Intelligent tomato lateral branch trimming robot based on visual inspection

Abstract

The invention relates to the field of intelligent robots, in particular to an intelligent tomato lateral branch trimming robot based on visual inspection. The intelligent tomato lateral branch trimming robot comprises a first lateral moving frame, a second lateral moving frame, an adjusting mechanism, first visual inspection cameras, shear fork type lifting mechanisms, translation rotating mechanisms, multi-axis mechanical arms and a scissors elastic clamping head, wherein the top end of the lateral moving frame is fixedly connected with working ends on two sides of the adjusting mechanism; the first visual inspection cameras are arranged on two sides of the bottom end of the lateral moving frames; the shear fork type lifting mechanisms are arranged at the bottom ends of the first lateral moving frame and the second lateral moving frame, a damping frame is further arranged at the bottom end of each shear fork type lifting mechanism, and electric universal wheels are further arranged on the two sides of the bottom end of each damping frame; the translation rotating mechanisms are arranged at the bottom ends of the opposite sides of the first lateral moving frame and the second lateral moving frame; the mounting ends of the multi-axis mechanical arms are coaxially and fixedly connected with the rotating parts of the translation rotating mechanisms; and the scissors elastic clamping head is arranged on the rotating part of each multi-axis mechanical arm, and a second visual inspection camera is arranged at the working end of the scissors elastic clamping head. The robot can automatically trim tomato lateral branches and support the lateral branches away from trunks.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to an intelligent tomato side branch pruning robot based on vision detection. Background technique [0002] In the process of tomato planting management, due to the vigorous growth of tomato and its strong branching ability, it is necessary to regularly trim side branches to ensure the effective use of nutrients, reduce energy waste, and improve the economic benefits of tomato planting. However, many growers have problems such as late pruning, pruning out side branches by hand, and improper handling of diseased and residual branches in the pruning and crossing process, which not only affects the growth of tomato plants, but also reduces the quality of tomatoes. For large-scale growers, manual pruning of large-scale tomatoes requires a lot of manpower and material resources, and the cost is too high. Research and promotion of automatic tomato pruning technology has become an urgent ...

AI Technical Summary

Problems solved by technology

[0004] The device has low working efficiency and high cost,

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