CN103503637A - Intelligent identification picking robot and picking method - Google Patents
Intelligent identification picking robot and picking method Download PDFInfo
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- CN103503637A CN103503637A CN201310478625.4A CN201310478625A CN103503637A CN 103503637 A CN103503637 A CN 103503637A CN 201310478625 A CN201310478625 A CN 201310478625A CN 103503637 A CN103503637 A CN 103503637A
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Abstract
The invention provides an intelligent identification picking robot and a picking method. The problem of picking Chinese chestnuts at high positions is solved. The intelligent identification picking robot comprises a lower computer and an upper computer. The lower computer comprises a four-wheel intelligent moving platform 10, a first control cabinet 7, an image collecting module, a Chinese chestnut picking module, a chestnut collecting box 3, a weighing module 4, a wireless video transmission module, a power source 9 and a GPS locating module 44. The upper computer comprises a PC 39, a wireless video receiving module 36, a data collecting card 37, a second main control module 38, a second control cabinet 35, a receiver antenna 34 and a video transmission line. By means of the robot, the Chinese chestnut picking labor productivity is improved, labor intensity of farmers is lowered, picking cost is lowered, timely picking of Chinese chestnuts and Chinese chestnut quality are guaranteed, and the robot has immeasurable significance in improvement of modernization and intelligence of the agriculture in China and acceleration of agricultural science progress.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of fruit picking robot, also relates to a kind of picking fruit method.
Background technology
Chinese chestnut is a kind of of Fagaceae Castanea, originates in China, is a kind of important dry fruit, is rich in sugar, starch, protein and several kinds of mineral elements, and edible way is various.The yield and quality of China Chinese chestnut, occupies first place in the world.
The harvesting of Chinese chestnut is labour-intensive operation, and at present general picking method is: with bamboo pole or waddy aim at Chinese chestnut and connect branch and beat, be that Chinese chestnut splits away off from connected branch, harvesting personnel collect the Chinese chestnut coming off.This picking method need to expend a large amount of manpower and financial resources, makes Chinese chestnut production cost increase; The Chinese chestnut simultaneously coming off from tree is subjected to the strike of bamboo pole waddy alive and drops into shock on the ground, and outward appearance and pulp are damaged, very easily rotten during storage, cause the unnecessary loss of peasant; When in addition, the barbed ，Cong of chestnut high-altitude comes off, very easily hurt operating personnel.
Due to the complexity of Chinese chestnut growth and the features such as destructuring of farm environment, not yet there is in the market commercial Chinese chestnut picker system.
Summary of the invention
The present invention proposes a kind of INTELLIGENT IDENTIFICATION picking robot and picking method, has solved the problem that Fruits in Chinese Chestnut is plucked in high-altitude.
Technical scheme of the present invention is achieved in that
A picking robot, comprises slave computer and host computer;
Described slave computer comprises: four-wheel intelligent family moving platform 10, the first switch board 7, image capture module, Chinese chestnut are plucked module, fruit-collecting box 3, Weighing module 4, wireless video transmission module, power supply 9 and GPS locating module 44;
Described host computer comprises PC 39, wireless video receiver module 36, data collecting card 37, the second main control module 38, the second switch board 35, receiver antenna 34, video transmission line; Wireless video receiver module 36 is connected with the second main control module 38 by AV line, the second main control module 38 is connected with data collecting card 37 by video transmission line, data collecting card 37 is connected with PC 39 by inserting mode, and receiver antenna 34 is connected with wireless video receiver module 36 by shielded cable; Described receiver antenna 34 is fixed on the second switch board 35 tops by nut;
Described four-wheel intelligent family moving platform 10 comprises driving wheel assembly 16, platform vehicle frame 15 and four-wheel intelligent family moving platform driver module 45, with bolts between driving wheel assembly 16 and platform vehicle frame 15;
Described fruit-collecting box 3 is positioned at four-wheel intelligent family moving platform 10 centre positions, in three-dimensional slide unit mechanical arm the place ahead;
In the first switch board 7 internal vertical directions, a plurality of partitions are set, power supply 9 is installed in its bottom, and described four-wheel intelligent family moving platform driver module 45 is fixed on the first switch board 7 inside and is positioned at the last layer of described power supply 9;
Described image capture module comprises two short arm video cameras 6 and binding post; Short arm video camera 6 adopts two-degree-of-freedom cradle head to support, and by bolt and nut, is fixed on four-wheel intelligent family moving platform 10 centre positions, and binding post is connected with image processing module 40 by BNC twisted-pair feeder 5;
Described image processing module 40 is bolted on the first switch board 7 upper stratas, by binding post, is connected with power supply 9 and the first main control module 41, by AV adapter, is connected with wireless video transmitter module 42, by Serial Port Line, is connected with the first main control module 41;
