CN117413686B - A picking robot with learning ability and a picking method - Google Patents
A picking robot with learning ability and a picking methodInfo
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- CN117413686B CN117413686B CN202311501697.6A CN202311501697A CN117413686B CN 117413686 B CN117413686 B CN 117413686B CN 202311501697 A CN202311501697 A CN 202311501697A CN 117413686 B CN117413686 B CN 117413686B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a picking manipulator with learning capability and a picking method, belonging to the technical field of bionic picking equipment. The end effector which is matched with the picking robot can reduce damage to fruits to the greatest extent in the actual picking operation process, and the bionic concept is implemented into the design, so that the picking behavior simulation of the hand simulation, the clamping equipment simulation of the octopus sucker simulation and the wrist joint simulation of the trunk simulation can be realized. According to the invention, before the picking action starts, the picking action of a human hand can be independently learned, the adaptive capacity of the manipulator to different growth states is improved, the motion of the bionic trunk wrist joint is flexible, the clamping of the bionic octopus sucker is stable, the action is stable, and the nondestructive picking can be well realized.
Description
Technical Field
The invention belongs to the technical field of bionic picking equipment, and particularly relates to a picking manipulator with learning ability and a picking method
Background
The high fruit damage rate is a key factor restricting the industrialization of the picking robot at present, so the problem of picking damage is the key and difficult problem in the research and development process of the picking robot.
The reasons for the damage of the picked fruits of the picking robot mainly comprise the following points that 1, the picking gesture of the picking robot is unreasonable, so that the collision and extrusion damage of the machine, the stem and the fruits is caused, 2, the gesture of the wrist joint is stiff, the flexibility is poor, the coordination and coordination ability with a vision system is insufficient, and 3, the picking hand lacks a flexible adsorption part and is in excessively strong contact with the fruits.
Disclosure of Invention
The invention aims to provide a picking manipulator with learning ability and a picking method, wherein the picking manipulator is arranged on the picking robot, can learn the actions of picking by hands before the picking action starts, has strong adaptability to fruits in different environments, is provided with a stalk supporting device, can support stalks when picking fruits, is based on the bionic concept, and is innovatively designed to move more freely under the action of air force, an angle measuring sensor and a distance measuring sensor are arranged, the movement action is more accurate, and the finger assembly can better provide holding force to the adoption of a bionic octopus sucker structure, so that the fruit picking stability is improved.
The invention discloses a picking manipulator with learning capability, which consists of a mounting seat A, a stem supporting device B, a clamping device C, a visual device D, an edge learning module E, a control cabinet F and an air pump G, wherein a front plate of a housing 1 of the mounting seat A is fixedly connected with a rear plate of a sliding rail 14 of the stem supporting device B through bolts, a driving wheel 5 of the mounting seat A is movably connected with a base 16 of a wrist joint assembly C1 in the clamping device C through a transmission shaft, a depth camera 43 of the visual device D is fixedly connected onto a supporting plate 2 of the mounting seat A, the edge learning module E is in communication connection with the visual device D, the control cabinet F is respectively in communication connection with the mounting seat A, the stem supporting device B, the clamping device C, the visual device D, the edge learning module E and the air pump G, and the air pump G are respectively connected with a pneumatic push rod 10 of the stem supporting device B, an air receiving hole group 17 and an air passage 22 of a wrist joint assembly C1 and an air passage hole pair II36 of the pneumatic assembly C2 and a clamping plate pair 42a of a finger assembly C3 through air pipes.
The mounting seat A consists of a housing 1, a supporting plate 2, a bearing 3, a motor I4, a driving wheel 5, a synchronous belt 6 and a driven wheel 7, wherein the supporting plate 2 is fixedly connected to the upper end of the housing 1, the motor I4 is fixedly connected to the housing 1, the driving wheel 5, the synchronous belt 6 and the driven wheel 7 are positioned in the housing 1, the driving wheel 5 is in transmission connection with the driven wheel 7 through the synchronous belt 6, the outer ring of the bearing 3 is fixedly connected to the lower part of a rear plate of the housing 1, the motor I4 is fixedly connected to the lower part of a front plate of the housing 1, the middle part of an output shaft of the motor I4 is connected with a central key of the driving wheel 5, and the rear end of the output shaft of the motor I4 is in interference connection with the inner ring of the bearing 3.
