本发明公开了一种双臂苹果采摘梯形分级收集机器人,包括自主移动平台,自主移动平台上部中心位置安装有机器人本体,机器人本体的顶部安装有双目视觉传感器机构,机器人本体前面设置有与其相配合的果实传输分级收集系统;自主移动平台上还设置有蓄电池组,蓄电池组上部安装有中央控制器,蓄电池组为机器人本体和自主移动平台上的所有电机、传感器以及中央控制器提供动力;中央控制器是整个机器人的控制中心,控制所有电器元件工作。同时公开了利用该机器人采摘作业方法。该机器人适应能力强,运动灵活,安全可靠、结构紧凑,具有苹果采摘并分级收集能力。
The invention discloses a double-arm picking trapezoid graded collection robot for apples. The robot comprises an automatic mobile platform, a robot body is installed at the central position of an upper part of the automatic mobile platform, the top of the robot body is provided with a binocular vision sensor mechanism, and a fruit transmission graded collection system, which matches with the robot body, is arranged in front of the robot body; a storage battery is further arranged on the automatic mobile platform, the upper part of the storage battery is provided with a central control unit, and the storage battery supplies power for the robot body as well as all motors, sensors and the central control unit which are on the automatic mobile platform; the central control unit is the controlcenter of the whole robot and controls all electric elements to work. Meanwhile, the invention discloses a picking operation method of the robot. The robot is strong in adaptive capacity, flexible inmotion, safe, reliable and compact in structure, and has apple picking and graded collection capacities.
双臂苹果采摘梯形分级收集机器人及其采摘分级作业方法
2023-08-15
Patent
Electronic Resource
Chinese
IPC: | A01D Ernten , HARVESTING / A23N MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES, OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR , Maschinen oder Vorrichtungen zum Behandeln geernteter Früchte, Gemüse oder Blumenzwiebeln in großen Mengen, soweit nicht anderweitig vorgesehen / B07B Trennen fester Stoffe von festen Stoffen durch Sieben, Klassieren oder Sichten oder durch Verwendung von Gasströmungen , SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, OR SIFTING OR BY USING GAS CURRENTS / B25J Manipulatoren , MANIPULATORS / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge |