Multi-point touch type accurate positioning apple picking machine

Abstract

The invention relates to a multi-point touch type accurate positioning apple picking machine, and belongs to the technical field of agricultural machinery. According to the crawler-type apple pickingmachine, an articulated structure is adopted as a picking system structure, compared with other structural forms, the articulated structure is most effective for determining any position and posture in a three-dimensional space, operation objects of the picking machine are randomly distributed on a fruit tree, the distribution space of the operation objects is relatively large, a plurality of obstacles possibly exist around the operation objects, a multi-degree-of-freedom joint type mechanical arm has the function of fitting any curve in space, a control system is adopted to control movement of corresponding joints, so that a tail end picking device fixed to the mechanical arm can effectively avoid the obstacles in the process of reaching the operation target position, and therefore, the picking efficiency can be effectively improved by adopting the multi-degree-of-freedom joint type mechanical arm as the fruit picking machine.

Description

technical field [0001] The invention relates to a multi-touch precise positioning apple picking machine, which belongs to the field of agricultural machinery. Background technique [0002] In the process of apple planting and production, harvesting is an important link. It is labor-intensive, takes a long time, and has certain risks. At present, fruit harvesting is basically manual work. With the aging of the population and a large number of farmers migrating to cities, Rural labor resources are becoming increasingly tense, and manual work will greatly reduce the market competitiveness of products. At the same time, due to the in-depth development of industrialization and urbanization, farmers' demand for agricultural machinery is becoming more and more urgent, and agricultural production is more and more dependent on the application of agricultural machinery. . [0003] The development of mechanization has benefited the development of the fruit industry. With the developme...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention: Aiming at the problem that ordinary vibrating apple picking machines are easy to damage apples, a multi-touch precise positioning apple picking machine is provided. In order to solve the above technical problems, the present invention is realized through the following technical solutions :

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