A sweet pepper picking robot

Abstract

The invention belongs to the technical field of picking robots and particularly relates to a pimento picking robot. The picking robot includes a robot movement platform, a positioning system, a mechanical arm and an end effector. The mechanical arm includes a two-degree of freedom pan-tilt and a retractable rod; the two-degree of freedom pan-tilt includes a first pan-tilt body rotating horizontally and a second pan-tilt body which is arranged on the first pan-tilt body and rotates vertically; the first pan-tilt body is arranged on the robot movement platform through a pan-tilt baseplate; the top of the retractable rod is fixedly connected to the second pan-tilt body through a connecting board, and the tail end of the retractable rod is fixedly connected to the end effector; the positioningsystem includes a pair of binocular cameras which are arranged on the pan-tilt baseplate side by side and face pimento plants; the end effector includes a collecting cylinder, a bijection-type optoelectronic switch, a first arc-shaped cutter, a second arc-shaped cutter and a rotary air cylinder. The pimento picking robot has the advantages that the picking success rate is high, and the fruits andbranches of the plants are prevented from being damaged.

Description

technical field [0001] The invention belongs to the technical field of picking robots, in particular to a sweet pepper picking robot. Background technique [0002] In fruit and vegetable production operations, picking operations account for about 40% of the entire workload, and are one of the most laborious and time-consuming links in the agricultural product production chain. The quality of picking directly affects the storage, processing and sales of fruits and vegetables, which ultimately affects market prices and economic benefits. Therefore, reducing the cost of picking operations is an important way for vegetable farmers to increase their income. The cultivation area of ​​sweet pepper is wide, the output is high, and the economic benefits are good. However, due to the complexity of picking, the automation of sweet pepper picking is still very low. At present, domestic sweet pepper picking is basically done by hand. The working environment is poor and the harvesting op...

AI Technical Summary

Problems solved by technology

The cultivation area of ​​sweet pepper is wide, the output is high, and the economic benefits are good. However, due to the complexity of picking, the automation of sweet pepper picking is still very low. At present, domestic sweet pepper picking is basically done by hand. The working environment is poor and the harvesting operation is labor-intensive. Therefore, it is of great significance to study the sweet pepper picking robot applicable to the greenhouse environment

For the sweet pepper picking robot, the complex picking environment is a major problem encountered by the picking robot

In the planting environment of sweet peppers, sweet peppers are easily blocked by plant branches, leaves and other sweet peppers, resulting in a low picking success rate of sweet peppers

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