AU2014289895A1 - Robot and method for picking fruit of Camellia oleifera - Google Patents
Robot and method for picking fruit of Camellia oleifera Download PDFInfo
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- AU2014289895A1 AU2014289895A1 AU2014289895A AU2014289895A AU2014289895A1 AU 2014289895 A1 AU2014289895 A1 AU 2014289895A1 AU 2014289895 A AU2014289895 A AU 2014289895A AU 2014289895 A AU2014289895 A AU 2014289895A AU 2014289895 A1 AU2014289895 A1 AU 2014289895A1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
Disclosed are a robot for picking fruit of
Description
A Robot and Method of Camellia Oleifera Fruit Picking Field of the Invention This invention relates to a picking machine and an operation method for forest cash crops, specifically a robot and method of camellia oleifera fruit picking to automatically accomplish to pick a camellia oleifera fruit, which belongs to the field of forest harvesting technology. Background of the Invention Camellia oleifera is a special kind of woody oil crops, and enjoys equal fame with oil palm, olive and coconut which are the world's four woody edible oil. The camellia oil is called the oriental olive. China has rich camellia oleifera resources. The oil refined from camellia oleifera seeds is called camellia seed oil, which is nutritious and full of oleic acid, linoleic acid, and unsaturated fatty acid. Besides, the tea polyphenols and camellianin in camellia oil have obvious effect on lowering cholesterol and cancer which are antioxidant and high storage. Since camellia oil also contains rich vitamin A, E, D, K, 0 -carrot element, tea polyphenols, camellianin, aqualene and other physiological active substances, it is an important raw material for vegetable oil. However, the harvest is seasonal, and for a long time it relied on artificial picking in most of the oil camellia planting land. It takes huge manpower and time, and is low 1 efficiency. Besides, some of the camellia oleifera fruits are hard to be picked or even not to be picked at all which is dangerous to human's safety. This problem cannot be solved upon present technology. The invention of the camellia oleifera picking machine has just begun, though there have been olive picking machines overseas whose degree of automation and the work efficiency of the mechanism are relatively high, however, the structure is complex and the cost is too high that is not suitable for China's current situation. Foreign research on the picking robot began in the 80's in the last century. The visual technology of the picking robot has been a hot spot for research, but most of the visual mechanisms are fixed on the picking arm or several cameras fixed on the rack. The robot at Miyazaki University in Japan uses two cameras whose structure is complex with huge volume and mass, and its collection is not satisfied. In China, the research on picking robot starts relatively late whose hotspot has always been the visual technology of the picking robot. The strawberry picking robot of China Agricultural University is fixed on the picking arm. Since the vision often needs to be changed, it needs to be changed manually, and is not convenient to use. Meanwhile, some of the domestic and international use of the telescopic mechanism of the auxiliary vision system, but the main power relies on a single cylinder or multi cylinder driven telescopic mechanism. The use of cylinder as the power source increases the complexity, the using cost and the quality of 2 the telescopic mechanism, which increases the maintenance cost of the telescopic mechanism as well. Therefore, it is necessary to strengthen the development of the machine of camellia oleifera fruit picking which is suitable for the Chinese situation. It is not found that the same technique is directly related to the same technology as the invention after searching. There are only some of the patents which are as follows: 1. Application NO. 2012101407393, an invention patent named A Self-propelled Machine of Camellia Oleifera Fruit Picking discloses an machine of camellia oleifera fruit picking, comprising a frame, a chassis driving system for driving the frame, and the frame is provided with a picking arm and a chassis supporting leg, and the picking arm end is equipped with a vibration picking head. The picking arm mentioned is a space open chain link mechanism with six degrees of freedom. The mechanism comprises a rotary arm mounted on the frame, the upper end of the rotary arm is provided with a main arm, and the main arm is provided with a driven sliding block. The projecting end of the driven sliding block is hinged with the horizontal swing seat which is hinged with the other end of the vibration swing seat. The other end of vibration swing seat is hinged with the vibration head rack connecting for the picking head, which is used to hang the vibration picking head. 2. Publication NO. CN202617725, a utility model patent named A Jib Structure for Camellia Oleifera Fruit Picking Machine whose 3 sovereignty is described as follows. A jib structure for oil camellia fruit picking machine with the characteristics comprising a support seat fixed on the chassis frame, the rotary arm fixed on the supporting seat rotating around the axis of the shaft which is driven by a motor on one side of the arm. The upper end of the rotary arm is hinged on one end of the main arm which is equipped with the main arm driven sliding block which is relative to the main arm. The main arm driven sliding block is hinged with a horizontal swing seat which is equipped with the vibration head sliding seat connecting for the picking head. A hydraulic cylinder is arranged between the rotary arm and the main arm, the main arm and the main arm driven block, the main arm driven block and the horizontal swing seat, the horizontal swing seat and the vibration head sliding seat. 3. Publication NO. CN201928661, a utility model patent named A Multi Degree of Freedom Picking Arm for Camellia Oleifera Fruit Picking Machine whose sovereignty is described as follows. A multi degree of freedom picking arm for camellia oleifera fruit with the characteristics comprising a rotary arm mounted on the picking arm seat. The upper end of the rotary arm is hinged with the main arm whose upper end is hinged with the vice arm. The other end of the vice arm is hinged with the picking head seat whose other end is hinged with the picking head frame. The upper part of the rotary arm is equipped with an inclined rod whose other end is hinged with a long rod of the main arm, its other 4 end hinged with one end of a long rod of the vice arm. Their articulation is hinged with one end of a rocker rod, and the other end is hinged with the articulation between the main arm and the vice arm. The other end of the vice arm long rod is hinged with the picking head seat. On the rotary arm there is a rotary arm hydraulic cylinder that can drive the main arm rotating relative to the rotary arm. On the main arm there is the main arm hydraulic cylinder that can drive the vice arm rotating relative to the main arm. On the picking head seat there is the picking head hydraulic cylinder that can drive the picking head frame rotating relative to the picking head seat. The patents mentioned above refer to the operation of picking mechanization for camellia oleifera fruits, however, what are published is too simple and cannot achieve the purpose of this invention. Especially the implementation system for picking all uses hydraulic system as the power source which has some shortcomings, including 1) the hydraulic oil leakage and the compressibility of liquid can affect the accuracy of the component motion that is unable to guarantee strict transmission ratio; 2) it is sensitive to the change of the oil temperature so as to be unable to work under the temperature which is too high or too low; 3) energy loss (leakage loss, overflow loss, throttling loss, wear loss) is huge, and low transmission efficiency