CN-121970610-A - Global adaptive parallel mechanical arm apple picking and follow-up collecting device and method

CN121970610ACN 121970610 ACN121970610 ACN 121970610ACN-121970610-A

Abstract

The application discloses a device and a method for picking and follow-up collecting apples by using a universal self-adaptive parallel mechanical arm, wherein the device comprises a central controller, a longitudinal double-speed lifting module, a transverse telescopic module, a parallel mechanical arm and a visual control system arranged on the parallel mechanical arm, wherein the longitudinal double-speed lifting module, the transverse telescopic module and the visual control system are electrically connected with the central controller, the visual control system is used for acquiring three-dimensional coordinates and depth information of fruits, the central controller is used for controlling the longitudinal double-speed lifting module to drive a picking operation platform to sequentially move to a plurality of height stations, and meanwhile, the transverse telescopic module is controlled to transversely move the picking operation platform according to the three-dimensional coordinates and the depth information acquired by the visual control system at each height station, and the central controller is used for controlling the parallel mechanical arm to pick the fruits and carrying out follow-up collection on the picked fruits through the follow-up fruit collection module. The application realizes the whole-domain coverage picking of fruits at different heights and different depth positions of the tree crowns, and greatly improves the environmental suitability of the device.

Inventors

WANG JINXING
CHEN XIUBO
ZHANG KAISEN
LIU CONGNING
LIU JUNSHENG
ZHANG HONGJIAN
SUN LINLIN
LIU SHUANGXI
WANG YONGXIAN
Kang shuo
LI YUFENG
CHEN ZIXU

Assignees

山东农业大学

Dates

Publication Date: 20260505
Application Date: 20260319

Claims (9)

