Fruit and vegetable picking robot and control method thereof

Abstract

The invention discloses a fruit and vegetable picking robot and a control method thereof. The fruit and vegetable picking robot includes a mobile platform, a picking mechanical arm, a picking hand, acontrol system and a trailer. The mobile platform is connected with the trailer. The picking mechanical arm is installed on the mobile platform, and the picking hand is installed at the tail end of the mechanical arm. An eye-in-hand camera for obtaining pose information of a target object is mounted at the edge of the picking hand, the picking hand is provided with a vacuum picking device for picking fruits and vegetables, and the vacuum picking device conveys the fruits and vegetables to the trailer through vacuum tubes. A parallel adjusting mechanism is driven by six servo electric cylindersto realize the six-degree-of-freedom pose adjustment of the camera. The control system is used for processing the generation and transmission of camera image information and pose adjustment commands.The fruit and vegetable picking robot has the advantages of low cost, high precision, wide application range and the like, and is conveniently used in the picking process of various agricultural fruits and vegetables.

Description

technical field [0001] The invention relates to the technical field of robot mechanism design, in particular to a fruit and vegetable picking robot and a control method thereof. Background technique [0002] With the development of modern precision agriculture, the requirements for the automation and intelligence of agricultural machinery are getting higher and higher. In recent years, the output of fruits and vegetables in my country has increased year by year, and the picking period of fruits and vegetables is often short, which results in the need to invest a large amount of labor in a short period of time for high-intensity work when picking fruits and vegetables. But at present, the degree of aging in our country is becoming more and more serious, which has caused a shortage of labor force and an increase in cost. In order to alleviate labor shortage, reduce labor intensity, and reduce production costs, domestic and foreign scholars have studied many fruit and vegetabl...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problems of the above picking robots, the present invention provides a fruit and vegetable picking robot and its control method. The fruit and vegetable picking robot adds a 3-degree-of-freedom parallel picking hand at the end of a 3-degree-of-freedom serial picking mechanical arm, and utilizes a parallel mechanism with good dynamic performance, The advantages of high motion control precision to make up for the shortcomings of poor dynamic performance and low motion precision of series mechanisms

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