A binocular vision-based citrus picking robot and its implementation method

Abstract

The invention discloses a binocular vision-based citrus picking robot and an implementation method thereof. The robot comprises a three-degree-of-freedom moving mechanism, an end execution mechanism,a binocular ranging vision identification mechanism, an ultrasonic ranging mechanism, a base supporting mechanism and an embedded type main control end, wherein the three-degree-of-freedom moving mechanism is overall located on the base supporting mechanism; a synchronous belt linear module sliding table is vertically fixed above a moving mechanism; a screw rod guide rail sliding table is connected with the synchronous belt linear module sliding table through a lifting telescopic mechanism connecting piece and forms an inclination angle of 15 to 30 degrees together with the synchronous belt linear module sliding table; the end execution mechanism is fixed at the tail end of the screw rod guide rail sliding table. The binocular vision-based citrus picking robot is simple in structure and convenient to control; by the adoption of a guide rail walking type structure, the robot is high in motion steadiness, can overcome the physiographic barrier of a steep terrain of an orchard and relievethe working intensity of manual picking, and is high in citrus picking precision.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a binocular vision-based citrus picking robot and its implementation method. Background technique [0002] Citrus can not only meet our daily food requirements, but also has high medicinal value. Traditional Chinese medicine believes that the peel, core, leaf and orange network of citrus are all "authentic medicinal materials". Citrus yields are very high and ripen in about the same amount of time. After the citrus is ripe, it must be picked and sold in a short period of time to ensure its freshness. Therefore, picking citrus is a big challenge for fruit farmers who plant citrus in a large area. At present, citrus is mainly picked by hand with a very low degree of mechanization. Manual picking of citrus has the disadvantages of high labor intensity, low picking efficiency, and high cost. In addition, in recent years, more and more agricultural labor has been transferred to ot...

AI Technical Summary

Problems solved by technology

The mobile platform is only suitable for moving on relatively flat roads, and it is difficult to adapt to the topography of the citrus grove

Because the areas where citrus is cultivated in China are mainly concentrated in Hunan, Jiangxi, Sichuan, Fujian, Zhejiang, Guangxi, Hubei, Guangdong and Chongqing, etc., there are many mountainous areas in these areas, and many kinds of citrus are in mountainous areas. If this wheeled mobile platform is used , need to spend a lot of capital to carry out road surface reconstruction, it is very difficult to implement

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