1. The utility model provides a self-adaptation parallel arm apple of universe is picked and follow-up collection device, its characterized in that includes central controller and with vertical doubly fast elevating module, horizontal flexible module, parallelly connected arm and the visual control system of setting on the parallelly connected arm of central controller electricity connection, visual control system is used for obtaining three-dimensional coordinate and the degree of depth information of fruit, central controller control vertical doubly fast elevating module drive picking operation platform moves to a plurality of altitude stations in proper order, simultaneously according to three-dimensional coordinate and the degree of depth information that visual control system obtained at each altitude station control horizontal flexible module carries out horizontal movement to picking operation platform, after the removal is accomplished, central controller control parallelly connected arm carries out fruit picking to fruit after picking is followed to follow-up fruit collection module.
2. The universal self-adaptive parallel mechanical arm apple picking and follow-up collecting device according to claim 1, wherein the longitudinal lifting module comprises a longitudinal driving cylinder fixedly arranged on the upright post side of the movable frame and a vertical guide rail fixedly arranged on the movable frame, a double-speed chain wheel set is arranged at the top end of a push rod of the longitudinal driving cylinder, one end of a chain is arranged on the upright post of the movable frame, the other end of the chain bypasses the double-speed chain wheel set and is connected with a picking operation platform, and the picking operation platform is arranged on the vertical guide rail in a sliding manner.
3. The universal adaptive parallel mechanical arm apple picking and follow-up collecting device according to claim 2, wherein the picking operation platform comprises a horizontal rack and a horizontal telescopic module, a horizontal linear guide rail is fixedly arranged on the horizontal rack, the horizontal telescopic module comprises a horizontal driving cylinder and a sliding table, a cylinder body of the horizontal driving cylinder is fixedly connected with a sliding table base of the sliding table, the horizontal rack is in sliding connection with the sliding table, a movable end of a push rod of the horizontal driving cylinder is connected with a parallel mechanical arm base fixedly arranged on the horizontal rack, a parallel mechanical arm and a rigid connecting arm are arranged on the parallel mechanical arm base, and the rigid connecting arm is fixedly connected with the follow-up fruit collecting module.
4. The universal adaptive parallel mechanical arm apple picking and follow-up collecting device according to claim 3, wherein the follow-up fruit collecting module comprises a follow-up conveying belt, the follow-up conveying belt is in transmission connection with a conveying belt driving motor, anti-falling baffles are arranged at two ends of the follow-up conveying belt, spacing baffles are arranged on the surface of the follow-up conveying belt at equal intervals, a fruit receiving box is arranged at a receiving end of the follow-up conveying belt, a frame of the fruit receiving box is fixedly connected with a first end of a rigid connecting arm, a second end of the rigid connecting arm is fixedly connected with a base of the parallel mechanical arm, an output end of the follow-up conveying belt is in sliding connection with a movable frame through a linear sliding table mechanism, and a collecting box is arranged below an output end of the main collecting channel.
5. The universal adaptive parallel mechanical arm apple picking and follow-up collecting device according to claim 4, wherein an end manipulator and a depth camera are arranged at the end of the parallel mechanical arm, and the end manipulator is a flexible clamping structure manipulator.
6. The universal adaptive parallel robot arm apple picking and follow-up collection device according to claim 2, wherein the mobile rack is a portal frame structure, and a mobile chassis is configured at the bottom of the mobile rack.
7. The global adaptive parallel robot apple picking and follow-up gathering device of claim 1, wherein the vision control system comprises a depth camera and a plurality of position sensors, the depth camera and the plurality of position sensors are respectively electrically connected with an input of a central controller, an output of the central controller is respectively electrically connected with a transverse driving cylinder, a longitudinal driving cylinder and a parallel robot driver, and the parallel robot driver is electrically connected with the parallel robot.
8. A method for picking and follow-up collection of apples by using a universal adaptive parallel mechanical arm, which adopts the universal adaptive parallel mechanical arm apple picking and follow-up collection device as claimed in any one of claims 1-7, and is characterized by comprising the following steps: the central controller controls the longitudinal double-speed lifting module to be placed at an initial target position, and simultaneously controls the transverse telescopic module to retract to an initial position, so that initialization operation is completed; After the initialization operation is finished, the central controller controls the longitudinal double-speed lifting module to drive the picking operation platform to sequentially move to three height stations of the bottom layer, the middle layer and the top layer, and the calculation formula is as follows: Wherein, the Is the first The target height of the height station, The working high position of the bottom layer is used, In order to provide a step distance between the layers, The vertical reachable radius of a single height station of the parallel mechanical arm, The overlapping rate is covered by the interlayer; The three-dimensional coordinates and depth information of each layer of fruits are acquired at each height station through a visual control system; and calculating the depth of the fruit from the parallel mechanical arm base according to the obtained three-dimensional coordinates and depth information, wherein the formula is as follows: Wherein, the Is the first The depth of each fruit relative to the base of the parallel mechanical arm, Is the first The direction coordinates of the individual fruits under the base coordinate system, A base depth reference plane coordinate; judging the picking area according to the calculated depth information, and executing picking operation according to the judged area; After picking, the parallel mechanical arm releases fruits to the follow-up conveyor belt, then the fruits are reset or picked next time, the follow-up conveyor belt conveys the released fruits to the main collecting channel, and then the fruits are conveyed to the collecting box through the main collecting channel; and after all fruits at the current height station are picked, controlling the longitudinal double-speed lifting module to move to the next height station until the whole fruit picking of three-level height work is finished.
9. The method of claim 8, wherein determining a picking area based on the calculated depth information and performing a picking operation based on the determined area, comprises: If the calculated depth is greater than 0 and less than or equal to a first preset threshold value, judging that the picking area is a direct picking area, and controlling the parallel mechanical arm to act by the central controller to execute picking operation; if the calculated depth is larger than the first preset threshold value and smaller than or equal to the second preset threshold value, judging that the picking area is compensated, and calculating the compensation distance at the same time, wherein the calculation formula is as follows: Wherein, the Is the first The corresponding transverse expansion compensation distance of each fruit, For the fruit depth exceeding the gap distance with the self depth reaching capability of the parallel mechanical arm, For the maximum compensation travel of the transverse expansion module, As a limiting function for Limited to the interval An inner part; the transverse telescopic module drives the parallel mechanical arm to move forward and then control the parallel mechanical arm to act according to the calculated compensation distance, picking operation is carried out, and in the moving process, the rigid connecting arm drives the follow-up conveyor belt to slide horizontally along the linear sliding table mechanism synchronously, so that the fruit bearing end of the follow-up conveyor belt is always located below the operation space of the parallel mechanical arm.

