CN111136667A - An intelligent management robot system for potted seedlings - Google Patents
An intelligent management robot system for potted seedlings Download PDFInfo
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- CN111136667A CN111136667A CN202010045290.7A CN202010045290A CN111136667A CN 111136667 A CN111136667 A CN 111136667A CN 202010045290 A CN202010045290 A CN 202010045290A CN 111136667 A CN111136667 A CN 111136667A
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- 238000003860 storage Methods 0.000 claims abstract description 52
- 238000009826 distribution Methods 0.000 claims abstract description 46
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 16
- 238000012423 maintenance Methods 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 84
- 241000196324 Embryophyta Species 0.000 claims description 76
- 239000012636 effector Substances 0.000 claims description 29
- 230000007704 transition Effects 0.000 claims description 26
- 239000003337 fertilizer Substances 0.000 claims description 24
- 230000004720 fertilization Effects 0.000 claims description 21
- 230000007306 turnover Effects 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 240000007651 Rubus glaucus Species 0.000 claims description 11
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 11
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 11
- 238000005315 distribution function Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 abstract description 3
- ZGHQUYZPMWMLBM-UHFFFAOYSA-N 1,2-dichloro-4-phenylbenzene Chemical compound C1=C(Cl)C(Cl)=CC=C1C1=CC=CC=C1 ZGHQUYZPMWMLBM-UHFFFAOYSA-N 0.000 description 10
- 238000000034 method Methods 0.000 description 8
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- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000012706 support-vector machine Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000004382 potting Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The invention belongs to the technical field of intelligent agricultural equipment, and relates to a potted plant intelligent management robot system which mainly comprises a walking unit, a grabbing unit, a distributing unit, a fertilizing unit, a storage unit, a navigation unit, a detection and identification unit, a control unit and the like. The robot classifies and positions the potted plants through the detection and identification unit; the potted plant is grabbed and placed on a distributing platform of the distributing unit by the grabbing unit; the fertilizing unit finishes fertilizing action; the distribution platform temporarily stores the potted plants after grading and sorting the potted plants into stereoscopic warehouses with different storage units; the robot transports the potted plant to a potted plant maintenance area to complete placement. The intelligent potted plant sorting system realizes intelligent sorting management of potted plants, and can complete functions of potted plant grabbing, fertilizing, grading sorting, positioning and placing and the like by a single machine. The robot has small volume, simple operation, high automation degree and low cost.
Description
Technical Field
The invention belongs to the field of facility agriculture intelligent equipment, and particularly relates to a potted plant seedling intelligent management robot system.
Background
Facility agriculture is one of the hot spots of agriculture development in recent years due to its efficient space and resource utilization. The degree of automation determines the development level of facility agriculture. At present, relevant researches on greenhouse and nursery potted seedling automatic management equipment mainly focus on the aspects of greenhouse structure, environment control, water and fertilizer management and the like, the equipment has strong function specificity, a certain production process or a certain production function can be realized, the space occupation is large, the maintenance is inconvenient, and the popularization value is not high on the management of small and medium-scale greenhouse and nursery potted seedlings.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent management robot system for potted seedlings, which can realize the functions of grabbing, fertilizing, grading, sorting, positioning, placing and the like of the potted seedlings.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides a nursery stock intelligent management robot system cultivated in a pot, includes: the device comprises a vehicle body chassis 1, a walking unit 2, a grabbing unit 6, a distributing unit 7, a fertilizing unit 9, a storage unit 18, a PCB 12, a navigation unit 20, a detection and identification unit 21, a control unit 22 and a guide rail;
the PCB 12 is arranged on a guide rail, one end of the guide rail is fixedly arranged on the chassis 1 of the vehicle body,
the walking unit 2 is arranged below the vehicle body chassis 1 and used for realizing walking of the robot.
