An intelligent fruit and vegetable picking device and picking method

Abstract

The invention provides an intelligent fruit and vegetable picking device, which includes a walking device, a lifting platform, a mechanical arm, an end effector, a transmission device, a visual device, and a control device. The physical information of the surrounding environment is obtained by using an IP camera to obtain visual information. The starting point information of the picking device and the information of the fruit and vegetable planting environment, and then through the path planning algorithm, the picking device can independently select the optimal path and move to the destination under the condition of known environment, and then complete it independently according to the fruit and vegetable position information obtained by the video sensor Picking jobs. At the same time, according to the acquired visual information, through wireless transmission, the real-time display and monitoring of the movement status of the picking device by the mobile device terminal can be realized, which greatly reduces the inaccurate identification and positioning of fruits and vegetables and the phenomenon of missed picking.

Description

technical field [0001] The present invention relates to the field of robot technology, in particular to an autonomous track-tracking visual intelligent fruit and vegetable picking device suitable for the agricultural field. Through the device, the fruit and vegetable picking operation can be cost-effective, efficient and accurate. Background technique [0002] In recent years, with the application and popularization of digitization, automation, and intelligent technologies in the agricultural field, robot technology has gradually entered the field of modern agricultural production. Agricultural robots can be roughly divided into fruit and vegetable picking robots, vegetable grafting robots, fruit and vegetable sorting robots, and farmland operation robots. Fruit and vegetable picking robot is a kind of automatic mechanical harvesting equipment with a perception system for fruit or vegetable harvesting operations. It involves knowledge in multidisciplinary fields such as ont...

AI Technical Summary

Problems solved by technology

Looking at the existing technologies, the fruit and vegetable picking devices currently on the market mainly have the following problems: (1) The picking height is relatively single, and most of the picking heights are very low, and only relatively low fruits and vegetables can be picked. Relatively high fruits and vegetables cannot be picked by machinery, but can only be picked manually; and most of the picking devices are moved by rollers. For steep places with complicated road conditions or sandy land, land with deep grass, etc., the rollers are easy to get stuck on the ground. , resulting in the failure of the entire device to move normally; (2) the picked fruits and vegetables fall directly on the ground or directly into the collection device, which easily damages the outer surface of the fruits and vegetables, shortens the shelf life of the fruits and vegetables, and also affects the sales price of the fruits and vegetables; (3) During the picking operation, the fruits and vegetables in the same orchard may be large or small, and different types of fruits and vegetables are usually of different sizes. The size of the picking parts of the existing picking devices is usually fixed, and they can only pick the same size or within a certain size range. If there is a large difference in the volume of fruits and vegetables, it is necessary to replace different picking parts for picking or use manual picking, which has poor adaptability and seriously affects the picking efficiency; (4) Fruit and vegetable identification and positioning are not accurate, and too many branches and leaves block fruits and vegetables There are many missed pickings caused by factors. In addition, the complexity of the plantation environment will reduce the efficiency of picking operations.

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