12results about How to "Precision picking" patented technology

The invention provides an intelligent and accurate fruit picking method based on visual perception, relates to the field of fruit picking, and adopts a picking robot comprising a movable chassis (1), a walking mechanism (2), an industrial computer (3), a collecting frame (4), a picking mechanical arm (5), an end effector (6), a monocular vision camera (7), a binocular stereo camera (8) and a blowing assembly (9). According to the picking robot, through recognition of the binocular stereo camera (8), by means of blowing of the blowing assembly (9) and through a timestamp, the relative motion state between a picking point and sheltered fruits after blowing is obtained, and therefore sensing and precise clamping and shearing of the picking point in the motion state are achieved under the condition that the fruits are sheltered and subjected to complex motion after sheltering is removed; the picking efficiency is improved, the equipment damage probability is reduced, and the harvesting cost is controlled.

The invention discloses an intelligent hot pepper picking system and method, and the system comprises a visual positioning device which is used for recognizing the coordinate position of hot peppers, a hot pepper picking device which is used for picking the hot peppers according to the position coordinates of the hot peppers, and a control device. The pepper picking device comprises a base, a mechanical arm arranged on the base, a picker arranged at the tail end of the mechanical arm and a picking driving mechanism used for driving the mechanical arm to move in the X-axis direction and the Y-axis direction. The picking device comprises a support, a fixed cutter arranged on the support, a movable cutter and a shearing driving mechanism used for driving the movable cutter to swing so as to be matched with the fixed cutter to complete shearing and clamping actions. The fixed cutter is fixed on the bracket; the movable cutter is rotationally connected to the support and located above the fixed cutter. The visual positioning device comprises a binocular camera arranged on a base of the mechanical arm. The intelligent hot pepper picking system can achieve accurate picking of hot peppers.

The invention relates to the technical field of control, in particular to a multi-manipulator agaricus bisporus picking control method and system, and aims to solve the technical problem of low agricultural product picking working efficiency in the prior art. The area where the mushroom bed is located is partitioned, and a plurality of areas to be picked are obtained; based on the position information of the agaricus bisporus to be picked on the mushroom bed in each area to be picked, a graph structure is constructed and then converted into a tree structure, so that the initial path is more hierarchical and clearer, and the initial path is subjected to intersection and variation processing to obtain a picking path capable of improving the picking efficiency; and finally, the multiple manipulators pick the agaricus bisporus according to the corresponding picking paths, different avoiding strategies are implemented according to the movement stages in the agaricus bisporus picking process, multi-arm dynamic coordination planning is achieved, and the agaricus bisporus picking work efficiency is improved.

The utility model relates to a grape picking robot. The picking module comprises a picking crawler chassis, a mechanical arm, a camera, an ultrasonic ranging module and a picking device. The mechanical arm is a six-degree-of-freedom mechanical arm, a base of the mechanical arm is fixed to the picking track chassis, a camera, an ultrasonic ranging module and a picking device are arranged at the grabbing end of the mechanical arm, and a servo motor used for controlling the mechanical arm is further arranged on the picking track chassis; the receiving module comprises a receiving crawler chassis and a lifting platform, and the lifting platform is arranged on the receiving crawler chassis in a lifting mode. The grape picking efficiency can be improved, manual grape picking is replaced, and the labor cost is reduced. The crawler-type traveling is suitable for a complex working environment; the fruit integrity is guaranteed through clamping type picking, the device is suitable for grapes of any variety and in any growth state, and the fruit quality can be guaranteed.

This invention discloses an overhead track-type camellia oleifera fruit harvesting robot system. The system includes an overhead mechanism, a walking device, a position adjustment device, a robot harvesting device, a vision recognition system, and a control system. The overhead mechanism supports the walking device. The walking device supports and mounts the position adjustment device and the control system, and can travel along the overhead track. The position adjustment device adjusts the working position of the robot harvesting device, and the robot harvesting device is installed at its adjustment end. The robot harvesting device harvests camellia oleifera fruits. The vision recognition system collects and identifies the position and size of the camellia oleifera fruits and feeds this information back to the control system. The control system, based on the data collected by the vision recognition system, controls the walking device, the position adjustment device, and the robot harvesting device to complete the self-service harvesting of camellia oleifera fruits. This invention utilizes a robotic arm equipped with a vision recognition system to harvest camellia oleifera fruits, achieving rapid and precise harvesting with a high degree of automation and high harvesting efficiency.

The picking device comprises a base, a telescopic push rod, a picking pipe, an insertion piece controller and a cutting insertion piece, the picking pipe and the telescopic push rod are respectively connected with the base, a negative pressure source is connected to a tail end opening of the picking pipe, the insertion piece controller is connected outside the picking pipe in a sleeved mode, and the cutting insertion piece is connected with the telescopic push rod in a sleeved mode. The pipe wall of the front end of the picking pipe is internally provided with an insertion piece channel so as to communicate the interior and the exterior of the picking pipe, the tail end of the cutting insertion piece is fixed to the insertion piece controller, and the front end of the cutting insertion piece is inserted into the insertion piece channel so as to move along with the insertion piece controller, control the cutting insertion piece to stretch out and draw back at a front end opening of the picking pipe, surround picked objects and cut branches and stems. In this way, gentle positioning, stable suction and reliable collection of picked objects are achieved through negative pressure airflow, accurate and low-damage branch stem cutting is completed in combination with the insertion piece type cutting mechanism, and therefore efficient and high-quality automatic picking of the picked objects is achieved.