the lower end of the sliding rail is fixed on the vehicle body chassis 1, the upper end of the sliding rail is provided with a limiting block, the rack 6-4 is fixed on the sliding rail, the manipulator lifting slide block 6-11 is installed on the sliding rail, the manipulator shell 6-9 is fixedly connected with the manipulator lifting slide block 6-11, and the horizontally meshed pinion 6-8 is connected with the manipulator rotating motor 6-7 through a connecting piece I; the manipulator rotating motor 6-7 is fixed on the manipulator shell 6-9; the horizontal meshing big gear 6-3 is fixed on an extension arm 6-10 of the end effector 6-6, is fixedly connected with a manipulator shell 6-9 through a bearing and can rotate around a rack 6-4; the horizontal meshing big gear 6-3 is meshed with the horizontal meshing small gear 6-8; the manipulator opening and closing motor 6-5 is arranged on an extension arm 6-10 of the end effector 6-6; the manipulator lifting gear 6-1 is connected with a manipulator lifting motor 6-2 through a connecting piece II; the manipulator lifting gear 6-1 is meshed with the rack 6-4; the manipulator lifting motor 6-2 is fixed on the manipulator shell 6-9; the two sides of the front end of the end effector 6-6 are mutually meshed, and a manipulator rotating motor 6-7 is used for driving the gear to rotate so as to realize the circumferential rotation of the axle of the end effector 6-6; the manipulator lifting motor 6-2 is used for driving the manipulator lifting gear 6-1 to rotate along the rack 6-4 so as to realize the vertical lifting action of the end effector 6-6; the manipulator opening and closing motor 6-5 is used for controlling the opening and closing action of the end effector 6-6;
the distribution unit 7 is used for realizing the grading and sorting of potted seedlings, and comprises the following components: the distribution device comprises a distribution platform 7-1, a transition platform 7-2, a platform lifting motor 7-3, a platform rotating motor 7-4, a synchronous belt, a distribution lifting slide block 7-5 and a distribution slide rail 7-6;
the distributing slide rail 7-6 is fixed on the vehicle body chassis 1, the platform lifting motor 7-3 is fixed on the vehicle body chassis 1, the transition platform 7-2 is fixed on the distributing lifting slide block 7-5, the distributing platform 7-1 is fixed above the transition platform 7-2, and the platform rotating motor 7-4 is fixed below the transition platform 7-2; the distribution platform 7-1 is connected with the platform rotating motor 7-4 through a connecting piece III, and the platform rotating motor 7-4 is used for driving the distribution platform 7-1 to rotate so as to realize the potted plant distribution function; the platform lifting motor 7-3 is connected with the transition platform 7-2 through a synchronous belt, and the platform lifting motor 7-3 is used for rolling the synchronous belt to realize the lifting of the transition platform 7-2, so that the lifting function of the distribution platform 7-1 is realized;
the storage unit 18 is used for temporarily storing the potted plant, and includes: an upper material stereoscopic warehouse I10, an upper material stereoscopic warehouse II 11, a lower material stereoscopic warehouse I8 and a lower material stereoscopic warehouse II 13,
the upper layer material stereoscopic warehouse I10 and the lower layer material stereoscopic warehouse I8 are respectively positioned above and below one side of the robot, the upper layer material stereoscopic warehouse II 11 and the lower layer material stereoscopic warehouse II 13 are respectively positioned above and below the other side of the robot, the lower layer material stereoscopic warehouse I8 and the lower layer material stereoscopic warehouse II 13 are both fixed on the vehicle body chassis 1,
the fertilizing unit 9 is positioned above the distributing slide rails 7-6; for realizing fertilizeing potted plant nursery stock, fertilization unit 9 includes: a fertilizing motor 9-1, a fertilizer outlet 9-2, a fertilizing funnel 9-3, a grooved pulley 9-4 and a fertilizing shell 9-5;
the grooved pulley 9-4 is arranged inside the fertilizing shell 9-5, the fertilizing motor 9-1 is arranged inside the fertilizing shell 9-5, the grooved pulley 9-4 is connected with the fertilizing motor 9-4 through a key, the fertilizing funnel 9-3 is arranged at the upper port of the fertilizing shell 9-5, and the fertilizer outlet 9-2 is fixed at one side of the fertilizing shell 9-5; the fertilizer application motor 9-1 is used for driving the grooved pulley 9-4 to rotate, so that fertilizer is delivered to the grooved pulley 9-4 through the fertilizer application hopper 9-3 and finally is rotated out from the fertilizer outlet 9-2 to complete the fertilizer application action;
the navigation unit 20 includes: four sensors 3 and gyroscopes 19; the four sensors 3 are respectively fixed on the diagonal lines of the periphery of the vehicle body chassis 1 through connecting pieces IV and are used for detecting the distance between the robot and a reference surface; the gyroscope 19 is horizontally arranged on an interface reserved on the PCB 12 and used for detecting a course angle;
the detection recognition unit 21 includes: two identification modules 4, a raspberry pi 23 and a detection switch 5; the two identification modules 4 are respectively fixed on two sides of the vehicle body chassis 1 through connecting pieces V and are used for identifying the types of potted seedlings; the detection switch 5 is fixed on the end effector 6-6 and used for detecting the position of the potted seedling; the raspberry pie 23 is mounted behind the PCB 12;
the control unit 22 includes: the controller 24 is installed below the vehicle body chassis 1, the controller 24 is installed on a reserved interface of the PCB 12, and the controller 24 is connected with the motor control board through a serial port and used for controlling robot movement and executing actions.
On the basis of the above scheme, the walking unit 2 includes: the four omnidirectional wheels 2-1 and the four walking motors 2-2, the four omnidirectional wheels 2-1 are arranged in a cross symmetry manner, the four walking motors 2-2 are all arranged below the vehicle body chassis 1, and the walking motors 2-2 are connected with the omnidirectional wheels 2-1 and are used for driving the omnidirectional wheels 2-1 to rotate.
On the basis of the scheme, the transition platform 7-2 is provided with two slope outlets, and the distribution platform 7-1 is provided with a first-level slope outlet.
