Robot picking and recovering system for mandarin orange fruits and operation method

Abstract

The invention provides a robot picking and recovering system for mandarin orange fruits and an operation method, and belongs to the field of agricultural robots. The robot picking and recovering system is composed of an end executor and a fruit conveying device, wherein the end executor is of a two-hemispherical-surface finger structure with short blades arranged at fingertips, and by control forhemispherical-surface finger clamping and bouncing actions and cooperation of the hemispherical-surface finger clamping and bouncing actions with a scraper conveyor and a conveying hose of the fruit conveying device, the robot can realize picking and recovering with short reserved stems in all directions of the crown of the closed mandarin orange. The recovery problem of downward fruit picking ofthe robot is solved, and the structure is simple and reliable.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a robot picking and recycling system and operation method for tangerine fruits. Background technique [0002] With the sharp decline of the agricultural labor force, the robotic picking of fresh forest fruits has become a key topic at home and abroad, and various picking robot solutions for different forest fruits continue to emerge. Tangerine is a traditional famous fruit in my country. Each tree bears hundreds of kilograms of fruit. At present, its harvesting is completely dependent on manual labor. The labor cost for picking has reached 0.7-1.2 yuan / kg. There is an urgent need to realize robot picking. [0003] Tangerine picking requires short stems to avoid damage to the peel during packing and transportation. At the same time, the canopy of the tangerines is tightly sealed, the fruit stems are hard and short, and the tangerines are small and densely packed, and the closer...

AI Technical Summary

Problems solved by technology

Due to the long distance between the picking position on the top of the tree crown and the post-harvesting position, relying on the mechanical arm to avoid collision with the tree crown and back and forth to release the fruit is complex, the energy consumption is too large, and the efficiency is extremely low, which is far from meeting the needs of production.

At present, the method of feeding the robot into the hose and returning it to the basket after harvesting is becoming popular, but this method is only suitable for the fruit to be transported along the hose from the picking position by gravity, and it is difficult to meet the needs of the mechanical arm to complete the picking and recycling obliquely

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