Vegetable and fruit picking robot and control method thereof

The technology of a picking robot and a control method is applied in the field of vegetable and fruit picking robots, and the fields of vegetable and fruit picking robots and their control, which can solve problems such as low work efficiency, single picking types, and heavy labor, and achieve avoiding damage to fruits, high picking efficiency, and stretching wide range of effects

Inactive Publication Date: 2015-11-11
平顶山工业职业技术学院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a vegetable and fruit picking robot and its control method, which solves the problems of single picking types, low work efficiency and large labor load in the prior art

Method used

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  • Vegetable and fruit picking robot and control method thereof
  • Vegetable and fruit picking robot and control method thereof
  • Vegetable and fruit picking robot and control method thereof

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Embodiment Construction

[0028] The present invention will be described in detail below in combination with specific embodiments.

[0029] The invention provides a vegetable and fruit picking robot and its control method, such as figure 1 As shown, including crawler 1, crawler 1 is provided with base 2, both ends of base 2 are provided with storage basket 3, and base 2 is provided with actuator 4, identification system 30, first driving mechanism 7, second The driving mechanism 14 and the controller 5 are respectively connected to the identification system 30 , the first driving mechanism 7 and the second driving mechanism 14 through wires.

[0030] Wherein, the actuator 4 includes a mechanical arm 6, a small arm 27, a wrist 8 and a finger 9 connected in sequence, and the mechanical arm 6 is movably connected with the base 2, as figure 2 and 3 As shown, the finger 9 includes scissors 10 and a clamping mechanism 11; the front end of the scissors 10 is a scissor blade 28, the rear end of the scissors...

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Abstract

The invention discloses a vegetable and fruit picking robot and a control method thereof. The vegetable and fruit picking robot comprises a walking mechanism. A base is arranged on the walking mechanism. Storage baskets are arranged at the front and rear ends of the base respectively. An execution mechanism, a recognition system, a first driving mechanism, a second driving mechanism and a controller are arranged on the base. The controller is connected with the recognition system, the first driving mechanism and the second driving mechanism through wires. Both fruits on trees and plant fruits at low positions can be picked, and therefore the picking object range is wide; the crawler-type walking mechanism drives a plurality of mechanical arms to work at the same time, and therefore the picking efficiency is high; a small arm is flexible and continuous in movement, the stretching range of the mechanical arms is wide, and therefore the vegetable and fruit picking robot can adapt to various operating environments; the multi-sensor function and the digital imaging technology are adopted, and therefore the fruits can be accurately recognized and positioned; clamping force is controlled through sensor detection, and therefore the fruits are prevented from being damaged.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a vegetable and fruit picking robot, and also relates to a vegetable and fruit picking robot and a control method thereof. Background technique [0002] Picking technology is an important link in the production of vegetable and fruit products, and it is highly labor-intensive. Coupled with seasonal requirements, ensuring the quality of operations has become a key issue. my country is a big country for growing many types of fruits and vegetables, but the waste is serious. In addition to problems such as storage and transportation, the low picking efficiency is the main factor. The reason for this factor is that the picking machinery is immature. [0003] With the rapid development of computer and automatic control technology, agricultural machinery will enter the era of high automation and intelligence. The development of the fruit and vegetable plant...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/24
Inventor 王乐刘东晓张博梁艳艳
Owner 平顶山工业职业技术学院
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