The stem supporting device B consists of a finger 8, a rod I9, a pneumatic push rod 10, a rod II11, a screw rod 12, a sliding block 13, a sliding rail 14 and a motor II15, wherein the finger 8, the rod I9, the pneumatic push rod 10, the rod II11 and the sliding block 13 are sequentially arranged from front to back and fixedly connected, the middle part of the screw rod 12 is in threaded connection with the center of the sliding block 13, the right end of the screw rod 12 is movably connected with the center of the right plate of the sliding rail 14, the left end of the screw rod 12 is fixedly connected with the output shaft of the motor II15 through the center of the left plate of the sliding rail 14, and the sliding block 13 is in sliding connection with the sliding rail 14.
The clamping device C consists of a wrist joint component C1, a pneumatic component C2 and a finger component pair C3, wherein the wrist joint component C1 consists of a base 16, an air receiving hole group 17, a flexible telescopic component C1a, a connecting seat group 18, a connector group 19 and a front plate 20, the flexible telescopic component group C1a consists of five flexible telescopic components with the same structure, each flexible telescopic component consists of a distance measurer 21, an air passage 22, a hollow plate group 23 and an angle measurer 24, the hollow plate group 23 consists of 8-12 hollow plates, 8-12 hollow plates are arranged front and back, the hollow plates are disc-shaped, and the air passage 22 is arranged in the center of the hollow plate group 23; the distance measurer 21 is fixedly connected to the front end plate of the hollow plate group 23, the angle measurer 24 is fixedly connected to the rear end plate of the hollow plate group 23, the pneumatic component C2 is composed of a shell 25, a connecting plate I26, a connecting plate II27, a left plate 32, a rod pair 33, a screw hole pair IV34, a cylinder 35, an air passage hole pair II36, a right plate 37 and a screw hole pair V38, the shell 25 is a rectangular box body with a front opening, an upper plate is provided with the screw hole pair I28, the right plate is provided with the air passage hole pair I29, a rear plate is provided with the screw hole pair II30, a lower plate is provided with the screw hole pair III31, the rear end of the cylinder 35 is provided with the air passage hole pair II36, the lower plate is provided with the screw hole pair IV34, the upper plate is provided with the screw hole pair V38, the left plate 32, the cylinder 35 and the right plate 37 are sequentially arranged from right to left, and are connected through the rod pair 33, the connecting plate I26 is fixedly connected by a transverse plate I26a and a vertical plate I26b in a T shape, the rear end of the vertical plate I26b of the connecting plate I26 is fixedly connected with the left plate 32 of the cylinder 35, the connecting plate II is fixedly connected with the front end of the cylinder 35, the connecting plate II is formed by the connecting plate II27 and the vertical plate 27b and the vertical plate 27 is fixedly connected with the front end of the left plate 27 through the screw hole pair V27 b of the front end of the connecting plate 35, the connecting plate 27 and the screw hole pair of the front end of the connecting plate 37 is fixedly connected with the front end of the shell 35, the connecting plate 37 is fixedly connected with the front end of the connecting plate 35, and the front end of the connecting plate, the finger assembly pair C3 consists of a right finger assembly C3a and a left finger assembly C3b, the right finger assembly C3a and the left finger assembly C3b are of the same structure and are opposite in direction, the right finger assembly C3a is taken as an example, the finger assembly C consists of a lower plate 39, a side plate pair 40, a supporting body 41 and a clamping plate 42, the clamping plate 42 is of a cuboid, the lower end of the clamping plate 42 is fixedly connected with a clamping plate airway pair 42a, six suckers of a sucker group I42e, eight suckers of a sucker group II42d, eight suckers of a sucker group III42C and four suckers of a sucker group IV42b are arranged on the inner surface of the clamping plate 42, the sucker group I42e, the sucker group II42d, the sucker group III42C and the sucker group IV42b are arranged outwards in a radial manner in the center of the clamping plate 42, the lower plate 39, the supporting body 41 and the clamping plate 42 are sequentially arranged from back to front, the lower plate 39 and the supporting body 41 are fixedly connected through the side plate pair 40 by bolts, the lower plate 39 is fixedly connected with the vertical plate III39a and the transverse plate III39b in a T shape, the right surface is fixedly connected with the upper left side of the supporting body 41.
The vision device D consists of a depth camera 43 and an image transmission module 44, and the depth camera 43 is in communication connection with the image transmission module 44.
The edge learning module E is composed of a high-performance edge computing processor 45, a depth image receiving unit 46 and a signal output unit 47, and the high-performance edge computing processor 45, the depth image receiving unit 46 and the signal output unit 47 are connected by lines.
The suction cup of the inner surface of the clamping plate 42 takes the suction cup of the suction cup group IV42b as an example, the lower end of an internal contour line of the suction cup is taken as an origin, the left side of the suction cup is pointed to be taken as an X axis, the direction perpendicular to the X axis is taken as a Y axis, and then the equation of a curve is as follows:
Y1＝0.7691-3.203X1+5.355X1 2
Y2＝0.4657+0.866X2-7.318X2 2
Wherein, X 1 is 3.975-5.083mm, 2.683-3.658mm, 1.115-2.287mm, and 0.782-1.082 respectively corresponds to the sucker group I42e, the sucker group II42d, the sucker group III42c and the sucker group IV42b;
X 2 is 5.437-6.782mm, 4.562-5.257mm, 3.053-4.491 mm, 2.752-2.959 respectively corresponding to the sizes of the sucker group I42e, the sucker group II42d, the sucker group III42c and the sucker group IV42b
When the base 16 of the wrist assembly C1 is kept still, the included angle between the bending plane of the tail end of the flexible telescopic member group C1a and the initial plane is θ, the curvature radius R of the flexible telescopic member group C1a during bending, the installation radius R of the flexible telescopic member, the telescopic length Δl of the flexible telescopic member, and the torsion angle around the Z axis isThe relationship between the initial length L and the working length L Ⅰ of the flexible telescopic component is as follows:
Li=θRi
Wherein: the angle varies from-10 deg. to 10 deg., and the angle theta varies from-50 deg. to 50 deg..
The invention discloses a picking method based on a picking manipulator with learning capability, which comprises the following steps of:
1) For unstructured environments, the vision device D acquires depth image information of a technician during picking, the key motion characteristics of the human hand are acquired and processed through a key point detection deep learning method, the edge learning module E analyzes the key motion characteristics of the human hand, and the combination behavior modes of pulling, twisting, bending and dragging of the human hand are analyzed and stored;
2) The vision device D acquires image information of the target fruits, the edge learning module E is carried with a lightweight neural network, the picking objects can be rapidly identified, the positions between the picking targets and the depth camera are automatically calculated, and the relative position relation between the picking targets and the arms is obtained;
3) The edge learning module E acquires depth image information of a technician picked by the analysis visual device D, transmits analyzed behavior mode data to the control cabinet F and drives the clamping device C, the stem supporting device B and the air pump G to finish appointed picking behaviors;
4) After the air pump G controls the signals of the cabinet F, the air flow is changed to control the movement of the clamping device C and the stem supporting device B.
The artificial trunk wrist joint picking manipulator has the advantages that the motion of the picking manipulator is more free under the driving of the artificial trunk wrist joint assembly, picking operation can be completed in various different behavior modes, the artificial trunk wrist joint picking manipulator is suitable for more complex non-structural environments, fingers under the design of the artificial trunk concept have stronger adsorption force, fruits can be better gripped, learning capacity is achieved, the hand picking action can be learned before the picking action starts, and picking operation can be completed more efficiently.
Drawings
FIG. 1 is an isometric view of a picking manipulator with learning capabilities;
FIG. 2 is a partial external view of the mounting seat A;
FIG. 3 is a partial cross-sectional view of mount A;
Fig. 4 is a schematic view of the internal structure of the mounting seat a;
Fig. 5 is an isometric view of the stem holding device B;
Fig. 6 is an isometric view of the clamping device C;
fig. 7 is an isometric view of wrist assembly C1
FIG. 8 is an isometric view of flexible retraction assembly C1 a;
FIG. 9 is an external view of the pneumatic module C2;
fig. 10 is an isometric view of the housing 25;
FIG. 11 is an isometric view of cylinder 35;
FIG. 12 is an isometric view of cylinder 35, web I26, web II 27;
FIG. 13 is an isometric view of link I26 and link II 27;
FIG. 14 is an isometric view of a finger assembly versus C3;
FIG. 15 is an isometric view of the right finger assembly C3 a;
FIG. 16 is an isometric view of lower plate 39;
FIG. 17 is an isometric view of a side plate pair 40;
fig. 18 is an isometric view of the support 41;
FIG. 19 is an isometric view of the clamping plate 42;
FIG. 20 is a schematic view of the composition of the vision apparatus D;
FIG. 21 is a schematic diagram of an edge learning module E;
FIG. 22 is a half cross-sectional view of a bionic suction cup assembly;
FIG. 23 is a schematic view of the circumferential distribution of the flexible telescoping assembly C1 a;
FIG. 24 is a schematic view of the motion profile of the wrist assembly C1;
FIG. 25 is a flow chart of a picking method of a picking manipulator with learning capabilities;
A mounting block B, a stem support device C, a clamping device C, a wrist joint assembly C1a, a flexible telescopic assembly C2., a pneumatic assembly C3., a finger assembly pair C3a, a right finger assembly C3b, a left finger assembly D, a vision device E, an edge learning module F, a control cabinet G, a housing 2, a support plate 3, a motor I5., a drive pulley 6, a synchronous belt 7, a driven pulley 8, a finger 9, a rod 10, a pneumatic push rod 11, a rod II12, a lead screw 13, a slide rail 14, a motor II16, a base 17, a gas port group 18, a connector group 19, a front plate 21, a distance measurer 22, a gas port group 24, an angle measurer 25, a housing 26, a connecting plate I26a, a transverse plate I26b, a transverse plate II27b, a threaded hole pair I29, a threaded hole pair I30, a threaded hole pair III32, a left plate 33, a threaded hole pair 34, a threaded hole pair 35, a suction cup group 39, a depth pair 42, a suction cup group 39, a suction cup group 42, a depth pair 42, a suction cup group 42, a depth pair 42, a suction cup pair 42, a suction cup pair 42, and a suction cup pair 42.
