CN113196946A - Self-propelled intelligent fruit and vegetable picking and collecting robot and implementation method thereof - Google Patents
Self-propelled intelligent fruit and vegetable picking and collecting robot and implementation method thereof Download PDFInfo
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- CN113196946A CN113196946A CN202110690317.2A CN202110690317A CN113196946A CN 113196946 A CN113196946 A CN 113196946A CN 202110690317 A CN202110690317 A CN 202110690317A CN 113196946 A CN113196946 A CN 113196946A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
Abstract
The invention relates to a self-propelled intelligent fruit and vegetable picking and collecting robot and an implementation method thereof, wherein the robot comprises an intelligent identification path trolley, a two-axis linear moving device, a picking device, a transporting and collecting device and an image collecting device; the intelligent path recognition trolley is used as a main body matching and moving platform and is respectively connected with the two-axis linear moving device, the transportation and collection device and the image acquisition device, and the picking device is connected with the two-axis linear moving device. According to the intelligent fruit and vegetable picking robot, the intelligent path recognition trolley, the two-axis linear moving device, the picking device, the transporting and collecting device and the image acquisition device are arranged, so that the walking path of the agricultural robot is adjusted in real time, the walking precision of the agricultural robot is accurately controlled, and the fruit and vegetable picking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent agricultural picking machines, in particular to a self-propelled intelligent fruit and vegetable picking and collecting robot and an implementation method thereof.
Background
China is a big agricultural country and a country with big demand for agricultural products and fruits, and along with the acceleration of the urbanization process, a large number of rural labor population is rushed into cities and towns and other industries, so that the agricultural labor population is reduced. China is a big country for consuming pineapple fruits, and the pineapple is popular with people due to good taste and high nutritional value. At present, pineapple planting in China is generally concentrated in southern areas in China, the picking mode is manual picking, and the manual picking mode is generally two, namely, a knife is used for cutting pineapple stems; another is to pick up the herb by bending. Because the picking season of the pineapples is short, the picking efficiency is low by using the existing picking mode, if the labor force is insufficient, the pineapples cannot be harvested in time, so that the transport and the storage are influenced.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a self-propelled intelligent fruit and vegetable picking and collecting robot and an implementation method thereof.
The invention is realized by adopting the following technical scheme: a self-propelled intelligent fruit and vegetable picking and collecting robot comprises an intelligent path identification trolley, a two-axis linear moving device, a picking device, a transporting and collecting device and an image collecting device; the intelligent path recognition trolley is used as a main body matching and moving platform and is respectively connected with the two-axis linear moving device, the transportation and collection device and the image acquisition device, and the picking device is connected with the two-axis linear moving device.
The method is realized by adopting the following technical scheme: a self-propelled intelligent fruit and vegetable picking and collecting implementation method comprises the following steps:
s1, acquiring a front path image by using a horizontal image acquisition camera, transmitting path image information to a cloud end, returning path information from the cloud end, and controlling the intelligent identification path trolley to walk along an identified path by using a closed-loop control system; detecting the path condition through a distance sensor, transmitting the acquired signal to a closed-loop control system, and controlling the intelligent recognition path trolley to turn through a steering device and bypass the obstacle;
s2, transmitting the acquired image signals to a cloud, and when the fruits and vegetables are identified, returning data results to the cloud, automatically controlling the intelligent identification path trolley to stop moving by the closed-loop control system, and calculating the vertical distance between the camera and the fruits and vegetables according to the binocular camera ranging principle and algorithm;
s3, calculating the actual distance between the fruit and the corresponding point originally calibrated on the intelligent recognition path trolley through the geometric relation, controlling the two-axis linear moving device by using the closed-loop control system to enable the mechanical claw of the picking device to wrap the fruit and the vegetable, and enabling the second cylinder to extend by driving the pneumatic electromagnetic valve of the second cylinder to push the control board to move forwards to enable the mechanical claw to be closed and clamp the fruit and the vegetable;
s4, driving a first cylinder pneumatic solenoid valve to extend the first cylinder, and rotating the whole picking manipulator around a cylinder accessory by using a double-rocker principle to achieve the picking purpose;
s5, the mechanical claw moves to the adjusted initial position, namely above the conveyor belt, by driving the two-shaft linear moving device, the second cylinder pneumatic solenoid valve is driven, the second cylinder retracts, the control panel is pushed to move backwards, the mechanical claw is opened, and the fruits and vegetables are placed on the conveyor belt;
s6, driving the pneumatic solenoid valve of the first cylinder to retract the first cylinder, returning the mechanical claw to the original position, and carrying out next cycle picking in an open state;
s7, the fruits and vegetables fall into the collecting box through the conveyor belt, if the collecting box is full, the baffle is rotated, and a new collecting box is replaced to continue to store.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the intelligent fruit and vegetable picking robot, the intelligent path recognition trolley, the two-axis linear moving device, the picking device, the transporting and collecting device, the image acquisition device and the closed-loop control system are arranged, so that the walking path of the agricultural robot is adjusted in real time, the walking precision of the agricultural robot is accurately controlled, and the fruit and vegetable picking efficiency is improved.
