245 results about "Agricultural robot" patented technology

An agricultural robot system and method of harvesting, pruning, culling, weeding, measuring and managing of agricultural crops. Uses autonomous and semi-autonomous robot(s) comprising machine-vision using cameras that identify and locate the fruit on each tree, points on a vine to prune, etc., or may be utilized in measuring agricultural parameters or aid in managing agricultural resources. The cameras may be coupled with an arm or other implement to allow views from inside the plant when performing the desired agricultural function. A robot moves through a field first to “map” the plant locations, number and size of fruit and approximate positions of fruit or map the cordons and canes of grape vines. Once the map is complete, a robot or server can create an action plan that a robot may implement. An action plan may comprise operations and data specifying the agricultural function to perform.

The invention belongs to the field of agricultural robots and discloses an under-actuated three-finger type fruit-vegetable flexible picking device which comprises under-actuated finger mechanisms I, a tilting driving mechanism II, a telescopic driving mechanism III, a pruning mechanism IV, a palm supporting disc, a finger driving motor connecting disc and a wrist connecting clamping disc. The three sets of under-actuated finger mechanisms I are evenly distributed on the palm supporting disc which is fixedly connected with the finger driving motor connecting disc. The finger driving motor connecting disc is fixedly connected with the wrist connecting clamping disc which is connected with a wrist of a robotic arm. The tilting driving mechanism II and the telescopic driving mechanism III drive the pruning mechanism IV to tilt and stretch, and the pruning mechanism achieves shear movement. The using range and the using flexibility are expanded, the high picking success rate can be achieved, and mechanical damage on plants and fruits is lowered. Picking of sphere-similar fruits or clustering-growing fruits can be achieved. The device has the advantages that fruit shape self-adaptation capacity is achieved, and contact force is controllable.

The invention discloses a dexterous three-finger hand of a fruit picking robot, and relates to the technical field of dexterous agriculture robot hands. The dexterous three-finger hand mainly comprises three modular fingers, a palm, a sensor module and a control module, wherein a rubber pad is arranged on each finger pulp (7) of the modular fingers; three mounting grooves (12) are uniformly distributed in the palm (11) along the circumference; base joint brackets (5) of the fingers are fixedly mounted inside the mounting grooves through screws; the sensor module comprises an ultrasonic sensor (14) and a pressure sensor (4) which are used for detecting signals about the distance between a fruit and the center of the palm and signals about the pressure of the fingers contacted with the fruit, respectively; the control module controls a motor to rotate positively and reversely according to the sensor signals, so as to realize flexible holding of the dexterous three-finger hand; and subsequently the palm turns together with the wrist to twist off the pedicel, then the fruit is picked. The dexterous three-finger hand disclosed by the invention has personate fingers, is flexible and convenient, flexible to operate, applicable to picking of various fruits, and good in university and adaptability.

The invention discloses an obstacle avoidance system of a mountain farming robot on the basis of multi-sensor information fusion. The obstacle avoidance system mainly comprises a vision sensor module, an ultrasonic sensor module, an infrared sensor module, a data fusion module and a control module. DSPs (digital signal processors) of the various sensor modules process obstacle information, which is respectively acquired by the sensor modules, of peripheral environments; a DSP of the data fusion module receives obstacle information which is processed by the various sensor modules, and fuses the obstacle information according to a specific fusion rule, and fused data are transmitted to an ARM [advanced RISC (reduced instruction-set computer) machine] processor of the control module; and the ARM processor makes behavior decision and controls behavior, and obstacles around the mountain farming robot are avoided by means of controlling an actuator. The obstacle avoidance system has the advantages that the multi-sensor information is processed in parallel by the multiple DSPs, the data processing speed is increased, requirements on obstacle avoidance instantaneity and accuracy are met, and the robot can avoid the obstacles flexibly and reliably.

The invention relates to the field of agricultural robots, and discloses a fruit picking end effector. The fruit picking end effector comprises an adsorption piece, a screw, a fixed block, a driving part, two clamping fingers and a cutting part, wherein one end of the screw is connected with the adsorption piece; the other end of the screw passes through the fixed block; the driving part is positioned above the fixed block and connected with the fixed block; the two clamping fingers are connected with the driving part respectively, positioned above the adsorption piece and opened and closed under the control of the driving part; and the cutting part is connected with the two clamping fingers. The fruit picking end effector can efficiently and nondestructively pick, sort and pack small fruits.

