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Picking method of picking robot under fruit oscillation condition

A picking robot and robot technology, applied in picking machines, manipulators, harvesters and other directions, can solve the problems affecting the picking efficiency of picking robots, and achieve the effects of reducing picking time, enhancing practicability, and improving picking efficiency.

Inactive Publication Date: 2011-07-06
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a picking method of a picking robot under the condition of fruit oscillation, to solve the problem that the picking efficiency of the picking robot is affected by the fruit oscillation

Method used

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  • Picking method of picking robot under fruit oscillation condition
  • Picking method of picking robot under fruit oscillation condition
  • Picking method of picking robot under fruit oscillation condition

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Embodiment Construction

[0023] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0024] figure 2 The picking mechanism of the picking robot is mainly composed of waist 3, big arm 4, forearm 5, linear motion joint 6 and end effector 7, in which the waist 3, big arm 4, and forearm 5 are revolving joints, and the rotation of the waist 3 drives The base 2 of the mechanical arm moves, the linear motion joint 6 can extend the end effector 7, the waist 3, the upper arm 4, the forearm 5 and the linear motion joint 6 are integrated to realize the end effector 7 advancing and retreating in any direction in the working space; image acquisition Module 8 adopts the eye-on-hand installation method to realize the collection of fruit images; data processing and system control module 1 is responsible for image information processing and robot control.

[0025] Picking robot image acquisition module 8 can adopt two-dimensional camera, as CMOS video ...

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Abstract

The invention discloses a fruit picking method of a picking robot, and the method comprises the following steps: the image acquisition step: continuously acquiring fruit images in a real-time manner; the step of detecting target fruits: performing pretreatment on the acquired images, removing backgrounds, and detecting the target fruits in the images; the step of calculating an oscillation period of the target fruits through fast Fourier transform: calculating the depth of the target fruit through the monocular vision distance measuring method; and the step of determining the travel speed of direct-acting joints of the robot and the step of picking the target fruits. By adopting the method, the picking process of the picking robot under oscillation of apples and other similar spherical fruits can be met, and the picking efficiency of the picking robot can be improved.

Description

technical field [0001] The invention relates to a method for picking fruit by a picking robot, in particular to a method for picking spherical fruits such as apples under vibration. Background technique [0002] When the spherical fruit picking robot such as apples is picking fruit, firstly, each module of the picking robot is initialized, and its robotic arm is close to the fruit tree at a suitable distance; the video camera captures and obtains the image information of the target fruit, and the image processing software performs background elimination, identification and positioning, etc. , to obtain the position information of the target fruit; the robot controls the computer to drive the joints to complete the picking actions such as fruit grasping, fruit and fruit branch separation. However, in the process of separating the fruit from the fruit branch by the picking robot, no matter whether it is cut off or twisted off, it will cause other fruits on the fruit tree to vi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/24B25J13/00B25J19/00
Inventor 赵德安吕继东姬伟陈玉沈慧良张颖
Owner JIANGSU UNIV
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