On the basis of the above scheme, the upper material stereoscopic warehouse i 10 includes: the device comprises a tray I10-1, three driving levers I10-2, a baffle I10-3, a baffle overturning motor I10-4, three driving lever rotating motors I10-5, a warehouse overturning motor I10-6, a warehouse lifting motor 14, a synchronous belt, a right storage lifting slide block 10-7, two storage slide rails 10-8 and a left storage slide block 10-9;
the right storage lifting slide block 10-7 is mounted on one storage slide rail 10-8, the left storage slide block 10-9 is mounted on the other storage slide rail 10-8, the two storage slide rails 10-8 are mounted on the vehicle body chassis 1, and the warehouse turnover motor I10-6 is fixed on the right storage lifting slide block 10-7 through a connecting piece VI; one end of the tray I10-1 is connected with a warehouse turning motor I10-6 through a connecting piece VII, and the other end of the tray I is fixed on a left storage sliding block 10-9 through a bearing; a warehouse turning motor I10-6 drives a tray I10-1 to turn over along a horizontal shaft, so that the upper-layer material stereoscopic warehouse I10 is opened and closed; the warehouse lifting motor 14 is fixed on the vehicle body chassis 1 through a connecting piece VIII, the warehouse lifting motor 14 is connected with the tray I10-1 through a synchronous belt, and the warehouse lifting motor 14 is used for rolling the synchronous belt to realize the vertical lifting of the tray I10-1; the baffle plate overturning motor I10-4 and the deflector rod rotating motor I10-5 are fixedly embedded on the tray I10-1; the baffle I10-3 is connected with a baffle turnover motor I10-4 through a connecting piece IX, and the baffle turnover motor I10-4 drives the baffle I10-3 to turn over along a horizontal shaft, so that potted plants can be stably stored in the upper-layer material stereoscopic warehouse I10; the driving lever I10-2 is connected with a driving lever rotating motor I10-5 through a connecting piece, and the three driving lever rotating motors I10-5 respectively drive the three driving levers I10-2 to horizontally rotate so as to achieve stable placement of potted plants pushed out from the upper material stereoscopic warehouse I10 to the potted plant maintenance area 16.
On the basis of the scheme, the structure and the principle of the upper-layer material stereoscopic warehouse II 11 are completely the same as those of the upper-layer material stereoscopic warehouse I10.
On the basis of the scheme, the lower-layer material stereoscopic warehouse I8 comprises three driving levers II 8-1, three driving lever rotating motors II 8-2, a tray II 8-3, a baffle overturning motor II 8-4, a baffle II 8-5 and a warehouse overturning motor II 8-6;
the warehouse turnover motors II 8-6 are fixed on the vehicle body chassis 1 through a connecting piece X; one end of the tray II 8-3 is connected with a warehouse turning motor II 8-6 through a connecting piece XI, the other end of the tray II 8-3 is fixed on the vehicle body chassis 1 through a bearing, and the warehouse turning motor II 8-6 drives the tray II 8-3 to turn along a horizontal shaft to realize the opening and closing of the lower-layer material stereoscopic warehouse I8; the baffle plate overturning motor II 8-4 and the deflector rod rotating motor II 8-2 are both fixed on the tray II 8-3, the baffle plate II 8-5 is connected with the baffle plate overturning motor II 8-4 through a connecting piece XII, and the baffle plate overturning motor II 8-4 drives the baffle plate II 8-5 to overturn along a horizontal shaft so as to achieve stable storage of potted plants in the lower-layer material stereoscopic warehouse I8; the driving lever II 8-1 is connected with a driving lever rotating motor II 8-2 through a connecting piece i, and the three driving lever rotating motors II 8-2 respectively drive the three driving levers II 8-1 to horizontally rotate so as to achieve the purpose that the potted plant is pushed out from the lower-layer material stereoscopic warehouse I8 to the stable placement of the potted plant maintenance area 16.
On the basis of the scheme, the structure and the principle of the lower-layer material stereoscopic warehouse II 13 are completely the same as those of the lower-layer material stereoscopic warehouse I8.
On the basis of the scheme, the motor control board is respectively connected with a walking motor 2-2, a fertilizing motor 9-1, a manipulator lifting motor 6-2, a manipulator opening and closing motor 6-5, a manipulator rotating motor 6-7, a platform lifting motor 7-3, a platform rotating motor 7-4, a baffle overturning motor I10-4, a deflector rod rotating motor I10-5, a warehouse overturning motor I10-6, a warehouse lifting motor 14, a deflector rod rotating motor II 8-2, a baffle overturning motor II 8-4 and a warehouse overturning motor II 8-6,
the controller 24 is respectively connected with the sensor 3, the raspberry pi 23, the detection switch 5 and the gyroscope 19.
On the basis of the scheme, the controller 24 adopts an STM32F429 single-chip microcomputer.
