Full-automatic fruit picking device

A fully automatic, fruit technology, applied in picking machines, agricultural machinery and implements, applications, etc., can solve the problems of inability to ensure picking quality, inability to adapt to picking operations, low picking efficiency, etc., to ensure picking quality, ingenious design, and structure. simple effect

Pending Publication Date: 2019-01-18
HUBEI POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to solve the problems that the existing mechanical picking devices are simple in structure, single in fun

Method used

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  • Full-automatic fruit picking device

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0044] Example 1

[0045] Such as Figure 1-10 As shown, the present invention provides a fully automatic fruit picking device with a crawler vehicle. The crawler vehicle is provided with an open fruit box 7 and a control device. The crawler vehicle is also provided with a mobile base frame. The mobile base frame has XY Axis mobile platform 8, XY axis mobile platform 8 is vertically equipped with a telescopic support frame 9; the top of the telescopic support frame 9 is connected to one end of the three-degree-of-freedom manipulator 11 through the slewing mechanism 10, and the other end of the three-degree-of-freedom manipulator 11 One end is equipped with a cutting operator 12; the cutting operator 12 has a base 121, and horizontally arranged binocular cameras 122, cutting tools and lifting rings 123 are installed on the upper, middle and lower parts of the base 121. The lifting ring 123 is connected to the upper port of the soft bag 13, and the lower port of the soft bag 13 ex...

Example Embodiment

[0053] Example 2

[0054] This embodiment is based on the control method of a fully automatic fruit picking device described in Embodiment 1, and includes the following steps:

[0055] (1) System equipment initialization;

[0056] (2) The main controller controls the binocular camera to perform shooting operations to obtain the current road image information, and obtains the current DGPS position coordinates and heading information of the crawler vehicle through the configured GPS monitoring receiver. The main controller uses the built-in visual navigation image The processing algorithm processes the information to extract visual navigation parameters and realize the navigation control of the tracked vehicle;

[0057] (3) The main controller controls the binocular camera to perform shooting operations to obtain the current fruit tree image information. The main controller uses the built-in algorithm to process the fruit tree image information to realize the identification and position...

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Abstract

The invention discloses a full-automatic fruit picking device, which comprises a tracked vehicle. A fruit box and a control device are arranged on the tracked vehicle; a mobile base frame is also arranged on the tracked vehicle. The mobile base frame is provided with a XY axis mobile platform, and a telescopic support frame is vertically installed on the XY axis mobile platform; the top of the telescopic support frame is connected with one end of a three-degree-of-freedom mechanical arm through a rotary mechanism, and the other end of the three-degree-of-freedom mechanical arm is provided witha shearing manipulator; the shearing manipulator is provided with a base; the upper, middle and lower parts of the base are correspondingly provided with a binocular camera, a shearing cutter and a hanging ring which are horizontally arranged; the hanging ring is connect with the upper port of a soft bag; the lower port of the soft bag is extended into the fruit box, and multiple layers of anti-collision skirts are arranged in the soft bag. The full-automatic fruit picking device realizes the control of automatic navigation of the tracked vehicle. Besides, the automatic identification and positioning of target fruits are also realized in order to take picking into practice, which ensures the picking quality. The full-automatic fruit picking device has the advantages of high efficiency, feasibility, versatility and suitability for automatic picking of different fruits.

Description

technical field [0001] The invention relates to the technical field of agricultural equipment, in particular to a fully automatic fruit picking device. Background technique [0002] In fruit production operations, harvesting and picking is the most time-consuming and labor-intensive link in the entire production. The labor required during fruit harvesting accounts for about 50% to 70% of the entire planting process. The quality of picking operations directly affects the storage, processing and sales of fruits, which ultimately affects market prices and economic benefits. In addition, fruit harvesting is highly time-sensitive and is a typical labor-intensive work. [0003] However, due to the simple structure and single function of the existing mechanical picking devices, they cannot adapt to picking operations in complex external environments, nor can they ensure better protection of the fruits during the picking process. The problem of inefficiency. Therefore, the exist...

Claims

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Application Information

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IPC IPC(8): A01D46/30A01D46/22
CPCA01D46/22A01D46/30
Inventor 杨秀芝蔺绍江阮文廉杨松松陈微董春法吴小艳杨春杰徐绍勇
Owner HUBEI POLYTECHNIC UNIV
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