Fruit tree pruning robot and pruning method

By using the fusion method of inertial navigation and visual system navigation and three-dimensional point cloud skeleton extraction technology in fruit tree pruning robots, the problems of large positioning errors and poor pruning effects of fruit tree pruning robots in the existing technology are solved, and efficient and accurate fruit tree pruning is achieved, improving the growth quality of fruit trees.

CN119817349APending Publication Date: 2025-04-15XINJIANG UNIVERSITY
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Patent Information

Application Number
CN202510268730.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-03-07
Publication Date
2025-04-15

AI Technical Summary

Technical Problem

The existing fruit tree pruning robots have problems such as complex structure, high cost, large positioning errors, easy to mistakenly shear, missing shears, and poor pruning effect within a dense range, which affects the growth and economic value of fruit trees.

Method used

A fruit tree pruning robot is designed, using a fusion method of inertial navigation and visual system navigation, combining three-dimensional point cloud skeleton extraction and particle swarm optimization methods to accurately obtain pruning points, and efficient pruning is achieved through the robotic arm and end actuator.

Benefits of technology

Efficient and accurate pruning of fruit tree branches is achieved, avoiding missed shearing and missing shearing, and improving pruning efficiency and the growth quality of fruit tree.

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Abstract

The invention provides a fruit tree pruning robot, and relates to the field of intelligent agriculture, the fruit tree pruning robot comprises a chassis (10), a supporting box body (20), a lifting mechanism (30), a mechanical arm (40), a tail end execution mechanism (50) and a visual identification assembly, the supporting box body (20) is arranged on the end face of the chassis (10), the lifting mechanism (30) is arranged in the supporting box body (20), and the lifting mechanism (30) is connected with a bottom joint of the mechanical arm (40); the tail end executing mechanism (50) is arranged at the end, away from the lifting mechanism (30), of the mechanical arm (40) and comprises a fixed flange base (51), a driver (52), a fixed rod (53), a push rod (54) and a disk saw (55), and the visual recognition assembly comprises a top binocular camera (61) and a bottom binocular camera (62). The pruning robot can effectively prune fruit tree branches, the pruning efficiency is high, and the pruning effect is good.
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