Described the first main control module 41 is bolted on the first switch board 7 upper stratas, plucks module driver 43 be connected with power supply 9 by binding post with image processing module 40, wireless video transmitter module 42, Chinese chestnut;
Described wireless video transmission module comprises wireless video transmitter module 42, wireless video receiver module 36, transmitter antenna 8, receiver antenna 34; Wireless video transmitter module 42 is connected with image capture module by binding post and is arranged on the first interior upper strata of switch board 7, wireless video receiver module 36 is connected with the second main control module 38 by binding post, transmitter antenna 8 is connected by shielded cable with wireless video receiver module 36 with wireless video transmitter module 42 respectively with receiver antenna 34, and transmitter antenna 8 is fixed on four-wheel intelligent family moving platform 10 rear sides by nut;
Described Weighing module 4 comprises the first pressure sensor, is connected, and is fixed between the peaceful bogie frame 15 of fruit-collecting box 3 by bolt and nut by shielded cable with the first main control module 41;
Described GPS locating module 44 is fixed on the lower floor of the first switch board 7 by bolt and nut, comprise differential GPS module, by shielded cable, is connected with the first main control module 41;
Described Chinese chestnut is plucked module and is bolted on four-wheel intelligent family moving platform 10 front side, comprises three-dimensional slide unit mechanical arm 2 and Chinese chestnut picking mechanical arm 1;
Described three-dimensional slide unit mechanical arm 2 comprises stepper motor 25, shaft coupling 26, spherical guide 27, ball-screw 28, slide block 29, block 30, base 31, connecting rod 32; Stepper motor 25 is connected with ball-screw 28 by shaft coupling 26, on ball-screw 28, cover has slide block 30, ball-screw 28 two ends are connected with block 30, and block 30 is bolted on base 31, and base 31 is bolted on four-wheel intelligent family moving platform 10 front side; Chinese chestnut picking mechanical arm 1 is connected with slide block 29 by connecting rod 32, and stepper motor 25 is plucked module driver 43 with Chinese chestnut and is connected;
Described Chinese chestnut picking mechanical arm 1 comprises the second pressure sensor 33, steering wheel 23, steering wheel support 24, gripper 22, scissors hand 21; The second pressure sensor 33 is fixed on gripper 22 inner sides, and scissors hand 21 is arranged on three-dimensional slide unit mechanical arm 2 the place aheads by support; Described Chinese chestnut picking mechanical arm 1 is connected with three-dimensional slide unit mechanical arm 2 by steering wheel support 24.
Alternatively, described fruit-collecting box 3 is formed by plastic injection-moulded, and laid inside has rubber blanket 19, and fruit-collecting box centre position is provided with funnel-form buffer unit 20 and is connected with described fruit-collecting box 3 by bolt;
Alternatively, described driving wheel assembly 16 comprises wheel 11, rotating shaft 12, reduction gear box 13, direct current generator 14, support 18; Between reduction gear box 13 and wheel 11, by rotating shaft 12, be connected, direct current generator 14 and reduction gear box 13 are fixed on support 18 by bolt and nut, and support 18 is fixed on platform vehicle frame 15 by bolt and nut.
Alternatively, described image processing module 40 is TMS320DM642 circuit board, and short arm video camera 6 is connected with TMS320DM642 circuit board by BNC twisted-pair feeder 5.
Alternatively, the first main control module 41 comprises ARM9 minimum system plate.
The invention allows for a kind of method of carrying out Chinese chestnut harvesting based on above-mentioned INTELLIGENT IDENTIFICATION picking robot, comprise the steps:
First, image by image capture module Real-time Collection front region is also sent into image processing module 40 and is analyzed, processes, image processing module 40 is delivered to the first main control module 41 by result, the first main control module 41 is according to harvesting region fruit distribution situation and the mature condition at four-wheel intelligent family moving platform 10 places, control four-wheel intelligent family moving platform 10 and move near region to be collected, and Chinese chestnut is plucked to module and deliver near Chinese chestnut;
Then, Chinese chestnut is plucked module near when plucking Chinese chestnut, steering wheel 23 forward rotation that gripper 22 connects, drive Chinese chestnut picking mechanical arm 1 to start to capture fruit, the second pressure sensor 33 detects the chucking power between himself and fruit in real time, and judges whether to reach the threshold value that the Chinese chestnut of setting can bear; If reach the threshold value of setting, gripper 22 connect steering wheel 23 and stop operating, steering wheel forward rotation that scissors hand 21 connects, cuts off branch that Chinese chestnut connects, and completes the separated of Chinese chestnut and branch;
Next, stepper motor that three-dimensional slide unit mechanical arm 2 connects 25 rotates, thereby band movable slider 29 and Chinese chestnut picking mechanical arm 1 move, Chinese chestnut picking mechanical arm 1 is delivered to fruit-collecting box 3, gripper 22 connect steering wheel 23 and open, Chinese chestnut is sent into fruit-collecting box 3 connected funnel buffer unit 20 tops, complete the work of once plucking;
Again then, Chinese chestnut weight parameter is passed to the first main control module 41 in the real-time detection case of the second pressure sensor 33; Differential GPS module sends to the first main control module 41 by INTELLIGENT IDENTIFICATION picking robot present position information; The first main control module 41 sends to PC 39 by wireless video transmitter module 42 by Chinese chestnut weight in case and INTELLIGENT IDENTIFICATION picking robot present position information.