2. The invention accurately reaches the position of the pineapple under the control of the control system through the two-axis linear moving device, and has compact and simple structure.
3. The invention adopts a simple four-bar mechanism to realize that the fruits and the vegetables are picked from the plants, and reduces the damage to the fruits and the vegetables on the premise of separating the fruits and the vegetables from the plants.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the intelligent path recognition trolley of the invention;
FIG. 3 is a schematic view of a two-axis linear motion device according to the present invention;
FIG. 4 is a schematic view of a transverse linear motion module of the two-axis linear motion device according to the present invention;
FIG. 5 is a schematic view of a longitudinal linear motion module of the two-axis linear motion device according to the present invention;
FIG. 6 is a schematic view of the picking apparatus of the present invention;
FIG. 7 is a schematic view of a gripper configuration;
FIG. 8 is a schematic view of the conveyor structure of the transport and collection unit of the present invention;
FIG. 9 is a schematic view of the collection unit of the transport and collection unit of the present invention;
FIG. 10 is a schematic view of an image capturing device according to the present invention;
FIG. 11 is a schematic view of the fruit and vegetable collection device of the present invention moving to a conveyor belt;
in the figure, 1 is an intelligent path recognition trolley, 2 is a two-axis linear moving device, 3 is a picking device, 4 is a transportation and collection device, 5 is an image acquisition device, 101 is a first cross beam, 102 is a vertical column, 103 is a power wheel, 104 is a distance sensor, 105 is a first longitudinal beam, 106 is a steering shaft, 107 is an inclined base, 108 is a second cross beam, 109 is a second longitudinal beam, 110 is a third longitudinal beam, 111 is a steering shaft support plate, 112 is a steering motor, 201 is a rack, 202 is a guide rail, 203 is an aluminum profile, 204 is a large gear, 205 is a small gear, 206 is a longitudinal axis moving connection plate, 207 is a transverse axis moving connection plate, 208 is a gear, 209 is a motor, 210 is a fixed connection plate, 211 is a synchronous conveyor belt, 212 is a large gear fixing device, 213 is a first slide block, 214 is a second slide block, 301 is a first air cylinder, 302 is a first connection plate, 303 is an air cylinder attachment, 304 is a second connection plate, 305 is a second cylinder, 306 is a third link plate, 307 is a lever bracket, 308 is a rubber claw sleeve, 309 is a gripper, 310 is a lever connecting port, 311 is a lever, 312 is a control plate, 313 is a fourth link plate, 401 is a conveyor belt, 402 is a suspension, 403 is a collection box, 404 is a baffle, 405 is a support frame horizontal support arm, 406 is a support frame vertical support arm, 501 is a camera vertical support arm, 502 is a horizontal image capturing camera, 503 is a camera horizontal support arm, and 504 is a binocular camera.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1, the self-propelled intelligent fruit and vegetable picking and collecting robot of the present embodiment includes an intelligent identification path trolley 1, a two-axis linear moving device 2, a picking device 3, a transporting and collecting device 4, and an image collecting device 5; the intelligent path recognition trolley is used as a main body matching and moving platform and is respectively connected with the two-axis linear moving device, the transportation and collection device and the image acquisition device, and the picking device is connected with the two-axis linear moving device.
