Intelligent fruit picking robot and implementation method thereof

Abstract

The invention discloses an intelligent fruit picking robot and an implementation method thereof. The intelligent fruit picking robot is good in universality and high in automation degree and efficiency. The intelligent fruit picking robot comprises a robot base. two crawler traveling mechanisms symmetrically mounted on the two sides of the base, a fork lifting mechanism mounted on the base, a robot hand mechanism located on the fork lifting mechanism, a picking execution mechanism mounted at the front end of the robot hand mechanism and an image acquisition mechanism mounted on the base.

Description

Technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to an intelligent fruit picking robot used for fruit picking and an implementation method thereof. Background technique [0002] The research on the mechanized harvesting technology of fruit trees in agriculture has a history of many years. The earliest harvesting methods are mainly mechanical shaking and pneumatic shaking. The disadvantages are that the fruit is easy to damage and the harvesting efficiency is low, especially the selective harvesting is not possible. The degree of chemistry is low. With the changes in fruit tree cultivation methods, people began to use ladders, lifting platforms and other equipment to assist in picking fruits, but still need to hire a large number of picking workers, high labor intensity, low efficiency, and labor-intensive characteristics still exist. Therefore, using the relevant knowledge of mechatronics to carry out the overall design...

AI Technical Summary

Problems solved by technology

[0006] The robot hand designed for this device is a multi-arm articulated robot hand, which is composed of six mechanical arms connected in series and coordinated with the actuator, and the main degree of freedom that each robotic arm can achieve is the pitching motion in the vertical plane, resulting in A large number of repetitive motion forms and a huge increase in the complexity of the robot's attitude control. At the same time, multiple robotic arms correspond to multiple drives, and the setting of each level of drive will increase the cost and space occupied by the picking robot. It is relatively unfavorable to promote the utilization of products and meet the changing working environment;

[0007] (2) The setting of the fruit recovery device is unreasonable

[0008] After the robot finishes picking the fruit, the executive device directly releases the fruit, and the recovery hose installed under the actuator collects the fruit. The destructive impact of fruit tree branches and leaves, and the relative position relationship between the hose and the actuator during the working process of the robot cannot be guaranteed, which makes the actual implementation of the scheme more difficult;

[0009] (3) The control method has a large delay

[0010] The information collected by the image recognition module must first be converted into a wireless signal, sent to the computer for remote processing, and then the signal is sent to the robot's control system after obtaining the target position information, resulting in increased operation delay and incoherent work, and the signal The wireless transmission is greatly affected by the environment, which is more likely to cause the failure of the picking machine to stop working, which is not conducive to the improvement of picking efficiency

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