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Wheel type mobile fruit picking robot and fruit picking method

A technology for picking robots and fruits, which is applied in the field of agricultural robots, can solve the problems of scattered fruits and low picking efficiency, and achieve the effect of reducing energy consumption and reducing damage

Inactive Publication Date: 2011-07-20
NANJING AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This brings about some important problems. The results of the research are relatively scattered. The picking robot still needs human assistance to perform picking tasks. It can only achieve semi-automation, and the picking efficiency is generally low.

Method used

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  • Wheel type mobile fruit picking robot and fruit picking method
  • Wheel type mobile fruit picking robot and fruit picking method
  • Wheel type mobile fruit picking robot and fruit picking method

Examples

Experimental program
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Embodiment Construction

[0051] The present invention will be further described below in conjunction with accompanying drawing:

[0052] control figure 1 , the wheeled mobile fruit picking robot of this embodiment is mainly composed of a binocular camera 1, an underactuated picking manipulator 2, a fruit receiving basket 3, a fruit sliding pipeline 4, a picking manipulator 5, a monocular camera assembly 6, and an AHRS attitude and orientation reference system 7. Electric sliding table 8, side baffle 9, driving wheel 10, driven wheel 11, industrial computer 12, lithium battery power supply box 13, display 14, motor control cabinet 15, fruit collection box 16, etc.

[0053] control figure 1 , figure 2 , image 3 and Figure 4 , the wheeled intelligent mobile platform includes a first driving wheel assembly (19), a second driving wheel assembly (20), a first driven wheel assembly (23), a second driven wheel assembly (24), a platform frame (21), and the side baffle (9), in which the first driving wh...

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Abstract

The invention discloses a picking method and picking robot device aiming at fruits which are in size of an apple and is similar to a sphere. The picking robot device comprises a mechanical actuating device, control system hardware and control system software. The mechanical actuating device comprises a picking mechanical arm, an underactuated manipulator, an electric sliding table and an intelligent mobile platform, wherein the control system hardware comprises an IPC (industrial personal computer), a motion control card, a data acquisition card, an AHRS (attitude and heading reference system), a coder, a monocular camera, a binocular camera, a force sensor, a slipping sensor and the like. During operation, the IPC fuses information of the coder, the AHRS, monocular camera components and an ultrasonic sensor to enable the mobile platform to independently navigate and avoid obstacles. A binocular vision system collects images of mature fruits and obstacles and extracts the characteristics of the images so as to realize obstacle avoidance of the mechanical arm and fruit positioning. Finally, the IPC fuses the information of the force sensor, the slipping sensor and the position sensor, thereby further reliably gripping the mature fruits and separating the fruits from fruit branches.

Description

technical field [0001] The invention relates to the technical field of agricultural robots, in particular to a wheeled mobile fruit picking robot and a fruit picking method. Background technique [0002] Fruit is an important economic crop in our country. At present, fruit has become the third largest crop after food and vegetables. The fruit industry plays an important role in the national economy. In the food consumption structure, with the slow decline in the proportion of staple food consumption and the increase in the proportion of non-staple food consumption, the proportion of fruit consumption in the total food consumption is also gradually increasing. Since China implemented the agricultural structure adjustment policy in 1978, China's fruit industry has developed rapidly, and in 1997 it became the world's largest fruit producer. Fruit production increased from 6.57 million tons in 1978 to 50.893 million tons in 1997. By 2006, China's fruit output had reached 95.9...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/00A01D46/22B25J5/00B25J9/08
Inventor 顾宝兴姬长英安秋彭磊
Owner NANJING AGRICULTURAL UNIVERSITY
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