Detailed Description
The invention is described below with reference to the accompanying drawings.
As shown in fig. 1, the picking manipulator with learning capability comprises a mounting seat A, a stem supporting device B, a clamping device C, a visual device D, an edge learning module E, a control cabinet F and an air pump G, wherein a front plate of a housing 1 of the mounting seat A is fixedly connected with a rear plate of a sliding rail 14 of the stem supporting device B through bolts, a driving wheel 5 of the mounting seat A is movably connected with a base 16 of a wrist joint assembly C1 in the clamping device C through a transmission shaft, a depth camera 43 of the visual device D is fixedly connected to a supporting plate 2 of the mounting seat A, the edge learning module E is in communication connection with the visual device D, the control cabinet F is respectively in communication connection with the mounting seat A, the stem supporting device B, the clamping device C, the visual device D, the edge learning module E and the air pump G, and the air pump G is respectively connected with a pneumatic push rod 10 of the stem supporting device B, an air receiving hole group 17 and an air passage 22 of the wrist joint assembly C1 and an air passage hole pair II36 of the pneumatic assembly C2 and an air passage pair 42a of a finger assembly C3 through air pipes.
As shown in fig. 2 to 4, the mounting seat a is composed of a housing 1, a supporting plate 2, a bearing 3, a motor I4, a driving wheel 5, a synchronous belt 6 and a driven wheel 7, wherein the supporting plate 2 is fixedly connected to the upper end of the housing 1, the motor I4 is fixedly connected to the housing 1, the driving wheel 5, the synchronous belt 6 and the driven wheel 7 are positioned in the housing 1, the driving wheel 5 is in transmission connection with the driven wheel 7 through the synchronous belt 6, the outer ring of the bearing 3 is fixedly connected to the lower part of a rear plate of the housing 1, the motor I4 is fixedly connected to the lower part of a front plate of the housing 1, the middle part of an output shaft of the motor I4 is connected with the center key of the driving wheel 5, and the rear end of the output shaft of the motor I4 is in interference connection with the inner ring of the bearing 3.
As shown in fig. 5, the stem supporting device B consists of a finger 8, a rod I9, a pneumatic push rod 10, a rod II11, a screw rod 12, a slide block 13, a slide rail 14 and a motor II15, wherein the finger 8, the rod I9, the pneumatic push rod 10, the rod II11 and the slide block 13 are sequentially arranged and fixedly connected from front to back, the middle part of the screw rod 12 is in threaded connection with the center of the slide block 13, the right end of the screw rod 12 is movably connected with the center of a right plate of the slide rail 14, the left end of the screw rod 12 is fixedly connected with an output shaft of the motor II15 through the center of a left plate of the slide rail 14, and the slide block 13 is in sliding connection with the slide rail 14.
