A citrus picking robot system and its control method

The technology of a picking robot and a control method is applied in the field of a citrus picking robot system and its control, which can solve the problems of poor navigation, incomplete picking, and long picking time, and achieve the effects of simple operation, avoiding picking omissions, and solving picking time consuming.

Active Publication Date: 2019-05-03
CHONGQING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a citrus picking robot system and its control method, which can solve the problems of poor navigation, long picking time and incomplete picking of citrus picking robots in the orchard, and has good navigation. , do not omit picking and other advantages

Method used

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  • A citrus picking robot system and its control method
  • A citrus picking robot system and its control method
  • A citrus picking robot system and its control method

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Embodiment 1

[0036]A citrus picking robot system, including a picking robot and a control system; the picking robot includes a crawler-type mobile platform and a housing fixedly arranged above the crawler-type mobile platform; a mechanical arm installation platform is fixedly arranged above the housing, and the mechanical arm installation platform A robotic arm is installed; a binocular lens for identifying and positioning fruit and a monocular lens for identifying a navigation path are also provided on the housing; the picking end of the robotic arm is equipped with a picking mechanism, which includes a shearing mechanism and a clamping mechanism ; There is a cavity for placing fruit baskets in the shell; the control system includes an image processing module for processing images captured by binocular lens and monocular lens, a mobile platform control module for controlling the crawler mobile platform, and a mobile platform control module for controlling the joints of the mechanical arm. ...

Embodiment 2

[0043] A control method for a citrus picking robot system, comprising the following steps:

[0044] S1: First, make a navigation map of the orchard, preset a navigation path in the navigation map according to the distribution of fruit trees in the orchard, and set several consecutive picking points on the navigation path. In this step, the preset steps of the navigation path are as follows:

[0045] S11: Determine the planable path according to the planting position of the fruit trees in the orchard and the navigation map;

[0046] S12: Determine the navigation path according to the road width, road length, road slope and road corner angle of the planable path;

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Abstract

The invention provides a citrus picking robot system and a control method thereof. The picking robot system comprises a picking robot and a control system. The picking robot comprises a crawler type movable platform, a shell, a mechanical arm mounting platform, a mechanical arm, a binocular head, a monocular head and a picking mechanism. The control system comprises a central processing unit, an image processing module, a movable platform control module, a mechanical arm driving control module and a picking mechanism driving control module, and the image processing module, the movable platform control module, the mechanical arm driving control module and the picking mechanism driving control module are in control connection with the central processing unit. The picking path is planned by the central processing unit in advance, picking is precisely controlled through an inverse kinematics algorithm, the picking precision is high, and the picking efficiency is high. The picking robot executes picking according to the preset path and is good in navigation performance, and the problem of time consumption during picking can be solved. Whether the picking task is completed or not is circularly judged at each picking point, and therefore the problem that fruits are missed when picked can be solved, and manual secondary picking is not needed.

Description

technical field [0001] The invention belongs to the technical field of agricultural picking robots, and in particular relates to a citrus picking robot system and a control method thereof. Background technique [0002] With the rapid development of new agricultural production models and automation control technology, agricultural robots will become one of the most important components in the agricultural production chain. Among them, fruits and vegetables are indispensable in agricultural production, and fruit and vegetable collection robots have great development potential in agricultural robots. The picking of fruits and vegetables is the most time-consuming and labor-intensive link in the agricultural production chain. It has the characteristics of strong seasonality, high labor intensity, and high cost. Reducing the cost of picking operations is an important way to increase agricultural income; at present, most of the domestic fruit and vegetable picking All are done ma...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J13/08A01D46/30G05D1/02G05D1/00G05D3/12
CPCA01D46/30B25J11/00B25J13/08B25J13/088G05D1/0022G05D1/0223G05D1/0255G05D3/12G05D2201/0201
Inventor 王毅杨长辉许洪斌张哲付舜毛方东腾举元李杨胡有呈马冀桐刘波
Owner CHONGQING UNIV OF TECH
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