Robot and method for picking daylily

A day lily and robot technology, applied in the direction of picking machines, harvesters, agricultural machinery and implements, etc., can solve the problems of complex fruit and vegetable picking robot system and structure, lack of versatility of robots, poor fruit collection effect, etc., to improve picking The success rate, ensuring flexibility and reliability, and avoiding the effect of idling

Pending Publication Date: 2019-03-01
BEIFANG UNIV OF NATITIES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 2. The picking efficiency is not high
[0006] 3. The fruit collection effect is not good
[0007] 4. Higher cost
The fruit and vegetable picking robot system and structure are more complicated, and the service cycle is short, so it is basical

Method used

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  • Robot and method for picking daylily
  • Robot and method for picking daylily
  • Robot and method for picking daylily

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0048] Example 1

[0049] The robot for picking daylily of the present invention, such as figure 1 As shown, the trolley 1 is included; one end of the trolley 1 is provided with a power supply and power control device 2, the other end is provided with a laser navigation system 13, and the upper part is also provided with a mechanical arm. The mechanical arm includes a base 6, a shoulder joint 7, an elbow joint 8, and a wrist joint 10 connected in sequence. The base 6 is provided with a motor, the shoulder joint 7 is provided with a motor, the elbow joint 8 is provided with a motor, and the wrist joint 10 is provided with a motor. The upper end of the base 6 is connected to the shoulder joint 7, the upper end of the shoulder joint 7 is connected to the elbow joint 8, the upper end of the elbow joint 8 is connected to the wrist joint 10, and the wrist joint 10 is connected to the binocular camera 11 and the mechanical finger 9 through the adapter 18, The binocular camera 11 is comp...

Example Embodiment

[0056] Example 2

[0057] The method of picking day lily includes the following steps:

[0058] a. Start: the day lily picking robot starts, and the trolley 1 walks from the collection area to the picking area according to the navigation walking system;

[0059] b. Recognition and positioning: The binocular camera 11 is based on the principle of binocular stereo vision positioning, through image collection, comparison with samples in the image database, target feature point extraction, camera calibration, image processing, stereo matching and three-dimensional reconstruction; Obtain the parallax between the matching points of the image, obtain the three-dimensional coordinates of the characteristic points, and feed them back to the power supply and power control device 2;

[0060] c. Picking: The host computer sends instructions to the controller through the CAN bus to control the movement of the shoulder joint 7, elbow joint 8, wrist joint 10 and the adapter 18 in the mechanical arm,...

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Abstract

The invention discloses a robot and a method for picking daylily. According to the invention, a navigation walking system is adopted for navigation and positioning of the robot; a fruit picking systemis adopted for mechanical picking of the daylily; an object identification and positioning system is adopted for accurate identification and positioning in picking operation; a fruit collection device is adopted for timely collection of picked daylily; and an electric source and power control device is adopted for intelligent control to all systems. Through mechanical and electrical combination,and by combination of the growth characteristics and picking requirements of the daylily for highly-efficient picking, the manner of replacing manual labor with the robot is realized. The method provided by the invention controls the picking path of the robot for picking the daylily; three-dimensional coordinates of a feature point are obtained to be fed back to the electric source and power control device, so the feasibility and accuracy of the whole picking operation are guaranteed; and picking operation of the daylily is completed, and the picked daylily is timely collected, so the pickingand collection efficiency of the daylily is improved, the number of times of handling can be effectively reduced, and the quality of picked daylily is improved.

Description

technical field [0001] The invention relates to the technical field of mechanical automation, in particular to a robot and a method for picking daylily. Background technique [0002] Day lily has good quality, delicious taste, high nutrition, large planting scale and high yield. It occupies an important position in the agricultural industrial structure. It is one of the main economic incomes of farmers and a hope industry for farmers to get rich. And with the discovery that day lily has the effect of preventing senile dementia, the number of middle-aged and elderly people who eat it will increase, so the planting scale of day lily will become larger and larger in the future. However, due to the fact that day lily picking is completely manual, the labor intensity is high and the efficiency is low. As the rural labor force gradually transfers to the secondary and tertiary industries and cities and towns, the rural labor force will become more and more scarce, and the planting ...

Claims

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Application Information

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IPC IPC(8): A01D46/30
CPCA01D46/30
Inventor 张秀霞郭丽新刘士进张海生马翼飞张宁楠魏舒怡
Owner BEIFANG UNIV OF NATITIES
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