Robot capable of climbing tree for picking fruit

Abstract

The invention discloses a robot capable of climbing a tree for picking fruit, and the robot comprises five support main plates, ten wheels, three speed reduction motors, four steering engines, four torque motors, a camera, a mechanical arm, and a cutting device. The robot can climb a tree in a mode of encircling the trunk of the tree, and holds the trunk through the steering engines, so as to provide a sufficient tyre adhesive force. The three speed reduction motors are independently used for controlling three driving wheels to climb upwards. The wide-angle camera can capture an image in a bigger range in a moving direction of the robot for searching fruit in a large range, and then the three-freedom-degree mechanical arm gets close to the trunk of a fruit tree, and finally the cutting device at the front end of the mechanical arm is used for picking fruit. The robot can achieve the automatic searching of fruits, automatically gets close to the fruit, and achieves the picking function.

Description

technical field [0001] The invention relates to the field of tree climbing and picking, in particular to a tree climbing and fruit picking robot. Background technique [0002] In the field of agricultural picking, farmers manually pick the fruits one by one with a picking device for the fruits on the taller trees. The farmer first observes the position of the fruit under the tree, then moves the picking device close to the fruit, manually adjusts the position, then manually cuts off the branches, and then picks up the fruit. Picking devices are often scissors or three-grab manipulators. [0003] This method of picking has certain defects, which are mainly manifested in: first, when the fruit is ripe, the weather is often hot and the working environment is relatively poor, and in sunny days, looking up to the tree is easy to hurt the eyes, which is not conducive to the health of the farmers, and they always look up to the tree. Looking at it from head to toe is easy to caus...

AI Technical Summary

Problems solved by technology

[0003] This method of picking has certain defects, which are mainly manifested in: first, when the fruit is ripe, the weather is often hot and the working environment is relatively poor, and in sunny days, looking up to the tree is easy to hurt the eyes, which is not conducive to the health of the farmers, and they always look up to the tree. It is easy to cause diseases if you look at it head-on. Manual adjustment and manual picking will keep the farmers under a relatively large force. They will be very tired after working for a long time and the production efficiency is very low.

If farmers directly climb trees for picking, there will be a great potential safety hazard

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