Intelligent citrus picking robot and citrus picking method

Abstract

An intelligent citrus picking robot and a citrus picking method, the robot includes a walking mechanism, a mechanical arm, a worktable, a recovery device, a control system and a power supply system, the mechanical arm, the control system and the power supply system are installed on the worktable, and the front end of the mechanical arm is provided The end effector and the vision system, the vision system is connected with the control system data, the control system controls the movement of the manipulator through the manipulator drive unit, the control system controls the movement of the walking mechanism through the walking drive unit, and the power supply system provides work for the control system and the walking mechanism power supply; the mechanical arm comprises a first arm, a second arm, a third arm, a fourth arm, a fifth arm and a sixth arm which are movably connected in turn; the citrus picking method comprises: starting a walking mechanism, making the robot approach fruit trees, searching for citrus, Catch citrus, pick citrus, adjust grip force, recycle citrus. The invention has high picking efficiency, high picking quality, high intelligence, strong practicability, and is easy to popularize and use.

Description

technical field [0001] The invention relates to the technical field of agricultural robots, in particular to an intelligent citrus picking robot and a citrus picking method. Background technique [0002] With the rapid development of high technology, robot technology has been widely used in various fields. The application of robots in agricultural production, especially the production process of facility agriculture, is an important symbol of the development of agriculture towards automation and intelligence. At present, foreign agricultural robots are developing rapidly. The research and development of vegetable and fruit robot systems in many countries such as the United States, Europe, and Asia has been initially applied. In fruit and vegetable production operations, the application of harvesting and picking accounts for about 33% to 50% of the entire workload. Complexity, the degree of automation applied in picking remains low. [0003] At present, my country is still i...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of high technology, robot technology has been widely used in various fields. The application of robots in agricultural production, especially the production process of facility agriculture, is an important symbol of the development of agriculture towards automation and intelligence. At present, foreign agricultural robots are developing rapidly. The research and development of vegetable and fruit robot systems in many countries such as the United States, Europe, and Asia has been initially applied. In fruit and vegetable production operations, the application of harvesting and picking accounts for about 33% to 50% of the entire workload. Complexity, the degree of automation applied in picking remains low

[0003] At present, my country is still in its infancy in the research of agricultural robots, and there is no mature technology; the publication number is CN102124866A, and the invention patent titled "A Wheeled Mobile Fruit Picking Robot and Fruit Picking Method" uses a walking device As a carrier, the fruit picking robot arm, executive mechanism, visual control system, and driving device are fused together as an experimental research and a prototype is developed, which is representative in terms of technology, but the technical solution still has the following shortcomings:

[0007] The end effector directly determines whether the intelligent picking robot can work effectively. The robot uses the end effector manufactured by SCHUNK, Germany. This type of end effector is equipped with force sensors, slip sensors, etc., and has very high precision. It is used in industrial operations. It is a very good device, but it uses clamping fingers to clamp the fruit, and then imitates the action of lifting the hand to pick the fruit. The existing problems are that the speed of fruit picking by clamping fingers is slow and the efficiency is low. Because the growth direction of the fruit is not fixed, and there are obstacles such as branches and leaves on the fruit tree, it is easy to pick with fingers due to uneven force, resulting in picking failure. Flexibility, especially for citrus, the distance between the fruit and the stalk is relatively short, and the stalk is relatively strong. In addition, there will be many citrus on a branch, and the method of forcibly pulling by imitating the upward movement of the hand will not only increase the Large mechanical movement distance and the effect is not good, it may even break the branches and cause fruit trees to be injured

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