As shown in fig. 2, in this embodiment, the intelligent identification path trolley includes a first cross beam 101, a second cross beam 108, four upright posts 102, four power wheels 103, a distance sensor 104, a first longitudinal beam 105, a second longitudinal beam 109, a third longitudinal beam 110, a steering shaft 106, an inclined base 107, a steering shaft support plate 111, and a steering motor 112; the first longitudinal beam, the second longitudinal beam and the third longitudinal beam are respectively connected with the first cross beam and the second cross beam; the four upright posts are respectively connected with the first cross beam and the second cross beam, the bottoms of the four upright posts are respectively connected with the four power wheels, and the inclined base is obliquely arranged on the second longitudinal beam; a distance sensor is mounted at the front end of the steering shaft support plate 111; the steering motor 112 is mounted on the first and second lateral shafts to rotate the steering shaft.
As shown in fig. 3, in the present embodiment, the two-axis linear motion device includes a horizontal axis linear motion module and a vertical axis linear motion module, and the two-axis linear motion device is installed between the first longitudinal beam and the third longitudinal beam; as shown in fig. 5, the vertical axis linear motion comprises a rack 201, a guide rail 202, an aluminum profile 203, a gearwheel 204, a pinion 205, a gear 208, a vertical axis moving connecting plate 206, a fixed slider connecting plate 210, a gearwheel fixing device 212, a motor 209, a synchronous conveyor belt 211 and a first slider 213; the guide rails are fixed on two sides of the aluminum profile, the racks are fixed on the aluminum profile, the pinions are connected with the large gears through the synchronous conveyor belts, the motors are fixed on the longitudinal axis moving connecting plates, the longitudinal axis moving connecting plates are fixed on the transverse axis linear moving modules, the longitudinal axis moving linear modules are moved through the large gears, the pinions, the racks and the first sliding blocks, and the transverse axis moving linear modules are moved through the racks, the racks and the guide rails. As shown in fig. 4, the horizontal axis linear movement module includes an aluminum profile 203, a guide rail 202, a rack 201, a motor 209, a gear 208, a horizontal axis movement connection plate 207, and a second slider 214. The longitudinal axis linear movement module is fixed on the transverse axis linear movement module transverse axis movement connecting plate through the longitudinal axis movement connecting plate, and the whole transverse axis linear movement module is fixed on the inclined base of the intelligent identification path trolley through an aluminum profile.
As shown in fig. 6 and 7, in the present embodiment, the picking apparatus includes a first cylinder 301, a first connecting plate 302, a cylinder attachment 303, a second connecting plate 304, a second cylinder 305, a third connecting plate 306, a control rod support 307, a rubber claw sleeve 308, a gripper 309, a control rod connection port 310, a control rod 311, a control plate 312, and a fourth connecting plate 313; the first cylinder is connected to the first connecting plate through a cylinder accessory and forms a hinge with the first connecting plate, and the first connecting plate is fixed on the aluminum profile of the longitudinal axis linear moving module; the second connecting plate is connected with the first cylinder through a cylinder accessory to form a hinge, and the second connecting plate is fixed at the tail of the second cylinder; the third connecting plate and the control rod bracket are fixed on the second cylinder; the four control rods are connected with the control rod bracket and form hinges, and penetrate through the four holes of the control plate, and are restrained by the holes on the control plate; as shown in fig. 7, the mechanical claw is fixed on the control rod through the control rod connecting port, and the rubber claw is sleeved on the mechanical claw and fixed on the control rod together with the mechanical claw; the third connecting plate and the fourth connecting plate are connected together through a cylinder accessory and form a hinge with each other; the fourth connecting plate is fixed on the aluminum profile of the longitudinal axis linear moving module. Through the stretching of the second cylinder and the matching of the control rod and the control panel, the mechanical claw can realize grabbing and loosening.