This utility model discloses an automatic crop harvesting device, belonging to the field of automated crop harvesting technology. The utility model includes a carrier and a support plate mounted on the carrier's bearing surface. The carrier is a motorized vehicle. A support and a drive assembly are mounted on the support plate to move the support along the length of the support plate. A picking component and a collecting component are connected to the mounting surface of the support. The picking component cuts the crop's rootstock; the collecting component below the picking component collects the cut fruit. In practical use, the support plate provides an installation platform for the support and drive assembly. The drive assembly enables the support to move along the length of the support plate. The picking component is responsible for cutting the rootstock of the cucurbitaceous crop, separating the fruit from the plant. The collecting component collects the fruit promptly after cutting. With the cooperation of the carrier, picking and collecting are integrated into one unit. This solves the technical problem of low picking and collecting efficiency of cucurbitaceous crops in the prior art.

The present application relates to the technical field of picking machine, and discloses a palm fruit picking machine, which comprises a moving table, the surface of the moving table is provided with a chute, the bottom of the moving table is fixedly connected with a moving shaft, the surface of the moving shaft is rotatably connected with a walking track, and the surface of the moving table is fixedly connected with a motor. When the walking track walks to the picking position, the motor is started to drive the threaded rod to rotate, the rising disc is lifted when the threaded rod rotates, the telescopic rod is lifted by the rising disc, the passive rod is moved upwards while the rising disc is lifted, the moving block is moved towards each other while the passive rod is moved, the right-angle plate is moved while the moving block is moved, the elastic plate is extruded while the right-angle plate is moved, the passive sliding block is moved downwards while the elastic plate is extruded, the push rod is moved while the passive sliding block is moved downwards, and the driven disc is moved downwards while the push rod is moved.

The present application relates to the technical field of agricultural harvesting machinery, and discloses a cross-ridge strawberry harvesting robot capable of realizing continuous large-batch picking, which comprises a walking mechanism, a picking mechanism, a collecting mechanism and a control module. Compared with the prior art, the cross-ridge strawberry harvesting robot adopts a four-wheel four-steering walking mechanism, can flexibly walk and turn between ridges, realizes continuous large-batch picking, and improves picking efficiency. The variable-width module can adjust the distance between the left and right driving modules, adapt to different ridge distances, and avoid damaging strawberry plants and fruits. The picking mechanism comprises a mechanical arm and a special synchronous belt, can accurately position and pick strawberry fruits, and reduces damage to the fruits. The picking hand is designed ingeniously, can complete picking by cutting off the fruit stem and clamping the fruit, and avoids directly contacting the fruit. These advantages make the cross-ridge strawberry harvesting robot have great advantages in practical application, and can significantly improve the efficiency and quality of strawberry picking.

This invention provides an automated and rapid harvesting method for green-skinned nuts in hilly areas, belonging to the technical field of green-skinned nut harvesting. The method includes the following steps: setting up a harvesting trolley, driving the trolley to the front of the nut tree, and then detecting whether the trolley's bottom plate is level. If it is not level, it is adjusted to a level position using a lifting device; using a laser radar to initially image and locate the green-skinned nuts; constructing a three-dimensional spatial model for harvesting green-skinned nuts; calculating the harvesting order of all nuts based on the three-dimensional spatial model, and then controlling a robotic arm to harvest them one by one; after harvesting the nuts on one side, the trolley moves to the next side of the nut tree until the entire tree is harvested. Each nut can be harvested from all four directions (north, south, east, and west). This invention fully automates the harvesting process, achieves high harvesting efficiency, has a very low probability of missed harvests, and realizes precise and rapid harvesting.

The present invention discloses a picking device and a picking method. The picking device includes a mechanical arm and a picking unit. The picking unit includes a mounting frame installed at the movable end of the mechanical arm, a pushing assembly fixed on the side wall of the mounting frame, a picking claw fixed on the end of the mounting frame away from the mechanical arm for picking a target object, and a camera fixed on the mounting frame; the pushing assembly includes a radial driving mechanism and a baffle fixed on the power output end of the radial driving mechanism for pushing away obstructions. The picking method includes S1, collecting images; S2, segmenting the target object and the obstruction; S3, judging the number of obstructions and the coverage angle; S4, executing picking. The present invention can accurately pick the target object without causing damage to surrounding obstructions such as branches and leaves, and is suitable for the cultivation of honeysuckle and for the automated picking of honeysuckle.

The invention relates to the field of water crop picking, in particular to a mechanical and electrical integration catamaran suitable for water crop picking, which comprises a catamaran floating load mechanism, and a picking mechanism, a storage mechanism, a wind power driving mechanism and a detection and electric control mechanism which are fixedly arranged on the catamaran floating load mechanism, and adopts a catamaran design. The wind power propulsion device is high in stability, not prone to overturning and good in operability, meanwhile, the wind power propulsion technology is adopted, the situation that the propulsion device is wound by aquatic plants underwater is avoided, more accurate sailing control can be achieved by accurately controlling the rotating speed and direction of the wind power propeller, and further, the sailing efficiency is improved. And reverse sailing can be realized in a narrow space, so that the situation of difficulty in turning around is avoided. And the sailing safety and stability are greatly improved. The device is simple in structure and high in automation degree, continuous operation such as water crop picking, metering and transferring can be achieved, and the safety and efficiency of water crop picking are improved.