Robot system for rapidly harvesting bunch of grapes without falling and realization method thereof

Abstract

The invention discloses a robot system for rapidly harvesting a bunch of grapes without falling and a realization method thereof. The robot system is composed of a movable chassis, an elevating mechanism, an aerial fruit box device and a small and light-weighted harvest manipulator. A gripper finishes picking, moving the bunch of grapes and vertically placing the bunch of grapes into the fruit boxon an elevating platform nearby. When longitudinal acting force between the gripper and a main spike-stalk exceeds the risk threshold of shaking falling fruit, risks of grape shaking and fruit falling are greater. Therefore, delivery speed is automatically reduced. When longitudinal acting force is lower than the risk threshold of colliding falling fruits, the gripper stops vertically performingdownward motion in order to prevent the fruit from falling down due to collision. Meanwhile, the gripper tilts downwardly and performs downwardly slanting motion by being away from a base till the longitudinal acting force is lower than the safety threshold at which a bunch of fruit lies down, which indicates that the bunch of fruits safely lies down and is put into the fruit box. Through nearby operation of the elevating platform and anti-falling feedback control, a robot can rapidly perform harvesting operation on the bunch of grapes without falling. The structure and the method are simple and reliable.

Description

Technical field [0001] The invention relates to the field of agricultural equipment, and in particular to a robot system and implementation method for rapid and non-shedding harvesting of grape bunches. Background technique [0002] In all aspects of robotic harvesting of fresh grape bunches, such as picking, transporting, and placing fruits, vibration and collision can cause the fruit pieces to fall off, thus adversely affecting the quality and storage period of the bunches. Existing picking robot equipment and picking methods cannot meet the needs of rapid and non-shedding picking of grape bunches: [0003] (1) Existing research on robotic picking focuses on front-end links such as fruit identification and positioning, motion planning of the robotic arm that approaches the fruit at the end, and successful fruit picking. However, for grape bunches, the clamping, transfer and transfer of the bunches after picking are Putting it into the fruit box becomes the key link that c...

AI Technical Summary

Problems solved by technology

[0002] During the picking, transfer, and fruit placement of fresh grape clusters, the fruit particles will fall off due to vibration and collision, which will adversely affect the market quality and storage period of the grape clusters.

The existing picking robot equipment and picking methods cannot meet the needs of fast and non-shedding grape bunch fruit picking:

[0003] (1) Existing robotic harvesting research focuses more on front-end links such as fruit identification and positioning, robotic arm motion planning for the end approaching fruit, and successful fruit picking. Putting into the fruit box becomes the key link that causes the fruit grains to fall off;

[0004] (2) Existing robots usually use complex mechanical arms to pick fruit strings in the air, and put them into fruit boxes on the robot chassis through a long path. When the existing robot structure is used for fruit string harvesting, the transfer path is too long and The joint vibration of the complex robotic arm may greatly increase the possibility of fruit falling off, and the excessively long transfer path and complex robotic arm motion planning calculations also result in too long a time-consuming transfer process for the bunch of fruits after harvest;

[0005] (3) The robot picking operation of the existing clusters usually cuts and clamps the main cob, and adds a push plate to reduce the vibration during the transfer of the clusters (Naoshi Kondo, Koki Yata, Michihisa Iida, et al. Development of an End-Effector for a Tomato Cluster Harvesting Robot[J]. Engineering in Agriculture, Environment and Food, 2010, 3(1): 20-24; M.Monta, N.Kondo, Y.Shibano. Agricultural Robot in Grape Production System[ C]. IEEEInternatlonal Conference on Robotlcs and Automation, 1995: 2504-2509.), but the actual vibration reduction results are limited and the push plate is likely to cause obstacles when placing fruit;

[0006] (4) The drop and collision when the cluster fruit is put into the fruit box will cause serious loss of fruit particles, which has not been paid attention to in the current research on picking robots

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