As shown in fig. 6 to 19, the clamping device C is composed of a wrist joint assembly C1, a pneumatic assembly C2 and a finger assembly pair C3, wherein the wrist joint assembly C1 is composed of a base 16, an air receiving hole group 17, a flexible telescopic assembly C1a, a connecting seat group 18, a connector group 19 and a front plate 20, wherein the flexible telescopic assembly C1a is composed of five flexible telescopic members with the same structure, each flexible telescopic member is composed of a distance measurer 21, an air passage 22, a hollow plate group 23 and an angle measurer 24, the hollow plate group 23 is composed of 8-12 hollow plates, 8-12 hollow plates are arranged front and back, the hollow plates are disc-shaped, and the air passage 22 is arranged in the center of the hollow plate group 23; the distance measurer 21 is fixedly connected to the front end plate of the hollow plate group 23, the angle measurer 24 is fixedly connected to the rear end plate of the hollow plate group 23, the pneumatic component C2 is composed of a shell 25, a connecting plate I26, a connecting plate II27, a left plate 32, a rod pair 33, a screw hole pair IV34, a cylinder 35, an air passage hole pair II36, a right plate 37 and a screw hole pair V38, the shell 25 is a rectangular box body with a front opening, an upper plate is provided with the screw hole pair I28, the right plate is provided with the air passage hole pair I29, a rear plate is provided with the screw hole pair II30, a lower plate is provided with the screw hole pair III31, the rear end of the cylinder 35 is provided with the air passage hole pair II36, the lower plate is provided with the screw hole pair IV34, the upper plate is provided with the screw hole pair V38, the left plate 32, the cylinder 35 and the right plate 37 are sequentially arranged from right to left, and are connected through the rod pair 33, the connecting plate I26 is fixedly connected by a transverse plate I26a and a vertical plate I26b in a T shape, the rear end of the vertical plate I26b of the connecting plate I26 is fixedly connected with the left plate 32 of the cylinder 35, the connecting plate II is fixedly connected with the front end of the cylinder 35, the connecting plate II is formed by the connecting plate II27 and the vertical plate 27b and the vertical plate 27 is fixedly connected with the front end of the left plate 27 through the screw hole pair V27 b of the front end of the connecting plate 35, the connecting plate 27 and the screw hole pair of the front end of the connecting plate 37 is fixedly connected with the front end of the shell 35, the connecting plate 37 is fixedly connected with the front end of the connecting plate 35, and the front end of the connecting plate, the finger assembly pair C3 consists of a right finger assembly C3a and a left finger assembly C3b, the right finger assembly C3a and the left finger assembly C3b are of the same structure and are opposite in direction, the right finger assembly C3a is taken as an example, the finger assembly C consists of a lower plate 39, a side plate pair 40, a supporting body 41 and a clamping plate 42, the clamping plate 42 is of a cuboid, the lower end of the clamping plate 42 is fixedly connected with a clamping plate airway pair 42a, six suckers of a sucker group I42e, eight suckers of a sucker group II42d, eight suckers of a sucker group III42C and four suckers of a sucker group IV42b are arranged on the inner surface of the clamping plate 42, the sucker group I42e, the sucker group II42d, the sucker group III42C and the sucker group IV42b are arranged outwards in a radial manner in the center of the clamping plate 42, the lower plate 39, the supporting body 41 and the clamping plate 42 are sequentially arranged from back to front, the lower plate 39 and the supporting body 41 are fixedly connected through the side plate pair 40 by bolts, the lower plate 39 is fixedly connected with the vertical plate III39a and the transverse plate III39b in a T shape, the right surface is fixedly connected with the upper left side of the supporting body 41.
As shown in fig. 20, the vision device D is composed of a depth camera 43 and an image transmission module 44, and the depth camera 43 and the image transmission module 44 are connected in communication.
As shown in fig. 21, the edge learning module E is composed of a high-performance edge calculation processor 45, a depth image receiving unit 46, and a signal output unit 47, and the high-performance edge calculation processor 45, the depth image receiving unit 46, and the signal output unit 47 are connected by wires.
As shown in fig. 22, the suction cup of the inner surface of the clamping plate 42, taking the suction cup of the suction cup group IV42b as an example, takes the lower end of the inner contour line as an origin, takes the left pointing direction of the suction cup as an X axis, and takes the direction perpendicular to the X axis as a Y axis, and then the equation of the curve is:
Y1＝0.7691 -3.203X1+5.355X1 2
Y2＝0.4657+0.866X2-7.318X2 2
Wherein, X 1 is 3.975-5.083mm, 2.683-3.658mm, 1.115-2.287mm, and 0.782-1.082 respectively corresponds to the sucker group I42e, the sucker group II42d, the sucker group III42c and the sucker group IV42b;
x 2 is 5.437-6.782mm, 4.562-5.257mm, 3.053-4.491 mm, 2.752-2.959 respectively corresponding to the sizes of the sucker group I42e, the sucker group II42d, the sucker group III42c and the sucker group IV42 b.
