A dual-arm fruit picking robot and fruit picking method

Abstract

The invention discloses a double-arm fruit picking robot and a fruit picking method. The double-arm fruit picking robot comprises a fruit picking mechanical device and a control system, wherein the fruit picking mechanical device comprises a left mechanical arm, a right mechanical arm, a left tail end actuator, a right trail end actuator, a moving platform and a fruit basket, the left mechanical arm and the right left mechanical arm are of the same structures, are respectively arranged at the left side and the right side of the moving platform, and respectively complete the work of conveying the left tail end actuator and the right trail end actuator to specified picking points, the left tail end actuator and the right trail end actuator are of the same structures, are respectively arranged at the front end of the left mechanical arm and the front end of the right mechanical arm, and respectively complete the work of obtaining and recovering fruits of fruit trees at the left side and the right of the advancing direction of the robot, and a control system completes the control tasks of robot navigation, walking and picking. The invention also discloses a fruit picking method of the double-arm fruit picking robot. According to the method, the mechanical arms carry out picking in different picking points, and the continuous and respective picking of a plurality of fruits can be realized in one picking point.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to a dual-arm fruit picking robot and a fruit picking method. Background technique [0002] In recent years, with the in-depth reform of my country's rural economic system and the development of the market economy, fruit production has increased significantly year by year. The fruit industry occupies an important position in the national economy. Since 1993, China's fruit production and area have been ranking first in the world. Statistics from the China Fruit Circulation Association in October 2010 show that in 2009 my country's total fruit output was 204 million tons, an increase of 12.4 million tons or 6.1% over 2008. The annual output of apples, citrus and pears is more than 10 million tons, and the output of the three major fruits accounts for 58% of the garden fruit output. In fruit production, picking is the most time-consuming and laborious link, accounting for ...

AI Technical Summary

Problems solved by technology

However, the current fruit picking robot uses a single robotic arm for picking, which is not efficient, the picking speed is slow, and the average fruit picking cycle is long, which seriously affects the practicality of the fruit picking robot.

In order to improve the picking speed of picking robots, researchers have designed various underactuated end effectors, but the picking of each fruit requires simultaneous movement of the robotic arm and the end effector during the picking process, and the fruit recovery still requires the robotic arm and the end effector. Executors are used to complete, and the picking cycle of each fruit is still relatively long

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