by the planning of the mechanical arm are all eliminated by the design of the end effector, so that the design difficulty is increased.
The existing picking robots are mostly single-arm picking or unidirectional multi-arm picking.
According to actual research and development requirements, unmanned key technologies and equipment research and development of unmanned harvesting agriculture-agricultural machinery fusion mode research of modern orchards, efficient low-loss harvesting of fresh fruits, on-site pre-sorting classification, fruit box collection and transportation and the like are mainly carried out.
Disclosure of Invention
Aiming at the problems and the defects, the utility model aims to provide a multi-mechanical arm picking robot and a picking method thereof, which can realize low-loss and high-efficiency picking, collecting and transferring work of fruits in an orchard.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a three arm picking robot, includes chassis moving system 1, control driving system 2, fruit collection transfer device 3 and picks arm system 4, control driving system 2 and fruit collection transfer device 3 fixed mounting are on chassis moving system 1, pick arm system 4 install on fruit collection transfer device 3, connect through the slider.
The chassis moving system 1 comprises a travelling mechanism 1-1, a supporting mechanism 1-2, an energy supply system 1-3 and a damping and shock absorbing mechanism 1-4; the support mechanism 1-2 is welded on the uppermost plane of the travelling mechanism 1-1, the energy supply system 1-3 is placed inside the support mechanism 1-2, and the damping and shock absorbing mechanism 1-4 is fixed at the upper end of a pipe frame for connecting the support mechanism 1-2 with the travelling mechanism 1-1 and the upper end of wheels inside a bracket of the travelling mechanism 1-1.
The control driving system 2 is positioned at the upper end of the chassis moving system 1 and is fixedly connected with the supporting mechanism 1-2; the control driving system 2 comprises a flexible clamping jaw control box 2-1, a cooperative mechanical arm control box 2-2, a display 2-3, an industrial personal computer 2-4, a GPS antenna 2-5, a motor driver 2-6, an electric box 2-7 and a supporting plate 2-8; the flexible clamping jaw control box 2-1, the cooperative mechanical arm control box 2-2, the industrial personal computer 2-4, the GPS antenna 2-5, the motor driver 2-6 and the electric box 2-7 are fixedly connected to the support plate 2-8 through bolts and the like, and the display 2-3 is arranged on the top plane of the industrial personal computer 2-4.
The fruit collecting and transferring device 3 is fixedly connected to the top surfaces of the supporting plates 2-8; comprises a mechanical arm supporting frame 3-1 and a lower fruit table 3-2; the mechanical arm support frame 3-1 is vertically arranged at the upper end of the support mechanism 1-2, the fruit-bearing table 3-2 is positioned at the inner side of the mechanical arm support frame 3-1, and the initial working position of the air claw clamping jaw is right below.
The picking mechanical arm system 4 is additionally arranged above the mechanical arm support frame 3-1 and is connected with the mechanical arm support frame through a sliding block module; the picking mechanical arm system 4 comprises a flexible clamping jaw 4-1, a binocular vision module 4-2 and a mechanical arm body 4-3; the flexible clamping jaw 4-1 is arranged at the tail end of the mechanical arm body 4-3 through a bolt, and the binocular vision module 4-2 is arranged at the tail end of the mechanical arm body 4-3 through a camera connecting frame.
The chassis moving system 1 is 220cm long, 180cm wide and 73.5cm high.
The three picking mechanical arm systems 4 are fixedly arranged at the upper end of the chassis moving system 1, and comprise a right front picking mechanical arm system 401, a left front picking mechanical arm system 402 and a rear picking mechanical arm system 403.
The picking mechanical arm system 4 is horizontally installed and can move along the axial direction of the mechanical arm support frame 3-1 through the sliding block module, and fixing blocks are arranged at two ends of the mechanical arm support frame 3-1 and used for limiting the sliding of the picking mechanical arm system 4 in the axial direction of the profile.
The right front end picking mechanical arm system 401 and the left front end picking mechanical arm system 402 of the picking robot pick fruit trees in the directions of the areas on two sides of the picking robot, and the rear end picking mechanical arm system 403 picks the areas on two sides and the top of the picking robot.
The flexible clamping jaw 4-1 is controlled pneumatically, and a flexible pressure sensor is arranged on the inner side of the clamping jaw to limit the closing degree of the flexible clamping jaw in the picking process.