Description

Global adaptive parallel mechanical arm apple picking and follow-up collecting device and method Technical Field The invention relates to the technical field of orchard intelligent management machinery, in particular to a device and a method for picking and follow-up collection of apples by a universal adaptive parallel mechanical arm. Background Apple picking is an important link in orchard management, and directly relates to orchard production efficiency, fruit picking quality and economic benefits of fruit farmers. Along with the large-scale and intensive development of orchards, the traditional manual picking mode is difficult to meet production requirements, the labor intensity is high, the labor cost is increased year by year, the picking efficiency is low, the picking efficiency is easily influenced by the operation proficiency and fatigue degree of personnel, the damage rate of fruits is high, and economic loss is caused. Therefore, the development of automatic apple picking equipment realizes the efficient and low-damage apple picking, and becomes an urgent requirement for intelligent management of an orchard. The heights of crowns and the distribution depths of fruits of orchards with different ages and varieties are obviously different, fruits can be distributed at different heights of a bottom layer, a middle layer, a top layer and the like even though the fruits are the same fruit tree in the same orchard, and the depths of the fruits from the edges of the crowns are different, so that extremely high requirements are provided for the space adaptation capability and the operation flexibility of the automatic picking device. At present, orchard picking robots mostly adopt serial mechanical arms or parallel mechanical arms with fixed bases. The parallel mechanical arm has certain advantages in a high-speed operation scene by virtue of the advantages of compact structure, high motion precision and high response speed, but the existing parallel mechanical arm adopts a fixed base design, the working space is strictly limited, flexible adjustment cannot be performed according to the distribution depth of fruits, a large number of untouchable picking dead zones exist in the complex environment with different fruit growth depths, effective picking of fruits in tree crowns and deep positions is difficult to realize, and the applicability is poor. In addition, the fruit collection scheme of the existing apple picking robot mostly adopts a chassis fixed type collecting box design, and the collecting box is fixed in position. After the mechanical arm finishes picking fruits each time, the mechanical arm needs to retract to the upper part of the collecting box from the picking position for a long distance to unload the fruits, the process not only occupies a large amount of working cycles and further reduces the picking efficiency, but also causes damage to the fruits due to shaking and collision in the long-distance retraction process of the mechanical arm, and influences the commodity value of the fruits. Therefore, the universal self-adaptive, efficient and low-damage parallel mechanical arm apple picking and follow-up collecting device is developed, and has important practical significance and application value. Disclosure of Invention In order to solve the technical problems, the application provides the following technical scheme: In a first aspect, the embodiment of the application provides a universal self-adaptive parallel mechanical arm apple picking and follow-up collecting device, which comprises a central controller, a longitudinal double-speed lifting module, a transverse telescopic module, a parallel mechanical arm and a visual control system, wherein the longitudinal double-speed lifting module, the transverse telescopic module and the visual control system are electrically connected with the central controller, the visual control system is used for acquiring three-dimensional coordinates and depth information of fruits, the central controller controls the longitudinal double-speed lifting module to drive a picking operation platform to sequentially move to a plurality of height stations, meanwhile, the transverse telescopic module is controlled to transversely move the picking operation platform according to the three-dimensional coordinates and depth information acquired by the visual control system at each height station, and after the movement is completed, the central controller controls the parallel mechanical arm to pick the fruits and the follow-up fruit collecting module is used for carrying out follow-up collection on the picked fruits. In one possible implementation manner, the longitudinal lifting module comprises a longitudinal driving electric cylinder fixedly arranged on the side of the upright post of the movable rack and a vertical guide rail fixedly arranged on the movable rack, a double-speed chain wheel set is arranged at the top end of a push rod of the longitudinal drivi