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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 function, low in picking efficiency, unable to adapt to picking operations in complex external environments, and unable to ensure picking quality. Automatic Fruit Picking Device

Method used

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Experimental program
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Effect test

Embodiment 1

[0045] Such as Figure 1-10 As shown, the present invention provides a kind of fully automatic fruit picking device, has crawler vehicle, is provided with the fruit box 7 of upper opening and control device on crawler vehicle, is also provided with mobile base frame on crawler vehicle, mobile base frame has XY Axis mobile platform 8, telescopic support frame 9 is vertically equipped with on the XY axis mobile platform 8; One end is equipped with a shearing operator 12; the shearing operator 12 has a base 121, and the upper, middle and lower parts of the base 121 are correspondingly equipped with a horizontally arranged binocular camera 122, a shearing tool and a suspension ring 123, Hanging ring 123 connects the upper port of soft bag 13, and the lower port of soft bag 13 stretches in the fruit box 7, and is provided with several layers of anti-collision skirts 14 in soft bag 13.

[0046] The control device is composed of an upper main controller 15, a lower walking controlle...

Embodiment 2

[0054] This embodiment is based on the control method of a fully automatic fruit picking device described in Embodiment 1, comprising 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 surface image information, and obtains the current DGPS position coordinates and heading information of the tracked 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 the 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 image information of the fruit tree. The main controller processes the image information of the fruit tree through a built-in algorithm to realize the identification...

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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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