CN212278922U - Full-automatic ridge culture type strawberry picking robot - Google Patents
Full-automatic ridge culture type strawberry picking robot Download PDFInfo
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- CN212278922U CN212278922U CN202021034788.5U CN202021034788U CN212278922U CN 212278922 U CN212278922 U CN 212278922U CN 202021034788 U CN202021034788 U CN 202021034788U CN 212278922 U CN212278922 U CN 212278922U
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 68
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 68
- 240000009088 Fragaria x ananassa Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 100
- 235000021012 strawberries Nutrition 0.000 claims abstract description 33
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 claims description 2
- 230000009467 reduction Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model provides a full-automatic ridge culture type strawberry picking robot, wherein an automatic tracking device for controlling the moving path of the robot is arranged on a moving chassis device; the top of the mobile chassis device is provided with a top plate through a plurality of supporting upright posts in a supporting manner, the two sides of the top plate are symmetrically provided with multi-degree-of-freedom mechanical arms, and the tail ends of the multi-degree-of-freedom mechanical arms are provided with manipulators for picking strawberries; the two sides of the multi-degree-of-freedom mechanical arm are symmetrically arranged at the top of the top plate, the lead screw mechanism is provided with a strawberry storage frame for containing strawberries, and the top plate is provided with a fruit identification and detection device for identifying the strawberries. The automatic picking of strawberry can be realized to this picking robot, effectual reduction operation personnel's intensity of labour, and work efficiency is high.
Description
Technical Field
The utility model belongs to the strawberry picking device field especially relates to full-automatic ridge culture formula strawberry picking robot.
Background
Traditional strawberry picking process is mainly picked through artificial picking mode, because the vegetation leaf footpath of strawberry is shorter, adopts the operation mode of artifical picking, needs to bow all the time and picks, and picking personnel operation personnel's intensity of labour is high, and work efficiency ratio is lower.
SUMMERY OF THE UTILITY MODEL
For solving above technical problem, the utility model provides a full-automatic ridge culture formula strawberry picking robot, this picking robot can realize that the automation of strawberry is picked, effectual reduction operation personnel's intensity of labour, work efficiency is high.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: the full-automatic ridge culture type strawberry picking robot comprises a movable chassis device for driving the whole robot to walk; an automatic tracking device for controlling the moving path of the robot is arranged on the moving chassis device; the top of the mobile chassis device is provided with a top plate through a plurality of supporting upright posts in a supporting manner, the two sides of the top plate are symmetrically provided with multi-degree-of-freedom mechanical arms, and the tail ends of the multi-degree-of-freedom mechanical arms are provided with manipulators for picking strawberries; the two sides of the multi-degree-of-freedom mechanical arm are symmetrically arranged at the top of the top plate, the lead screw mechanism is provided with a strawberry storage frame for containing strawberries, and the top plate is provided with a fruit identification and detection device for identifying the strawberries.
The mobile chassis device comprises a chassis, four corners of the bottom of the chassis are supported by motor supports to be provided with walking motors, Mecanum wheels are installed on output shafts of the walking motors, the walking motors are connected with a motor driver through signal lines, and the motor driver is connected with a controller through signal lines.
The automatic tracking device comprises a PID tracking module fixed at the bottom of a chassis of the mobile chassis device, ultrasonic obstacle avoidance modules are fixedly installed at the top of the chassis through mounting supports respectively, and the PID tracking module and the ultrasonic obstacle avoidance modules are connected with a controller through signal lines respectively.
The multi-degree-of-freedom mechanical arm comprises a mechanical arm rotating chassis, a rotary table is mounted on a main shaft of the mechanical arm rotating chassis, a first arm is fixedly mounted at the top of the rotary table, a second arm is mounted at the top of the first arm through a first steering engine, a third arm is mounted at the top end of the second arm through a second steering engine, a fourth arm is mounted at the top end of the third arm through a third steering engine, a fourth steering engine is mounted at the tail end of the fourth arm through a steering engine mounting seat, and an output shaft of the fourth steering engine is connected with a mechanical arm.
