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Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method

A technology for picking robots and autonomous navigation, applied in the field of robots, to achieve the effects of reducing weight, improving navigation accuracy and saving costs

Inactive Publication Date: 2011-08-31
NANJING AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, in essence, fruit picking has not yet been fully automated and unmanned.

Method used

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  • Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method
  • Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method
  • Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method

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Embodiment Construction

[0032] The present invention will be further described below in conjunction with accompanying drawing:

[0033] Such as figure 1 , the mobile fruit picking robot with autonomous navigation and automatic picking in this embodiment is mainly composed of a two-finger terminal picking manipulator 1, a binocular camera 2, a picking manipulator 3 with six degrees of freedom, a picking manipulator fixing base 4, a three-phase Isolation transformer 5, experimental equipment fixed frame 6, front box 7, box bracket 8, support column 9, tensioner 10, track 11, beam 12, track support beam 13, reducer 14, reducer fixing seat 15. Driving wheel 16, bearing support frame 17, load-bearing wheel 18, servo motor 19, guide wheel 20, rear box and side baffle 21, six-degree-of-freedom picking robot arm control cabinet 22, display 23, servo motor driver 24 , fruit collection box 25, GPS receiver I 26, industrial computer 27, monocular camera assembly 28, GPS receiver II 29, electrical cabinet 30, l...

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Abstract

The invention discloses an automatic-navigation crawler-type mobile fruit picking robot which comprises a mechanical execution system and a control system and is characterized in that the mechanical execution system comprises an intelligent movable platform, a fruit picking mechanical arm and a two-finger type manipulator, wherein the intelligent movable platform comprises two crawler assemblies, an experimental facility fixing rack, a supporting stand column, a cross beam, a speed reducer and the like; and the control system comprises an industrial personal computer, a motion control card, a data collecting card, an image collecting card, an encoder, a GPS (global position system), a monocular zooming camera assembly, a binocular camera, a laser ranging sensor, a control circuit and the like. The automatic-navigation crawler-type mobile fruit picking robot integrates the fruit picking mechanical arm, the two-finger type manipulator, the intelligent movable platform and the sensor system, integrates multiple key technologies such as fruit identification, motion of the picking mechanical arm, grabbing of a tail-end executer, automatic navigation and obstacle avoidance of the movable platform, and the like, and really realizes automatic and humanized fruit picking.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an autonomous navigation crawler-type fruit picking robot. Background technique [0002] my country is a big fruit producing country. In recent years, the annual fruit output is about 95 million tons, accounting for about 18% of the world's total fruit output. From the 1970s to the present, the acreage and total output of orchards have been on the rise. According to previous survey data, apples, citrus, and pears are the main varieties of fruit grown in my country, ranking among the top three in both area and output, accounting for about 50% of the total fruit output. [0003] Since the beginning of the 21st century, the problem of population aging in my country has become increasingly serious, and with the rapid development of industry, agricultural labor has gradually transferred to industry and other industries, causing a serious shortage of agricultural labor and increasing...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30A01D46/24B25J5/00B25J9/16B25J19/00
Inventor 顾宝兴姬长英安秋王海青田光兆赵文旻
Owner NANJING AGRICULTURAL UNIVERSITY
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