Alternatively, above-mentioned picking method also comprises manual intervention step, when Chinese chestnut is plucked, the Image Real-time Transmission that wireless video transmitter module 42 gathers short arm video camera 6 is to wireless video receiver module 36, wireless video receiver module 36 by data collecting card 37 by transmission of video to PC 39; Operating personnel, by the upper computer software on PC 39, control the motion that four-wheel intelligent family moving platform 10 and Chinese chestnut are plucked module.
The invention has the beneficial effects as follows:
(1) utilize camera to carry out IMAQ to plucking the Chinese chestnut in region, analyze Chinese chestnut distributing position and mature condition, avoided the wrong situation of plucking of plucking, leak;
(2) utilize Chinese chestnut picking mechanical arm to realize automatically and pluck, without manual intervention, greatly reduced production cost;
(3) adopt Chinese chestnut picking mechanical arm, add power sensor, avoided the destruction to Chinese chestnut, reduced the economic loss in harvesting process;
(4) video of four-wheel intelligent family moving platform region is carried out to real-time Transmission, make operating personnel be easy to control and intervene.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the left TV structure schematic diagram of the slave computer of INTELLIGENT IDENTIFICATION picking robot of the present invention;
Fig. 2 is the main TV structure schematic diagram of the slave computer of INTELLIGENT IDENTIFICATION picking robot of the present invention;
Fig. 3 is the upward view structural representation of the slave computer of INTELLIGENT IDENTIFICATION picking robot of the present invention;
Fig. 4 is the plan structure schematic diagram of the slave computer of INTELLIGENT IDENTIFICATION picking robot of the present invention;
Fig. 5 is the right TV structure schematic diagram of the slave computer of INTELLIGENT IDENTIFICATION picking robot of the present invention;
Fig. 6 is that the Chinese chestnut of INTELLIGENT IDENTIFICATION picking robot of the present invention is plucked the left TV structure schematic diagram of module;
Fig. 7 is that the Chinese chestnut of INTELLIGENT IDENTIFICATION picking robot of the present invention is plucked the plan structure schematic diagram of module;
Fig. 8 is the main TV structure schematic diagram of the host computer of INTELLIGENT IDENTIFICATION picking robot of the present invention;
Fig. 9 is the structural representation of the first switch board of INTELLIGENT IDENTIFICATION picking robot of the present invention;
Figure 10 is the perspective view of INTELLIGENT IDENTIFICATION picking robot of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Existing Chinese chestnut collecting method, be mainly manually with bamboo pole or waddy aim at Chinese chestnut and connect branch and beat, the yields of Fruits in Chinese Chestnut is low, workman's inefficiency and easily causing danger.The present invention proposes a kind of INTELLIGENT IDENTIFICATION picking robot, comprises that slave computer and host computer ，Dui Fruits in Chinese Chestnut that tie in high-altitude pluck, and realizes the automatic picking to Fruits in Chinese Chestnut.
As shown in Fig. 1,2,6,7 and 10, the slave computer of INTELLIGENT IDENTIFICATION picking robot of the present invention comprises: four-wheel intelligent family moving platform 10, the first switch board 7, image capture module, Chinese chestnut are plucked module, fruit-collecting box 3, Weighing module 4, wireless video transmission module, power supply 9 and GPS locating module.Fruit-collecting box 3 is positioned at four-wheel intelligent family moving platform 10 centre positions.Weighing module 4 comprises the first pressure sensor, and is fixed between fruit-collecting box 3 and the platform vehicle frame of four-wheel intelligent family moving platform 10 by bolt and nut.Image capture module comprises two short arm video cameras 6 and binding post; Short arm video camera 6 adopts two-degree-of-freedom cradle head to support, by bolt and nut, be fixed on four-wheel intelligent family moving platform 10 centre positions, binding post is connected with image processing module by BNC twisted-pair feeder 5, and image processing module is bolted on the first switch board 7 inside.The first switch board 7 is bolted on the rear side of four-wheel intelligent family moving platform 10, and the inside of the first switch board 7 arranges a plurality of partitions in vertical direction, and power supply 9 is installed in its bottom.Transmitter antenna 8 is fixed on four-wheel intelligent family moving platform 10 rear sides by nut.