The manipulator comprises a manipulator mounting seat, a fifth steering engine is fixedly mounted at the top of the manipulator mounting seat, an output shaft of the fifth steering engine penetrates through the manipulator mounting seat, a synchronous connecting rod mechanism is mounted at the tail end of the manipulator mounting seat, the synchronous connecting rod mechanism is connected with mechanical clamping fingers which are symmetrically arranged, and the mechanical clamping fingers are mounted on a sliding rail at the front end of the manipulator mounting seat in a sliding fit manner; and a branch cutting containing picker for holding strawberries tightly is arranged on the inner end surface of the mechanical clamping finger.
The synchronous connecting rod mechanism comprises a rotating arm arranged on an output shaft of the fifth steering engine, two ends of the rotating arm are hinged with the tail ends of the mechanical clamping fingers on the corresponding side through connecting rods respectively, and the two mechanical clamping fingers are driven to realize clamping or loosening actions.
The lead screw mechanism is including fixing the step motor at the roof top, step motor's output shaft passes through the shaft coupling and links to each other with the lead screw, the lead screw passes through the bearing frame and installs between the lead screw support, lead screw support fixed mounting is at the top of roof, install the nut seat through lead screw transmission cooperation on the lead screw, the nut seat links to each other with the slider is fixed, the slider constitutes sliding fit with the slide rail of fixing on the roof, strawberry storage frame fixed mounting is at the top of slider.
Fruit discernment detection device is including fixing the first camera at roof top front end, still including fixing the cloud platform device of making a video recording at roof center part, the cloud platform device of making a video recording includes the telescopic link base, telescopic link base fixed mounting is at the center part of roof, the telescopic link is installed at the top of telescopic link base, the second camera is installed through the cloud platform in the top of telescopic link.
The first camera and the second camera are OpenMV cameras and are used for identifying the colors of stems, leaves, flowers and fruits of strawberry crops, so that the multi-degree-of-freedom mechanical arm and the mechanical arm can quickly move to search the fruits, and further whether the fruits are mature or not and whether the fruits meet the picking requirements or not can be determined by identifying the shape profile and the red brightness degree of the strawberries; the position of the fruit is accurately positioned and the mature fruit is grabbed by comparing the input quantity with the output quantity data by combining a negative feedback control system; the strawberry identification is realized by adjusting the preset strawberry shape outline threshold and the color threshold.
The utility model discloses there is following beneficial effect:
1. the automatic picking of strawberry can be realized to this picking robot, effectual reduction operation personnel's intensity of labour, and work efficiency is high.
2. The moving chassis device can realize the automatic walking of the whole robot.
3. The automatic tracking device can be used for controlling the moving path of the whole moving chassis device, so that the automatic tracking device can adapt to complex road conditions, and the triggering threshold value can be modified by a program to deal with various complex environments by adopting an analog quantity output mode.
4. The multi-degree-of-freedom mechanical arm can be used for controlling the movement of the mechanical arm, and further the mechanical arm can move to the position of the strawberry.
5. The manipulator can be used for realizing the picking action of the strawberries. The synchronous connecting rod mechanism comprises a rotating arm arranged on an output shaft of the fifth steering engine, two ends of the rotating arm are hinged with the tail ends of the mechanical clamping fingers on the corresponding side through connecting rods respectively, and the two mechanical clamping fingers are driven to realize clamping or loosening actions.
6. Through foretell screw mechanism can be used for adjusting the position of placing of strawberry storage frame, and then the cooperation manipulator realizes placing of strawberry.
7. The fruit identification and detection device can be used for identifying strawberries to be picked. In the working process, the image information of the strawberries is collected through the camera shooting holder device, the image signals are transmitted to the controller, the multi-degree-of-freedom mechanical arm and the mechanical arm are controlled by the controller to move to the positions of the strawberries, and the strawberries are controlled to be picked.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a first perspective three-dimensional view of the present invention.
Fig. 2 is a second perspective three-dimensional view of the present invention.
Fig. 3 is a third perspective three-dimensional view of the present invention.
Fig. 4 is a fourth perspective three-dimensional view of the present invention.
