A human-computer interactive field fruit and vegetable harvesting robot system and its harvesting method

Abstract

The invention discloses a man-machine interactive field fruit and vegetable harvesting robot system and a harvesting method thereof. In the system: the image acquisition device is used for real-time acquisition of fruit and vegetable images; the manipulator device is used to harvest target fruits and vegetables according to the results of human-computer interaction; the robot mobile platform is used for human-controlled movement in the field environment; The main control device integrates the human-computer interaction interface, the control interface and other software modules to control the entire system. The image acquisition device includes two sets of monocular color cameras and intelligent control pan / tilt; the manipulator device includes four 4-DOF manipulator bodies and corresponding end effectors, servo drives, executive motors, etc.; the robot mobile platform includes triangular track wheels, power supply , power control equipment and personnel cockpit. The invention realizes man-machine interactive target harvesting of fruits and vegetables based on the recognition and positioning of fruits and vegetables by human eyes, without restrictions on the color, shape and size of fruits and vegetables, and day and night working hours.

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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