Four-degree-of-freedom multi-eye visual rotary flight type picking robot and picking method thereof

Abstract

The invention discloses a four-degree-of-freedom multi-eye visual rotary flight type picking robot and a picking method thereof. The picking robot comprises an unmanned aerial vehicle, a picking mechanism and a multi-eye visual device, wherein the picking mechanism comprises a telescopic rod and a picking mechanical hand, and the picking mechanism and the multi-eye visual device are mounted on theunmanned aerial vehicle; and the unmanned aerial vehicle communicates with an industrial control computer and a computer through a cable or wireless manner for data transmission and system control. Integrated design of the unmanned aerial vehicle and the picking mechanism is realized, the four-degree-of-freedom multi-eye visual rotary flight type picking robot is a four-degree-of-freedom pickingrobot, multiple-oriented picking can be realized, the picking range is extended, and the picking efficiency is improved; and the designed picking mechanical hand can dynamically change free expandingand contracting of middle finger joints of three fingers according to the size of fruits, the holding capacity of the mechanical hand on the fruits is improved, and the applicability is high.

Description

technical field [0001] The invention relates to the field of picking machinery, in particular to a four-degree-of-freedom multi-eye vision spinning flying picking robot and a picking method thereof. Background technique [0002] my country is a big country in fruit production and planting, and fruit picking is an important link. At present, fruit picking is mainly manual picking, but the cost of manual picking is high and the efficiency is low. The picking process often requires tools such as ladders, which has certain risks. There are also some picking robots on the market, but many fruit trees are planted in mountainous areas, and most of the picking robots walk on land, which is difficult to be suitable for picking fruit trees in rugged mountainous areas. [0003] At present, picking robots have problems such as small body, small load, low efficiency, and poor environmental adaptability. The design of picking robots often focuses on the structure of picking, and relative...

AI Technical Summary

Problems solved by technology

At present, fruit picking is mainly manual picking, but the cost of manual picking is high and the efficiency is low. The picking process often requires tools such as ladders, which is dangerous

There are also some picking robots on the market, but many fruit trees are planted in mountainous areas, and most of the picking robots walk on land, which is difficult to apply to picking fruit trees in rugged mountainous areas

[0003] At present, picking robots have problems such as small body, small load, low efficiency, and poor environmental adaptability. The design of picking robots often focuses on the structure of picking, and relatively little attention is paid to whether it can adapt to the picking environment and whether the power can meet the standards. Moreover, in terms of picking accuracy, the impact of the environment on picking accuracy cannot be underestimated, but there are few studies on this effect in the prior art

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