that are unsuitable for long distance transmission; 4) it's hard to find the reason when the system fails. The picking 5 mechanism of the oil camellia fruit requires high accuracy of movement, and also has strict requirements on the transmission ratio. If the positioning is not accurate during picking process, making the clamping force too loose or too tight, leakage of pick often happened and need to be picked artificially which can influence picking efficiency or hurt the oil camellia trees. Moreover, the working area of the picking machines is mostly in the mountains with harsh terrain, which asks for high requirements on the reliability and maintainability of the system, while the maintenance of hydraulic system has always been complicated. Detailed Description of the Invention In view of the present situation of low intelligence, large labor intensity, and low efficiency in camellia oleifera fruit picking, the purpose of this invention is to provide a practical camellia oleifera fruit picking robot and method with reasonable picking range, high efficiency, easy operation, high intelligence, high degree of adaptability and coordination in rack. This picking robot can find the right position of the trunk of the oil camellia tree with different position and height automatically, accurately and quickly, and is then picked up by the picking head and shaken to let the ripe fruit drop off, which is efficient, easy to operate, and hurts little to the stamen and buds. Based on the research of the oil camellia trees in large-scaly planting 6 bases, it is found that the trees have the characteristics that the branches are tough and the trunks have no fruits which are mainly on the front of the branches, i.e. the fruits are basically distributed along the surface of the trees. According to the analysis above, this invention provides an camellia oleifera fruit picking robot to achieve the purpose, which comprises a chassis including a walking part on which is equipped with an implementation system, the dynamic part and the visual identification system. The dynamic part is connected with the chassis including the walking part, the implementation mechanism and the visual identification system through transmission mechanism. The machine of camellia oleifera fruit picking is driven by the chassis including the walking part, and identifies through the visual identification system, then picks up fruits by the robot's implementation mechanism. The implementation mechanism of the robot comprises a support bracket seat for supporting the implementation mechanism, on which there is a rotary platform that can rotate around its axis. On the rotary platform equipped with the picking arm which can rotate around with the platform and on whose end provides with a vibration picking head, picking up the camellia oleifera fruit by vibration. The visual identification system is a camera device with a telescopic mechanism, and by which the camera device is fixed on the frame. 7 The rotary platform comprises a horizontal slipway and a vertical slipway, which are connected with each other in a shape of" L". On the horizontal slipway equips with a main rod baseboard which is connected with one end of the main arm of the second axis through an articulated device, and with one end of the main rod as well. On the vertical slipway equips the main arm baseboard of the third axis which is connected with one end of the third axis. The horizontal slipway and the vertical slipway mentioned above comprise separately with a horizontal slipway servo motor and a vertical slipway servo motor, the main rod baseboard moving horizontally driven by the former, while the main arm of the third axis baseboard moving vertically driven by the latter. The picking arm comprises the main arm of the second axis and the vice arm of the fourth axis, while the former is the inner arm and the latter is the outer arm. One end of the main arm of the second axis connects with the main rod baseboard by articulated device, and the other end connects with the vice arm of the fourth axis by the same way. The other end of the vice arm of the fourth axis is equipped with a fourth axis supporting seat which is provided with a horizontal swing seat and a horizontal swing servo motor. The horizontal swing seat is connected with a vibration picking head, by which the target trunk can be vibrated so as to make the ripe fruits drop off and complete the fruit picking. The vibration picking head is connected with the horizontal 8 vibration seat by the slider mechanism, and is driven by the servo motor to move; meanwhile, the horizontal swing seat is equipped with a rotary servo motor which drives the vibration picking head turning around the axis of it. The cardinal axis connecting with the main arm of the second axis and the vice arm of the fourth axis is equipped with a rod of triangle block, whose one corner is connected with the horizontal swing seat by vice rod, and another corner is connected with the main rod baseboard by main rod in order to guarantee that the horizontal swing seat always makes the axis of the vibration picking head in a horizontal state when the main arm of the second axis and the vice arm of the fourth axis is driven by the main arm of the third axis. A power device is provided to drive the rotary table rotating, including the servo motor of the rotary table mounted on the chassis, the decelerator and the coupling. The rotary table is driven by its servo motor through the decelerator of the first axis connected by the coupling. When the angle of rotation of the rotary table is reached, it can be locked by itself. The telescopic mechanism of the visual identification system is triple-section, two of which are movable arms that are connected with each other and then equipped on the frame beam. The telescopic mechanism comprises the frame, the motor, the 9 transmission, the frame beam equipped on the frame; the I arm equipped on the frame beam and movable relatively; the II arm equipped on the I arm and movable relatively; the telescopic guide equipment which is equipped on the both two sides of the frame beam, the I arm and the II arm; and with the transmission mechanism and the telescopic guide equipment, the motor drives the I arm and the II arm moving telescopically in order to manage the camera to realize the visual collection of the target trees. A method of camellia oleifera fruit picking accomplishes work by the picking robot which is equipped with the chassis and the walking part, the performing mechanism, the dynamic part and the visual identification system, i.e. it depends on the dynamic part to drive the chassis and the walking part to reach the designated picking position, and recognizes by the visual identification system on the picking robot, then picks the fruits by the performing part of the robot. The performing part of picking robot works on a chassis which equips with a support bracket seat; on the support bracket seat equips with a picking arm which rotates with the seat; the end of the picking arm equips with a vibration picking head by which the oil camellia fruit is picked. The vibration picking head clamps the target trunk by the collets on the picking head, and then vibrates to make the fruits drop off and 10 accomplish picking. The visual identification system works by equipping a camera on the telescopic mechanism that can be folded up. The position of the camera device can easily and quickly realize the visual collection of the trees by stretching or folding the telescopic mechanism. The visual identification system is a binocular stereo system which uses a method of binocular stereo vision measurement to obtain the target's position. This method is based on parallax theory and uses the imaging device to obtain two pictures of the target object from different positions. As a method by calculating the position deviation between the corresponding points of the image to obtain the 3D geometric