The invention belongs to the field of agricultural robots, in particular to a small-sized inter-row weeding robot for paddy fields, which comprises a chassis, a drive system, a control system, a sensing system, a weeding device and a power source. A drive motor drives a spindle to rotate so as to drive paddle wheels, and the paddle wheels rotate at different speeds to turn the robot. A direct current motor drives a weeding disc blade to rotate to cut off inter-row weeds on a paddy field. Silt generated in travelling of the paddle wheels covers the weeds among plants to inhibit the inter-plant weeds. After a limit switch contacts with rice plants, a single chip microcomputer controls the left motor and the right motor to rotate at different speeds so as to lead the weeding robot to turn and avoid the plants. When a pressure sensor touches a ridge, the single chip microcomputer controls the drive motor to rotate reversely and the weeding robot continues operating in the opposite direction. The sensing system is capable of measuring information such as paddy field water temperature, plant amount and the like. The small-sized inter-row weeding robot for paddy fields is operated in a mechanical weeding mode, so that usage of pesticides and weeding labor are reduced, environment pollution by the pesticides is lessened, and cost is saved. The small-sized inter-row weeding robot for paddy fields is small in size and light in weight.

The invention relates to a hydraulically-driven steering device, in particular to an electrically-controlled hydraulically-driven steering device for a mobile platform of an agricultural robot, which comprises a supporting plate, a double-acting single-piston-rod cylinder, a connecting rod, a hydraulic steering gear, a coupler, a stepping motor, an oil tank, a remote controller, a three-position four-way electromagnetic directional valve, a gerotor motor, a filter, a gasoline engine, a dual gear pump, a speed regulating valve and a one-way valve. The stepping motor is connected to a power input shaft of the steering gear through the coupler, the steering gear is a parallel four-rod steering gear, and the remote controller is used for controlling steering and turn angles of the stepping motor to change the expansion length of a piston rod, so that turn directions and the turn angles of wheels are controlled. The remote controller is used for adjusting the position of a valve spool of the three-position four-way electromagnetic directional valve to control steering of the hydraulic motor, so that advancing, retreating and stopping of a four-wheeled vehicle are realized. The speed regulating valve is added in front of the stepping motor so that stepless speed regulating can be realized, and the electrically-controlled hydraulically-driven steering device is simple in structure, convenient in operation and low in cost.

A column cultivation matching transplanting robot belongs to the agricultural robot field. The column cultivation matching transplanting robot comprises a mobile platform, a manipulator, an end performer inclination angle adjusting mechanism and an end performer. During working, the mobile platform carrying plug seedlings moves to the front of a cultivation column, the manipulator moves to send the end performer to the front of a plug, an electromagnet is supplied with power and drives two fingers to stretch out, and bent finger sliding sleeves guide the finger tips to inward incline and to be inserted into the holes of the pugs to clamp the seedlings; the manipulator moves to take out the seedlings and convey the seedlings to seedling falling positions, and a sliding carriage vertically descends along a sliding rail to plant the seedlings into soil; and the electromagnet is powered off to retract the two fingers into the sliding sleeves to realize the seedling disposing. The column cultivation matching transplanting robot utilizes the two-arm structure of the vertical sliding rail to realize the vertical large-range movement and the seedling delivery motion, and the inclination angle and the opening degree of the end performer are adjustable, so automatic transplanting needs of high cultivation columns by the plug seedlings are satisfied.

The invention discloses a path planning method for an orchard tracked robot. An agricultural robot path planning software platform based on A* and B spline algorithms is achieved by using C# in conjunction with ArcGIS Engine secondary development programming; a map for agricultural robot path planning needs to be drawn first; then Windows desktop application software is developed based on ArcGIS Engine component and C# language; on such basis, A* algorithm is compiled so as to arrive at robot shortest path planning and B spline curve algorithm smooth pathing, and to arrive at optimal path planning for an agricultural robot. Agricultural robot path planning based on A* and B spline algorithms is achieved herein, operation of the agricultural robot according to the optimal path is achieved, and efficiency and intelligence of agricultural operations are improved.