An operation method of a potted plant seedling intelligent management robot system comprises the following steps:
s1 starts the management robot 17, and the management robot 17 initializes;
s2, the management robot 17 reads data through the sensor 3 and then controls the walking motor 2-2 to walk through the controller 24;
s3, the management robot 17 finishes classification judgment and positioning of the potted plant to be managed through the identification module 4 and the detection switch 5;
s4, the management robot 17 finishes grabbing the flowerpot at the bottom of the potted seedling 15 through the lifting and opening and closing actions of the end effector 6-6;
s5, fertilizing the potted plant 15 by the management robot 17 through the fertilizing unit 9;
s6, the management robot 17 finishes grading and sorting of the captured potted seedlings through the distributing platform 7-1, and distributes the seedlings to different material stereoscopic warehouses for temporary storage;
s7, the management robot 17 conveys the potted plant seedlings 15 to a potted plant maintenance area 16, and the potted plants are pushed out of the warehouse through a driving lever I10-2;
s8 manages the robot 17 to return to the machine maintenance area by restoring the initial state.
The invention has the beneficial technical effects that:
the invention can complete the functions of pot plant grabbing and transferring, fertilizing, grading and sorting, positioning and placing and the like by a single machine, has the advantages of high integration level, high automation degree, low cost and the like, can be flexibly applied to facility agricultural environments such as small and medium-sized greenhouses, flower gardens and the like, reduces manual participation to the maximum extent, saves labor force and improves economic benefits.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic view of the overall structure of a potted plant seedling intelligent management robot;
fig. 2 is a schematic view of an omnidirectional wheel structure in which potted plant seedling intelligent management robot walking units are arranged in a cross-like symmetrical manner, fig. 2(a) is a schematic view of an omnidirectional wheel structure in which potted plant seedling intelligent management robot walking units are arranged in a cross-like symmetrical manner, and fig. 2(b) is a schematic view of an omnidirectional wheel structure in which potted plant seedling intelligent management robot walking units are arranged in a cross-like symmetrical manner;
fig. 3 is a schematic structural view of a grasping unit of the intelligent management robot for potted seedlings, fig. 3(a) is a left side view of the structure of the grasping unit of the intelligent management robot for potted seedlings, and fig. 3(b) is a right side view of the structure of the grasping unit of the intelligent management robot for potted seedlings;
fig. 4 is a schematic structural diagram of a potted plant seedling intelligent management robot distributing unit, fig. 4(a) is a left side view of the potted plant seedling intelligent management robot distributing unit, and fig. 4(b) is a right side view of the potted plant seedling intelligent management robot distributing unit;
FIG. 5 is a schematic structural view of a fertilization unit of the intelligent management robot for potted plant seedlings; fig. 5(a) is a structural schematic view of the fertilization unit, and fig. 5(b) is a sectional view of the fertilization unit;
fig. 6 is a schematic structural view of a material stereoscopic warehouse of a storage unit of an intelligent management robot for potted seedlings, fig. 6(a) is a left view of a structure of an upper material stereoscopic warehouse of the storage unit of the intelligent management robot for potted seedlings, fig. 6(b) is a top view of the structure of the upper material stereoscopic warehouse of the storage unit of the intelligent management robot for potted seedlings, fig. 6(c) is a left view of a structure of a lower material stereoscopic warehouse of the storage unit of the intelligent management robot for potted seedlings, and fig. 6(d) is a top view of the structure of the lower material stereoscopic warehouse of the storage unit of the intelligent management robot for potted seedlings;
FIG. 7 is a schematic block diagram of a control system hardware connection relationship of the intelligent management robot for potted plant seedlings;
FIG. 8 is a schematic view of an operation flow of the intelligent management robot for potted plant seedlings;
FIG. 9 is a diagram of a simulated flower nursery environment for an intelligent management robot for potted plants;
FIG. 10 is a simulation effect diagram of the potted plant seedling intelligent management robot in a simulated environment;
reference numerals:
1-a vehicle body chassis, 2-a walking unit, 2-1-an omnidirectional wheel, 2-2-a walking motor, 3-a sensor, 4-an identification module, 5-a detection switch, 6-a grabbing unit, 6-1-a manipulator lifting gear, 6-2-a manipulator lifting motor, 6-3-a horizontal meshing big gear, 6-4-a rack, 6-5-a manipulator opening and closing motor, 6-6-an end actuator, 6-7-a manipulator rotating motor, 6-8-a horizontal meshing small gear, 6-9-a manipulator shell, 6-10-an extension arm, 6-11-a manipulator lifting slide block, 7-a distribution unit and 7-1-a distribution platform, 7-2-transition platform, 7-3-platform lifting motor, 7-4-platform rotating motor, 7-5-distribution lifting slide block, 7-6-distribution slide rail, 8-lower material stereoscopic warehouse I, 8-1-deflector rod II, 8-2-deflector rod rotating motor II, 8-3-pallet II, 8-4-baffle turnover motor II, 8-5-baffle II, 8-6-warehouse turnover motor II, 9-fertilization unit, 9-1-fertilization motor, 9-2-fertilizer outlet, 9-3-fertilization funnel, 9-4-grooved pulley, 9-5-fertilization shell, 10-upper material stereoscopic warehouse I, 10-1-pallet I, 10-2-a driving lever I, 10-3-a baffle I, 10-4-a baffle overturning motor I, 10-5-a driving lever rotating motor I, 10-6-a warehouse overturning motor I, 10-7-a right side storage lifting slide block, 10-8-a storage slide rail, 10-9-a left side storage lifting slide block, 11-an upper layer material stereoscopic warehouse II, 12-a PCB circuit board, 13-a lower layer material stereoscopic warehouse II, 14-a warehouse lifting motor, 15-a potted seedling, 16-a potted plant maintenance area, 17-a management robot, 18-a storage unit, 19-a gyroscope, 20-a navigation unit, 21-a detection identification unit, 22-a control unit, 23-a raspberry pie and 24-a controller.
