Spherical fruit picking robot and picking method

Abstract

The invention discloses a spherical fruit picking robot and a picking method.The spherical fruit picking robot comprises a moving trolley, an electric shear type lifting platform, a mechanical arm, an end effector, a visual device, a collecting device and a control device.The moving trolley comprises a double-layer frame, driving wheels, a driving motor and a motor connecting piece; the mechanical arm comprises a base, a rotating motor, a rear arm motor, a mechanical rear arm, a front arm motor, a mechanical front arm, a wrist motor and a mechanical wrist, the end effector is composed of a T-shaped base, an electric push rod, a hydraulic supporting rod, a clamping mechanism, a cutting mechanism, a sliding block mechanism and a pressure sensor, and the vision device comprises a depth camera and a camera support. The control device comprises a controller, a processor and a storage battery, a visual guidance picking method is further combined, automatic picking of the spherical fruits such as apples, oranges and kiwi fruits can be achieved, and the automatic picking device has the remarkable advantages of being high in automation degree, high in universality, high in efficiency, low in damage and the like.

Description

technical field [0001] The invention belongs to the field of picking robots, and in particular relates to a spherical fruit picking robot and a picking method. Background technique [0002] my country is a big fruit producing and consuming country, and its fruit planting area and output both rank first in the world. Among them, spherical fruits represented by apples, citrus, and kiwi are very popular among consumers. At present, the picking of corresponding fruits mainly depends on manual work. Picking operations are highly seasonal, labor-intensive, and costly, and it takes a lot of manpower, material resources, and time to pick them. At the same time, the aging of the agricultural population coexists with the decrease in the proportion of young rural employees. Therefore, relying on artificial large-scale picking methods can no longer meet the needs of modern agricultural production. The application of picking robots in the field of fruit and vegetable picking is the de...

AI Technical Summary

Problems solved by technology

[0008] The object of the present invention is to provide a spherical fruit picking robot and picking method to solve the problems of low picking success rate, low degree of automation and poor versatility in picking robots in the prior art

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