information of the object, the method of binocular stereo vision measurement directly simulates the human visual processing of the scene, and can be flexible to measure the three-dimensional information of the scene under a variety of conditions, with the advantages of high efficiency, high accuracy, simple structure, low cost, etc which is suitable for detection and control of on-line, non-contact products. Since image acquisition is done in an instant, the method of binocular stereo vision measurement is a very effective method. The visual identification system consists of two cameras and the telescopic mechanism which comprises the frame, the motor, the transmission, the frame beam equipped on the frame; the I arm 11 equipped on the frame beam and movable relatively; the II arm equipped on the I arm and movable relatively; the telescopic guide equipment which is equipped on the both two sides of the frame beam, the I arm and the II arm; and with the transmission mechanism and the telescopic guide equipment, the motor drives the I arm and the II arm moving telescopically in order to manage the camera to realize the visual collection of the target trees. The picking of camellia oleifera fruit includes the following steps. Step one, the information of the position, size and fruiting, etc. are collected through visual identification system, and send these information back to the control computer; Step two, the control system will synthetically deal with the information collected from the visual identification system, and analyzes the position of the fruit picking robot relative to the camellia oleifera trees, and the working information of the clamping part that the picking arm in the tree and the vibration frequency and the time of the vibration picking head. Step three, the control system controls the picking robot to stop by the oil camellia tree according to the results analyzed. The picking arm on the robot of camellia oleifera fruit picking is controlled by the control system to adjust the vibration picking head to the clamping part of the fruit tree and hold tightly, then the preparation is finished. 12 Step four, under the control of the control system, the vibration picking head vibrates the trees with appropriate frequency and amplitude, and keeps a certain time, in order to accomplish the picking through the inertial force produced by the vibration to make the fruits separate with the branches. Step five, the visual identification system again carries on the information collection to the camellia oleifera fruit trees to judge whether to meet the completion criteria for picking. If it meets the criteria, the vibration picking head will release, and withdraw the picking arm, the picking is finished. If it does not meet the criteria, the control system will not adjust the vibration frequency and amplitude and vibrates the trees the second time according to the second-time information collected by the visual identification system until meet the completion criteria for picking. And then the vibration picking head will release, and withdraw the picking arm, the picking is finished. The advantages of this invention are that according to the characteristics of Chinese oil camellia trees, a walking robot of camellia oleifera fruit picking recognizes by the visual identification system and picks up fruits automatically by the performing mechanism, which has the characteristics of good picking effect, no injury to the branches, labor saving and high efficiency. Especially the picking arm is fixed on the chassis by the support bracket seat as a whole, and driven by its servo 13 motor connecting with rotary coupling through which the rotation of the rotary arm is realized by the decelerator of the first axis. When the angle of rotation of the rotary arm is reached, the angle limit device can be locked by itself. The main arm of the second axis and the main rod are driven by the slipway servo motor. The main arm of the third axis is driven by the main arm of the second axis through the link block between the second axis and the third axis to achieve the purpose of collapsible implementation mechanism by the movement of the fourth axis's support seat driven by the vice arm of the fourth axis and the vice rod. The slipway servo motor drives the main arm of the third axis to achieve the purpose of up and down movement of the implementation mechanism by the movement of the vice arm of the fourth axis driven by the vice rod, the main rod and its second axis. The horizontal swing seat is driven by the horizontal swing servo motor to realize its own swing left and right. Equipped on the horizontal swing seat, the vibrating picking head rotates up and down driven by the up and down servo motor, and at last by the rotary servo motor, it rotates around the rotary servo motor of the axis. As a result, there are 6 degrees of freedom for the entire implementation mechanism. With each motion component, the position and orientation of the vibration picking head is adjusted when picking so as to make the vibration picking head clamp the target trunk and vibrate to make the fruits drop off and accomplish picking. 14 The picking arm of this invention is open-chain spatial linkage with six degrees of freedom, which has reasonable working space in line with the requirements of picking space. In the picking process, the coordination among the components is good, the speed matching is reasonable, which adopts mechatronics controlling with high integration, high degree of automation, easy to install and operate, good adaptability to the picking environment, good coordination among the components to guarantee the continuity of picking motion, high picking efficiency, easy maintenance, and good practicability. In this invention, the visual identification system is a binocular stereo system which uses a method of binocular stereo vision measurement to obtain the target's position. This method is based on parallax theory and uses the imaging device to obtain two pictures of the target object from different positions. As a method by calculating the position deviation between the corresponding points of the image to obtain the 3D geometric information of the object, the method of binocular stereo vision measurement directly simulates the human visual processing of the scene, and can be flexible to measure the three-dimensional information of the scene under a variety of conditions, with the advantages of high efficiency, high accuracy, simple structure, low cost, etc which is suitable for detection and control of on-line, non-contact products. Since image acquisition is done in an instant, the 15 method of binocular stereo vision measurement is a very effective method. Brief Description of the Drawings Figure 1 is a front elevation view of the invention shown in Figure 1; Figure 2 is a top plan view of the invention shown in Figure 2; Figure 3 is a front elevation view of the picking arm shown in Figure 3; Figure 4 is a top plan view of the picking arm shown in Figure 4; Figure 5 is a local structure view of Figure 3 from A direction; Figure 6 is a front elevation view of the telescopic mechanism shown in Figure 6; Figure 7 is a rear elevation view of the telescopic mechanism shown in Figure 7; and Figure 8 is a top plan view of the telescopic mechanism shown in Figure 8. The claims defining the invention are as follows: 1. Electrical control cabinet; 2. Generator; 3. Picking arm; 4. Visual identification system; 5. Chassis; 6. Chassis driving system; 7. Three phase asynchronous motor; 3-1. Servo motor of rotary table; 3-2. Decelerator of the second axis; 16 3-3. Support bracket seat; 3-4. Coupling; 3-5. Rotary table; 3-6. Horizontal slipway; 3-7. Main rod baseboard; 3-8. Vertical slipway; 3-9. Vertical slipway servo motor; 3-10. Main arm seat of the third axis; 3-11. Main rod; 3-12. Main arm of the third axis; 3-13. Main arm of the second axis; 3-14. Rod of triangle block; 3-15. Vice rod; 