Spherical-like fruit picking robot based on machine vision and fruit picking method thereof

A picking robot and machine vision technology, which is applied to picking machines, agricultural machinery and tools, manipulators, etc., can solve the problems of low cost performance of robots, highly damaged fruits, and large picking losses, so as to improve the quality of picked fruits, prevent fruit damage, The effect of reducing the cost of picking

Pending Publication Date: 2021-12-28
ZHENGZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the purpose of the present invention is to provide a spherical fruit picking robot based on machine vision and its fruit picking method, which can solve the problems of

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  • Spherical-like fruit picking robot based on machine vision and fruit picking method thereof
  • Spherical-like fruit picking robot based on machine vision and fruit picking method thereof
  • Spherical-like fruit picking robot based on machine vision and fruit picking method thereof

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Embodiment Construction

[0040] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0041] In the following description, terms such as "inner", "outer", "upper", "lower", "left", "right" etc. appearing to indicate orientation or positional relationship are only for the convenience of describing the embodiment and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the invention.

[0042] Medium and large spherical fruits in the present invention include pomelo and durian, medium spherical fruits with stalks include oranges, lemons, apples, and pears, medium spherical fruits without stalks...

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Abstract

The invention discloses a spherical-like fruit picking robot based on machine vision and a fruit picking method thereof. The spherical-like fruit picking robot comprises a picking device, a collecting device, a driving device, a console and a telescopic hose, the picking device comprises a mechanical arm base, a base rotating motor, a mechanical arm device, an end effector, an internal visual sensor, a large fruit shearing device, a small and medium fruit clamp and an external visual sensor, the end effector is connected with the collecting device through the telescopic hose, and the picking robot controls the picking device, the driving device and the collecting device to work through the console so as to complete fruit picking operation. According to the fruit picking robot, efficient picking of spherical-like fruits such as apples, pears, oranges, lemons, grapefruits, durians, kiwi fruits and grapes which grow and are distributed sparsely can be achieved, the cost performance of the picking robot is greatly improved, the fruit picking cost is reduced, and the fruit picking quality is greatly improved.

Description

technical field [0001] The invention mainly relates to the technical field of picking robots, in particular to a machine vision-based spherical fruit picking robot and a fruit picking method thereof. Background technique [0002] With the development of computer technology, artificial intelligence technology and automatic control technology, picking robots are gradually becoming popular. A variety of picking robots have been applied on the market, such as apple picking robots, pear picking robots, kiwi fruit picking robots, etc. With the rapid development of society, people's living standards continue to improve. Fruit production is gradually scaled up, and fruit picking is becoming more and more intelligent. People's requirements for fruit quality are increasing, and fruit merchants are also increasingly demanding for fruit picking. For example, apples, pears and other fruits require the stalks to be retained. And the picking methods of common fruits are also different. ...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J15/00B25J19/00A01D46/30B25J5/00B25J9/12B25J9/16
CPCB25J11/00B25J9/126B25J5/007B25J19/00A01D46/30B25J9/1697B25J9/1679B25J9/1602B25J15/0066Y02P60/12
Inventor 彭金柱杨耀雨董梦超张方方辛健斌刘艳红
Owner ZHENGZHOU UNIV
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