The flexible clamping jaw 4-1 can rotate along the axial line direction of the tail end of the mechanical arm body 4-3, and the movement of the flexible clamping jaw has no influence on the binocular vision module 4-2.
Compared with the prior art, the utility model has the beneficial effects that:
the multiple mechanical arms work simultaneously, so that picking work can be performed on two adjacent fruit trees simultaneously, high-efficiency picking work is realized, simultaneous picking is performed on target fruits on two sides and the top, and working efficiency is improved.
The multiple mechanical arms and the multiple binocular cameras work cooperatively, so that the recognition picking success rate is improved.
The flexible pneumatic clamping jaw with the flexible pressure sensor is used as the end effector, so that the fruit loss rate is effectively reduced, picking work can be carried out on various fruits, the use frequency of the end effector is improved, and the economic value is further improved.
Drawings
FIG. 1 is a perspective view of the complete machine system of the present utility model;
FIG. 2 is a perspective view of the chassis movement system of the present utility model;
fig. 3 is a perspective view of the pan movement system, control drive system and fruit collection and transport device (3) of the present utility model;
FIG. 4 is a perspective view of the picking arm system of the present utility model;
FIG. 5 is a perspective view of the overall layout of the picking arm system of the present utility model;
the figure shows: the device comprises a chassis moving system, a 1-1 travelling mechanism, a 1-2 supporting mechanism, a 1-3 energy supply system, a 1-4 damping and shock absorbing mechanism, a 2 control driving system, a 2-1 flexible clamping jaw control box, a 2-2 cooperation mechanical arm control box, a 2-3 display, a 2-4 industrial personal computer, a 2-5GPS antenna, a 2-6 motor driver, a 2-7 electric box, a 2-8 supporting plate, a 3 fruit collecting and transferring device, a 3-1 mechanical arm supporting frame, a 3-2 fruit feeding table, a 4 picking mechanical arm system, a 4-1 flexible clamping jaw, a 4-2 binocular vision module, a 4-3 mechanical arm body, a 401 right front end picking mechanical arm system, a 402 left front end picking mechanical arm system and a 403 rear end picking mechanical arm system.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. Examples are all within the scope of the present utility model.
As shown in fig. 1, a three-arm picking robot comprises a chassis moving system 1, a control driving system 2, a fruit collecting and transporting device 3 and a picking mechanical arm system 4. The control driving system 2 and the fruit collecting and transferring device 3 are fixedly arranged on the chassis moving system 1, and the picking mechanical arm system 4 is arranged on the fruit collecting and transferring device 3 and connected through a sliding block. Wherein:
as shown in fig. 2, the chassis moving system 1 comprises a travelling mechanism 1-1, a supporting mechanism 1-2, an energy supply system 1-3 and a damping and shock absorbing mechanism 1-4.
The supporting mechanism 1-2 is welded on the uppermost plane of the travelling mechanism 1-1. The travelling mechanism 1-1 consists of a crawler belt, crawler wheels, a servo motor, an encoder, a speed reducer and a mechanical structure support, and is used for realizing low-speed stable operation of the picking robot. The supporting mechanism 1-2 is used as a carrier, so that each part of the picking robot can run stably, and picking errors caused by shaking due to slight shaking in the working process are avoided.
The energy supply system 1-3 is placed inside the supporting mechanism 1-2. The energy supply system 1-3 is used for supplying energy to each system of the picking robot and supplying proper voltage to each component through the 2-7 electric box.
The damping and shock absorbing mechanism 1-4 is fixed at the upper end of a pipe frame connected with the supporting mechanism 1-2 and the traveling mechanism 1-1 and at the upper end of wheels in the traveling mechanism 1-1 bracket. The damping and shock absorbing mechanism 1-4 is used for absorbing vibration caused by uneven road surface of a causal garden and improving running stability of a whole machine working system.
As shown in fig. 3, the control driving system 2 is located at the upper end of the chassis moving system 1 and is fixedly connected with the supporting mechanism 1-2. The control driving system 2 comprises a flexible clamping jaw control box 2-1, a cooperative mechanical arm control box 2-2, a display 2-3, an industrial personal computer 2-4, a GPS antenna 2-5, a motor driver 2-6, an electric box 2-7 and a supporting plate 2-8.