As shown in fig. 23 and 24, when the base 16 of the wrist assembly C1 is kept stationary, the included angle between the end bending plane and the initial plane of the flexible expansion member group C1a is θ, the curvature radius R of the flexible expansion member group C1a during bending, the installation radius R of the flexible expansion member, the expansion length Δl of the flexible expansion member, and the torsion angle about the Z axis isThe relationship between the initial length L and the working length L Ⅰ of the flexible telescopic component is as follows:
Li=θRi
Wherein: The angle range is-10 DEG to-10 DEG, and the angle range is-50 DEG to 50 deg.
As shown in fig. 25, a picking method based on a picking manipulator with learning ability of the present invention includes the following steps:
1) For unstructured environments, the vision device D acquires depth image information of a technician during picking, the key motion characteristics of the human hand are acquired and processed through a key point detection deep learning method, the edge learning module E analyzes the key motion characteristics of the human hand, and the combination behavior modes of pulling, twisting, bending and dragging of the human hand are analyzed and stored;
2) The vision device D acquires image information of the target fruits, the edge learning module E is carried with a lightweight neural network, the picking objects can be rapidly identified, the positions between the picking targets and the depth camera are automatically calculated, and the relative position relation between the picking targets and the arms is obtained;
3) The edge learning module E acquires depth image information of a technician picked by the analysis visual device D, transmits analyzed behavior mode data to the control cabinet F and drives the clamping device C, the stem supporting device B and the air pump G to finish appointed picking behaviors;
4) After the air pump G controls the signals of the cabinet F, the air flow is changed to control the movement of the clamping device C and the stem supporting device B.
Claims (8)
1. A picking manipulator with learning capability is characterized by comprising a mounting seat (A), a stem supporting device (B), a clamping device (C), a visual device (D), an edge learning module (E), a control cabinet (F) and an air pump (G), wherein the mounting seat (A) comprises a housing (1), a supporting plate (2), a bearing (3), a motor I (4), a driving wheel (5), a synchronous belt (6) and a driven wheel (7), the stem supporting device (B) comprises a finger (8), a rod I (9), a pneumatic push rod (10), a rod II (11), a lead screw (12), a sliding block (13), a sliding rail (14) and a motor II (15), and the clamping device (C) comprises a wrist joint component (C1), Pneumatic component (C2) and finger assembly pair (C3) are formed, wrist joint assembly (C1) is by base (16), air receiving hole group (17), flexible subassembly (C1 a), connecting seat group (18), connector group (19) and front bezel (20), pneumatic component (C2) is by shell (25), link board I (26), link board II (27), left board (32), pole pair (33), screw hole pair IV (34), cylinder (35), air flue hole pair II (36), right board (37), screw hole pair V (38) are constituteed, finger assembly pair (C3) is by right finger assembly (C3 a) and left finger assembly (C3 b) are constituteed, right finger assembly (C3 a) and left finger assembly (C3 b) are the same in structure, opposite direction, take right finger assembly (C3 a) as an example, by lower plate (39), The visual device comprises a side plate pair (40), a supporting body (41) and a clamping plate (42), wherein the visual device (D) comprises a depth camera (43) and an image transmission module (44), the edge learning module (E) comprises a high-performance edge calculation processor (45), a depth image receiving unit (46) and a signal output unit (47), a front plate of a housing (1) of a mounting seat (A) is fixedly connected with a rear plate of a sliding rail (14) of a stem supporting device (B) through bolts, a driving wheel (5) of the mounting seat (A) is movably connected with a base (16) of a wrist joint assembly (C1) in a clamping device (C) through a transmission shaft, a flexible telescopic assembly (C1 a) in the clamping device (C) comprises five flexible telescopic members with the same structure, each flexible telescopic member comprises a distance measurer (21), An air passage (22), The device comprises a hollow plate group (23) and an angle measurer (24), wherein the hollow plate group (23) consists of 8-12 hollow plates, the 8-12 hollow plates are arranged front and back, the hollow plates are in a disc shape, an air passage (22) is arranged in the center of the hollow plate group (23), a distance measurer (21) is fixedly connected in front of a front end plate of the hollow plate group (23), the angle measurer (24) is fixedly connected behind a rear end plate of the hollow plate group (23), a depth camera (43) of a vision device (D) is fixedly connected on a supporting plate (2) of a mounting seat (A), an edge learning module (E) is in communication connection with the vision device (D), and a control cabinet (F) is respectively connected with the mounting seat (A), The device comprises a stem supporting device (B), a clamping device (C), a visual device (D), an edge learning module (E) and an air pump (G), wherein the air pump (G) is respectively connected with a pneumatic push rod (10) of the stem supporting device (B), an air receiving hole group (17) and an air channel (22) of a wrist joint component (C1), an air channel hole pair II (36) of a pneumatic component (C2) and a splint air channel pair (42 a) of a finger component pair (C3) through air pipes.