3-16. Vice arm of the fourth axis; 3-17. Supporting seat of the fourth axis; 3-18. Horizontal swing servo motor; 3-19. Vibration servo motor; 3-20. Vibration picking arm; 3-21. Collets; 3-22. Clamp servo motor; 3-23. Up-down servo motor; 3-24. Horizontal slipway servo motor; 3-25. Rotary servo motor; 3-26. Horizontal swing seat; 3-27. Transmission bevel gear; 4-1. Frame; 4-2. Guide rope wheel; 4-3. Stretched-out wire rope; 4-4. External pulley; 4-5. I arm; 4-6. Frame beam; 4-7. Pulley No. 1; 4-8. II arm; 4-9. Link plate No. 1; 4-10. Fixed pin No. 1; 4-11. Pulley No. 3; 4-12. Built-in pulley; 4-13. Pulley No. 2; 4-14. Pulley No. 4; 4-15. Taken-back wire rope; 4-16. Pulley No. 6; 4-17. Pulley No. 5; 4-18. Fixed pin No. 2; 4-19. Link plate No. 2; 4-20. Pulley No. 8; 4-21. Pulley No. 7; 4-22. Motor; 4-23. Bidirectional clutch; 4-24. Stretched-out roller; 4-25. Taken-back roller. Description of the Preferred Embodiment In order to more clearly illustrate the technical proposal of the embodiment of the present invention, the figures that are needed in the 17 description of the embodiment will be explained briefly. Apparently, the figures described as follows are some embodiments of this invention; as to average technical personnel, more other figures can be achieved on the premise of not paying creative work. As shown in the figure, this invention can provide a robot of camellia oleifera fruit picking comprising the chassis 5, the chassis driving system 6, which drive the chassis 5 moving, and the control system; the chassis 5 is equipped on the picking arm 3 and the visual identification system 4, the end of the former equipped on the picking head; the chassis 5 is also equipped on the three phase asynchronous motor 7 providing power to the chassis driving system 6; the electrical control cabinet 1 which controls the mechanism of the picking robot to cooperate with each other, and the motor 2 which provides the picking machine with electricity; comprising PLC equipped in the electrical control cabinet 1, the control system controls the picking robot cooperating with each other to pick and the picking process can be done automatically with the information of the location, size, etc of the camellia oleifera trees collected by the visual identification system 4, which realizes intelligent picking operation with no human interference but high efficiency. The picking arm 3 comprises the support bracket seat 3-3 that braces the implementation system and is equipped on the frame of the chassis 5; 18 rotating around its own central axis, the rotary table 3-5 is equipped on the support bracket seat 3-3 and is set angle limit by the control system when the rotary table 3-5 reaching the angle limit can lock itself; equipped on one side of the rotary table 3-5 to drive it rotating, the powerplant comprises the rotary table servo motor 3-1 which is used to drive the rotary table 3-5 rotating and is equipped on the frame of the chassis 5; the rotary table servo motor 3-1 is connected with the decelerator of the first axis 3-2 which is connected with the coupling 3-4; transferring power to the rotary table 3-5, the coupling 3-4 connects with the decelerator of the first axis 3-2 and the rotary table 3-5; a horizontal slipway 3-6 and a vertical slipway 3-8, which are connected with each other in a shape of" L", the former connected with the rotary table 3-5; on the horizontal slipway 3-6 and the vertical slipway 3-8 equips separately the horizontal slipway servo motor 3-24 and the vertical slipway servo motor 3-9; the main arm of the second axis 3-13 and the main rod 3-11 are driven by the horizontal slipway 3-6, while the main arm of the third axis 3-12 is driven by the vertical slipway servo motor 3-9; the main arm of the second axis 3-13 installed on the horizontal slipway 3-6; the main rod baseboard 3-7 equipped on the horizontal slipway 3-6; the main rod 3-11 installed on the main rod baseboard 3-7; the main arm seat of the third axis 3-10 equipped on the vertical slipway 3-8, which can slide on the vertical slipway 3-8; the main arm of the third 19 axis 3-12 installed on the main arm seat of the third axis 3-10; the vice arm of the fourth axis 3-16 installed separately on the main arm of the second axis 3-13 and of the third axis 3-12; the vice rod 3-15 arranged in parallel on the vice arm of the fourth axis 3-16; the rod of triangle block 3-14 connected with the main rod 3-11, the main arm of the second axis 3-13, and the vice rod 3-15 separately; connected with the vice rod 3-15 and the vice arm of the fourth axis 3-16, the supporting seat of the fourth axis 3-17is equipped with the horizontal swing seat 3-26 and the horizontal swing servo motor 3-18, while the latter makes the former swing left and right; equipped on the horizontal swing seat 3-26, the vibration picking head 3-20 is equipped with the collets 3-21 to clamp the target trunk; the clamp servo motor 3-22 for driving the collets 3-21 to clamp the target trunk; the transmission bevel gear 3-27 for transfer the power of the clamp servo motor 3-22; the servo motor 3-23 for driving the vibration picking head 3-20 to swing up and down with a certain angle; the rotary servo motor 3-25 for driving the vibration picking head 3-20 to rotate around its central axis; the vibration servo motor 3-19 and the torque protection device for driving the vibration picking head 3-20 at a certain frequency and amplitude of vibration; the collets 3-21 of vibration picking head 3-20 clamps the target trunk tightly, when the collets 3-21 clamps, the torque protection device orders the clamp servo motor 3-22 not to transfer power to the transmission bevel gear 3-27 in 20 order to realize the overload protection of the collets 3-21 and avoid the occurrence of tooth skipping because of the overload of the transmission bevel gear 3-27; the vibration servo motor 3-19 drives the vibration picking head 3-20 at a certain frequency and amplitude of vibration to make the ripe camellia oleifera fruits drop off and complete the fruits picking. The visual identification system 4 is a binocular stereo system which uses a method of binocular stereo vision measurement to obtain the target's position. This method is based on parallax theory and uses the imaging device to obtain two pictures of the target object from different positions. As a method by calculating the position deviation between the corresponding points of the image to obtain the 3D geometric information of the object, the method of binocular stereo vision measurement directly simulates the human visual processing of the scene, and can be flexible to measure the three-dimensional information of the scene under a variety of conditions, with the advantages of high efficiency, high accuracy, simple structure, low cost, etc which is suitable for detection and control of on-line, non-contact products. Since image acquisition is done in an instant, the method of binocular stereo vision measurement is a very effective method. The visual identification system 4 consists of two cameras and the telescopic mechanism which comprises the frame 4-1, the motor 4-22, the 21 transmission, the frame beam 4-6 equipped on the frame 4-1, whose two sides are equipped with hollow slipway; the I arm 4-5 equipped on the frame beam 4-6 and movable relatively, whose two sides are equipped with the external pulley 4-4 matching with the hollow slipway and connected with the frame beam 4-6 and the I arm 4-5; the I arm 4-5 slides in the hollow slipway of the frame beam 4-6 by the external pulley 4-4 to realize the relative sliding between the frame beam 4-6 and the I arm 4-5; the II arm 4-8 equipped on the I arm 4-5 and movable relatively; the I arm 4-5 is equipped with the hollow slipway; the upper part of the II arm 4-8 is equipped with the built-in pulley 4-12 which is in the hollow slipway of the I arm 4-5 which realizes the connection and movement between the I arm 4-5 and the II arm 4-8; the telescopic guide equipment