In the figure: the device comprises a mobile chassis device 1, an automatic tracking device 2, a supporting upright post 3, a top plate 4, a screw mechanism 5, a multi-degree-of-freedom mechanical arm 6, a manipulator 7, a camera shooting tripod head device 8 and a first camera 9;
a chassis 101, a walking motor 102, a motor bracket 103, a Mecanum wheel 104 and a motor driver 105; the ultrasonic obstacle avoidance system comprises an ultrasonic obstacle avoidance module 201, a mounting bracket 202, a controller 203 and a PID tracking module 204;
a stepping motor 501, a coupling 502, a lead screw support 503, a lead screw 504, a slide rail 505, a slide block 506 and a nut seat 507;
the mechanical arm comprises a mechanical arm rotating chassis 601, a rotating disc 602, a first arm 603, a first steering engine 604, a second arm 605, a third arm 606, a second steering engine 607, a third steering engine 608, a fourth arm 609 and a steering engine mounting seat 610;
a manipulator mounting seat 701, a fifth steering engine 702, a mechanical clamping finger 703, a branch cutting containing picker 704, a sliding rail 705, a connecting rod 706 and a rotating arm 707;
a second camera 801, a tripod head 802, an expansion link 803 and an expansion link base 804.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Example 1:
referring to fig. 1-4, the full-automatic ridge culture type strawberry picking robot comprises a mobile chassis device 1 for driving the whole robot to walk; the mobile chassis device 1 is provided with an automatic tracking device 2 for controlling the moving path of the robot; the top of the mobile chassis device 1 is provided with a top plate 4 in a supporting way through a plurality of supporting upright posts 3, the two sides of the top plate 4 are symmetrically provided with a multi-degree-of-freedom mechanical arm 6, and the tail end of the multi-degree-of-freedom mechanical arm 6 is provided with a mechanical arm 7 for picking strawberries; the top symmetrical arrangement that is located roof 4 of the both sides of multi freedom arm 6 installs screw mechanism 5, install the strawberry storage frame 10 that is used for holding the strawberry on screw mechanism 5, install the fruit discernment detection device who is used for discerning the strawberry on roof 4. The automatic picking of strawberry can be realized to this picking robot, effectual reduction operation personnel's intensity of labour, and work efficiency is high. In the specific use, can assist control through automatic tracking device 2 and remove chassis device 1 at the inside normal walking in strawberry plantation, can carry out automatic obstacle avoidance in addition, then through fruit discernment detection device automatic identification strawberry, treat that its discernment is accomplished after, accomplish the harvesting to the strawberry through controller automatic control multi freedom arm 6 and manipulator 7, treat that it is picked after accomplishing, store and place it through strawberry storage frame 10.
Further, the mobile chassis device 1 includes a chassis 101, four corners of the bottom of the chassis 101 are supported and mounted with walking motors 102 through motor supports 103, an output shaft of the walking motors 102 is mounted with mecanum wheels 104, the walking motors 102 are connected with a motor driver 105 through signal lines, and the motor driver 105 is connected with a controller through signal lines. The moving chassis device 1 described above can realize automatic traveling of the entire robot. In the working process, the travel motor 102 drives the Mecanum wheels 104, and then the Mecanum wheels 104 drive the chassis 101 to travel.
Further, the automatic tracking device 2 includes a PID tracking module 204 fixed at the bottom of the chassis 101 of the mobile chassis device 1, an ultrasonic obstacle avoidance module 201 is fixedly installed at the top of the chassis 101 through a mounting bracket 202, and the PID tracking module 204 and the ultrasonic obstacle avoidance module 201 are connected to the controller 203 through signal lines. The automatic tracking device 2 can be used for controlling the moving path of the whole moving chassis device 1, so that the moving chassis device can adapt to complex road conditions and environments, and the trigger threshold value can be modified by a program in an analog quantity output mode to deal with various complex environments.
Further, the multi-degree-of-freedom mechanical arm 6 comprises a mechanical arm rotating chassis 601, a rotating disc 602 is mounted on a main shaft of the mechanical arm rotating chassis 601, a first arm 603 is fixedly mounted at the top of the rotating disc 602, a second arm 605 is mounted at the top of the first arm 603 through a first steering engine 604, a third arm 606 is mounted at the top end of the second arm 605 through a second steering engine 607, a fourth arm 609 is mounted at the top end of the third arm 606 through a third steering engine 608, a fourth steering engine 611 is mounted at the tail end of the fourth arm 609 through a steering engine mounting seat 610, and an output shaft of the fourth steering engine 611 is connected with the mechanical arm 7. The multi-degree-of-freedom mechanical arm 6 can be used for controlling the movement of the mechanical arm 7, so that the mechanical arm can move to the position of the strawberry. In a specific working process, the mechanical arm rotating chassis 601 can drive the whole turntable 602 to rotate, so as to drive the first arm 603 to rotate, the first steering engine 604 drives the second arm 605 to rotate, the second steering engine 607 drives the third arm 606, the third steering engine 608 drives the fourth arm 609 to rotate, the fourth arm 609 drives the steering engine mounting seat 610 to rotate, and the fourth steering engine 611 drives the whole manipulator 7 to rotate.