In this embodiment, the transporting and collecting device includes a transporting device and a collecting device; the conveying device comprises a conveyor belt 401 and a suspension bracket 402; the collecting device comprises a collecting box 403, a baffle 404, a support frame horizontal supporting arm 405 and a support frame vertical supporting arm 406. As shown in fig. 8, the conveyor belt of the transport device is fixed to the suspension bracket, and the suspension bracket is suspended on the second longitudinal beam and the third longitudinal beam of the intelligent recognition path trolley. As shown in fig. 9, the vertical support arm of the support frame of the collecting device is fixed on the third upright post and the fourth upright post of the intelligent path recognition trolley, the collecting box is placed on the horizontal support arm of the support frame, and the baffle plate is connected at the tail end of the horizontal support arm of the support frame to form a hinge with the horizontal support arm of the support frame.
As shown in fig. 10, in the present embodiment, the image capturing apparatus includes a camera vertical support arm 501, a horizontal image capturing camera 502, a camera horizontal support arm 503, and a binocular camera 504; the camera vertical supporting arm is installed on a first longitudinal beam of the intelligent path recognition trolley, the horizontal image acquisition camera is installed on the camera vertical supporting arm, and the binocular camera is installed on the camera horizontal supporting arm and used for acquiring the distance between the fruits and the vegetables.
In the embodiment, a closed-loop control system is combined with a Huacheng cloud, and the closed-loop control system mainly adopts a two-lake science and technology LHEM-2416-6PD-007 motion control card; hua be the fruit vegetables coordinate signal and the route walking signal that the high in the clouds mainly used processing image acquisition device gathered to return the data result, closed loop control system controls the picking and the walking of coordinating whole intelligent fruit vegetables collection robot through these data and signal.
As shown in fig. 11, in this embodiment, which is a schematic structural view of the fruit picking device moving to the conveyor belt after picking, the picking device is controlled to reach above the conveyor belt by the two-axis linear moving device, and then the claw is released to put down the fruit.
When in operation, the method comprises the following steps:
s1, acquiring a front path image by using a horizontal image acquisition camera, transmitting path image information to a cloud end, returning path information from the cloud end, and controlling the intelligent identification path trolley to walk along an identified path by using a closed-loop control system; whether large stones or bumps exist on the path or not is detected through a distance sensor, the obtained signals are transmitted to a closed-loop control system, and the intelligent identification path trolley is controlled to turn through a steering device and bypass the obstacle;
s2, transmitting the acquired image signals to a cloud, and when the fruits and vegetables are identified, returning data results to the cloud, automatically controlling the intelligent identification path trolley to stop moving by the closed-loop control system, and calculating the vertical distance between the camera and the fruits and vegetables according to the binocular camera ranging principle and algorithm;
s3, calculating the actual distance between the fruit and the vegetable and the corresponding point originally calibrated on the intelligent recognition path trolley through a geometric relation, controlling the two-axis linear moving device by using a closed-loop control system to enable the picking device with the mechanical claw in the open state to move to a proper position away from the fruit and the vegetable, namely, the fruit and the vegetable can be wrapped after the mechanical claw is clamped, and specifically, verifying whether the fruit and the vegetable can be wrapped after the mechanical claw is clamped or not by putting pictures, acquired by a binocular camera, of the relative positions of the mechanical claw and the fruit and the vegetable into a Huacheng cloud deep learning network for testing to judge whether the mechanical claw reaches the proper position or not; the pneumatic electromagnetic valve mainly controls an airflow channel to enable the air cylinder to extend or retract, and the second air cylinder is extended by driving the second air cylinder pneumatic electromagnetic valve to push the control panel to move forwards, so that the mechanical claw is closed to clamp fruits and vegetables;
s4, driving a first cylinder pneumatic solenoid valve to extend the first cylinder, and rotating the whole picking manipulator around a cylinder accessory by using a double-rocker principle to achieve the picking purpose;
s5, the mechanical claw moves to the adjusted initial position, namely above the conveyor belt, by driving the two-shaft linear moving device, the second cylinder pneumatic solenoid valve is driven, the second cylinder retracts, the control panel is pushed to move backwards, the mechanical claw is opened, and the fruits and vegetables fall on the conveyor belt;
s6, driving the pneumatic solenoid valve of the first cylinder to retract the first cylinder, returning the mechanical claw to the original position, and carrying out next cycle picking in an open state;
s7, the fruits and vegetables fall into the collecting box through the conveying belt, after the collecting box is full, the baffle is rotated, and a new collecting box is replaced for continuous storage.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A self-propelled intelligent fruit and vegetable picking and collecting robot is characterized by comprising an intelligent path identification trolley, a two-axis linear moving device, a picking device, a transporting and collecting device and an image collecting device; the intelligent path recognition trolley is used as a main body matching and moving platform and is respectively connected with the two-axis linear moving device, the transportation and collection device and the image acquisition device, and the picking device is connected with the two-axis linear moving device.
2. The self-propelled intelligent fruit and vegetable picking and collecting robot as claimed in claim 1, wherein the intelligent path identifying trolley comprises a first cross beam, a second cross beam, four upright columns, four power wheels, a distance sensor, a first longitudinal beam, a second longitudinal beam, a third longitudinal beam, a steering shaft, an inclined base, a steering shaft support plate and a steering motor;
the first longitudinal beam, the second longitudinal beam and the third longitudinal beam are respectively connected with the first cross beam and the second cross beam;
the four upright posts are respectively connected with the first cross beam and the second cross beam, the bottoms of the four upright posts are respectively connected with the four power wheels, and the inclined base is obliquely arranged on the second longitudinal beam;
a distance sensor is arranged at the front end of the steering shaft supporting plate;
the steering motor is mounted on the first cross shaft and the second cross shaft and used for rotating the steering shaft.
3. The self-propelled intelligent fruit and vegetable picking and collecting robot as claimed in claim 1, wherein the two-axis linear moving device comprises a transverse axis linear moving module and a longitudinal axis linear moving module, and the two-axis linear moving device is installed between the first longitudinal beam and the third longitudinal beam;
the longitudinal axis linear movement comprises a rack, a guide rail, an aluminum profile, a large gear, a small gear, a longitudinal axis movement connecting plate, a fixed sliding block connecting plate, a large gear fixing device, a motor, a synchronous conveyor belt and a first sliding block; the transverse shaft linear moving module comprises an aluminum profile, a guide rail, a rack, a motor, a gear, a transverse shaft moving connecting plate and a second sliding block;
the guide rails are fixed on two sides of the aluminum profile, the racks are fixed on the aluminum profile, the pinions are connected with the large gears through the synchronous conveyor belts, the motors are fixed on the connecting plates, and the longitudinal axis moving connecting plates are fixed on the transverse axis linear moving modules;
the longitudinal axis linear movement module is fixed on the transverse axis linear movement module transverse axis movement connecting plate through the longitudinal axis movement connecting plate, and the whole transverse axis linear movement module is fixed on the inclined base of the intelligent identification path trolley through an aluminum profile.
4. The self-propelled intelligent fruit and vegetable picking and collecting robot as claimed in claim 1, wherein the picking device comprises a first cylinder, a first connecting plate, a cylinder attachment, a second connecting plate, a second cylinder, a third connecting plate, a control rod bracket, a rubber claw sleeve, a mechanical claw, a control rod connecting port, a control rod, a control plate and a fourth connecting plate;
the first cylinder is connected to the first connecting plate through a cylinder accessory and forms a hinge with the first connecting plate, and the first connecting plate is fixed on the aluminum profile of the longitudinal axis linear moving module;
the second connecting plate is connected with the first cylinder through a cylinder accessory to form a hinge, and the second connecting plate is fixed at the tail of the second cylinder;
the third connecting plate and the control rod bracket are fixed on the second cylinder;
the four control rods are connected with the control rod bracket to form hinges and penetrate through the four holes of the control plate, and the control rods are restrained by the holes on the control plate;
the mechanical claw is fixed on the control rod through a control rod connecting port, and the rubber claw sleeve is sleeved on the mechanical claw and fixed on the control rod together with the mechanical claw;
the third connecting plate and the fourth connecting plate are connected together through a cylinder accessory and form a hinge with each other;
the fourth connecting plate is fixed on the aluminum profile of the longitudinal axis linear moving module.