which is equipped on the both two sides of the frame beam 4-6, the I arm 4-5 and the II arm 4-8, which comprises the stretched-out guide equipment that is installed on one side of the frame beam 4-6, the I arm 4-5 and the II arm 4-8, and the taken-back guide equipment that is installed on the other side of the frame beam 4-6, the I arm 4-5 and the II arm 4-8. To realize the extension of the telescopic mechanism, the stretched-out guide equipment comprises the guide rope wheel 4-2 fixed on the frame 4-1, the wheel No. 1 4-7 fixed on the external end of the frame beam 4-6, the wheel No. 2 4-13 fixed on the external end of the I 22 arm 4-5, the link plate No. 1 4-9 fixed vertically on the external end of the I arm 4-5, the wheel No. 3 4-11 fixed on the link plate No. 1 4-9, the fixed pin No. 1 4-10 fixed on the link plate No. 1 4-9, the wheel No. 4 4-14 fixed on the external end of the II arm 4-8 and the stretched-out wire rope 4-3 which twines around the guide rope wheel 4-2, the wheel No. 1 4-7, the wheel No. 2 4-13, the wheel No. 3 4-11 and the wheel No. 4 4-14; the one end of the stretched-out wire rope 4-3 is connected with the transmission device, while the other end is fixed on the fixed pin No. 1 4-10, whose winding order is shown in Figure 1. To realize the taken-back ability of the telescopic mechanism, the taken-back guide equipment comprises the link plate No. 2 4-19 fixed vertically on the frame 4-1, which is equipped with the wheel No. 5 4-17 whose location is a little higher than the frame 4-1, and the fixed pin No. 2 4-18, the wheel No. 6 4-16 fixed on the external end of the I arm 4-5, the wheel No. 7 4-21 fixed on the external end of the I arm 4-5, the wheel No. 8 4-20 fixed on the external end of the II arm 4-8 and the taken-back wire rope 4-15 which twines around the wheel No. 5 4-17, the wheel No. 6 4-17, the wheel No. 7 4-21, and the wheel No. 8 4-20; the one end of the taken-back wire rope 4-15 is connected with the transmission device, while the other end is fixed on the fixed pin No. 2 4-18, whose winding order is shown in Figure 3. With the power driven by the transmission mechanism and the 23 telescopic guide mechanism, the motor 4-22 drives the I arm 4-5 and the II arm 4-8 doing telescopic movement; the transmission mechanism comprises the stretched-out roller 4-24 which is connected with the motor 4-22, the taken-back roller 4-25, and the bidirectional clutch 4-15; the stretched-out roller 4-24 is connected with the stretched-out wire rope 4-3 while the taken-back roller 4-25 is connected with the taken-back wire rope 4-15; by the power with the rotation of the motor 4-22 through the stretched-out wire rope 4-3 and the taken-back wire rope 4-15, the movement of the telescopic mechanism is realized, and furthermore the visual collection to the target trees by the camera is realized, too. During working process, the engine unit is started, and it drives the motor to supply power; the control computer and the electrical control cabinet, the binocular stereo visual identification system and the picking arm finish system initialization at first. The robot first stops at the right place according to the terrain, the IPC sends control instructions to distinguish and locate the target camellia oleifera tree by the binocular stereo visual identification system, and send the data to the control computer to let the IPC analyze and process the data which will be transformed into the signals to every servo motor and sent to the motion control card; the servo motors make the picking head reach the point of the clip by the motion order, and vibrates the target tree with appropriate frequency and amplitude to make the fruit separate from the branch by 24 the inertial force. Afterwards, the visual identification system scans and analyzes the target tree again, judging whether to achieve the goal of picking up; if not, it will control the picking head again, adjust the vibration frequency and amplitude to vibrate the target tree the second time until achieve the goal. The whole picking process is completed by the control computer in the way of controlling the servo system and visual identification system which will work automatically and intelligently. According to the robot of camellia oleifera fruit picking explained above, the picking method that proposed by the present invention includes the following steps. Step one, the information of the position, size and fruiting, etc. are collected through visual identification system, and send these information back to the control computer; Step two, the control system will synthetically deal with the information collected from the visual identification system, and analyzes the position of the fruit picking robot relative to the oil camellia trees, and the working information of the clamping part that the picking arm in the tree and the vibration frequency and the time of the vibration picking head. Step three, the control system controls the picking robot to stop by the oil camellia tree according to the results analyzed. The picking arm on 25 the robot of camellia oleifera fruit picking is controlled by the control system to adjust the vibration picking head to the clamping part of the fruit tree and hold tightly, then the preparation is finished. Step four, under the control of the control system, the vibration picking head vibrates the trees with appropriate frequency and amplitude, and keeps a certain time, in order to accomplish the picking through the inertial force produced by the vibration to make the fruits separate with the branches. Step five, the visual identification system again carries on the information collection to the camellia oleifera fruit trees to judge whether to meet the completion criteria for picking. If it meets the criteria, the vibration picking head will release, and withdraw the picking arm, the picking is finished. If it does not meet the criteria, the control system will not adjust the vibration frequency and amplitude and vibrates the trees the second time according to the second-time information collected by the visual identification system until meet the completion criteria for picking. And then the vibration picking head will release, and withdraw the picking arm, the picking is finished. In the present invention, the control system uses PLC to control which has strong anti-interference ability, high reliability, but low requirements on working environment. The picking arm, in the present invention, is driven by motor servo 26 system, which requires high accuracy of motion, accurate transmission ratio, rapid response, and small vibration, while there is no relevant facility suitable for miniaturization and lightweight. The visual identification system is a binocular stereo system which uses a method of binocular stereo vision measurement to obtain the target's position. This method is based on parallax theory and uses the imaging device to obtain two pictures of the target object from different positions. As a method by calculating the position deviation between the corresponding points of the image to obtain the 3D geometric information of the object, the method of binocular stereo vision measurement directly simulates the human visual processing of the scene, and can be flexible to measure the three-dimensional information of the scene under a variety of conditions, with the advantages of high efficiency, high accuracy, simple structure, low cost, etc which is suitable for detection and control of on-line, non-contact products. Since image acquisition is done in an instant, the method of binocular stereo vision measurement is a very effective method. To sum up, the present invention proposes a robot and a working method of camellia oleifera fruit picking; the robot comprises a chassis including a walking part on which is equipped with an implementation system, the dynamic part and the visual identification system. The dynamic part is connected with the chassis including