2. The picking manipulator with learning ability according to claim 1 is characterized in that a supporting plate (2) in a mounting seat (A) is fixedly connected to the upper end of a housing (1), a motor I (4) is fixedly connected to the housing (1), a driving wheel (5), a synchronous belt (6) and a driven wheel (7) are located in the housing (1), the driving wheel (5) is in transmission connection with the driven wheel (7) through the synchronous belt (6), an outer ring of a bearing (3) is fixedly connected to the lower part of a rear plate of the housing (1), the motor I (4) is fixedly connected to the lower part of a front plate of the housing (1), the middle part of an output shaft of the motor I (4) is connected with the center key of the driving wheel (5), and the rear end of the output shaft of the motor I (4) is in interference connection with the inner ring of the bearing (3).
3. The picking manipulator with learning ability according to claim 1 is characterized in that fingers (8), a rod I (9), a pneumatic push rod (10), a rod II (11) and a sliding block (13) in the stem supporting device (B) are sequentially arranged and fixedly connected from front to back, the middle part of a lead screw (12) is in threaded connection with the center of the sliding block (13), the right end of the lead screw (12) is movably connected with the center of a right plate of a sliding rail (14), the left end of the lead screw (12) is fixedly connected with an output shaft of a motor II (15) through the center of the left plate of the sliding rail (14), and the sliding block (13) is in sliding connection with the sliding rail (14).
4. The picking manipulator with learning ability as claimed in claim 1, wherein the housing (25) of the pneumatic component (C2) in the clamping device (C) is a rectangular box with a front opening, an upper plate is provided with a threaded hole pair I (28), a right plate is provided with an air passage hole pair I (29), a rear plate is provided with a threaded hole pair II (30), a lower plate is provided with a threaded hole pair III (31), an air passage hole pair II (36) is arranged behind the air cylinder (35), a lower plate is provided with a threaded hole pair IV (34), an upper plate is provided with a threaded hole pair VV (38), a left plate (32), the air cylinder (35) and a right plate (37) are sequentially arranged from right to left and are connected through a rod pair (33), a connecting plate I (26) is formed by fixedly connecting a transverse plate I (26 a) and a vertical plate I (26 b) in a T shape, the rear end of the vertical plate I (26 b) is fixedly connected with the front end of the left plate (32) of the air cylinder (35), a connecting plate II (27) is formed by fixedly connecting a transverse plate II (27 a) and a vertical plate (35) in a T shape, and the rear end of the connecting plate I (26) is fixedly connected with the front end of the left plate (32) of the air cylinder (35), the connecting plate II (27) is formed by fixedly connecting a threaded hole pair II (27) and the threaded hole pair of the threaded hole pair V (37) is formed by connecting the vertical plate (37) and the front end of the connecting plate I (26) and the front plate (35) is fixedly connected with the front end of the front plate (V-shaped box body The finger assembly pair (C3) comprises a threaded hole pair II (30), clamping plates (42) of the finger assembly pair (C3) which are in a cuboid shape, clamping plate air passage pairs (42 a) at the lower ends of the clamping plates (42), six suckers of a sucker group I (42 e), eight suckers of a sucker group II (42 d), eight suckers of a sucker group III (42C) and four suckers of a sucker group IV (42 b) are arranged on the inner surface of the clamping plates (42), the sucker group I (42 e), the sucker group II (42 d), the sucker group III (42C) and the sucker group IV (42 b) are arranged outwards in a radial shape at the center of the clamping plates (42), a lower plate (39), a supporting body (41) and the clamping plates (42) are sequentially arranged from back to front, the lower plate (39) and the supporting body (41) are fixedly connected through bolts of a side plate pair (40), the lower plate (39) is formed by fixedly connecting a vertical plate III (39 a) and a transverse plate III (39 b) in a T shape, and the right surface of the clamping plates (42) is fixedly connected with the upper left side of the supporting body (41).
