Robot arm device with fruit maturity distinguishing function

Abstract

The invention relates to a robot arm device with a fruit maturity distinguishing function, and belongs to the technical field of agricultural robots. The problems that in the prior art, a picking robot is poor in distinguishing capacity for apples with different maturity degrees, and peels are prone to being damaged in the picking process are solved. The robot arm device comprises a mechanical armmechanism, a flexible gripper mechanism, a RGBD camera and a console. The mechanical arm mechanism comprises a first mechanical arm and a second mechanical arm; the flexible gripper mechanism comprises a flexible finger joint mechanism and a gripper steering engine used for controlling the grabbing action of the flexible finger joint mechanism; the flexible finger joint mechanism comprises threeenveloped flexible fingers, and a flexible film pressure sensor is arranged on the side, in contact with the fruit, of each flexible finger; and the console comprises a control module and a fruit maturity distinguishing module. According to the robot arm device with the fruit maturity distinguishing function, ripe fruits capable of being picked can be accurately recognized, it is ensured that thepeels are not damaged while apples are picked, and waste caused by picking of immature apples is greatly reduced.

Description

technical field [0001] The invention belongs to the technical field of agricultural robots, and in particular relates to a robot arm device with the function of distinguishing fruit ripeness. Background technique [0002] my country's apple production and cultivation area both rank first in the world, and it is a traditionally advantageous export product. In apple production, picking is the most laborious and time-consuming link. At present, apple picking is mainly done manually, which requires a lot of labor. With the aging of the population, there are problems such as low picking efficiency, high cost, and heavy labor. Generally, the mechanized picking of apples causes the fruit on the apple tree to fall through vibration, or even use the method of large-scale extraction, which cannot target the specific differences in maturity and size of the fruit, resulting in a great impact on the quality of the fruit. With the development of computer technology, artificial intellige...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the complex structure, high production cost, and easy damage to the peel or even the pulp of the apple picking manipulator in the prior art, it has a serious impact on the quality of the fruit. It does not have the ability to identify the maturity of apples, and it is easy to pick immature fruits. To solve the problem, provide a robot arm device with the function of distinguishing fruit ripeness, which can be applied to the field of picking robots for fruits such as apples

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