Intelligent fruit picking robot based on machine vision

Abstract

The invention discloses an intelligent fruit picking robot based on machine vision. The robot comprises a control system and a walking mechanism, a picking mechanical arm, a visual system and a powersystem which are connected with the control system respectively, the control system, the power system and the walking mechanism are fixedly connected, and the picking mechanical arm is a four degreesof freedom joint mechanical arm and is fixedly connected with the walking mechanism through a base; a visual sensor of the visual system is fixedly arranged above the wrist of the picking mechanical arm, a visual control module of the visual system is integrated with the control system and is connected with the visual sensor through signals, and the visual control module is used for conducting target positioning and identifying on images of the visual sensor based on a full-convolution network image processing technology of image partition; the visual control module transmits target positioning information to the control system, and the control system controls the walking mechanism to move and / or the mechanical arm to pick fruits. The intelligent fruit picking robot based on the machine vision has the advantages of compact structure, good stability, high intelligent degree, quick positioning, high positioning precision, and high environmental adaptability.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an intelligent fruit picking robot based on machine vision, which has a compact structure, good stability, high degree of intelligence, fast positioning and high precision, and strong environmental adaptability. Background technique [0002] Since 1993, my country's fruit production has been ranked first in the world, and the fruit planting area is increasing year by year. However, most fruits are still picked manually. This method of picking is not only inefficient, but also of low quality, and is very inconsistent with the development trend of agricultural modernization. [0003] In recent years, although picking machinery has attracted the attention of many people, the development of picking machinery has been very slow. Due to the large differences in the characteristics of various fruits and the fruit's vulnerability to collisions, mechanical picki...

AI Technical Summary

Problems solved by technology

However, the machine vision technology in the prior art either requires multiple cameras for multi-directional shooting, which not only leads to a large amount of calculation, but also makes it difficult to ensure the synchronization with the mechanical action. In order to take into account the needs of timely positioning, the only way to reduce the speed of the mechanical action Resulting in low picking efficiency and complex overall structure

There are also some single-lens vision systems, but due to the visual calculation method, there are still problems such as a large amount of calculation and difficult to guarantee positioning accuracy

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