Chinese chestnut of the present invention is plucked module and comprises three-dimensional slide unit mechanical arm 2 and Chinese chestnut picking mechanical arm 1, and Chinese chestnut is plucked module and is bolted on four-wheel intelligent family moving platform 10 front side, the rear of fruit-collecting box 3.
Three-dimensional slide unit mechanical arm 2 comprises stepper motor 25, shaft coupling 26, spherical guide 27, ball-screw 28, slide block 29, block 30, base 31, connecting rod 32; Stepper motor 25 is connected with ball-screw 28 by shaft coupling 26, on ball-screw 28, cover has slide block 30, ball-screw 28 two ends are connected with block 30, and block 30 is bolted on base 31, and base 31 is bolted on four-wheel intelligent family moving platform 10 front side; Chinese chestnut picking mechanical arm 1 is connected with slide block 29 by connecting rod 32, and stepper motor 25 is plucked module driver 43 with Chinese chestnut and is connected.
Chinese chestnut picking mechanical arm 1 comprises the second pressure sensor 33, steering wheel 23, steering wheel support 24, gripper 22, scissors hand 21; The second pressure sensor 33 is fixed on gripper 22 inner sides, and scissors hand 21 is arranged on three-dimensional slide unit mechanical arm 2 the place aheads by support 24; Described Chinese chestnut picking mechanical arm 1 is connected with three-dimensional slide unit mechanical arm 2 by support.During work, steering wheel that gripper 22 connects 23 rotates, and driving mechanical pawl 22 opens and closes; Steering wheel that scissors hand 21 connects rotates, and drives scissors to open and close.
As shown in Figure 3, four-wheel intelligent family moving platform 10 comprises driving wheel assembly 16, platform vehicle frame 15 and four-wheel intelligent family moving platform driver module, with bolts between driving wheel assembly 16 and platform vehicle frame 15, four-wheel intelligent family moving platform driver module is fixed on the first switch board 7 inside.Driving wheel assembly 16 comprises wheel 11, rotating shaft 12, reduction gear box 13, direct current generator 14, support 18; Between reduction gear box 13 and wheel 11, by rotating shaft 12, be connected, direct current generator 14 and reduction gear box 13 are fixed on support 18 by bolt and nut, and support 18 is fixed on platform vehicle frame 15 by bolt and nut.
As Fig. 4, shown in 5, for the Fruits in Chinese Chestnut that better protection collects, fruit-collecting box 3 is formed by plastic injection-moulded, and as shown in Figure 4, the laid inside of fruit-collecting box 3 has rubber blanket 19, and the fruit of collecting is cushioned and protected.Fruit-collecting box centre position is provided with funnel-form buffer unit 20 and is connected with described fruit-collecting box 3 by bolt.
As shown in Figure 8, the host computer of INTELLIGENT IDENTIFICATION picking robot of the present invention comprises PC 39, wireless video receiver module 36, data collecting card 37, the second main control module 38, the second switch board 35, receiver antenna 34, video transmission line; Wireless video receiver module 36 is connected with the second main control module 38 by AV line, the second main control module 38 is connected with data collecting card 37 by video transmission line, data collecting card 37 is connected with PC 39 by inserting mode, and receiver antenna 34 is connected with wireless video receiver module 36 by shielded cable; Receiver antenna 34 is fixed on the second switch board 35 tops by nut.
As shown in Figure 9, the first switch board 7 comprises image processing module 40, the first main control module 41, wireless video transmitter module 42, Chinese chestnut picking mechanical arm driver module 43, GPS locating module 44, four-wheel intelligent family moving platform driver module 45 and power supply 9.Four-wheel intelligent family moving platform driver module 45 is fixed on the first switch board 7 inside and is positioned at the last layer of power supply 9; Image processing module 40 is bolted on the first switch board 7 upper stratas, by binding post, be connected with power supply 9 and the first main control module 41, by AV adapter, be connected with wireless video transmitter module 42, by Serial Port Line, be connected with the first main control module 41, for example, image processing module 40 is TMS320DM642 circuit board, and short arm video camera 6 is connected with TMS320DM642 circuit board by BNC twisted-pair feeder 5; The first main control module 41 is bolted on the first switch board 7 upper stratas, by binding post, be connected with power supply 9 with image processing module 40, wireless video transmitter module 42, Chinese chestnut picking mechanical arm driver module 43, and be connected with Weighing module 4 by shielded cable, for example, the first main control module 41 comprises ARM9 minimum system plate; GPS locating module 44 is fixed on the lower floor of the first switch board 7 by bolt and nut, comprise differential GPS module, by shielded cable, is connected with the first main control module 41.