the walking part, the 27 implementation mechanism and the visual identification system through transmission mechanism. The machine of camellia oleifera fruit picking is driven by the chassis including the walking part, and identifies through the visual identification system, then picks up fruits by the robot's implementation mechanism. The implementation mechanism of the robot comprises a support bracket seat for supporting the implementation mechanism, on which there is a rotary platform that can rotate around its axis. On the rotary platform equipped with the picking arm which can rotate around with the platform and on whose end provides with a vibration picking head, picking up the oil camellia fruit by vibration. The visual identification system is a camera device with a telescopic mechanism, and by which the camera device is fixed on the frame. The rotary platform comprises a horizontal slipway and a vertical slipway, which are connected with each other in a shape of" L". On the horizontal slipway equips with a main rod baseboard which is connected with one end of the main arm of the second axis through an articulated device, and with one end of the main rod as well. On the vertical slipway equips the main arm baseboard of the third axis which is connected with one end of the third axis. The horizontal slipway and the vertical slipway mentioned above comprise separately with a horizontal slipway servo motor and a vertical slipway servo motor, the main rod baseboard moving horizontally driven by the former, while the main arm of the third axis 28 baseboard moving vertically driven by the latter. The picking arm comprises the main arm of the second axis and the vice arm of the fourth axis, while the former is the inner arm and the latter is the outer arm. One end of the main arm of the second axis connects with the main rod baseboard by articulated device, and the other end connects with the vice arm of the fourth axis by the same way. The other end of the vice arm of the fourth axis is equipped with a fourth axis supporting seat which is provided with a horizontal swing seat and a horizontal swing servo motor. The horizontal swing seat is connected with a vibration picking head, by which the target trunk can be vibrated so as to make the ripe fruits drop off and complete the fruit picking. The vibration picking head is connected with the horizontal vibration seat by the slider mechanism, and is driven by the servo motor to move; meanwhile, the horizontal swing seat is equipped with a rotary servo motor which drives the vibration picking head turning around the axis of it. The cardinal axis connecting with the main arm of the second axis and the vice arm of the fourth axis is equipped with a rod of triangle block, whose one corner is connected with the horizontal swing seat by vice rod, and another corner is connected with the main rod baseboard by main rod in order to guarantee that the horizontal swing seat always makes the axis of the vibration picking head in a horizontal state when 29 the main arm of the second axis and the vice arm of the fourth axis is driven by the main arm of the third axis. A power device is provided to drive the rotary table rotating, including the servo motor of the rotary table mounted on the chassis, the decelerator and the coupling. The rotary table is driven by its servo motor through the decelerator of the first axis connected by the coupling. When the angle of rotation of the rotary table is reached, it can be locked by itself. The telescopic mechanism of the visual identification system is triple-section, two of which are movable arms that are connected with each other and then equipped on the frame beam. The telescopic mechanism comprises the frame, the motor, the transmission, the frame beam equipped on the frame; the I arm equipped on the frame beam and movable relatively; the II arm equipped on the I arm and movable relatively; the telescopic guide equipment which is equipped on the both two sides of the frame beam, the I arm and the II arm; and with the transmission mechanism and the telescopic guide equipment, the motor drives the I arm and the II arm moving telescopically in order to manage the camera to realize the visual collection of the target trees. The present method of camellia oleifera fruit picking accomplishes work by the picking robot which is equipped with the chassis and the 30 walking part, the performing mechanism, the dynamic part and the visual identification system, i.e. it depends on the dynamic part to drive the chassis and the walking part to reach the designated picking position, and recognizes by the visual identification system on the picking robot, then picks the fruits by the performing part of the robot. The performing part of picking robot works on a chassis which equips with a support bracket seat; on the support bracket seat equips with a picking arm which rotates with the seat; the end of the picking arm equips with a vibration picking head by which the oil camellia fruit is picked. The vibration picking head clamps the target trunk by the collets on the picking head, and then vibrates to make the fruits drop off and accomplish picking. The visual identification system works by equipping a camera on the telescopic mechanism that can be folded up. The position of the camera device can easily and quickly realize the visual collection of the trees by stretching or folding the telescopic mechanism. The visual identification system is a binocular stereo system which uses a method of binocular stereo vision measurement to obtain the target's position. This method is based on parallax theory and uses the imaging device to obtain two pictures of the target object from different positions. As a method by calculating the position deviation between the 31 corresponding points of the image to obtain the 3D geometric information of the object, the method of binocular stereo vision measurement directly simulates the human visual processing of the scene, and can be flexible to measure the three-dimensional information of the scene under a variety of conditions, with the advantages of high efficiency, high accuracy, simple structure, low cost, etc which is suitable for detection and control of on-line, non-contact products. Since image acquisition is done in an instant, the method of binocular stereo vision measurement is a very effective method. The visual identification system consists of two cameras and the telescopic mechanism which comprises the frame, the motor, the transmission, the frame beam equipped on the frame; the I arm equipped on the frame beam and movable relatively; the II arm equipped on the I arm and movable relatively; the telescopic guide equipment which is equipped on the both two sides of the frame beam, the I arm and the II arm; and with the transmission mechanism and the telescopic guide equipment, the motor drives the I arm and the II arm moving telescopically in order to manage the camera to realize the visual collection of the target trees. The picking of camellia oleifera fruit includes the following steps. Step one, the information of the position, size and fruiting, etc. are collected through visual identification system, and send these information 32 back to the control computer; Step two, the control system will synthetically deal with the information collected from the visual identification system, and analyzes the position of the fruit picking robot relative to the oil camellia trees, and the working information of the clamping part that the picking arm in the tree and the vibration frequency and the time of the vibration picking head. Step three, the control system controls the picking robot to stop by the oil camellia tree according to the results analyzed. The picking arm on the robot of camellia oleifera fruit picking is controlled by the control system to adjust the vibration picking head to the clamping part of the fruit tree and hold tightly, then the preparation