Unmanned robot capable of picking fruits without damage

Abstract

The unmanned robot comprises a vehicle body, a movement mechanism and a mechanical gripper, a controller and a first detector are arranged on the vehicle body, a driving mechanism is arranged at the bottom of the vehicle body, the mechanical gripper comprises a fixed rod, a rotating rod and a gripper, a first driver is arranged on the fixed rod, and a second driver is arranged on the rotating rod. The first driver controls the rotating rod to rotate, the gripper is installed at the end of the rotating rod, a second driver is arranged in the rotating rod to control opening and closing of the gripper, a second detector is installed on the fixed rod, and the detection area of the second detector is located in front of the gripper. A collecting box used for storing fruits is installed on the vehicle body, and lossless fruit picking can be achieved.

Description

【Technical field】 [0001] The invention relates to an unmanned robot capable of picking fruits without damage, and belongs to the technical field of fruit picking robots. 【Background technique】 [0002] China is a big fruit producing country. The cultivated area of ​​apples, pears and peaches ranks first in the world. However, the degree of mechanization of orchards in my country is not high, especially in the picking process where the workload accounts for 40%. At present, fruit picking basically adopts manual picking, and its workload is very heavy and inefficient. There is an urgent need for a picking robot to replace or assist people's picking work. At present, some universities and enterprises have developed a series of picking robots for the picking process, but they have problems such as no obstacle avoidance or poor obstacle avoidance ability, large size, low efficiency, high cost, and difficulty in achieving non-destructive picking. For the end effector, there are u...

AI Technical Summary

Problems solved by technology

[0002] China is a big fruit producing country, and the cultivation area of ​​apples, pears and peaches ranks first in the world, but the degree of mechanization of orchards in my country is not high, especially in the picking process where the workload accounts for 40%

At present, fruit picking is basically manual picking, and its workload is very heavy and inefficient. There is an urgent need for a picking robot to replace or assist people's picking work

At present, some universities and enterprises have developed a series of picking robots for the picking process, but they have problems such as no obstacle avoidance or poor obstacle avoidance ability, large size, low efficiency, high cost, and difficulty in non-destructive picking.

For the end effector, there are usually two methods: one is to grab the fruit and pull it off from the branch. The pull-off separation is more difficult and it is easy to separate the fruit from the fruit stem when pulling it down, resulting in the exposure of the pulp at the separation point of the fruit stem. The storage time of the fruit is affected outside; the second is to separate the fruit stem from the fruit branch through the shearing device. The cutting part of the fruit stem is sharper, and when a large number of fruits are mixed together, it is easy to scratch the surface of each other and affect the appearance and storage time; these two methods Each has its own defects and deficiencies, and it is difficult to be effectively applied in (unmanned) mechanized harvesting

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