Wireless video transmission module comprises wireless video transmitter module 42, wireless video receiver module 36, transmitter antenna 8, receiver antenna 34; Wireless video transmitter module 42 is connected with image capture module by binding post and is arranged on the first interior upper strata of switch board 7, wireless video receiver module 36 is connected with the second main control module 38 by binding post, and transmitter antenna 8 is connected by shielded cable with wireless video receiver module 36 with wireless video transmitter module 42 respectively with receiver antenna 34.
The present invention also provides a kind of method of carrying out Chinese chestnut harvesting based on above-mentioned INTELLIGENT IDENTIFICATION picking robot, comprises the steps:
First, image by image capture module Real-time Collection front region is also sent into image processing module 40 and is analyzed, processes, image processing module 40 is delivered to the first main control module 41 by result, the first main control module 41 is according to harvesting region fruit distribution situation and the mature condition at four-wheel intelligent family moving platform 10 places, control four-wheel intelligent family moving platform 10 and move near region to be collected, and Chinese chestnut is plucked to module and deliver near Chinese chestnut;
Then, Chinese chestnut is plucked module near when plucking Chinese chestnut, steering wheel 23 forward rotation that gripper 22 connects, drive Chinese chestnut picking mechanical arm 1 to start to capture fruit, the second pressure sensor 33 detects the chucking power between himself and fruit in real time, and judges whether to reach the threshold value that the Chinese chestnut of setting can bear; If reach the threshold value of setting, gripper 22 connect steering wheel 23 and stop operating, steering wheel forward rotation that scissors hand 21 connects, cuts off branch that Chinese chestnut connects, and completes the separated of Chinese chestnut and branch;
Next, three-dimensional slide unit mechanical arm 2 retractions, deliver to fruit-collecting box 3 by Chinese chestnut picking mechanical arm 1, gripper 22 connect steering wheel 23 and open, Chinese chestnut is sent in fruit-collecting box 3, complete the work of once plucking;
Again then, Chinese chestnut weight parameter is passed to the first main control module 41 in the real-time detection case of the second pressure sensor 33; Differential GPS module sends to the first main control module 41 by INTELLIGENT IDENTIFICATION picking robot present position information; The first main control module 41 sends to PC 39 by wireless video transmitter module 42 by Chinese chestnut weight in case and INTELLIGENT IDENTIFICATION picking robot present position information.
Chinese chestnut picking method of the present invention is except above-mentioned automatic harvesting step, can also comprise manual intervention step, by manually intervening plucking link, specifically comprise the following steps: when Chinese chestnut is plucked, the Image Real-time Transmission that wireless video transmitter module 42 gathers short arm video camera 6 is to wireless video receiver module 36, wireless video receiver module 36 by data collecting card 37 by transmission of video to PC 39; Operating personnel, by the upper computer software on PC 39, control the motion that four-wheel intelligent family moving platform 10 and Chinese chestnut are plucked module.
