Four-degree-of-freedom multi-eye visual rotary flight type picking robot and picking method thereof

A picking robot and multi-eye vision technology, which is applied to the multi-eye vision spinning flying picking robot and its picking field, can solve the problems of danger, difficulty in picking fruit trees in mountainous areas, small body, etc.

Pending Publication Date: 2020-08-28
SOUTH CHINA AGRI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, fruit picking is mainly manual picking, but the cost of manual picking is high and the efficiency is low. The picking process often requires tools such as ladders, which is dangerous
There are also some picking robots on the market, but many fruit trees are planted in mountainous areas, and most of the picking robots walk on land, which is difficult to apply to picking fruit trees in rugged mountainous areas
[0003] At present, picking robots have problems

Method used

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  • Four-degree-of-freedom multi-eye visual rotary flight type picking robot and picking method thereof
  • Four-degree-of-freedom multi-eye visual rotary flight type picking robot and picking method thereof
  • Four-degree-of-freedom multi-eye visual rotary flight type picking robot and picking method thereof

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0072] Example 1

[0073] A four-degree-of-freedom multi-eye vision rotary flying picking robot, such as figure 1 As shown, it includes a UAV 1, a picking mechanism 2 and a multi-eye vision device 4; the picking mechanism 2 and the multi-eye vision device 4 are installed on the UAV 1; the UAV 1 communicates with industrial control via cable or wireless Computer 3 and computer 5 are connected for data transmission and system control.

[0074] The picking mechanism 2 includes a telescopic rod 21, a picking manipulator 22, such as figure 2 Shown. The telescopic rod 21 has at least three sections, including a first section rod 211, a middle section rod 212 and an end section rod 213, wherein the middle section rod has more than one section, and the first section rod, the middle section rod and the end section rod are nested in steps; The front end of the first rod is installed in the body of the drone, and the end of the end rod is equipped with a picking manipulator. Except for the...

Example Embodiment

[0080] Example 2

[0081] Such as Image 6 As shown, based on the four-degree-of-freedom multi-eye vision rotary flying picking robot, in the picking process, first the drone 1 is on the land, records the initial position, obtains the harvest position Z through measurement, and obtains the fruit image through the positioning camera 42 , Initialize the position; then open the telescopic rod 21 of the picking hand, fully extend, turn on the servo motor, rotate the end rod 213, drive the picking manipulator 22, make the three fingers of the picking manipulator appear in an inverted triangle shape (such as Picture 10 (Shown in the picking state), and cut off the power of the joint ring 215 through a wire, so that the spring 216 squeezes the sliding guide 217, and then resists the long rod 225, and the middle finger 222 flips outward. The wire controls the full extension of the middle knuckle, and the end knuckle 223 turns outwards to complete the picking and stretching action. Then ...

Example Embodiment

[0082] Example 3

[0083] Such as Figure 7 As shown in the picture b, the bottom fruit is picked. When the top fruit is to be picked again, there is no need to repeat positioning. Directly at the original position, reduce the speed of the rear rotor and increase the speed of the front rotor. The speed of the middle rotor remains unchanged, and the drone poses When the change occurs, the backward movement is completed, and the telescopic rod is extended to reach the upper fruit, which is the pose of picture a. The main picking operations in this process are the same as in Example 2.

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Abstract

The invention discloses a four-degree-of-freedom multi-eye visual rotary flight type picking robot and a picking method thereof. The picking robot comprises an unmanned aerial vehicle, a picking mechanism and a multi-eye visual device, wherein the picking mechanism comprises a telescopic rod and a picking mechanical hand, and the picking mechanism and the multi-eye visual device are mounted on theunmanned aerial vehicle; and the unmanned aerial vehicle communicates with an industrial control computer and a computer through a cable or wireless manner for data transmission and system control. Integrated design of the unmanned aerial vehicle and the picking mechanism is realized, the four-degree-of-freedom multi-eye visual rotary flight type picking robot is a four-degree-of-freedom pickingrobot, multiple-oriented picking can be realized, the picking range is extended, and the picking efficiency is improved; and the designed picking mechanical hand can dynamically change free expandingand contracting of middle finger joints of three fingers according to the size of fruits, the holding capacity of the mechanical hand on the fruits is improved, and the applicability is high.

Description

technical field [0001] The invention relates to the field of picking machinery, in particular to a four-degree-of-freedom multi-eye vision spinning flying picking robot and a picking method thereof. Background technique [0002] my country is a big country in fruit production and planting, and fruit picking is an important link. At present, fruit picking is mainly manual picking, but the cost of manual picking is high and the efficiency is low. The picking process often requires tools such as ladders, which has certain risks. There are also some picking robots on the market, but many fruit trees are planted in mountainous areas, and most of the picking robots walk on land, which is difficult to be suitable for picking fruit trees in rugged mountainous areas. [0003] At present, picking robots have problems such as small body, small load, low efficiency, and poor environmental adaptability. The design of picking robots often focuses on the structure of picking, and relative...

Claims

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Application Information

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IPC IPC(8): A01D46/30B64C27/08B64D47/00B64D47/08
CPCA01D46/30B64D47/08B64D47/00B64C27/08B64U10/10B64U2101/00
Inventor 邹湘军何建华唐昀超叶磊李恩承林芸帆
Owner SOUTH CHINA AGRI UNIV
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