Multi-joint accurate positioning carthamus tinctorius harvesting mechanical arm and harvesting method

Abstract

The invention relates to a multi-joint accurate positioning carthamus tinctorius harvesting mechanical arm and a harvesting method. The multi-joint accurate positioning carthamus tinctorius harvesting mechanical arm comprises a binocular vision recognition system, a vertical lifting mechanism, a multi-joint connecting module, a motor driving device, a filament harvesting mechanism and a negative pressure collecting mechanism. The multi-joint connecting module comprises a middle connecting block, a front end connecting block and a rear end connecting block; the rear end connecting block is fixedly connected with the top end of the vertical lifting mechanism; the binocular vision recognition system is used for collecting a carthamus tinctorius filament image; the motor driving device can correspondingly drive the front end connecting block and each middle connecting block of the multi-joint connecting module to move at a certain angle in the horizontal plane to reach the required position; and the filament harvesting mechanism comprises a soft profiling gripper, a cutting device, an electric push rod and a harvesting box. The binocular vision recognition system recognizes carthamus tinctorius and the filament harvesting mechanism positions the carthamus tinctorius, the soft profiling gripper accurately clamps and feeds the carthamus tinctorius, fruits are protected and clamped more stably, a cutter set cuts the roots of filaments, and the filament breakage rate is reduced.

Description

technical field [0001] The invention belongs to the field of agricultural machinery and relates to a multi-joint precisely positioned safflower harvesting mechanical arm and a harvesting method. Background technique [0002] There are many hard thorns on the flowers and leaves of safflower, and the harvesting workers cannot pick them continuously for a long time. The efficiency of manual harvesting is very low. Due to the sequence, it is difficult to locate quickly, and if the filaments are not accurately identified and positioned, it is easy to cause the filaments to be unable to be harvested completely. [0003] At present, the flower alignment process of safflower harvesting machines still relies on manual work. Most of the existing safflower picking robots use the imitation safflower plant shape or the comb-tooth type to harvest safflower, which has the problem of inaccurate identification and positioning, and the collection rate of filaments is low. ; The picking robot...

AI Technical Summary

Problems solved by technology

[0002] There are many hard thorns on the flowers and leaves of safflower, and the harvesting workers cannot pick them continuously for a long time. The efficiency of manual harvesting is very low. sequence, it is difficult to quickly locate, inaccurately identify and locate filaments, and it is easy to cause the filaments to be unable to be harvested completely

[0003] At present, the flower alignment process of safflower harvesting machines still relies on manual work. Most of the existing safflower picking robots use the imitation safflower plant shape or the comb-tooth type to harvest safflower, which has the problem of inaccurate identification and positioning, and the collection rate of filaments is low. ; The picking robotic arm of the safflower picking robot is mostly composed of a limited number of articulated arms, the degree of freedom of adjustment is not high, and the purpose of fast and accurate flower alignment cannot be achieved

Images