Man-machine interactive robot system for harvesting field fruits and vegetables and harvesting method of system

Abstract

The invention discloses a man-machine interaction robot system for harvesting field fruits and vegetables and a harvesting method of the system. In the system, an image capture device is used for obtaining fruit and vegetable images in real time; a mechanical arm device is used for harvesting the target fruits and vegetables according to a man-machine interactive result; a robot movable platform is used for manual-control motion under a field environment; a fruit and vegetable harvesting and picking device is in charge of harvesting and placing the fruits and vegetables back; master control equipment integrates a man-machine interactive interface, a control interface and other software modules, and is used for controlling the whole system. The image capture device comprises two sets of monocular color cameras and a smart control cradle head; the mechanical arm device comprises four four-degree-of-freedom mechanical arm bodies and corresponding tail end executors, servo drivers, executing motors and others; the robot movable platform comprises triangular crawler belt wheels, a power source, power control equipment and a crew cab. According to the system and the method, based on recognition positioning of human eyes for the fruits and vegetables, man-machine interactive fruit and vegetable target harvesting is realized, and there is no limit on colors, shapes and dimensions of the fruits and vegetables and day-night work time.

Description

technical field [0001] The invention relates to the technical field of intelligent agricultural robots, in particular to a fruit and vegetable harvesting robot system and an operation process. Background technique [0002] In the process of fruit and vegetable planting and production, harvesting is an important link, and the quality of its operation is directly related to the storage, processing and sales of fruits and vegetables, which ultimately affects market prices and economic benefits. At present, it is basically manual work, which is labor-intensive, takes a long time, and has certain risks; adopting mechanized harvesting can not only reduce people's labor intensity, save labor costs, improve work efficiency, but also improve the economic benefits of fruits and vegetables, so , the research and development of fruit and vegetable harvesting robots to realize the mechanized harvesting of fruits and vegetables has important practical value and significance. However, the...

AI Technical Summary

Problems solved by technology

At present, it is basically manual work, which is labor-intensive, takes a long time, and has certain risks; adopting mechanized harvesting can not only reduce people's labor intensity, save labor costs, improve work efficiency, but also improve the economic benefits of fruits and vegetables, so , the research and development of fruit and vegetable harvesting robots to realize the mechanized harvesting of fruits and vegetables has important practical value and significance

However, the commercialization process of fruit and vegetable harvesting robots researched and developed at home and abroad is difficult. One of the main reasons is that the precise identification and positioning of fruits and vegetables and the planning of harvesting paths are still difficult due to the unstructured environment of plantations and the limitations of existing technologies. Not well resolved, far inferior to manual harvesting

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