The invention discloses a finger structure of a skillful hand of a fruit picking robot, and relates to the technical field of skillful hands of agricultural robots. The finger structure comprises a motor driving device, a base frame, a first knuckle, a middle knuckle, a tail end knuckle, belt transmission mechanisms, a gear differential motion mechanism, a coupling connecting rod transmission mechanism, a cross shaft and the like, wherein the motor driving device is fixedly arranged on the base (5); a belt transmission mechanism I (3) is driven by a motor I (1) to drive the gear differential motion mechanism (15) to realize the pitching motion of a finger; the gear differential motion mechanism (15) is driven by a motor II (2) to drive a belt transmission mechanism II (16) and drive the coupling connecting rod transmission mechanism (17) to realize the bending motion of the finger; and the cross shaft (12) is driven by a motor III (7) to realize the side-sway motion of the finger. The finger of the skillful hand has four knuckles and three degrees of freedom, has the advantages of light weight, flexible operation, simple structure and high maintainability, and can be applied to the skillful hand of the fruit picking robot.

The invention relates to the technical field of agricultural robots and in particular relates to an agricultural irrigation robot which comprises a crawler track unit as well as a bottom rack, whereina water tank is arranged at one end of the top of the bottom rack; a controller is arranged at the other end of the bottom rack; a rotation adjusting component is arranged above the water tank; a camera is arranged at one end of the rotation component; the rotation adjusting component comprises a rotating disc; a lifting component is arranged at the top of the rotating disc; the lifting componentcomprises a lifting plate; horizontal moving components are respectively arranged on both sides of the top of the lifting plate; a turning component is arranged at the output end of each horizontal moving component; an irrigation nozzle is arranged at the output end of each turning component; and a bidirectional driving component is arranged between the two horizontal moving components. By adopting the technical scheme, irrigation height adjustment is solved, crops of different heights can be irrigated by using the irrigation robot, in addition, irrigation spraying angles can be adjusted, theflexibility of irrigation spraying can be improved, the irrigation range can be widened, water tube dragging and water injection are not needed, and the labor and time can be saved.

The invention provides an integral five-finger humanoid manipulator based on 3D printing. The manipulator comprises a hand main body with 14 bending freedom degrees, a rope pulling assembly and a contact-type perceiving assembly, wherein the hand main body adopts an integrally-formed structure; the hand main body comprises a palm and five fingers connected with the palm. The manipulator provided by the invention has a very high bionic degree, has the characteristics of a simple structure, small size and high softness; meanwhile, the manipulator adopts an integrally-formed structure, so that secondary assembly is not required, a complex assembling link is omitted, production is convenient, the production efficiency is high, and the cost is reduced; in addition, through the rope pulling assembly, movement of each joint can be achieved, so that the manipulator is safe and flexible; through the contact-type perceiving assembly, the manipulator has a preliminary tactile function in the moving and working process, so that the degree of intelligence of the manipulator is enhanced; the manipulator has an important application value in the fields of industrial robots, agricultural robots, service robots, educational robots and the like.

The invention belongs to the field of the agriculture robots, which is composed of shell, main shaft turntable system, cutter knife shaft system and steel wire slider bar system, the shell is fixed on the plat form of the harvested robot, the electrical motor drives the rotation of main shaft turntable system, six sets of cutter knife shaft systems rotated accompanied with the main shaft turntable system. When one set of cutter knife shaft system rotates to the side of the plants, the concave lock scotch block on the shaft system and the convex lock scotch block on the steel slider bar system are engaged and then locked, which makes the overhang of the cutter knife protrude into the lines of plants to complete the weeding action. When the space between two plants is too small, another electrical motor pulls the steel wire to lift up the convex lock scotch block on the steel slider bar system, then the concave lock scotch block can not engage with the convex lock scotch block, which makes the cutter knife not protrude into lines for preventing damage to plants by cutting. Through the coordination between master action of the master shaft and the slave action of the steel wire, the weed arbitrary action of six sets of cutter knifes in the lines and between the lines and the control thereof are realized, the weed action is continuous, the overall size is compact, the operation is flexible, and the control and operation of the weeding robot are easy.

The invention relates to the field of agricultural robots and in particular discloses intelligent harvesting equipment and a method for table top cultured fruits. The equipment comprises a moving platform, a mechanical arm and a controller, wherein the mechanical arm is installed on the moving platform; an end effector and a binocular image acquisition device are installed at the tail end of the mechanical arm; and the controller is arranged on the moving platform and is connected with the mechanical arm and the binocular image acquisition device. The equipment has the following beneficial effects: a large number of manpower and material resources are saved; the cost is lowered; and the equipment has strong adaptability to the environment and high operation efficiency and is suitable for efficient and non-destructive picking of the small fruits.

