A kind of string tomato picking end effector, robot and picking method thereof

Abstract

The invention relates to a string tomato picking end effector, a robot and a picking method thereof. The end effector includes a cutting device, a guiding and limiting device, a cutter driver and an RGB-D camera; the cutting device includes a left cutter and a right cutter; when the two jaws of the cutter driver drive the left cutter and the right cutter to close , the cutting blade is located in the knife groove; and the swing gasket on the inner end surface of the left cutter head is in contact with the inner end surface of the right cutter head on the front side or the rear side of the cutting blade, so as to clamp the cut fruit stem of the picking target ;RGB‑D camera is used to detect and locate the stems of tomatoes; the guiding and limiting device includes upper conical rollers, upper swing bracket, fixed bracket, fixed base, lower swing bracket, lower conical rollers, rotating shaft and damping device. The invention solves the problems of large dependence on vision, small error redundancy, difficulty in detecting fruit stems, and inability to cluster tomatoes when the fruit is located behind the main stem or obliquely behind in bunch harvesting and picking.

Description

Technical field [0001] The present invention belongs to the field of intelligent agricultural machinery, and specific to a skewer tomato picking end effector, robot and a picking method thereof. Background technique [0002] China is the production and consumption of fresh food tomatoes, and its planting is large, the annual consumption is huge. Among them, string tomatoes are an indispensable fruit and vegetable in fresh food tomato consumption due to their nutrients, convenient and varieties, and have a medicinal value. my country's string tomato planting and consumption is in the rising stage, and the demand for fresh skewers is increasing, and the planting scale of greenhouse string tomatoes is further expanded. In agricultural production in string tomatoes, fruit harvesting homework is an important part of agricultural production, and is also the most time consuming and laborious link in string tomato production chain. However, the picking operation in my country's string to...

AI Technical Summary

Problems solved by technology

[0008] The object of the present invention is to provide an end effector for string tomato picking, a robot and its picking method, which solves the problems of large dependence on vision, small error redundancy, difficulty in fruit stem detection, and detection of fruits located in string tomato string picking. The rear side of the main stem or the oblique rear side cannot be used to string tomatoes, etc.

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