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A picking robot and branch-like technology, which is applied in the field of combing branch-like fruit picking robots, can solve problems such as bulky volume and limited application scope.
Active Publication Date: 2016-07-20
SHANDONG GUOXING SMARTECH CO LTD
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Abstract
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Problems solved by technology
However, the invention is bulky and needs to be attached to other mobile platforms to work, which limits the scope of application
Method used
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Embodiment 1
[0061] like figure 1 , 2 , 3 and 4. A comb-type branch-shaped fruit picking robot includes a picking mobile platform 1, a control cabinet 2, a machine vision system 3, a picking robot arm 4, a fruit collection box 5 and a comb-type picking tray 6. The picking mobile platform 1 is a four-wheel smart car with a power drive device 1-1 and a steering device 1-2, and the power drive device 1-1 drives the picking robot to walk in a straight line, including motions such as uniform speed, acceleration and deceleration; The device 1-2 controls the picking robot to make a turning function, including turning left and turning right. The picking mobile platform also includes a mobile platform body, mobile wheels and the like.
[0062] The control cabinet 2 is a rainproof cabinet that integrates all electric control modules of the picking robot including a control module, a drive module and a power supply, and includes a control iron box 2-1, a main control module 2-2, an image processin...
Embodiment 2
[0081] like Figure 1-8 shown. The invention not only proposes a combing type branch-shaped fruit picking robot, but also proposes a corresponding combing type branch-shaped fruit picking method. Specific steps are as follows:
[0082] A comb-type branch-shaped fruit picking robot includes a picking mobile platform 1, a control cabinet 2, a machine vision system 3, a picking robot arm 4, a fruit collection box 5, and a comb-type picking tray 6.
[0083] S1: First, the GPS differential module 2-4 sends the collected coordinate position of the picking robot to the main control module 2-2, and the inertial navigation module also sends the navigation information to the main control module 2-2.
[0084]S2: The main control module 2-2 drives the picking mobile platform 1 to move by controlling the mobile platform driving module 2-6. The picking mobile platform 1 has a power drive device 1-1 and a steering device 1-2, and is a four-wheel The smart car first drives the picking robo...
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Abstract
The invention relates to a carding type branched fruit picking robot which is used for efficiently picking fruits such as wolfberries, glossy privet fruits and the like which are produced on low-level branches and distributed in a strip shape and belongs to the technical field of agricultural automation and robots. The robot comprises a mobile picking platform, a control cabinet, a machine vision system, a mechanical picking arm, a fruit collecting box and a carding type picking disk, wherein the mechanical picking arm, the control cabinet, the fruit collecting box and the machine vision system are mounted on the mobile picking platform, and the carding type picking disk is mounted on the mechanical picking arm. Existing general mechanical picking arms are abandoned, the self-developed carding type picking disk for branched fruit picking is used for picking the fruits, the robot is simple, reliable and efficient, and the picking efficiency can be greatly improved. The robot greatly promotes rural economic development and has inestimable significance in improving modernization and intelligentialization of Chinese agriculture and accelerating scientific progress of agriculture.
Description
technical field [0001] The invention relates to a comb-type branch-shaped fruit-picking robot for efficiently picking fruits such as wolfberry and privet fruit that are knotted on low-altitude branches and present a band-shaped distribution, and belongs to the field of agricultural automation and robot technology. Background technique [0002] Lycium barbarum is people's general designation for species under the genus Lycium barbarum such as commercial wolfberry, plant Ningxia wolfberry, and Chinese wolfberry. Ningxia wolfberry has the largest cultivation area in China. The branches of wolfberry are covered with hard wood thorns, which increases the difficulty of picking. Use special long scissors with curved mouths to carefully cut off the branches among the dense wood thorns, keep the fruit stalks, and quickly collect intact and undamaged wolfberries , and use scientific technology to dry and store within 24 hours. But this kind of picking efficiency is extremely low, an...
Claims
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Application Information
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