Apparatus and method for flexible pick of orange picking robot

Abstract

The invention relates to a picking method and a device for spherical citrus fruits, combining various sensor information of force sense, temperature sense, sight and distance, etc., and sending information back promptly to realize that an executive component picks up fruits flexibly. A flexible picking device consists of a fruit picking hardware device and a software control system, and the fruit picking hardware device consists of a computer visual system, an industrial control system, a mechanical arm and an end executor; the picking device utilizes a solid visual system to detect and identify mature fruit that can be picked, calculates the specific position of the fruit under world coordinate, and carries out feature extraction for the information of the obtained fruit position and barrier position, after the picking device establishes a three-dimensional model and obtains the movement path of a robot in virtual environment, an industrial personal computer system controls the mechanical arm and paws to reach a designated position; at last, the end executor is controlled to extend out of a sucker for sucking and drawing the fruit, then the fruit is fixed by the paw, finally a cutting device is rotated to the designated position for cutting off the stems.

Description

technical field [0001] The invention relates to a method and device for picking spherical citrus fruits, which integrates multi-sensor information such as force sense, temperature sense, vision, distance, etc., and feeds back information in time to realize the flexible picking of fruits by executive components. Background technique [0002] In fruit production operations, fruit picking accounts for about 33-50% of the entire workload. Due to the complexity of picking operations, picking automation is still low. At present, the agricultural labor force will gradually transfer to other industries in the society. Countries around the world are facing the problem of population aging, and the shortage of labor resources will gradually become a reality. As an important branch of agricultural machinery, fruit harvesting robots can reduce human labor intensity, improve labor productivity and Product quality ensures that the fruit is harvested in a timely manner, and has great devel...

AI Technical Summary

Problems solved by technology

This is a simple harvesting machine that does not consider the ripening period of the fruit and does not judge whether the hook is a fruit stem, so it is very easy to damage the fruit and the fruit tree.

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