A system for intelligently picking string-shaped fruits

Abstract

The invention provides an intelligent system for picking string-shaped fruits, which includes a picking manipulator (1), a mechanical connecting arm (2), a mobile platform (3), an air blow gun (4), a monocular vision camera (5), a binocular Vision camera (6) and control system (7); the system realizes the pre-positioning of the mother branch through the cooperation of the monocular vision camera (5) and the binocular vision camera (6), and at the same time determines the interference type of the mother branch during the picking process , using air blow guns for active anti-jamming; finally, based on the type of interference and the method of active anti-jamming, use the control system to determine the feeding end point and feeding path, and realize the picking of string-shaped fruits. Through the visual perception system, the system completes the identification of the parent branch and the type of interference, thereby completing the implementation of active anti-disturbance and the calculation of the feeding route, realizing the cutting of the string-shaped fruit branch, avoiding wrong cutting, missed cutting, repeated picking, etc. , improve picking efficiency, reduce picking time and picking labor, and realize intelligent picking.

Description

technical field [0001] The invention relates to the technical field of fruit intelligent picking, in particular to a system for intelligently picking string-shaped fruits. Background technique [0002] my country is an important producer of string fruits such as grapes, lychees, and longan. However, the harvest of these fresh fruits is basically manual picking, which is labor-intensive, low-efficiency, time-consuming, and expensive. With the aging population in my country and the reduction of young and middle-aged labor force, low fruit loss and timely harvesting have become one of the major problems faced by fruit farmers. With the advancement of science and technology, mechanical automation and intelligence have been widely used in all walks of life. When using picking robots to pick bunch-shaped fruits, it is necessary to first identify the fruit bunches from the complex orchard environment through vision and other sensors, and then Picking is carried out according to th...

AI Technical Summary

Problems solved by technology

[0003] However, due to the random distribution and growth characteristics of the bunch-shaped fruit itself, it is difficult to identify and locate the mother branch, and it is impossible to effectively distinguish the mother branch from the branches; The mother branch is blocked or shifted, resulting in problems such as wrong pruning, missed pruning, repeated picking, etc., resulting in damage to the fruit, failure to pick or low picking efficiency, waste of time and manpower and material resources

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