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Lycium barbarum picking robot and control method thereof

A technology for picking robots and control methods, which is applied in the field of wolfberry picking robots, can solve the problems of fruit and vegetable picking robots with complex systems and structures, lack of versatility of robots, and low picking efficiency, so as to ensure implementability, easy maintenance, and anti-interference ability strong effect

Inactive Publication Date: 2017-07-11
BEIFANG UNIV OF NATITIES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 2. The picking efficiency is not high
[0006]3. Higher cost
The fruit and vegetable picking robot system and structure are more complicated, and the service cycle is short, so it is basically not used
Maintenance, use, and manufacturing costs are all higher than industrial robots
[0007] 4. Poor versatility
A picking robot only completes a single task for a specific plant, and there is little commonality among various types of robots

Method used

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  • Lycium barbarum picking robot and control method thereof
  • Lycium barbarum picking robot and control method thereof
  • Lycium barbarum picking robot and control method thereof

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Embodiment Construction

[0061] The present invention will be further described in detail below with reference to the accompanying drawings, which is an explanation rather than a limitation of the present invention.

[0062] Such as figure 1 As shown, a wolfberry picking robot of the present invention includes a trolley 1; one end of the trolley 1 is provided with a power supply and power control device 2, and the other end is provided with a road barrier sensor 15, and the upper part is also provided with a mechanical arm. The mechanical arm includes a lifting platform 3, a waist rotation joint, a large arm 6, a forearm 7 and a prismatic joint connected in sequence. The lifting platform 3 is provided with a waist motor 4, a large arm 6 and a large arm electric motor 5; the upper end of the large arm 6 and The forearm 7 is connected, and the upper end of the forearm 7 is connected with the picking head 9 through a prismatic joint. The forearm motor 12 is arranged at the bottom of the forearm 7; the waist...

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Abstract

The invention discloses a wolfberry picking robot. A wolfberry picking robot system adopts a pinhole imaging technology and mainly comprises a data acquisition card and an analog-digital conversion module. A control method mainly adopts a fuzzy PID self-adaptive control way and is mainly used for controlling the vision. Hardware of the wolfberry picking robot mainly consists of a mechanical arm, a rotor structure, a picking head and various motors. By adopting the wolfberry picking robot, the automatic picking of wolfberry can be implemented, the manpower can be completely substituted, and the problem that the manual picking is subjected to the influence of the environment can be solved. The wolfberry picking robot is high in automation degree and high in picking efficiency.

Description

【Technical Field】 [0001] The invention relates to the technical field of mechanical automation design, in particular to a wolfberry picking robot. 【Background technique】 [0002] Lycium barbarum is a medicinal material with health-preserving and curing diseases, and it can also be eaten as a fruit with rich nutritional value. It is planted in large quantities in the northwest, northeast and north of my country. Lycium barbarum has large water content and relatively thin skin, which is a kind of berry, which is easily damaged when picked. The harvesting of wolfberry has always been manpower-based, and the mature season of wolfberry is relatively concentrated and labor intensive. And medlar generally matures in June and July in summer. This season belongs to the summer and the temperature rises extremely. Lycium barbarum soil generally has pungent smells such as natural fertilizers and chemical fertilizers. However, now the wolfberry harvesting is done manually, and the work of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/30
Inventor 张秀霞赵紫薇冀千瑜张令春魏舒怡马列军杜冠男郭玉琴
Owner BEIFANG UNIV OF NATITIES
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