Detailed Description
The present invention is described in further detail below with reference to figures 1-10.
As shown in fig. 1, a potted plant seedling intelligent management robot mechanism and system. The method comprises the following steps: the device comprises a vehicle body chassis 1, a walking unit 2, a grabbing unit 6, a distributing unit 7, a fertilizing unit 9, a storage unit 18, a PCB 12, a navigation unit 20, a detection and identification unit 21, a control unit 22 and a guide rail;
the PCB 12 is arranged on a guide rail, one end of the guide rail is fixedly arranged on the chassis 1 of the vehicle body,
the walking unit 2 is arranged below the vehicle body chassis 1 and used for realizing walking of the robot.
The grasping unit 6 is used for grasping a flowerpot, and as shown in fig. 3(a) -3(b), includes: the manipulator lifting mechanism comprises a sliding rail, a manipulator lifting gear 6-1, a manipulator lifting motor 6-2, a horizontal meshing big gear 6-3, a rack 6-4, a manipulator opening and closing motor 6-5, an end effector 6-6, a manipulator rotating motor 6-7, a horizontal meshing small gear 6-8, a manipulator shell 6-9 and a manipulator lifting slide block 6-11;
the lower end of the sliding rail is fixed on the vehicle body chassis 1, the upper end of the sliding rail is provided with a limiting block, the rack 6-4 is fixed on the sliding rail, the manipulator lifting slide block 6-11 is installed on the sliding rail, the manipulator shell 6-9 is fixedly connected with the manipulator lifting slide block 6-11, and the horizontally meshed pinion 6-8 is connected with the manipulator rotating motor 6-7 through a connecting piece I; the manipulator rotating motor 6-7 is fixed on the manipulator shell 6-9; the horizontal meshing big gear 6-3 is fixed on an extension arm 6-10 of the end effector 6-6, is fixedly connected with a manipulator shell 6-9 through a bearing and can rotate around a rack 6-4; the horizontal meshing big gear 6-3 is meshed with the horizontal meshing small gear 6-8; the manipulator opening and closing motor 6-5 is arranged on an extension arm 6-10 of the end effector 6-6; the manipulator lifting gear 6-1 is connected with a manipulator lifting motor 6-2 through a connecting piece II; the manipulator lifting gear 6-1 is meshed with the rack 6-4; the manipulator lifting motor 6-2 is fixed on the manipulator shell 6-9; the two sides of the front end of the end effector 6-6 are mutually meshed, and a manipulator rotating motor 6-7 is used for driving the gear to rotate so as to realize the circumferential rotation of the axle of the end effector 6-6; the manipulator lifting motor 6-2 is used for driving the manipulator lifting gear 6-1 to rotate along the rack 6-4 so as to realize the vertical lifting action of the end effector 6-6; the manipulator opening and closing motor 6-5 is used for controlling the opening and closing action of the end effector 6-6;
the distribution unit 7 is used for realizing the grading and sorting of potted seedlings, and as shown in fig. 4(a) -4(b), the distribution unit comprises: the distribution device comprises a distribution platform 7-1, a transition platform 7-2, a platform lifting motor 7-3, a platform rotating motor 7-4, a synchronous belt, a distribution lifting slide block 7-5 and a distribution slide rail 7-6;
the distributing slide rail 7-6 is fixed on the vehicle body chassis 1, the platform lifting motor 7-3 is fixed on the vehicle body chassis 1, the transition platform 7-2 is fixed on the distributing lifting slide block 7-5, the distributing platform 7-1 is fixed above the transition platform 7-2, and the platform rotating motor 7-4 is fixed below the transition platform 7-2; the distribution platform 7-1 is connected with the platform rotating motor 7-4 through a connecting piece III, and the platform rotating motor 7-4 is used for driving the distribution platform 7-1 to rotate so as to realize the potted plant distribution function; the platform lifting motor 7-3 is connected with the transition platform 7-2 through a synchronous belt, and the platform lifting motor 7-3 is used for rolling the synchronous belt to realize the lifting of the transition platform 7-2, so that the lifting function of the distribution platform 7-1 is realized;
as shown in fig. 6(a) -6(d), the storage unit 18 is used for temporarily storing the potted plant, and includes: an upper material stereoscopic warehouse I10, an upper material stereoscopic warehouse II 11, a lower material stereoscopic warehouse I8 and a lower material stereoscopic warehouse II 13,
the upper layer material stereoscopic warehouse I10 and the lower layer material stereoscopic warehouse I8 are respectively positioned above and below one side of the robot, the upper layer material stereoscopic warehouse II 11 and the lower layer material stereoscopic warehouse II 13 are respectively positioned above and below the other side of the robot, the lower layer material stereoscopic warehouse I8 and the lower layer material stereoscopic warehouse II 13 are both fixed on the vehicle body chassis 1,
the fertilizing unit 9 is positioned above the distributing slide rails 7-6; for implementing the fertilization of potted seedlings, as shown in fig. 5(a) -5(b), the fertilization unit 9 includes: a fertilizing motor 9-1, a fertilizer outlet 9-2, a fertilizing funnel 9-3, a grooved pulley 9-4 and a fertilizing shell 9-5;
