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Robot picking method for fruit picking

A technology for picking robots and fruits, applied in picking machines, harvesters, agricultural machinery and implements, etc., can solve problems such as single picking tools and damage to fruits, and achieve the effects of improving picking efficiency, reducing damage, and reducing manufacturing costs.

Active Publication Date: 2020-04-24
大国重器自动化设备(山东)股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Therefore, the technical problem to be solved by the embodiments of the present invention is to overcome the single picking tool and the defects of fruit damage in the picking process in the prior art, thereby providing a fruit picking robot picking method

Method used

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  • Robot picking method for fruit picking
  • Robot picking method for fruit picking
  • Robot picking method for fruit picking

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] This embodiment provides a fruit picking robot device, which is applied to the field of agricultural picking machinery, such as figure 1 As shown, it includes: a clamping and picking mechanism, a robotic arm 4, a steering connector 5, and the like. The gripping and picking mechanism is used to pick fruits, and its gripping force can be adjusted according to the type and size of the picked fruits, so as to reduce the damage of the fruits by gripping hands during the picking process; the robotic arm 4 is mainly used to control the gripping The movement position of the end of the picking mechanism has six degrees of freedom, which greatly increases the movement range of the clamping and picking mechanism, thereby increasing the range of fruit picking; one end of the steering connector 5 is connected to the front end of the mechanical arm 4, and the other end It is connected with the clamping and picking mechanism, and the steering connector 5 is connected with different cl...

Embodiment 2

[0093] This embodiment provides a fruit picking robot picking method, which can be applied to the fruit picking robot in Embodiment 1, such as Figure 12 shown, including the following steps:

[0094] S1. Control the robotic arm 4 to move close to the picking area X so that the vision sensor 8 collects a clear image of the fruit target;

[0095] S2. According to the clear image of the fruit target, determine whether the fruit is a hard-shelled fruit or a soft-skinned fruit; when it is a hard-shelled fruit, go to S3; when it is a soft-skinned fruit, go to S8;

[0096] S3, drive the rotating steering connector 5 to make the belt clamping and picking mechanism align with the picking area X;

[0097] S4, controlling the mechanical arm 4 to drive the belt clamping and picking mechanism to continue to move toward the picking area X, so that the visual sensor 8 collects a panoramic image of the picking area X;

[0098] S5. Extract all fruit targets in the panoramic image;

[0099]...

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Abstract

The invention discloses a robot picking method for fruit picking and belongs to the field of agricultural picking machinery. The robot picking method comprises the following steps: controlling a mechanical arm to move to get close to a picking area X to enable a visual sensor to acquire a clear image of fruit targets; judging whether the fruits belong to hard shell type fruits or soft peel type fruits according to the clear image of the fruit targets; when the fruit targets are hard shell type fruits, driving a rotating steering connecting part to enable a belt clamping picking mechanism to align to the picking area X; controlling the mechanical arm to drive the belt clamping picking mechanism to move towards the picking area X to enable the visual sensor acquire a panoramic image of the picking area X; extracting all fruit targets from the panoramic image; dividing the picking area X into multiple fruit group areas according to distances between the fruit targets, and determining thepicking order of the fruit group area; and carrying out multi-fruit picking steps according to the picking order of the fruit group areas to complete picking of all the fruit group areas. The robot picking method can pick multiple fruits and is low in fruit damage and high in picking efficiency.

Description

technical field [0001] The invention relates to the field of agricultural picking machinery, in particular to a fruit picking robot picking method. Background technique [0002] At present, manual picking still occupies a dominant position in fruit picking, which is labor-intensive and low-efficiency. With the development of science and technology, the new fruit picking device is becoming more and more mature, which greatly improves the picking efficiency. The grab-type break-type picking tools currently used in the market, for example, a fruit picker disclosed in CN201821918169.5, adopts a grab-type hand to cooperate with the scissors at the end of the hand, although it can realize soft-skinned fruits such as mangoes However, when encountering fruits of different volumes, the structure of the picking hand is fixed and the picking force is not adjustable, which is easy to scratch the fruit. [0003] At present, the picking devices currently used in the market are very simp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30A01D91/04
CPCA01D46/30A01D91/04
Inventor 李月芹
Owner 大国重器自动化设备(山东)股份有限公司