Grape bagging robot system based on machine vision

A robot system and machine vision technology, applied in manipulators, program-controlled manipulators, plant protection covers, etc., can solve problems such as low work efficiency and high labor intensity, and achieve the effect of reducing labor intensity and improving work efficiency

Active Publication Date: 2012-08-01
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In order to overcome the shortcomings of high labor intensity and low work efficiency of the existing artificial grape bagging operation

Method used

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  • Grape bagging robot system based on machine vision
  • Grape bagging robot system based on machine vision
  • Grape bagging robot system based on machine vision

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] refer to Figure 1 to Figure 9 , a grape bagging robot based on machine vision, the grape planting mode applicable to this robot is as follows:

[0033] Selecting the appropriate planting pattern of grapes can provide a more effective identification of the target object for the robot. For grapes cultivated on horizontal trellises, the fruit droops are distributed in a plane parallel to the ground, and there are relatively few obstacles around them. At the same time, horizontal trellis cultivation has a wider row spacing, which is very conducive to the use of machine vision grape bagging robots for bagging operations.

[0034] The use of horizontal trellis cultivation can not only improve the ventilation and light transmission performance of the vineyard, reduce the occurrence of diseases caused by humidity in summer, but also allow flexible pruning. According...

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Abstract

A grape bagging robot system based on machine vision comprises a robot intelligent moving platform, a computer vision identification location device and a mechanical arm bagging device. The robot intelligent moving platform comprises a crawler, a motion controller, a motor driver, a vehicle-mounted computer, a cloud deck camera and a two-dimensional laser ranging device, wherein the vehicle-mounted computer is positioned in the crawler. The vehicle-mounted computer further comprises an automatic path navigation module and an obstacle detection module. The computer vision identification location device comprises the crawler, a vertical slide rail and a binocular color charge coupled device (CCD) camera, wherein the vertical slide rail is positioned on the crawler, the binocular color CCD camera is installed on the vertical slide rail in a mode capable of moving up and down, and the vehicle-mounted computer is installed in the crawler. The mechanical arm bagging device comprises a mechanical arm, a terminal actuator and a bag, wherein the mechanical arm is positioned on the crawler, the terminal actuator is arranged on the mechanical arm, and the bag is positioned on the terminal actuator. The grape bagging robot system based on the machine vision can reduce labor intensity and improve work efficiency.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a grape bagging robot system based on machine vision. Background technique [0002] Grape is one of the important types of deciduous fruit trees in my country. It bears early fruit, has strong adaptability and high benefit. my country's viticulture has developed rapidly since the 1980s, and viticulture and processing have become the main way to promote economic development and increase farmers' income in many areas. Over the past 30 years, the acreage and output of viticulture have continued to grow. In 2010, the country's grape planting area reached 8.28 million mu, and the output reached 8.43 million tons, and the grape planting area increased by an average of 300,000 mu annually. Both the area and output of grape cultivation rank fifth in the world. According to the output of table grapes, my country has ranked first for many years. [0003] At present, my count...

Claims

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Application Information

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IPC IPC(8): A01G13/02A01G17/02B25J5/00B25J9/16
Inventor 杨庆华刘灿荀一贾挺猛
Owner ZHEJIANG UNIV OF TECH
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