Self-propelled full-coverage multi-target safflower filament picking robot

Abstract

The invention relates to a self-propelled full-coverage multi-target safflower filament picking robot. The robot comprises a picking manipulator guide frame, walking devices, a filament collecting system and a multi-information fusion filament positioning, navigation and recognition system; the four walking devices with adjustable height are fixedly connected to the four corners of the horizontally-arranged rectangular picking manipulator guide frame respectively; the filament collecting system is fixedly connected above the picking manipulator guide frame; the multi-information fusion filament positioning, navigation and recognition system is fixedly connected to the front end of the picking manipulator guide frame to realize accurate recognition and positioning of safflower plants; and the picking manipulator guide frame comprises a left supporting frame, a right supporting frame, a front supporting frame, a rear supporting frame, a guide rail supporting frame, a picking manipulatorsingle body, a horizontal moving rack and horizontal moving guide rails. According to the robot, safflower fruit balls are divided into regions in a gridding mode, the whole safflower is picked in a covering mode, missing picking of filaments is avoided, and therefore the missing picking rate of the safflower picking robot is reduced, and the purpose of improving the picking efficiency of the robot is achieved.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery and relates to a self-propelled full-coverage multi-target safflower filament picking robot. Background technique [0002] Safflower is a characteristic economic crop integrating medicinal materials, dyes, oil plants, natural pigments and feed. With the development of safflower medicine and health care, the demand is rising steadily, and the market prospect is broad. The rapid expansion of safflower planting area has brought about the most prominent problem of filament harvesting. Aiming at the problem of mechanized picking of safflower, scholars have focused on air-suction, pneumatic, comb-tooth, double-roller and shear-style hand-held or shoulder-mounted simple picking devices and have done a lot of research. And the filaments in the safflower fruit balls gradually open up, and after the filaments are harvested, they regenerate quickly, and need to harvest 3-5 stubbles continuou...

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Problems solved by technology

[0004] For example, the Chinese invention patent application "a safflower picking robot", application number: 201810445115.X; the Chinese invention patent application "a safflower picking robot", application number: 201910177893.X; Picking robot", application number: 201710914563.5 and other existing technologies, although the automatic picking of safflower has been realized to a certain extent, but it is still mainly to pick a single safflower ball or a limited number of safflower fruit balls, and it is impossible to realize the safflower fruit ball. The fruit balls of flower plants are fully covered, so the problem of low efficiency of safflower picking at present is not fundamentally solved

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