Vehicle-mounted mechanical arm type fruit picking and boxing system and method based on machine vision

Abstract

The invention relates to the field of fruit post-harvest processing, and particularly relates to a vehicle-mounted mechanical arm type fruit picking and boxing system and method based on machine vision. The system comprises a self-propelled vehicle device, a machine arm device, a machine vision device and a control system, wherein the self-propelled vehicle device is used for carrying the machinearm device and related equipment and can drive the whole fruit picking and boxing system to move; the machine arm device is mounted on the self-propelled vehicle device and used for picking and boxingfruits; the machine vision device is mounted on an end effector in the machine arm device and used for recognizing and positioning the fruits; and the control system is mounted in the self-propelledvehicle device and used for analyzing data transmitted by the machine vision device and driving the machine arm device to grab the target fruits. The fruit picking and boxing efficiency is improved and the damage rate of the fruits is reduced through the advanced machine vision technology and robot technology, the fruit post-harvest processing capacity of China is greatly improved, and then huge economic benefits and social benefits are created.

Description

technical field [0001] The invention relates to a vehicle-mounted manipulator-arm fruit picking and boxing system and method based on machine vision, and belongs to the technical field of post-harvest fruit processing. Background technique [0002] With the development of machine vision technology and robot technology, the application in the field of fruit and vegetable picking effectively reduces labor costs and improves productivity. In the post-harvest process of fruits, fruit picking and boxing is the last procedure before fruit sales. At this time, the quality of fruits directly affects the sales of fruits, thus affecting the development of the entire fruit industry. [0003] With the progress of society, people's demand for fruit is increasing year by year. Faced with the huge fruit output, the fruit distribution center needs to realize full automation to improve production efficiency. At present, most fruit distribution centers choose manual packing in the packing st...

AI Technical Summary

Problems solved by technology

At present, most fruit distribution centers choose manual packing in the packing stage. With the reduction of the working-age population, labor costs continue to increase. At the same time, manual packing still has problems such as low efficiency and manual operation fatigue.

In addition, most of the existing pick-up and box-packing equipment adopts the method of fruit rolling or sucking fruit. The first method is easy to cause internal damage to the fruit and reduce the quality of the fruit, which is not conducive to the long-term development of the fruit industry; the second method The method has high requirements on the shape and placement of the fruit, which is not conducive to large-scale promotion

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