Further, the manipulator 7 comprises a manipulator mounting seat 701, a fifth steering engine 702 is fixedly mounted at the top of the manipulator mounting seat 701, an output shaft of the fifth steering engine 702 penetrates through the manipulator mounting seat 701, a synchronous link mechanism is mounted at the tail end of the manipulator mounting seat, the synchronous link mechanism is connected with mechanical clamping fingers 703 which are symmetrically arranged, and the mechanical clamping fingers 703 are mounted on a sliding rail 705 at the front end of the manipulator mounting seat 701 in a sliding fit manner; the inner end surface of the mechanical clamping finger 703 is provided with a branch cutting containing picker 704 for holding the strawberry tightly. The manipulator 7 described above can be used to realize a strawberry picking operation. The synchronous link mechanism comprises a rotating arm 707 arranged on an output shaft of the fifth steering engine 702, and two ends of the rotating arm 707 are respectively hinged with the tail ends of the mechanical clamping fingers 703 on the corresponding side through connecting rods 706, and drive the two mechanical clamping fingers 703 to realize clamping or loosening actions. In the working process, the fifth steering engine 702 drives the rotating arm 707, the rotating arm 707 synchronously drives the connecting rod 706 hinged with the rotating arm 707, the connecting rod 706 synchronously drives the mechanical clamping finger 703 at the other end, the mechanical clamping finger 703 drives the branch cutting containing picker 704 to hold the strawberries to be picked tightly, and the telescopic rotating blades of the mechanical clamping finger 703 cut off the roots and stems of the strawberries, so that the strawberries are finally picked.
Further, the screw mechanism 5 includes a stepping motor 501 fixed on the top of the top plate 4, an output shaft of the stepping motor 501 is connected with a screw 504 through a coupling 502, the screw 504 is installed between screw supports 503 through a bearing seat, the screw supports 503 are fixedly installed on the top of the top plate 4, a nut seat 507 is installed on the screw 504 through screw transmission matching, the nut seat 507 is fixedly connected with a sliding block 506, the sliding block 506 forms sliding matching with a sliding rail 505 fixed on the top plate 4, and the strawberry storage frame 10 is fixedly installed on the top of the sliding block 506. The lead screw mechanism 5 can be used for adjusting the placement position of the strawberry storage frame 10, and further the placement of strawberries is realized by matching with the manipulator 7. In the working process, the stepping motor 501 drives the lead screw 504, the lead screw 504 drives the nut seat 507, and the nut seat 507 drives the sliding block 506 connected with the lead screw to slide along the sliding rail 505, so as to drive the strawberry storage frame 10 to slide.
Further, fruit discernment detection device is including fixing the first camera 9 at roof 4 top front end, still including fixing the cloud platform device 8 of making a video recording at roof 4 central point, cloud platform device 8 of making a video recording includes telescopic link base 804, telescopic link base 804 fixed mounting is in the central point of roof 4, telescopic link 803 is installed at the top of telescopic link base 804, second camera 801 is installed through cloud platform 802 at the top of telescopic link 803. The fruit identification and detection device can be used for identifying strawberries to be picked. In the working process, the image information of the strawberries is collected through the camera shooting holder device 8, the image signals are transmitted to the controller, the multi-degree-of-freedom mechanical arm 6 and the mechanical arm 7 are controlled by the controller to move to the positions of the strawberries, and the strawberries are controlled to be picked.
Further, the first camera 9 and the second camera 801 adopt OpenMV cameras for identifying the color of stems, leaves, flowers and fruits of strawberry crops, so that the multi-degree-of-freedom mechanical arm 6 and the manipulator 7 move quickly to search for the fruits, and further whether the fruits are ripe or not is determined by identifying the shape profile and the red brightness degree of the strawberries to meet the picking requirement or not; the position of the fruit is accurately positioned and the mature fruit is grabbed by comparing the input quantity with the output quantity data by combining a negative feedback control system; the strawberry identification is realized by adjusting the preset strawberry shape outline threshold and the color threshold.