5. The self-propelled intelligent fruit and vegetable picking and collecting robot as claimed in claim 1, wherein the transporting and collecting device comprises a transporting device and a collecting device; the conveying device comprises a conveying belt and a suspension bracket; the collecting device comprises a collecting box, a baffle, a supporting frame horizontal supporting arm and a supporting frame vertical supporting arm;
a conveyor belt of the conveying device is fixed on a suspension bracket, and the suspension bracket is suspended on a second longitudinal beam and a third longitudinal beam of the intelligent identification path trolley;
the vertical support arm of the support frame of the collecting device is fixed on the third stand column and the fourth stand column of the intelligent path recognition trolley, the collecting box is placed on the horizontal support arm of the support frame, and the baffle plate is connected to the tail end of the horizontal support arm of the support frame to form a hinge with the horizontal support arm.
6. The self-propelled intelligent fruit and vegetable picking and collecting robot as claimed in claim 1, wherein the image acquisition device comprises a camera vertical support arm, a horizontal image acquisition camera, a camera horizontal support arm and a binocular camera; the camera vertical supporting arm is installed on a first longitudinal beam of the intelligent path recognition trolley, the horizontal image acquisition camera is installed on the camera vertical supporting arm, and the binocular camera is installed on the camera horizontal supporting arm and used for acquiring the distance between the fruits and the vegetables.
7. The self-propelled intelligent fruit and vegetable picking and collecting robot as claimed in claim 1, wherein the closed-loop control system adopts a motion control card to interact with Huacheng cloud information; the Huawei cloud is used for processing the fruit and vegetable coordinate signals and the path walking signals collected by the image collecting device, returning the data results, and controlling and coordinating the fruit and vegetable picking process through the data results and the motion control card.
8. A self-propelled intelligent fruit and vegetable picking and collecting implementation method is characterized in that the self-propelled intelligent fruit and vegetable picking and collecting robot disclosed by any one of claims 1-7 is adopted for picking fruits and vegetables, and the method comprises the following steps:
s1, acquiring a front path image by using a horizontal image acquisition camera, transmitting path image information to a cloud end, returning path information from the cloud end, and controlling the intelligent identification path trolley to walk along an identified path by using a closed-loop control system; detecting the path condition through a distance sensor, transmitting the acquired signal to a closed-loop control system, and controlling the intelligent recognition path trolley to turn through a steering device and bypass the obstacle;
s2, transmitting the acquired image signals to a cloud, and when the fruits and vegetables are identified, returning data results to the cloud, automatically controlling the intelligent identification path trolley to stop moving by the closed-loop control system, and calculating the vertical distance between the camera and the fruits and vegetables according to the binocular camera ranging principle and algorithm;
s3, calculating the actual distance between the fruit and the corresponding point originally calibrated on the intelligent recognition path trolley through the geometric relation, controlling the two-axis linear moving device by using the closed-loop control system to enable the mechanical claw of the picking device to wrap the fruit and the vegetable, and enabling the second cylinder to extend by driving the pneumatic electromagnetic valve of the second cylinder to push the control board to move forwards to enable the mechanical claw to be closed and clamp the fruit and the vegetable;
s4, driving a first cylinder pneumatic solenoid valve to extend the first cylinder, and rotating the whole picking manipulator around a cylinder accessory by using a double-rocker principle to achieve the picking purpose;
s5, the mechanical claw moves to the adjusted initial position, namely above the conveyor belt, by driving the two-shaft linear moving device, the second cylinder pneumatic solenoid valve is driven, the second cylinder retracts, the control panel is pushed to move backwards, the mechanical claw is opened, and the fruits and vegetables are placed on the conveyor belt;
s6, driving the pneumatic solenoid valve of the first cylinder to retract the first cylinder, returning the mechanical claw to the original position, and carrying out next cycle picking in an open state;
s7, the fruits and vegetables fall into the collecting box through the conveyor belt, if the collecting box is full, the baffle is rotated, and a new collecting box is replaced to continue to store.
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| CN114396889A (en) * | 2022-01-12 | 2022-04-26 | 仲恺农业工程学院 | Visual positioning and hooking cutting system for automatically processing turtle shell intra-abdominal butter and control method thereof |
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