The invention provides an intelligent agricultural robot and a control method thereof. The intelligent agricultural robot comprises a moving mechanism, a visual navigation mechanism, an ultrasonic ranging sensor, a control mechanism, a visual mechanism and an execution tail end, the visual navigation mechanism, the ultrasonic ranging sensor, the control mechanism, the visual mechanism and the execution tail end are arranged on the moving mechanism, the visual mechanism is used for target detection, the ultrasonic ranging sensor detects obstacles in the advancing direction in real time, and themoving mechanism moves according to data acquired by the visual navigation mechanism and the ultrasonic ranging sensor; the visual mechanism is used for detecting target crops, the control mechanismacquires three-dimensional coordinate information and crop information of the target crops through position data and then determines an execution area according to the three-dimensional coordinate information and the crop information, and the execution tail end picks, pollinates, sprays pesticide to or fertilizes the target crops correspondingly. The intelligent agricultural robot integrates multiple functions of picking, fertilizing, pollinating and pesticide spraying and is suitable for each growth stage of various tomatoes, labor productivity and operation quality can be improved, labor intensity of planters can be lowered, and manpower resources are saved.

The invention provides an orchard work agricultural robot interrow positioning method. The method comprises the following steps: collecting two-dimensional laser radar scan range-finding data at an initial position of the robot interrow movement, detecting the tree trunks position according to an European style distance standard for the laser radar data and storing the data in a coordinate system of a world coordinate system, performing short distance track reckoning according to the mileometer information based on former time positioning data and predicting the position value of the robot at the current time, transiting the trunk center position point detected in the coordinate system by the current robot to the world coordinate system according to the robot position predicted value, coupling the trunk central points detected by different times in the world coordinate system, and finally using the coupling result to correct the position value of the robot at the current time to complete robot interrow real time accurate positioning. According to the invention, the positioning navigation by a satellite signal is not required for the orchard work agricultural robot, and the shedding of the satellite signal by the dense crown in orchard can be overcome.

The invention discloses a combined agricultural robot navigation information fusion method based on rank filtering. Interactive multi-model filtering is employed as an algorithm structure, an initial value of present-moment filtering is calculated based on an output result of each model filter at a previous moment, a rank filter is taken as a sub filter of model filtering steps to carry out filtering, a residual error and a residual error covariance of model filtering are utilized to update model probability, weight fusion of each rank filter estimate is carried out to acquire an interaction output result. Combined navigation data processing and resolution work are accomplished by a navigation computer according to a combined navigation system filtering model and an algorithm flow. The method is advantaged in that filtering precision of the combined navigation system under the complex environment can be improved, and an agricultural robot is made to have advantages of wide application scope and strong interference prevention capability.

The invention relates to the field of agricultural robots and in particular relates to an agricultural soil turnover and efficient weeding robot which comprises a vehicle body as well as a weeding assembly, a soil turnover assembly, a stirring assembly and a herbicide spraying assembly, wherein the stirring assembly is used for sufficiently stirring a herbicide; the weeding assembly, the soil turnover assembly, the stirring assembly and the herbicide spraying assembly are all arranged on the vehicle body; the weeding assembly is positioned at the front end of the vehicle body; the soil turnover assembly is positioned between the weeding assembly and the herbicide spraying assembly; the vehicle body comprises a seat and a top cover; the top cover is arranged at the top of the seat; four corners between the seat and the top cover are fixed through bolts respectively; the herbicide spraying assembly is positioned at the bottom of the inner side of the seat; the stirring assembly is positioned at the top of the top cover; and the weeding assembly comprises a mounting rack, a lifting mechanism and two weeding wheels. By adopting the robot, the problem that weeds in farmland soil cannotbe completely cleared can be solved, labor operation can be reduced, and the weed clearing efficiency can be improved.