the grooved pulley 9-4 is arranged inside the fertilizing shell 9-5, the fertilizing motor 9-1 is arranged inside the fertilizing shell 9-5, the grooved pulley 9-4 is connected with the fertilizing motor 9-4 through a key, the fertilizing funnel 9-3 is arranged at the upper port of the fertilizing shell 9-5, and the fertilizer outlet 9-2 is fixed at one side of the fertilizing shell 9-5; the fertilizer application motor 9-1 is used for driving the grooved pulley 9-4 to rotate, so that fertilizer is delivered to the grooved pulley 9-4 through the fertilizer application hopper 9-3 and finally is rotated out from the fertilizer outlet 9-2 to complete the fertilizer application action;
the navigation unit 20 includes: four sensors 3 and gyroscopes 19; the four sensors 3 are respectively fixed on the diagonal lines of the periphery of the vehicle body chassis 1 through connecting pieces IV and are used for detecting the distance between the robot and a reference surface; the gyroscope 19 is horizontally arranged on an interface reserved on the PCB 12 and used for detecting a course angle;
the detection recognition unit 21 includes: two identification modules 4, a raspberry pi 23 and a detection switch 5; the two identification modules 4 are respectively fixed on two sides of the vehicle body chassis 1 through connecting pieces V and are used for identifying the types of potted seedlings; the detection switch 5 is fixed on the end effector 6-6 and used for detecting the position of the potted seedling; the raspberry pie 23 is mounted behind the PCB 12;
the recognition algorithm is implemented in two stages. The first stage is a preparation treatment, and the concrete steps are that the outline of various potted seedlings is preliminarily extracted through the Otsu method and the edge extraction algorithm, the obtained images are manually marked and then sent to a support vector machine for training, and after the training of the support vector machine is finished, the state of the support vector machine is stored; the second stage is an identification stage, and the specific steps are that the outline of the potted seedling is preliminarily extracted through an Otsu method and an edge extraction algorithm, the obtained image is sent to a trained support vector machine for result prediction, and the obtained calculation result is the type of the potted seedling. The Otsu method, the edge extraction algorithm, and the SVM algorithm are not within the scope of the present application.
The control unit 22 realizes the control of the system and the processing of data based on the single chip microcomputer and the raspberry pi, and comprises the following steps: the controller 24 is installed below the vehicle body chassis 1, the controller 24 is installed on a reserved interface of the PCB 12, and the controller 24 is connected with the motor control board and used for controlling the motion of the robot and each execution action.
And the walking unit 2 is used for realizing the walking of the robot. As shown in fig. 2(a) -2(b), the walking unit 2 includes: the four omnidirectional wheels 2-1 and the four walking motors 2-2, the four omnidirectional wheels 2-1 are arranged in a cross symmetry manner, the four walking motors 2-2 are all arranged below the vehicle body chassis 1, and the walking motors 2-2 are connected with the omnidirectional wheels 2-1 and are used for driving the omnidirectional wheels 2-1 to rotate. The turnover motor used in the stereoscopic material warehouse needs to occupy a certain space, so that the omni wheels 2-1 are arranged in a cross manner, and the rest spaces are uniform and symmetrical.
The upper material stereoscopic warehouse I10 comprises: the device comprises a tray I10-1, three driving levers I10-2, a baffle I10-3, a baffle overturning motor I10-4, three driving lever rotating motors I10-5, a warehouse overturning motor I10-6, a warehouse lifting motor 14, a synchronous belt, a right storage lifting slide block 10-7, two storage slide rails 10-8 and a left storage slide block 10-9;
the right storage lifting slide block 10-7 is mounted on one storage slide rail 10-8, the left storage slide block 10-9 is mounted on the other storage slide rail 10-8, the two storage slide rails 10-8 are mounted on the vehicle body chassis 1, and the warehouse turnover motor I10-6 is fixed on the right storage lifting slide block 10-7 through a connecting piece VI; one end of the tray I10-1 is connected with a warehouse turning motor I10-6 through a connecting piece VII, and the other end of the tray I is fixed on a left storage sliding block 10-9 through a bearing; a warehouse turning motor I10-6 drives a tray I10-1 to turn over along a horizontal shaft, so that the upper-layer material stereoscopic warehouse I10 is opened and closed; the warehouse lifting motor 14 is fixed on the vehicle body chassis 1 through a connecting piece VIII, the warehouse lifting motor 14 is connected with the tray I10-1 through a synchronous belt, and the warehouse lifting motor 14 is used for rolling the synchronous belt to realize the vertical lifting of the tray I10-1; the baffle plate overturning motor I10-4 and the deflector rod rotating motor I10-5 are fixedly embedded on the tray I10-1; the baffle I10-3 is connected with a baffle turnover motor I10-4 through a connecting piece IX, and the baffle turnover motor I10-4 drives the baffle I10-3 to turn over along a horizontal shaft, so that potted plants can be stably stored in the upper-layer material stereoscopic warehouse I10; the driving lever I10-2 is connected with a driving lever rotating motor I10-5 through a connecting piece, and the three driving lever rotating motors I10-5 respectively drive the three driving levers I10-2 to horizontally rotate so as to achieve stable placement of potted plants pushed out from the upper material stereoscopic warehouse I10 to the potted plant maintenance area 16.
