A dual-arm fruit and vegetable harvesting robot system and its fruit and vegetable harvesting method

Abstract

The invention discloses a double-manipulator fruit and vegetable harvesting robot system and a fruit and vegetable harvesting robot method of the double-manipulator fruit and vegetable harvesting robot system. According to the system, a binocular stereoscopic vision system is used for visual navigation of walking motion of a robot and obtaining of position information of harvested targets and barriers; a manipulator device is used for grasping and separating according to the positions of the harvested targets and the barriers; a robot movement platform is used for autonomous moving under the operation environment; a main control computer is a control center, integrates a control interface and all software modules, and controls the whole system. The binocular stereoscopic vision system comprises two color vidicons, an image collection card and an intelligent control cloud deck; the manipulator device comprises two five degree-of-freedom manipulator bodies, a joint servo driver, an actuator motor and the like; the robot movement platform comprises a wheel-type body, a power source and power control device and a fruit and vegetable harvesting device. Binocular vision and the double-manipulator bionic personification are used for building the fruit and vegetable harvesting robot, and autonomous navigation walking and automatic harvesting of the fruit and vegetable targets are achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent agricultural robots, in particular to a fruit and vegetable harvesting robot system and an operation process. Background technique [0002] In the process of fruit and vegetable planting and production, harvesting is an important link, and the quality of its operation is directly related to the storage, processing and sales of fruits and vegetables, which ultimately affects market prices and economic benefits. At present, it is basically manual work, which is labor-intensive, takes a long time, and has certain risks; adopting mechanized harvesting can not only reduce people's labor intensity, save labor costs, improve work efficiency, but also improve the economic benefits of fruits and vegetables, so , the research and development of fruit and vegetable harvesting robots to realize the mechanical automation of fruit and vegetable harvesting has important practical value and significance. How...

AI Technical Summary

Problems solved by technology

At present, it is basically manual work, which is labor-intensive, takes a long time, and has certain risks; adopting mechanized harvesting can not only reduce people's labor intensity, save labor costs, improve work efficiency, but also improve the economic benefits of fruits and vegetables, so , the research and development of fruit and vegetable harvesting robots to realize the mechanical automation of fruit and vegetable harvesting has important practical value and significance

However, the fruit and vegetable harvesting robots currently researched and developed at home and abroad are basically single-arm operations, especially when harvesting and covering fruits and vegetables, they have great limitations, and are far less flexible than artificial double-arm harvesting.

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