A method of using an unmanned agricultural robot to generate an anticipatory geospatial data map of the positions of annual crop rows planted within a perimeter of an agricultural field, the method including the step of creating a geospatial data map of an agricultural field by plotting actual annual crop row positions in a portion of the geospatial data map that corresponds to a starting point observation window, and filling in a remainder of the geospatial data map with anticipated annual crop row positions corresponding to the annual crop rows outside of the starting point observation window, and refining the geospatial data map by replacing the anticipated annual crop row positions with measured actual annual crop row positions when an unexpected obstacle is encountered.

The invention relates to the field of agricultural robots, in particular to an efficient pickup and collection robot for Durio zibethinus Murr. The robot disclosed by the invention comprises a pickuprobot, wherein the pickup robot is provided with a pickup component, a collection box and a control component; the pickup component comprises a rotary table, a lifting and lowering mechanism, a translation mechanism, a Durio zibethinus Murr stalk shearing mechanism capable of flexibly regulating a working angle, and a Durio zibethinus Murr receiving mechanism capable of receiving the sheared Duriozibethinus Murr, wherein the rotary table is horizontally fixedly installed on the pickup robot; the translation mechanism is horizontally arranged on the output end of the lifting and lowering mechanism; the Durio zibethinus Murr stalk shearing mechanism and the Durio zibethinus Murr receiving mechanism both can be rotatably installed on the output end of the translation mechanism; the Durio zibethinus Murr stalk shearing mechanism is positioned just above the Durio zibethinus Murr receiving mechanism; and the control component comprises a controller. The efficient pickup and collection robot for the Durio zibethinus Murr can efficiently and automatically pick up the Durio zibethinus Murr, time and labor are saved, potential safety hazards brought in a way that a person climbs a tree topick up the Durio zibethinus Murr are eliminated, multi-angle flexible pickup can be realized, the robot disclosed by the invention has a large storage space, and working efficiency is improved.

The invention belongs to the technical field of visual navigation, and discloses a stereoscopic visual navigation method based on green crop feature extraction invariance, which is used for extractinglocal features of green crops, and obtaining the change condition of the number of image feature points during angle change by using Gaussian homomorphic filtering and histogram equalization to process an image; establishing a crop elevation map by using the obtained feature points; extracting the edge contour of the target object in the image, and separating the green crop from the crop background; extracting navigation parameters from the confidence density map fused by the elevation map and the edge map, and adding navigation angle and side edge distance constraint conditions; and fittingthe navigation angle and the angle actually rotated by the agricultural robot, and verifying the correctness of a fitting function by adopting an S-shaped path. The agricultural robot platform is built, agricultural crop image information collected by the binocular camera is processed, parameters of the navigation process are extracted, and automatic navigation control over the agricultural robotis achieved.

The invention discloses an agricultural robot wireless remote-control system in a ZigBee network. After a remote-control order is transmitted to an agricultural robot main controller through a serial port transmitting module, the main controller calls related information of a data node in the ZigBee network and sends a corresponding movement control order to an agricultural robot body. By the agricultural robot wireless remote-control system, stand-alone running, automatic navigation and path planning for operating of an agricultural robot can be controlled remotely, and group control and efficient cooperation to complete operating of agricultural machines can be realized through the ZigBee network; visual feedback signals and an anticollision sensing module are utilized to adjust agricultural robot working paths in realtime, so that working efficiency of the agricultural robot is improved, and working intensity of operating personnel is reduced.

The invention provides a multifunctional agricultural robot which comprises a fertilizer and soil mixing and stirring mother bin and a driving module, and the fertilizer and soil mixing and stirring mother bin is installed above the driving module through a rapid locking device. The driving module is a wheel type or crawler type driving chassis. The fertilizer and soil mixing and stirring mother bin comprises a rotary bucket, a closed soil upper conveying belt, a human body proximity safety sensor, a laser radar/RFID/visual identification system, a fertilizer bin module, a liquid foliar fertilizer or pesticide application module, a soil bin module, a fertilizer/soil mixing and stirring module, a robot control center, a soil discharging and paving device, a weighing module and a mixed fertilizer and soil discharging opening. The whole process of ditching, soil digging, real-time nutrient detection and analysis, fertilizer preparation, fertilizer mixing, fertilizer application and automatic backfilling is completed at a time. Operation can be achieved on different terrains and soil properties of orchards, small pieces of lands, tea gardens, hills, mountains and the like where large machines cannot enter. The multifunctional agricultural robot has the advantages of being high in analysis speed, simple in operation, free of waste, free of pollution and the like.