On the basis of the scheme, the structure and the principle of the upper-layer material stereoscopic warehouse II 11 are completely the same as those of the upper-layer material stereoscopic warehouse I10.
On the basis of the scheme, the lower-layer material stereoscopic warehouse I8 comprises three driving levers II 8-1, three driving lever rotating motors II 8-2, a tray II 8-3, a baffle overturning motor II 8-4, a baffle II 8-5 and a warehouse overturning motor II 8-6;
the warehouse turnover motors II 8-6 are fixed on the vehicle body chassis 1 through a connecting piece X; one end of the tray II 8-3 is connected with a warehouse turning motor II 8-6 through a connecting piece XI, the other end of the tray II 8-3 is fixed on the vehicle body chassis 1 through a bearing, and the warehouse turning motor II 8-6 drives the tray II 8-3 to turn along a horizontal shaft to realize the opening and closing of the lower-layer material stereoscopic warehouse I8; the baffle plate overturning motor II 8-4 and the deflector rod rotating motor II 8-2 are both fixed on the tray II 8-3, the baffle plate II 8-5 is connected with the baffle plate overturning motor II 8-4 through a connecting piece XII, and the baffle plate overturning motor II 8-4 drives the baffle plate II 8-5 to overturn along a horizontal shaft so as to achieve stable storage of potted plants in the lower-layer material stereoscopic warehouse I8; the driving lever II 8-1 is connected with a driving lever rotating motor II 8-2 through a connecting piece i, and the three driving lever rotating motors II 8-2 respectively drive the three driving levers II 8-1 to horizontally rotate so as to achieve the purpose that the potted plant is pushed out from the lower-layer material stereoscopic warehouse I8 to the stable placement of the potted plant maintenance area 16.
On the basis of the scheme, the structure and the principle of the lower-layer material stereoscopic warehouse II 13 are completely the same as those of the lower-layer material stereoscopic warehouse I8.
On the basis of the scheme, the motor control board is respectively connected with a walking motor 2-2, a fertilizing motor 9-1, a manipulator lifting motor 6-2, a manipulator opening and closing motor 6-5, a manipulator rotating motor 6-7, a platform lifting motor 7-3, a platform rotating motor 7-4, a baffle overturning motor I10-4, a deflector rod rotating motor I10-5, a warehouse overturning motor I10-6, a warehouse lifting motor 14, a deflector rod rotating motor II 8-2, a baffle overturning motor II 8-4 and a warehouse overturning motor II 8-6,
the controller 24 is respectively connected with the sensor 3, the raspberry pi 23, the detection switch 5 and the gyroscope 19.
On the basis of the scheme, the controller 24 adopts an STM32F429 single-chip microcomputer.
The potted plant seedling sorting and storing system is specifically applied to the following steps that ① controls a walking stepping motor 2-2 and a warehouse lifting motor 14 to achieve walking of a robot and lifting of a three-dimensional material warehouse, ② obtains and records measurement data of a distance measuring sensor 3, ③ obtains and records a yaw angle of a gyroscope 19, ④ obtains and records a detection level of a detection switch 5, ⑤ controls a manipulator lifting motor 6-2, a platform lifting motor 7-3 and a fertilizing motor 9-1 to achieve lifting of an end effector 6-6, lifting of a distributing platform 7-1 and rotation of a grooved wheel 9-4 respectively, ⑥ is communicated with a motor control board through a serial port, the motor control board controls a multi-path motor to achieve grabbing of the end effector 6-6, opening and closing of an upper-layer three-dimensional material warehouse I10, opening and closing of a baffle I10-3 and the like, and the purpose of potted plant seedling sorting and storing is achieved.
