Camellia oleifera fruit picking robot based on machine vision

Abstract

The invention discloses a camellia oleifera fruit picking robot based on machine vision. The camellia oleifera fruit picking robot comprises a conveying platform, a six-degree-of-freedom mechanical arm, an end effector, a conveying pipe, a collecting basket and a vision device; the collecting basket and the six-degree-of-freedom mechanical arm are installed on the front portion and the middle portion of the conveying platform correspondingly; the end effector is installed on a sixth shaft of the six-degree-of-freedom mechanical arm and communicates with the collecting basket through the conveying pipe; and the end effector comprises a left mechanical arm rod, a connecting rod, a right mechanical arm rod, an external comb, a fruit track, a motor, a planet wheel mechanism, a large bearing and a small bearing. The robot can autonomously run in the camellia oleifera fruit field and autonomously complete camellia oleifera fruit picking, and the picking efficiency is high.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to a camellia oleifera fruit picking robot based on machine vision. Background technique [0002] Camellia oleifera is one of the four major woody oil plants in the world, and it is also a unique oil species in China. Camellia oil is known as the "king of oils" and "Oriental olive oil" because of its unique nutritional value. The market has a great demand for Camellia oleifera fruit picking machinery. Patent CN111713259A discloses a variable-pitch comb type Camellia oleifera fruit picking machine, which includes a power unit and a combing device; It includes a picking head cross bar rotatably positioned at the end of the driving shaft of the comb fingers, a number of comb fingers hinged on the picking head cross bar, a variable pitch cross bar slidingly matched with each comb finger, and two ends respectively hinged on the variable pitch bar. But when the contact p...

AI Technical Summary

Problems solved by technology

The market has a great demand for Camellia oleifera fruit picking machinery. Patent CN111713259A discloses a variable-pitch comb type Camellia oleifera fruit picking machine, which includes a power unit and a combing device; It includes a picking head cross bar rotatably positioned at the end of the driving shaft of the comb fingers, a number of comb fingers hinged on the picking head cross bar, a variable pitch cross bar slidingly matched with each comb finger, and two ends respectively hinged on the variable pitch bar. But when the contact point between the comb fingers and the camellia oleifera fruit is the surface of the camellia oleifera fruit, the changing spacing of the comb brush fingers will produce a force pointing to the center of the camellia oleifera fruit, thereby Camellia oleifera is damaged, and the picking machine is easily blocked by leaves and branches of camellia oleifera, reducing the efficiency of picking

Patent CN213662529U discloses a toothed comb rotary type Camellia oleifera fruit harvesting end effector, the driving rotating frame is arranged on the frame through the main shaft and rotates with the main shaft, and there are many groups of tooth combs evenly distributed along the circumferential direction on the driving rotating frame, keeping the rotating frame and the Connecting rods are respectively arranged between each group of toothed combs, and one end of the toothed comb spine of the toothed comb passes through the driving rotating frame and is in interference fit with one end of the corresponding connecting rod, and the other end of the connecting rod is rotationally connected with the holding rotating frame; However, the volume occupied by the end effector is large, and the grid structure will cause the entire end effector to be easily blocked by branches during the picking process, and the grid structure will also place branches horizontally, which will affect the collection and picking efficiency of Camellia oleifera.

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