Automatic fruit picking apparatus based on three-dimensional scanning positioning

Abstract

The invention discloses an automatic fruit picking apparatus based on three-dimensional scanning positioning, comprising a traveling cart, an automatic mechanical arm mounted at the top of the traveling cart, a three-dimensional scanner mounted on the traveling cart to acquire positional information of fruits, and a control unit for controlling the automatic mechanical arm according to an acquisition signal of the three-dimensional scanner so as to arrive at fruit picking. The input end of the control unit is electrically connected with the output end of the three-dimensional scanner; the output end of the control unit is electrically connected with the input end of the automatic mechanical arm; strawberries are scanned through the three-dimensional scanner, accurate spatial coordinates ofthe strawberries can be acquired quickly, picking can be performed through the automatic mechanical arm, and therefore, automatic recognition and picking are achieved for fruits, fruit picking success rate can be increased, and manpower can be saved.

Description

technical field [0001] The invention relates to the field of berry fruit picking, in particular to an automatic fruit picking device based on three-dimensional scanning and positioning. Background technique [0002] The labor intensity of fruit and vegetable harvesting is very high, and automatic harvesting is a very difficult topic. Scholars from all over the world have promised to develop harvesting robots such as apples, citrus, tomatoes, eggplants, peppers, and cucumbers. There are very few automated machinery products. This is not only because the demand for strawberries has only expanded in recent years, but also because of the "petite" nature of strawberry fruits. Strawberry bushes are relatively low grassy plants that can supply mechanical products. There is not enough space for activities, and at the same time, the strawberry fruit is soft and juicy, easily injured, and has a unique shape. If mechanical claws or robots are used for picking, the integrity of the stra...

AI Technical Summary

Problems solved by technology

[0002] The labor intensity of fruit and vegetable harvesting is very high, and automatic harvesting is a very difficult topic. Scholars from all over the world have promised to develop harvesting robots such as apples, citrus, tomatoes, eggplants, peppers, and cucumbers. However, for strawberry fruit-harvesting robots There are very few automated machinery products. This is not only because the demand for strawberries has only expanded in recent years, but also because of the "petite" nature of strawberry fruits. Strawberry bushes are relatively low grassy plants that can supply mechanical products. There is not enough room for movement, and the strawberry fruit is soft and juicy, easy to be injured, and has a unique shape. If mechanical claws or robots are used for picking, the integrity of the strawberry fruit may be damaged

Scholars from various countries have been looking for suitable harvesting methods. For example, Japanese scholars have designed a robot that uses highly flexible mechanical fingers to directly grab strawberry stalks for picking. strawberries; and in the prior art, it is difficult to identify and locate strawberries, and the collection success rate is low

Images