INTELLIGENT IDENTIFICATION picking robot of the present invention and picking method, utilize camera to carry out IMAQ to plucking the Chinese chestnut in region, analyzes Chinese chestnut distributing position and mature condition, avoided the wrong situation of plucking of plucking, leak; Utilize Chinese chestnut picking mechanical arm to realize automatically and pluck, without manual intervention, greatly reduced production cost; Employing owes to drive picking mechanical arm, adds power sensor, has avoided the destruction to Chinese chestnut, has reduced the economic loss in harvesting process; Video to four-wheel intelligent family moving platform region carries out real-time Transmission, makes operating personnel be easy to control and intervene.The present invention has improved Chinese chestnut and has plucked labor productivity, reduced peasant's labour intensity and plucked cost, guaranteed that Chinese chestnut is gathered in time and the quality of Chinese chestnut, for promoting rural economic development, the modernization, intellectuality, the progress of quickening agricultural science that improve China's agricultural have immeasurable meaning.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. an INTELLIGENT IDENTIFICATION picking robot, is characterized in that, comprises slave computer and host computer;
Described slave computer comprises: four-wheel intelligent family moving platform (10), the first switch board (7), image capture module, Chinese chestnut are plucked module, fruit-collecting box (3), Weighing module (4), wireless video transmission module, power supply (9) and GPS locating module (44);
Described host computer comprises PC (39), wireless video receiver module (36), data collecting card (37), the second main control module (38), the second switch board (35), receiver antenna (34), video transmission line; Wireless video receiver module (36) is connected with the second main control module (38) by AV line, the second main control module (38) is connected with data collecting card (37) by video transmission line, data collecting card (37) is connected with PC (39) by inserting mode, and receiver antenna (34) is connected with wireless video receiver module (36) by shielded cable; Described receiver antenna (34) is fixed on the second switch board (35) top by nut;
Described four-wheel intelligent family moving platform (10) comprises driving wheel assembly (16), platform vehicle frame (15) and four-wheel intelligent family moving platform driver module (45), with bolts between driving wheel assembly (16) and platform vehicle frame (15);
Described fruit-collecting box (3) is positioned at four-wheel intelligent family moving platform (10) front position, and fruit-collecting box (3) centre position is provided with funnel-form buffer unit (20) and is connected with described fruit-collecting box (3) by bolt;
In the first switch board (7) internal vertical direction, a plurality of partitions are set, power supply (9) is installed in its bottom, and described four-wheel intelligent family moving platform driver module (45) is fixed on the first switch board (7) inside and is positioned at the last layer of described power supply (9);
Described image capture module comprises two short arm video cameras (6) and binding post; Short arm video camera (6) adopts two-degree-of-freedom cradle head to support, and by bolt and nut, is fixed on four-wheel intelligent family moving platform (10) centre position, and binding post is connected with image processing module (40) by BNC twisted-pair feeder (5);
Described image processing module (40) is bolted on the first switch board (7) upper strata, by binding post, be connected with power supply (9) and the first main control module (41), by AV adapter, be connected with wireless video transmitter module (42), by Serial Port Line, be connected with the first main control module (41);
Described the first main control module (41) is bolted on the first switch board (7) upper strata, plucks module driver (43) be connected with power supply (9) by binding post with image processing module (40), wireless video transmitter module (42), Chinese chestnut;
Described wireless video transmission module comprises wireless video transmitter module (42), wireless video receiver module (36), transmitter antenna (8) and receiver antenna (34); Wireless video transmitter module (42) is connected with image capture module by binding post and is arranged on the interior upper strata of the first switch board (7), wireless video receiver module (36) is connected with the second main control module (38) by binding post, transmitter antenna (8) is connected by shielded cable with wireless video receiver module (36) with wireless video transmitter module (42) respectively with receiver antenna (34), and transmitter antenna (8) is fixed on four-wheel intelligent family moving platform (10) rear side by nut;
Described Weighing module (4) comprises the first pressure sensor, is connected, and is fixed between the peaceful bogie frame of fruit-collecting box (3) (15) by bolt and nut by shielded cable with the first main control module (41);
Described GPS locating module (44) is fixed on the lower floor of the first switch board (7) by bolt and nut, comprise differential GPS module, by shielded cable, is connected with the first main control module (41);
Described Chinese chestnut is plucked the front side that module is bolted on four-wheel intelligent family moving platform (10), comprises three-dimensional slide unit mechanical arm (2) and Chinese chestnut picking mechanical arm (1);
Described three-dimensional slide unit mechanical arm (2) comprises stepper motor (25), shaft coupling (26), spherical guide (27), ball-screw (28), slide block (29), block (30), base (31), connecting rod (32); Stepper motor (25) is connected with ball-screw (28) by shaft coupling (26), the upper cover of ball-screw (28) has slide block (30), ball-screw (28) two ends are connected with block (30), it is upper that block (30) is bolted on base (31), and base (31) is bolted on the front side of four-wheel intelligent family moving platform (10); Chinese chestnut picking mechanical arm (1) is connected with slide block (29) by connecting rod (32), and stepper motor (25) is plucked module driver (43) with Chinese chestnut and is connected;
Described Chinese chestnut picking mechanical arm (1) comprises the second pressure sensor (33), steering wheel (23), steering wheel support (24), gripper (22), scissors hand (21); The second pressure sensor (33) is fixed on gripper (22) inner side, and scissors hand (21) is arranged on three-dimensional slide unit mechanical arm (2) the place ahead by support; Described Chinese chestnut picking mechanical arm (1) is connected with three-dimensional slide unit mechanical arm (2) by steering wheel support (24).
2. a kind of INTELLIGENT IDENTIFICATION picking robot according to claim 1, is characterized in that, described fruit-collecting box (3) is formed by plastic injection-moulded, and laid inside has rubber blanket (19).
