Hexapod robot for fruit and vegetable picking and operating method thereof

Abstract

The invention relates to a hexapod robot for fruit and vegetable picking and an operating method thereof. The hexapod robot for fruit and vegetable picking is characterized by comprising a body and six mechanical legs arranged thereof; the body is also provided with a picking mechanical arm, a collecting box, a visual recognition module, a tracking sensor arrangement plate, a gyroscope module, a control module and a power source. A picking claw is arranged at the tail end of the picking mechanical arm. Four mechanical legs are arranged at four corners of the body respectively; the other two mechanical legs are arranged symmetrically in the middle of the body. The movement mode of the hexapod robot is a leg mode; the hexapod robot is suitable for picking fruits and vegetables on a soft ground or severely uneven terrain, and has good flexibility; tracking sensors in rectangular arrangement are arranged on a lower plate of the body, and advancing may occur according to a preset path; thevisual recognition module is mounted on the picking mechanical arm, so that picking accuracy is improved; automatic picking on a relatively uneven terrain according to the set path is achieved; the hexapod robot has high practical value.

Description

technical field [0001] The invention belongs to the technical field of agricultural robots, and in particular relates to a fruit and vegetable picking hexapod robot and a working method thereof. Background technique [0002] At present, most fruit and vegetable picking robots are wheeled or tracked robots. When the wheeled robot is driving on a relatively flat terrain, the movement speed is fast and stable, which has considerable advantages, and its structure and control are relatively simple. However, when driving on a relatively uneven ground, the role of the wheels will be seriously lost and the moving efficiency Greatly reduced, energy consumption will be greatly increased. The maneuverability of crawler robots on uneven ground is still poor, and the fuselage shakes seriously when driving. However, most of the actual picking terrain is irregular and rough, and the application of wheeled robots and tracked robots is limited. Contents of the invention [0003] In orde...

AI Technical Summary

Problems solved by technology

The maneuverability of crawler robots on uneven ground is still poor, and the fuselage shakes seriously when driving

However, most of the actual picking terrain is irregular and rough, and the application of wheeled robots and tracked robots is limited

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