Example 2:
the use method of the full-automatic ridge culture type strawberry picking robot comprises the following steps:
step 1: placing the robot between planting ridges of a strawberry plantation;
step 2: starting the robot, controlling the robot to walk in the plantation by matching the mobile chassis device 1 with the automatic tracking device 2, and walking along the strawberry planting ridges;
and step 3: in the walking process, the fruit identification and detection device is started, the first camera 9 and the second camera 801 of the fruit identification and detection device are used for identifying the color of stems, leaves, flowers and fruits of strawberry crops, and strawberry identification is realized according to a preset strawberry shape contour threshold and a preset color threshold;
and 4, step 4: after the strawberries are identified, the controller 203 controls the multi-degree-of-freedom mechanical arm 6 and the manipulator 7 to move, the strawberry is moved to the position where the strawberries are located, and the manipulator 7 is started;
and 5: a fifth steering engine 702 of the manipulator 7 drives a rotating arm 707, the rotating arm 707 synchronously drives a connecting rod 706 hinged with the rotating arm 707, the connecting rod 706 synchronously drives a mechanical clamping finger 703 at the other end, the mechanical clamping finger 703 drives a branch cutting containing picker 704 to hold strawberries to be picked tightly, and the telescopic rotary blades of the mechanical clamping finger 703 cut off the roots and stems of the strawberries;
step 6: the controller 203 controls the mechanical arm with multiple degrees of freedom 6 and the mechanical arm 7 to place the picked strawberries into the strawberry storage frame 10;
and 7: in the strawberry placing process, the placing position of the strawberry storage frame 10 is adjusted by controlling the lead screw mechanism 5, the lead screw 504 is driven by the stepping motor 501 of the lead screw mechanism 5, the nut seat 507 is driven by the lead screw 504, the slide block 506 is driven by the nut seat 507, the strawberry storage frame 10 at the top of the strawberry storage frame is driven to move by the slide block 506, and the position of the strawberry storage frame is adjusted;
and 8: and after one strawberry is picked, picking the next strawberry.
Claims (9)
1. Full-automatic ridge culture formula strawberry harvesting robot, its characterized in that: the robot comprises a mobile chassis device (1) for driving the whole robot to walk; an automatic tracking device (2) for controlling the moving path of the robot is arranged on the moving chassis device (1); the top of the mobile chassis device (1) is provided with a top plate (4) in a supporting mode through a plurality of supporting upright posts (3), the two sides of the top plate (4) are symmetrically provided with multi-degree-of-freedom mechanical arms (6), and the tail ends of the multi-degree-of-freedom mechanical arms (6) are provided with manipulators (7) used for picking strawberries; the multi-degree-of-freedom mechanical arm is characterized in that screw mechanisms (5) are symmetrically arranged on the two sides of the multi-degree-of-freedom mechanical arm (6) and located on the top of a top plate (4), strawberry storage frames (10) used for containing strawberries are installed on the screw mechanisms (5), and fruit identification and detection devices used for identifying the strawberries are installed on the top plate (4).
2. The full-automatic ridge culture type strawberry picking robot according to claim 1, wherein: the mobile chassis device (1) comprises a chassis (101), walking motors (102) are supported and installed at four corners of the bottom of the chassis (101) through motor supports (103), Mecanum wheels (104) are installed on output shafts of the walking motors (102), the walking motors (102) are connected with motor drivers (105) through signal lines, and the motor drivers (105) are connected with a controller through the signal lines.
3. The full-automatic ridge culture type strawberry picking robot according to claim 1, wherein: the automatic tracking device (2) comprises a PID tracking module (204) fixed to the bottom of a chassis (101) of the mobile chassis device (1), ultrasonic obstacle avoidance modules (201) are fixedly installed on the top of the chassis (101) through mounting supports (202), and the PID tracking module (204) and the ultrasonic obstacle avoidance modules (201) are connected with a controller (203) through signal lines respectively.