The flexible clamping jaw control box 2-1, the cooperative mechanical arm control box 2-2, the industrial personal computer 2-4, the GPS antenna 2-5, the motor driver 2-6 and the electric box 2-7 are fixedly connected to the support plate 2-8 through bolts and the like, and the display 2-3 is arranged on the top plane of the industrial personal computer 2-4. The flexible clamping jaw control box 2-1 is used for receiving signals of the industrial personal computer 2-4 and controlling opening and closing of the flexible clamping jaw 4-1 and the grabbing force in the target picking process. The cooperation mechanical arm control box 2-2 is used for receiving relevant instruction information of the industrial personal computer 2-4 and realizing the generation of the optimal pose and motion path of the mechanical arm and the operation control of the mechanical arm body 4-3. The industrial personal computer 2-4 is used for receiving data information sent by the binocular vision module 4-2, the GPS antenna 2-5 and the motor encoder of the travelling mechanism 1-1, and the flexible pressure sensor of the flexible clamping jaw 4-1, processing the data information in parallel, combining corresponding algorithms to obtain required information, and respectively transmitting the required information to the flexible clamping jaw control box 2-1, the cooperative mechanical arm control box 2-2 and the motor driver 2-6. The motor driver 2-6 is used for receiving signals of the industrial personal computer 2-4, so as to control the running of the travelling mechanism 1-1 and complete the movement of the robot under a given moving path. The electric box 2-7 is used for connecting a power supply with various electric equipment, and realizing the functions of energy distribution, overload protection and the like. The display 2-3 is used for displaying and monitoring the information processing and the work of the robot in real time.
The fruit collecting and transferring device 3 is fixedly connected to the top surfaces of the supporting plates 2-8; comprises a mechanical arm supporting frame 3-1 and a fruit-discharging table 3-2.
The mechanical arm support frame 3-1 is vertically arranged at the upper end of the support mechanism 1-2, the fruit-bearing table 3-2 is positioned at the inner side of the mechanical arm support frame 3-1, and the initial working position of the air claw clamping jaw is right below. The mechanical arm supporting frame 3-1 is used for providing a sliding block moving platform and mechanical arm fixing, and fixing blocks are arranged at two ends of the mechanical arm supporting frame and used for limiting the sliding of the picking mechanical arm system 4 in the axial direction of the section bar. The lower fruit table 3-2 has the function of gathering picked fruits, so that the fruit collecting and transporting device is convenient for fruit transporting.
As shown in fig. 4 and 5, the picking robot arm system 4 includes a flexible gripper 4-1, a binocular vision module 4-2, and a robot arm body 4-3.
The flexible clamping jaw 4-1 is used for flexibly grabbing target fruits, the equipped flexible pressure sensor can measure the pressure of the fruits and transmit data information to the industrial personal computer 2-4 for judging and processing, in the picking process, after the flexible clamping jaw 4-1 receives a control signal, the claw contracts outwards, after the claw approaches the fruits, the claw stretches inwards to grab the target fruits, meanwhile, the flexible pressure sensor collects pressure data and transmits the pressure data to the industrial personal computer 2-4 for data model comparison, after the fixed posture is achieved or the pressure reaches a threshold value, the picking posture in the state is kept unchanged, and the flexible clamping jaw 4-1 twists and pulls the target fruits outwards under the driving of the mechanical arm body 4-3, so that the separation of the target fruits and the fruit trees is realized.
The binocular vision module 4-2 is used for collecting orchard information and transmitting the orchard information to the industrial personal computer 2-4 for target recognition. The mechanical arm body 4-3 is used for assisting the binocular vision module 4-2 to perform image collection work and fruit picking work, the right front end picking mechanical arm system 401 and the left front end picking mechanical arm system 402 can independently achieve information collection and picking work of target fruits on two sides, the rear end picking mechanical arm system 403 can perform information collection and picking work of target fruits on the top of the picking robot, when no working area is formed on the top of the picking robot, the rear end picking mechanical arm system 403 can move to two sides of the picking robot through sliding blocks, single-side mechanical arm dislocation picking work is achieved, the working area is enlarged, secondary picking work is performed on the working areas of the right front end picking mechanical arm system 401 and the left front end picking mechanical arm system 402, and the fruit picking rate is improved.