Apparatus and method for flexible pick of orange picking robot

A technology for picking robots and citrus, which is applied to picking machines, agricultural machinery and tools, and manipulators. It can solve the problems of easy damage to fruits and fruit trees, regardless of fruit maturity, and achieve the effect of ensuring positioning accuracy.

Inactive Publication Date: 2008-10-01
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This is a simple harvesting machine that does not consider the ripening period of the fruit and does

Method used

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  • Apparatus and method for flexible pick of orange picking robot
  • Apparatus and method for flexible pick of orange picking robot
  • Apparatus and method for flexible pick of orange picking robot

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[0036] The citrus flexible picking method and device of the present invention have universal applicability in spherical fruit picking. The three-finger two-joint structure can hold the spherical fruit securely. The force feedback system on the inner side of the finger can implement different gripping forces as needed, which is suitable for picking thin-skinned fruits and easily broken fruits. The key difficulty of the present invention is that the citrus has hard stalks, and a sharp saw must be used to realize the separation of the fruit and the tree, and it is difficult to cut the fruit at one time with a general blade. If you pick other fruits that are easily broken, such as tomatoes, you can remove the knife and saw.

[0037] According to the growth status and size of the citrus, the designed claw has a maximum opening diameter of 9 cm, which can accommodate most citrus fruits. Due to gravity, citrus is generally hung on the branches, some of which are blocked by leaves. The sp...

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PUM

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Abstract

The invention relates to a picking method and a device for spherical citrus fruits, combining various sensor information of force sense, temperature sense, sight and distance, etc., and sending information back promptly to realize that an executive component picks up fruits flexibly. A flexible picking device consists of a fruit picking hardware device and a software control system, and the fruit picking hardware device consists of a computer visual system, an industrial control system, a mechanical arm and an end executor; the picking device utilizes a solid visual system to detect and identify mature fruit that can be picked, calculates the specific position of the fruit under world coordinate, and carries out feature extraction for the information of the obtained fruit position and barrier position, after the picking device establishes a three-dimensional model and obtains the movement path of a robot in virtual environment, an industrial personal computer system controls the mechanical arm and paws to reach a designated position; at last, the end executor is controlled to extend out of a sucker for sucking and drawing the fruit, then the fruit is fixed by the paw, finally a cutting device is rotated to the designated position for cutting off the stems.

Description

technical field [0001] The invention relates to a method and device for picking spherical citrus fruits, which integrates multi-sensor information such as force sense, temperature sense, vision, distance, etc., and feeds back information in time to realize the flexible picking of fruits by executive components. Background technique [0002] In fruit production operations, fruit picking accounts for about 33-50% of the entire workload. Due to the complexity of picking operations, picking automation is still low. At present, the agricultural labor force will gradually transfer to other industries in the society. Countries around the world are facing the problem of population aging, and the shortage of labor resources will gradually become a reality. As an important branch of agricultural machinery, fruit harvesting robots can reduce human labor intensity, improve labor productivity and Product quality ensures that the fruit is harvested in a timely manner, and has great devel...

Claims

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Application Information

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IPC IPC(8): A01D46/30B25J9/12B25J13/08B25J15/08B25J18/00
Inventor 蔡健荣
Owner JIANGSU UNIV
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