is finished. Step four, under the control of the control system, the vibration picking head vibrates the trees with appropriate frequency and amplitude, and keeps a certain time, in order to accomplish the picking through the inertial force produced by the vibration to make the fruits separate with the branches. Step five, the visual identification system again carries on the information collection to the camellia oleifera fruit trees to judge whether to meet the completion criteria for picking. If it meets the criteria, the vibration picking head will release, and withdraw the picking arm, the picking is finished. If it does not meet the criteria, the control system will 33 not adjust the vibration frequency and amplitude and vibrates the trees the second time according to the second-time information collected by the visual identification system until meet the completion criteria for picking. And then the vibration picking head will release, and withdraw the picking arm, the picking is finished. The advantages of this invention are that according to the characteristics of Chinese oil camellia trees, a walking robot of camellia oleifera fruit picking recognizes by the visual identification system and picks up fruits automatically by the performing mechanism, which has the characteristics of good picking effect, no injury to the branches, labor saving and high efficiency. Especially the picking arm is fixed on the chassis by the support bracket seat as a whole, and driven by its servo motor connecting with rotary coupling through which the rotation of the rotary arm is realized by the decelerator of the first axis. When the angle of rotation of the rotary arm is reached, the angle limit device can be locked by itself. The main arm of the second axis and the main rod are driven by the slipway servo motor. The main arm of the third axis is driven by the main arm of the second axis through the link block between the second axis and the third axis to achieve the purpose of collapsible implementation mechanism by the movement of the fourth axis's support seat driven by the vice arm of the fourth axis and the vice rod. The slipway servo motor drives the main arm of the third axis to achieve the 34 purpose of up and down movement of the implementation mechanism by the movement of the vice arm of the fourth axis driven by the vice rod, the main rod and its second axis. The horizontal swing seat is driven by the horizontal swing servo motor to realize its own swing left and right. Equipped on the horizontal swing seat, the vibrating picking head rotates up and down driven by the up and down servo motor, and at last by the rotary servo motor, it rotates around the rotary servo motor of the axis. As a result, there are 6 degrees of freedom for the entire implementation mechanism. With each motion component, the position and orientation of the vibration picking head is adjusted when picking so as to make the vibration picking head clamp the target trunk and vibrate to make the fruits drop off and accomplish picking. The picking arm of this invention is open-chain spatial linkage with six degrees of freedom, which has reasonable working space in line with the requirements of picking space. In the picking process, the coordination among the components is good, the speed matching is reasonable, which adopts mechatronics controlling with high integration, high degree of automation, easy to install and operate, good adaptability to the picking environment, good coordination among the components to guarantee the continuity of picking motion, high picking efficiency, easy maintenance, and good practicability. In this invention, the visual identification system is a binocular 35 stereo system which uses a method of binocular stereo vision measurement to obtain the target's position. This method is based on parallax theory and uses the imaging device to obtain two pictures of the target object from different positions. As a method by calculating the position deviation between the corresponding points of the image to obtain the 3D geometric information of the object, the method of binocular stereo vision measurement directly simulates the human visual processing of the scene, and can be flexible to measure the three-dimensional information of the scene under a variety of conditions, with the advantages of high efficiency, high accuracy, simple structure, low cost, etc which is suitable for detection and control of on-line, non-contact products. Since image acquisition is done in an instant, the method of binocular stereo vision measurement is a very effective method. The above is only the preferred embodiment of the present invention; it is necessary to point out that to common technicians in this technical field, under the premise of not leaving the principal of the present invention, some improvement and polish are agreed which should also be regarded as the scope of the protection of the present invention. 36
Claims (10)
1. A robot of camellia oleifera fruit picking, wherein the characteristics are: comprising a chassis including a walking part on which is equipped with an implementation system, the dynamic part and the visual identification system. The dynamic part is connected with the chassis including the walking part, the implementation mechanism and the visual identification system through transmission mechanism. The oil camellia fruit picking machine is driven by the chassis including the walking part, and identifies through the visual identification system, then picks up fruits by the robot's implementation mechanism. The implementation mechanism of the robot comprises a support bracket seat for supporting the implementation mechanism, on which there is a rotary platform that can rotate around its axis. On the rotary platform equipped with the picking arm which can rotate around with the platform and on whose end provides with a vibration picking head, picking up the oil camellia fruit by vibration. The visual identification system is a camera device with a telescopic mechanism, and by which the camera device is fixed on the frame.
2. The attachment of claim 1, wherein the rotary platform comprises a horizontal slipway and a vertical slipway, which are connected with each other in a shape of" L". On the horizontal slipway equips with a main rod baseboard which is connected with one end of the main arm of 37 the second axis through an articulated device, and with one end of the main rod as well. On the vertical slipway equips the main arm baseboard of the third axis which is connected with one end of the third axis. The horizontal slipway and the vertical slipway mentioned above comprise separately with a horizontal slipway servo motor and a vertical slipway servo motor, the main rod baseboard moving horizontally driven by the former, while the main arm of the third axis baseboard moving vertically driven by the latter.
3. The attachment of claim 2, wherein the picking arm comprises the main arm of the second axis and the vice arm of the fourth axis, while the former is the inner arm and the latter is the outer arm. One end of the main arm of the second axis connects with the main rod baseboard by articulated device, and the other end connects with the vice arm of the fourth axis by the same way. The other end of the vice arm of the fourth axis is equipped with a fourth axis supporting seat which is provided with a horizontal swing seat and a horizontal swing servo motor. The horizontal swing seat is connected with a vibration picking head, by which the target trunk can be vibrated so as to make the ripe fruits drop off and complete the fruit picking.
4. The attachment of claim 3, wherein the vibration picking head is connected with the horizontal vibration seat by the slider mechanism, and is driven by the servo motor to move; meanwhile, the horizontal swing 38 seat is equipped with a rotary servo motor which drives the vibration picking head turning around the axis of it.