3. a kind of INTELLIGENT IDENTIFICATION picking robot according to claim 1, is characterized in that, described driving wheel assembly (16) comprises wheel (11), rotating shaft (12), reduction gear box (13), direct current generator (14), support (18); Between reduction gear box (13) and wheel (11), by rotating shaft (12), be connected, it is upper that direct current generator (14) and reduction gear box (13) are fixed on support (18) by bolt and nut, and support (18) is fixed on platform vehicle frame (15) by bolt and nut.
4. according to right 1, require described a kind of INTELLIGENT IDENTIFICATION picking robot, it is characterized in that, described image processing module (40) is TMS320DM642 circuit board, and short arm video camera (6) is connected with TMS320DM642 circuit board by BNC twisted-pair feeder (5).
5. a kind of INTELLIGENT IDENTIFICATION picking robot according to claim 1, is characterized in that, the first main control module (41) comprises ARM9 minimum system plate.
6. the method for carrying out Chinese chestnut harvesting based on INTELLIGENT IDENTIFICATION picking robot described in claim 1 to 5 any one, is characterized in that, comprises the steps:
First, image by image capture module Real-time Collection front region is also sent into image processing module (40) analysis, is processed, image processing module (40) is delivered to the first main control module (41) by result, the first main control module (41) is according to harvesting region fruit distribution situation and the mature condition at four-wheel intelligent family moving platform (10) place, control four-wheel intelligent family moving platform (10) and move near region to be collected, and Chinese chestnut is plucked to module and deliver near Chinese chestnut;
Then, Chinese chestnut is plucked module near when plucking Chinese chestnut, gripper (22) connects steering wheel (23) forward rotation, drive Chinese chestnut picking mechanical arm (1) to start to capture fruit, the second pressure sensor (33) detects the chucking power between himself and fruit in real time, and judges whether to reach the threshold value that the Chinese chestnut of setting can bear; If reach the threshold value of setting, gripper (22) connect steering wheel (23) and stop operating, scissors hand (21) connects steering wheel forward rotation, cuts off branch that Chinese chestnut connects, and completes the separated of Chinese chestnut and branch;
Next, three-dimensional slide unit mechanical arm (2) connects stepper motor (25) and rotates, thereby band movable slider (29) and Chinese chestnut picking mechanical arm (1) are mobile, Chinese chestnut picking mechanical arm (1) is delivered to fruit-collecting box (3), gripper (22) connect steering wheel (23) and open, Chinese chestnut is sent into fruit-collecting box (3) connected funnel buffer unit (20) top, complete the work of once plucking;
Again then, the real-time Chinese chestnut weight parameter is passed to the first main control module (41) in detection case of the second pressure sensor (33); Differential GPS module sends to the first main control module (41) by INTELLIGENT IDENTIFICATION picking robot present position information; The first main control module (41) sends to PC (39) by wireless video transmitter module (42) by Chinese chestnut weight in case and INTELLIGENT IDENTIFICATION picking robot present position information.
7. the method that Chinese chestnut is plucked according to claim 6, it is characterized in that, also comprise manual intervention step, when Chinese chestnut is plucked, the Image Real-time Transmission that wireless video transmitter module (42) gathers short arm video camera (6) is to wireless video receiver module (36), wireless video receiver module (36) by data collecting card (37) by transmission of video to PC (39); Operating personnel, by the upper computer software on PC (39), control the motion that four-wheel intelligent family moving platform (10) and Chinese chestnut are plucked module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310478625.4A CN103503637B (en) | 2013-10-14 | 2013-10-14 | Intelligent identification picking robot and picking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310478625.4A CN103503637B (en) | 2013-10-14 | 2013-10-14 | Intelligent identification picking robot and picking method |
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| CN108966842A (en) * | 2018-08-29 | 2018-12-11 | 西安文理学院 | Remote multifunctional fruit picking |
| CN109451995A (en) * | 2018-12-29 | 2019-03-12 | 贺州学院 | A kind of picking control method, device and device for picking |
