Litchi visual picking robot based on laser radar navigation and implementation method thereof

Abstract

The invention discloses a litchi visual picking robot based on laser radar navigation and an implementation method thereof. The litchi visual picking robot comprises a navigation mechanism, a carrying mechanism, a lifting mechanism, a power source, a mechanical arm, a binocular vision mechanism, a tail end executing mechanism, a control cabinet and a fruit collecting device. The navigation mechanism is installed at the front end of a vehicle body bottom plate of the carrying mechanism. The lifting mechanism is mounted on a vehicle body bottom plate of the carrying mechanism; the mechanical arm, the power supply and the control cabinet are mounted on a working platform of the lifting mechanism; the binocular vision mechanism is installed on the end effector fixing piece. The tail end executing mechanism is mounted at the tail end of the mechanical arm; the fruit collecting device is installed on the side face of the lifting mechanism. The device can accurately recognize litchi stems and automatically pick the litchi stems, and is high in picking efficiency, simple in overall structure and high in automation and intelligence degree.

Description

Technical field [0001] The invention belongs to the field of agricultural machinery, and specifically relates to a lychee visual picking robot based on laser radar navigation and an implementation method thereof. Background technique [0002] my country is the world's largest lychee producer, but picking and harvesting lychees requires a lot of labor, and the maturation period of lychees is very short. At the same time, the weather in Lingnan is hot and rainy. Failure to pick in time will cause serious economic losses. There are currently some lychee picking machines. For example, the patent CN109566097A discloses a lychee picking machine. When its picking claws perform the picking action, the multiple claw fingers arranged parallel to each other on the claw finger bracket will pinch the fruits without fruits during the picking process. For branches, the picking efficiency is low, and it cannot realize autonomous navigation. It is not equipped with a vision module and cannot...

AI Technical Summary

Problems solved by technology

[0002] my country is the world's largest producer of lychees, but picking and harvesting lychees requires a lot of labor, and the maturity period of lychees is very short. At the same time, the weather in Lingnan is hot and rainy. If they can't be picked in time, it will cause serious economic losses.

There are some lychee picking machines at present, such as patent CN109566097A discloses a kind of lychee picking machine, when its picking claw is performing the picking action, a plurality of claws that are arranged on the claw finger support in parallel to each other will clamp in the process of picking fruitless fruit. Branches, the picking efficiency is low, and it cannot realize autonomous navigation, and it is not equipped with a vision module, so it cannot realize automatic picking

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