Fig. 8 is a schematic view of the working flow of the intelligent management robot for potted plants of the present invention. The access controller 24 and the raspberry pie 23 control to start the robot and finish the initialization of the robot; the robot reads a yaw angle through a gyroscope 19, the distance between the robot and a reference surface is determined through a laser ranging sensor 3, four walking stepping motors 2-2 are controlled through a single chip microcomputer, and then four universal wheels 2-1 in cross arrangement are driven to realize robot walking; the type of the potted plant is identified through the identification modules 4 arranged on the two sides of the robot, the position of the potted plant is determined through the detection switch 5, and the positioning and classification judgment of the potted plant to be managed are completed; the robot finishes the grabbing of the potted plant flowerpot through the lifting and opening and closing actions of the end executor 6-6 of the grabbing unit 6; the grabbing unit 6 places the potted nursery stock under the fertilizer outlet 9-2 of the funnel, and drives the grooved pulley 9-4 to rotate through the fertilizing motor 9-1, so that the fertilizer is rotated out from the position under the fertilizer outlet 9-2 through the fertilizing funnel 9-3, and the fertilizing treatment of the potted nursery stock by the robot is realized; the grabbed potted plants are placed on a distribution platform 7-1 through circumferential rotation of an axle of a manipulator; the distribution platform 7-1 is fixed on the transition platform 7-2, the transition platform 7-2 is provided with two slope outlets, the robot drives the distribution platform 7-1 to rotate circumferentially through the platform rotating motor 7-4, so that potted plants slowly slide out from the primary slope of the distribution platform 7-1 according to the types and are distributed to the upper-layer material stereoscopic warehouse I10 and the lower-layer material stereoscopic warehouse I8 through the transition platform 7-2; the upper-layer material stereoscopic warehouse I10 is internally provided with a baffle I10-3 and a deflector rod I10-2, and is respectively driven by a baffle turning motor I10-4 and a deflector rod rotating motor I10-5, after potted plant seedlings enter the warehouse, the baffle I10-3 counteracts the tiny power of the potted plants sliding down the slope of the distribution platform 7-1 (anti-toppling), and then the deflector rod 7-110-2 slightly shifts the plants into the warehouse (anti-piling); and finally, the robot transports the potted seedlings to a potting maintenance area 16, and the potted seedlings are slowly pushed out from the warehouse through a deflector rod 7-110-2, so that intelligent classification management of the potted seedlings is realized.
The following examples of potted plant intelligent management robots are practical application tests of the above described process.
The test purpose is as follows: the effectiveness and the practicability of the intelligent management robot for potted seedlings are verified, and whether each mechanism unit of the intelligent management robot for potted seedlings runs well or not is detected.
Designing a process: referring to the operation steps of fig. 8, the specific process is as follows:
①, a simulated flower nursery environment (shown in fig. 9) is created in which potted plants are arranged in a row-by-row mixed arrangement, with different areas above and below representing different potting care areas 16.
② is connected to the single chip and the raspberry group for control, the robot is started to complete the robot initialization, and the tray of the material solid warehouse area is opened and ascends to the working position.
③ the robot reads the yaw angle through the gyroscope 19, the distance between the robot and the reference surface is determined through the distance measuring sensor 3, the four walking stepping motors 2-2 are controlled through the singlechip, the four omnidirectional wheels 2-1 arranged in a cross shape are driven to rotate, and the robot leaves the initial maintenance area;
④, recognizing the type of potted plant seedlings through a recognition module 4, determining the position of the potted plant seedlings through a detection switch 5, and finishing the positioning and classification judgment of the potted plant to be managed;
⑤ the robot finishes the grabbing of the potted plant nursery stock through the lifting and opening and closing actions of the end effector 6-6;
⑥ the robot puts the potted plant under the fertilizer outlet 9-2 of the funnel, drives the sheave 9-4 to rotate through the fertilizing motor 9-1, so that the fertilizer is transferred out from under the fertilizer outlet 9-2 through the fertilizing funnel 9-3, and the robot fertilizies the potted plant;
⑦, the captured potted plants are placed on a distribution platform 7-1 through the circumferential rotation of an axle of an end effector 6-6, the distribution platform 7-1 is fixed on a transition platform 7-2, the transition platform 7-2 is provided with two slope outlets, a robot drives the distribution platform 7-1 to rotate circumferentially through a platform rotating motor 7-4, so that the potted plants slowly slide out from a primary slope of the distribution platform 7-1 according to the types and are distributed to four different material stereoscopic warehouses through the transition platform 7-2;
⑧ the stereoscopic warehouse contains a baffle I10-3 and a deflector rod I10-2, which are respectively driven by a baffle turning motor I10-4 and a deflector rod rotating motor I10-5, after the potted plant enters the warehouse, the baffle I10-3 counteracts the tiny power (anti-toppling) of the potted plant slipping down from the distribution platform, and then the deflector rod I10-2 slightly shifts the plant to the warehouse (anti-piling);
⑨ finally, the robot transports the potted plant seedlings to different potting maintenance areas 16, the potted plants are pushed out from the warehouse through the deflector rod I10-2, intelligent classification management of the potted plant seedlings is achieved, and then the robot returns to the robot maintenance area after the initial state is restored.
⑩ randomly changing the arrangement sequence of potted plants, and repeating the steps ② to ⑨.
As shown in fig. 10, the application effect of the intelligent management robot mechanism and system for potted seedlings provided by the invention in a simulated environment can stably complete intelligent management of potted seedlings.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Variations to those skilled in the art may be made based on the present invention without departing from the scope of the invention.
Those not described in detail in this specification are within the skill of the art.
Claims (9)
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