5. Picking manipulator with learning capability according to claim 1, characterized in that the depth camera (43) of the vision device (D) is communicatively connected to an image transmission module (44), and the high performance edge computing processor (45), the depth image receiving unit (46) and the signal output unit (47) of the edge learning module (E) are connected by wires.
6. The picking manipulator with learning ability according to claim 4, wherein the suction cup on the inner surface of the clamping plate (42) is exemplified by a suction cup of a suction cup group IV (42 b), the lower end of an internal contour line of the suction cup group IV (42 b) is taken as an origin, the left side of the suction cup is pointed to be an X axis, the direction perpendicular to the X axis is a Y axis, and then the equation of a curve is:
Y1＝0.7691-3.203X1+5.355X1 2
Y2＝0.4657+0.866X2-7.318X2 2
Wherein, the X 1 has the values of 3.975-5.083mm, 2.683-3.658mm, 1.115-2.287mm and 0.782-1.082 respectively corresponding to the sizes of the sucker group I (42 e), the sucker group II (42 d), the sucker group III (42 c) and the sucker group IV (42 b), and the X 2 has the values of 5.437-6.782mm, 4.562-5.257mm, 3.053-4.491 mm and 2.752-2.959 respectively corresponding to the sizes of the sucker group I (42 e), the sucker group II (42 d), the sucker group III (42 c) and the sucker group IV (42 b).
7. The picking manipulator with learning ability according to claim 4, wherein when the base (16) of the wrist assembly (C1) is kept stationary, an angle between a bending plane of the distal end of the flexible telescopic assembly (C1 a) and the initial plane is θ, a radius of curvature R of the flexible telescopic assembly (C1 a) when bent, an installation radius R of the flexible telescopic assembly, a telescopic length Δl of the flexible telescopic assembly, and a torsion angle around the Z axis isThe relationship between the initial length L and the working length L i of the flexible telescopic component is as follows:
Li=θRi
Wherein: the angle varies from-10 deg. to 10 deg., and the angle theta varies from-50 deg. to 50 deg..
8. A picking method based on the picking manipulator with learning ability of claim 1, comprising the steps of:
1) For unstructured environment, a vision device (D) collects depth image information of a technician during picking, a key point detection deep learning method is used for collecting and processing key motion characteristics of a human hand, an edge learning module (E) analyzes the key motion characteristics of the human hand, and a combination behavior mode of pulling, twisting, bending and dragging of the human hand is analyzed and stored;
2) The vision device (D) collects image information of the target fruits, the edge learning module (E) is provided with a lightweight neural network, so that the picking objects can be rapidly identified, the positions between the picking objects and the depth camera are automatically calculated, and the relative position relation between the picking objects and the arms is obtained;
3) The edge learning module (E) collects depth image information of a technician picked by the analysis visual device (D), transmits analyzed behavior mode data to the control cabinet (F) and drives the clamping device (C), the stem supporting device (B) and the air pump (G) to finish appointed picking behaviors;
4) The air pump (G) controls the movement of the clamping device (C) and the stem supporting device (B) by changing the air flow after the signal of the control cabinet (F).
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| AU2017357645B2 (en) * | 2016-11-08 | 2022-11-10 | Dogtooth Technologies Limited | A robotic fruit picking system |
| CN107736124A (en) * | 2017-10-12 | 2018-02-27 | 谷新运 | Flexible tomato picking end effector and corresponding picking mechanism and method |
| CN108781762B (en) * | 2018-04-10 | 2021-04-13 | 河海大学文天学院 | Efficient strawberry picking robot and picking method |
| DE102020121554A1 (en) * | 2020-08-17 | 2022-02-17 | Thorsten Seckert | Robotic system and mobile robot for picking stalked fruits of a plant |
| CN113330915B (en) * | 2021-05-26 | 2022-08-30 | 华南农业大学 | Self-adaptive cotton harvesting method based on binocular vision recognition and intelligent mechanical harvesting device |
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| CN115250745B (en) * | 2022-08-05 | 2024-03-12 | 华南农业大学 | A fully automatic fruit picking robot and picking method based on vision technology |
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| CN106961922A (en) * | 2016-11-09 | 2017-07-21 | 西北农林科技大学 | A kind of automatic picking end effector of fixed Kiwi berry of carpopodium |
| CN109176571A (en) * | 2018-10-18 | 2019-01-11 | 上海交通大学 | Finger wrist integral type software gripper |
| CN115643903A (en) * | 2022-05-20 | 2023-01-31 | 广西师范大学 | Automatic apple picking device based on machine vision and control method thereof |
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