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Picking robot and picking method for kiwi fruits

A technology for picking robots and kiwifruit, which is applied to picking machines, harvesters, agricultural machinery and tools, etc., can solve the problems of high cost, high labor intensity, and low efficiency, and achieve the goal of reducing weight, labor intensity, and complexity Effect

Inactive Publication Date: 2014-04-30
NORTHWEST A & F UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a kiwi fruit picking robot and picking method, specifically for picking kiwi fruit in a scaffolding planting mode in a natural growth environment, which solves the problem of manual picking with high labor intensity, low efficiency and high cost. to realize the mechanization, automation and intelligence of kiwifruit picking operations

Method used

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  • Picking robot and picking method for kiwi fruits
  • Picking robot and picking method for kiwi fruits
  • Picking robot and picking method for kiwi fruits

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Embodiment Construction

[0033] see figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , a kiwi fruit picking robot, including a mechanical execution system and a control system, is characterized in that:

[0034] The mechanical execution system includes a car body 1, a telescopic sliding platform 3, a five-degree-of-freedom picking robot arm 7 and a two-finger end effector 6; Four rotating wheels 11 are installed on the position through bolt connection, and a traveling drive mechanism is arranged inside the car body. The telescopic sliding platform 3 is fixed on the upper plane of the body 1 by bolts. The five-degree-of-freedom picking machine The rotating base 22 of the arm 7 is fixed on the upper surface of the horizontal motion unit slider 20 of the telescopic sliding platform 3 through bolts, and the two-finger end effector 6 is installed at the end of the picking mechanical arm 7 with five degrees of freedom. The rear side of the car body 1 is provided with a fruit collection box 2, an...

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Abstract

The invention discloses a picking robot and a picking method for kiwi fruits. The picking robot for the kiwi fruits comprises a machinery execution system and a control system, and is characterized in that the machinery execution system comprises a car body, a telescopic slide platform, a five freedom degree picking robot arm and a two finger type end actuator, and the control system comprises an industrial personal computer, a motion control card, a data acquisition card, an image acquisition card, a servo motor driver, a binocular video camera, an infrared sensor, a pressure sensor, an electric control cabinet and a control circuit. The picking robot and the picking method for the kiwi fruits use a building block design philosophy to integrate the two finger type end actuator, the five freedom degree picking robot arm, the telescopic slide platform and a sensor system together and integrate image acquisition and feature extraction of fruits and barriers, intelligent mobility of the telescopic slide platform, counterguard and fruit positioning of the five freedom degree picking robot arm and grab motions of the two finger type end actuator together, and therefore achieve mechanization and automation of picking of the kiwi fruits, improve labor productivity, reduce production cost, and guarantee harvest quality of the kiwi fruits.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to a kiwi fruit picking robot and a picking method. Background technique [0002] Fruit and vegetable harvesting is labour-intensive and labor costs are increasing in many countries due to aging populations and a growing shortage of agricultural labor. Fruit and vegetable picking operations are currently one of the most time-consuming and laborious links in the fruit and vegetable production chain. The quality of picking operations directly affects subsequent processing and storage. Due to the complexity of picking operations, the degree of picking automation is still very low. At present, fruit picking in China is basically done manually. Among many fruits, kiwi is known as the "king of fruits" because of its rich nutritional value. China is the origin of kiwi fruit, and it is also the country with the largest kiwi fruit cultivation area in the world. However, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30
CPCA01D46/30
Inventor 崔永杰陈同张发年李桢余伟芬李少华
Owner NORTHWEST A & F UNIV
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