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| CN111631012A (en) * | 2016-06-22 | 2020-09-08 | 肖慧 | Fruit picking machine |
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
| CN108521997A (en) * | 2017-03-02 | 2018-09-14 | 防城港思创信息技术有限公司 | A kind of banana recovering device |
| CN107102345B (en) * | 2017-04-27 | 2018-02-27 | 安徽泓森物联网有限公司 | Localization method |
| CN107102345A (en) * | 2017-04-27 | 2017-08-29 | 无锡北斗星通信息科技有限公司 | Localization method |
| CN106973631A (en) * | 2017-04-27 | 2017-07-25 | 中国人民解放军防空兵学院 | One kind automation picker system |
| CN107094429A (en) * | 2017-07-03 | 2017-08-29 | 彭紫薇 | A kind of multiaxis fruit picking robot |
| CN107223408A (en) * | 2017-07-06 | 2017-10-03 | 合肥工业大学 | A kind of fruit picking robot and operating method with force sensing function |
| CN107223408B (en) * | 2017-07-06 | 2020-06-09 | 合肥工业大学 | Fruit picking robot with force sensing function and operation method |
| CN107439150B (en) * | 2017-07-18 | 2020-04-17 | 重庆珍西农业科技集团有限公司 | Internet of things-based intelligent robot for fruit picking classification |
| CN107439150A (en) * | 2017-07-18 | 2017-12-08 | 深圳市晓控通信科技有限公司 | A kind of intelligent robot for being used for picking fruit classification based on Internet of Things |
| CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
| CN108353622A (en) * | 2018-03-15 | 2018-08-03 | 广东工业大学 | A kind of full-automatic pineapple picking method |
| CN108353622B (en) * | 2018-03-15 | 2023-10-03 | 广东工业大学 | Full-automatic pineapple picking method |
| CN108377876A (en) * | 2018-05-12 | 2018-08-10 | 海南大学 | A kind of rubber tree automatic rubber tapping machine profiling and cutting mechanism |
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| CN108522022A (en) * | 2018-06-25 | 2018-09-14 | 南京工程学院 | A kind of picking robot tail end arm collision sensing device |
| CN108522022B (en) * | 2018-06-25 | 2023-12-29 | 南京工程学院 | Collision sensing device for tail end arm of picking robot |
| CN108966842A (en) * | 2018-08-29 | 2018-12-11 | 西安文理学院 | Remote multifunctional fruit picking |
| CN109588114B (en) * | 2018-12-20 | 2021-07-06 | 武汉科技大学 | Parallel recognition picking system and method applied to fruit picking robot |
| CN109588114A (en) * | 2018-12-20 | 2019-04-09 | 武汉科技大学 | A kind of parallelism recognition picker system and method applied to fruit picking robot |
| CN109685174A (en) * | 2018-12-26 | 2019-04-26 | 天津市农业科学院信息研究所 | A kind of cucumber yielding ability automatic analysing apparatus and method |
| CN109685174B (en) * | 2018-12-26 | 2021-09-21 | 天津市农业科学院信息研究所 | Automatic analysis device and method for cucumber high yield |
| CN109451995A (en) * | 2018-12-29 | 2019-03-12 | 贺州学院 | A kind of picking control method, device and device for picking |
| CN109605375A (en) * | 2019-01-08 | 2019-04-12 | 太原工业学院 | A kind of control method of intelligence Tomato-harvesting robot |
| CN109773788A (en) * | 2019-01-14 | 2019-05-21 | 西安交通大学 | A kind of fruit and vegetable picking robot and its control method |
| CN109566101A (en) * | 2019-01-22 | 2019-04-05 | 河海大学常州校区 | A kind of cross type strawberry picking collecting cart |
| CN109874506A (en) * | 2019-04-08 | 2019-06-14 | 济南大学 | A kind of modularized bionic quadruped robot for spraying or picking |
| CN110125036A (en) * | 2019-04-25 | 2019-08-16 | 广东工业大学 | A kind of self-identifying sorting system and method based on template matching |
| CN110084798A (en) * | 2019-04-25 | 2019-08-02 | 广州富港万嘉智能科技有限公司 | A kind of orientation detection and method of adjustment, device and storage medium of melon and fruit |
| CN110249785B (en) * | 2019-07-23 | 2020-07-14 | 中国农业大学 | Multi-manipulator tomato stringing picking robot and picking method thereof |
| CN110249785A (en) * | 2019-07-23 | 2019-09-20 | 中国农业大学 | A kind of multi-robot string Tomato-harvesting robot and its picking method |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
| CN114175923A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Unmanned fruit picking vehicle |
| CN114451146A (en) * | 2022-01-27 | 2022-05-10 | 浙江小远机器人有限公司 | Fruit and vegetable picking method and system |
| CN115024091A (en) * | 2022-05-25 | 2022-09-09 | 广州铁路职业技术学院（广州铁路机械学校） | Intelligent fruit picking device and control method thereof |
| CN114946408A (en) * | 2022-06-09 | 2022-08-30 | 华南农业大学 | Four-wheel type multifunctional orchard mechanical device for facility cultivation of melons and operation method of four-wheel type multifunctional orchard mechanical device |
| CN114946408B (en) * | 2022-06-09 | 2023-11-28 | 华南农业大学 | Four-wheel type multifunctional orchard mechanical device for facility cultivation melon |
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