Human-machine interactive greenhouse fruit and vegetable harvesting robot system and harvesting method thereof

Abstract

The invention discloses a human-machine interactive greenhouse fruit and vegetable harvesting robot system and a harvesting method thereof. According to the system, an image acquisition device is usedfor navigation and acquisition of fruit and vegetable images; a manipulator device is used for harvesting the target fruits and vegetables according to a human-computer interaction result; a robot mobile platform is used for the artificial control movement in the greenhouse environment; a fruit and vegetable conveying device is responsible for conveying after the fruits and vegetables are harvested; a main control device integrates navigation, picking interaction, settings and other hardware and software modules based on a computer to control the entire system. The image acquisition device comprises navigation image and fruit and vegetable image acquisition; the manipulator device comprises two manipulator bodies with 5 degrees of freedom, corresponding end actuators, a servo driver, execution motors and the like; the robot mobile platform comprises a crawler wheel, a power source and a power control device. The system is based on the recognition and positioning of the fruits and vegetables by human eyes to achieve human-machine interactive fruit and vegetable target harvesting without the limitation of fruit and vegetable color, shape size and day and night working 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, with high labor intensity and long time consumption; the use of mechanized harvesting can not only reduce people's labor intensity, save labor costs, improve operating efficiency, but also improve the economic benefits of fruits and vegetables. Therefore, research and development of fruit and vegetable harvesting robots Realizing the mechanized harvesting of fruits and vegetables has important practical value and significance. Compared with wild ...

AI Technical Summary

Problems solved by technology

At present, it is basically manual work, with high labor intensity and long time consumption; the use of mechanized harvesting can not only reduce people's labor intensity, save labor costs, improve operating efficiency, but also improve the economic benefits of fruits and vegetables. Therefore, research and development of fruit and vegetable harvesting robots Realizing the mechanized harvesting of fruits and vegetables has important practical value and significance

Compared with wild fruit and vegetable harvesting robots, greenhouse fruit and vegetable harvesting robots have relatively limited working space in addition to the precise identification and positioning of fruits and vegetables and the planning of harvesting paths due to the unstructured environment and the limitations of existing technologies. , the research design of its platform architecture is more difficult

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