4. The full-automatic ridge culture type strawberry picking robot according to claim 1, wherein: the multi-degree-of-freedom mechanical arm (6) comprises a mechanical arm rotating chassis (601), a rotating disc (602) is mounted on a main shaft of the mechanical arm rotating chassis (601), a first arm (603) is fixedly mounted at the top of the rotating disc (602), a second arm (605) is mounted at the top of the first arm (603) through a first steering engine (604), a third arm (606) is mounted at the top end of the second arm (605) through a second steering engine (607), a fourth arm (609) is mounted at the top end of the third arm (606) through a third steering engine (608), a fourth steering engine (611) is mounted at the tail end of the fourth arm (609) through a steering engine mounting seat (610), and an output shaft of the fourth steering engine (611) is connected with a mechanical arm (7).
5. The full-automatic ridge culture type strawberry picking robot according to claim 1 or 4, wherein: the manipulator (7) comprises a manipulator mounting seat (701), a fifth steering engine (702) is fixedly mounted at the top of the manipulator mounting seat (701), an output shaft of the fifth steering engine (702) penetrates through the manipulator mounting seat (701), a synchronous connecting rod mechanism is mounted at the tail end of the manipulator mounting seat, the synchronous connecting rod mechanism is connected with mechanical clamping fingers (703) which are symmetrically arranged, and the mechanical clamping fingers (703) are mounted on a sliding rail (705) at the front end of the manipulator mounting seat (701) in a sliding fit manner; the inner end face of the mechanical clamping finger (703) is provided with a branch cutting containing picker (704) for holding strawberries tightly.
6. The full-automatic ridge culture type strawberry picking robot according to claim 5, wherein: the synchronous connecting rod mechanism comprises a rotating arm (707) arranged on an output shaft of a fifth steering engine (702), two ends of the rotating arm (707) are respectively hinged with the tail ends of the mechanical clamping fingers (703) on the corresponding side through connecting rods (706), and the two mechanical clamping fingers (703) are driven to realize clamping or loosening actions.
7. The full-automatic ridge culture type strawberry picking robot according to claim 1, wherein: the lead screw mechanism (5) is including fixing step motor (501) at roof (4) top, the output shaft of step motor (501) passes through shaft coupling (502) and links to each other with lead screw (504), lead screw (504) are installed between lead screw support (503) through the bearing frame, lead screw support (503) fixed mounting is at the top of roof (4), install nut seat (507) through lead screw transmission cooperation on lead screw (504), nut seat (507) and slider (506) are fixed continuous, slider (506) constitute sliding fit with slide rail (505) of fixing on roof (4), strawberry storage frame (10) fixed mounting is at the top of slider (506).
8. The full-automatic ridge culture type strawberry picking robot according to claim 1, wherein: fruit discernment detection device is including fixing first camera (9) at roof (4) top front end, still including fixing the cloud platform device (8) of making a video recording at roof (4) central point, cloud platform device (8) of making a video recording include telescopic link base (804), telescopic link base (804) fixed mounting is at the central point of roof (4), telescopic link (803) are installed at the top of telescopic link base (804), second camera (801) are installed through cloud platform (802) at the top of telescopic link (803).
9. The full-automatic ridge culture type strawberry picking robot according to claim 8, wherein: the first camera (9) and the second camera (801) adopt OpenMV cameras and are used for identifying the colors of stems, leaves, flowers and fruits of strawberry crops, so that the multi-degree-of-freedom mechanical arm (6) and the mechanical arm (7) can quickly move to search the fruits, and further whether the fruits are ripe or not is determined by identifying the shape profile and the red brightness degree of the strawberries, and whether the picking requirements are met or not is determined; the position of the fruit is accurately positioned and the mature fruit is grabbed by comparing the input quantity with the output quantity data by combining a negative feedback control system; the strawberry identification is realized by adjusting the preset strawberry shape outline threshold and the color threshold.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021034788.5U CN212278922U (en) | 2020-06-08 | 2020-06-08 | Full-automatic ridge culture type strawberry picking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021034788.5U CN212278922U (en) | 2020-06-08 | 2020-06-08 | Full-automatic ridge culture type strawberry picking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750178A (en) * | 2022-04-08 | 2022-07-15 | 广东蚂蚁工场制造有限公司 | Five-degree-of-freedom joint type mechanical arm and strawberry picking robot thereof |
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2020
- 2020-06-08 CN CN202021034788.5U patent/CN212278922U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750178A (en) * | 2022-04-08 | 2022-07-15 | 广东蚂蚁工场制造有限公司 | Five-degree-of-freedom joint type mechanical arm and strawberry picking robot thereof |
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Granted publication date: 20210105 |