5. The attachment of claim 1, wherein the cardinal axis connecting with the main arm of the second axis and the vice arm of the fourth axis is equipped with a rod of triangle block, whose one corner is connected with the horizontal swing seat by vice rod, and another corner is connected with the main rod baseboard by main rod in order to guarantee that the horizontal swing seat always makes the axis of the vibration picking head in a horizontal state when the main arm of the second axis and the vice arm of the fourth axis is driven by the main arm of the third axis.
6. The attachment of claim 1, wherein a power device is provided to drive the rotary table rotating, including the servo motor of the rotary table mounted on the chassis, the decelerator and the coupling. The rotary table is driven by its servo motor through the decelerator of the first axis connected by the coupling. When the angle of rotation of the rotary table is reached, it can be locked by itself. The telescopic mechanism of the visual identification system is triple-section, two of which are movable arms that are connected with each other and then equipped on the frame beam.
7. A method of camellia oleifera fruit picking, wherein a robot that comprises a chassis and including the walking part, the implementation mechanism of the robot, the power and the visual identification system is 39 used for picking, while the power drives the chassis and the walking part to reach the designated picking point, with the visual identification system on the robot to distinguish, then the implementation mechanism picks the fruits.
8. The attachment of claim 7, wherein the performing part of picking robot works on a chassis which equips with a support bracket seat; on the support bracket seat equips with a picking arm which rotates with the seat; the end of the picking arm equips with a vibration picking head by which the camellia oleifera fruit is picked up.
9. The attachment of claim 8, wherein the visual identification system works by equipping a camera on the telescopic mechanism that can be folded up. The position of the camera device can easily and quickly realize the visual collection of the trees by stretching or folding the telescopic mechanism.
10. The attachment of claim 7, wherein the steps of camellia oleifera fruit picking are as follows: Step one, the information of the position, size and fruiting, etc. are collected through visual identification system, and send these information back to the control computer; Step two, the control system will synthetically deal with the information collected from the visual identification system, and analyzes the position of the fruit picking robot relative to the camellia oleifera 40 trees, and the working information of the clamping part that the picking arm in the tree and the vibration frequency and the time of the vibration picking head. Step three, the control system controls the picking robot to stop by the oil camellia tree according to the results analyzed. The picking arm on the oil camellia fruit picking robot is controlled by the control system to adjust the vibration picking head to the clamping part of the fruit tree and hold tightly, then the preparation is finished. Step four, under the control of the control system, the vibration picking head vibrates the trees with appropriate frequency and amplitude, and keeps a certain time, in order to accomplish the picking through the inertial force produced by the vibration to make the fruits separate with the branches. Step five, the visual identification system again carries on the information collection to the camellia oleifera fruit trees to judge whether to meet the completion criteria for picking. If it meets the criteria, the vibration picking head will release, and withdraw the picking arm, the picking is finished. If it does not meet the criteria, the control system will not adjust the vibration frequency and amplitude and vibrates the trees the second time according to the second-time information collected by the visual identification system until meet the completion criteria for picking. And then the vibration picking head will release, and withdraw the 41 picking ann, the picking is finished. 42
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310292878.2 | 2013-07-12 | ||
| CN201310292878.2A CN103348819B (en) | 2013-07-12 | 2013-07-12 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
| CN201310292849.6 | 2013-07-12 | ||
| CN201310292849.6A CN103416161B (en) | 2013-07-12 | 2013-07-12 | Actuating mechanism for tea-oil camellia fruit picking robot |
| CN201310318313.7 | 2013-07-26 | ||
| CN201310318313.7A CN103350726B (en) | 2013-07-26 | 2013-07-26 | Robot chassis suitable for forest land operation |
| PCT/CN2014/074850 WO2015003513A1 (en) | 2013-07-12 | 2014-04-04 | Robot and method for picking fruit of camellia oleifera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2014289895A1 true AU2014289895A1 (en) | 2016-02-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2014289895A Abandoned AU2014289895A1 (en) | 2013-07-12 | 2014-04-04 | Robot and method for picking fruit of Camellia oleifera |
Country Status (2)
| Country | Link |
|---|---|
| AU (1) | AU2014289895A1 (en) |
| WO (1) | WO2015003513A1 (en) |
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| CN110896734B (en) * | 2019-12-14 | 2024-07-23 | 大国重器自动化设备(山东)股份有限公司 | Fruit picking robot and picking method thereof |
| CN112273060A (en) * | 2020-12-04 | 2021-01-29 | 重庆市涪陵区奋发农业开发有限公司 | Kiwi fruit picking device |
| CN113508685A (en) * | 2021-04-19 | 2021-10-19 | 北京化工大学 | Marigold picking mobile robot |
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| FR2605834B1 (en) * | 1986-11-05 | 1989-01-06 | Pellenc & Motte | ROBOTIZED MACHINE, PARTICULARLY FOR HARVESTING FRUITS |
| FR2763786B1 (en) * | 1997-05-30 | 1999-07-09 | Pellenc Sa | ROBOTIZED MACHINE HAVING AT LEAST ONE ARM WITH SYMMETRIC PANTOGRAPH, FOR EXAMPLE FOR HARVESTING FRUITS OR SORTING VARIOUS OBJECTS |
| WO2006013593A1 (en) * | 2004-08-06 | 2006-02-09 | Valente Pali Precompressi Srl | Automated fruit and vegetables picker |
| CN101356877B (en) * | 2008-09-19 | 2012-06-20 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
| CN102124866B (en) * | 2011-01-19 | 2013-05-29 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN202617725U (en) * | 2012-03-21 | 2012-12-26 | 中南林业科技大学 | Arm frame structure for oil tea fruit picking machine |
| CN102668817A (en) * | 2012-05-09 | 2012-09-19 | 中南林业科技大学 | Self-propelling camellia oleifera fruit-picking machine |
| CN103348819B (en) * | 2013-07-12 | 2014-10-15 | 中南林业科技大学 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
-
2014
- 2014-04-04 AU AU2014289895A patent/AU2014289895A1/en not_active Abandoned
- 2014-04-04 WO PCT/CN2014/074850 patent/WO2015003513A1/en not_active Ceased
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|---|---|
| WO2015003513A1 (en) | 2015-01-15 |
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