The Research Of The Non-Contact Picking Robot For Blueberry

With the development of the technology,the robotics technology has been widely infiltrated into the agricultural sector.As a type of agriculture robots,picking robots have been studied and operated in many countries.China is a large agricultural country,the realization of agricultural modernization is the inevitable trend of technological development,but also has provided a broad space to the agricultural robot research.Now fruit picking is manual,time-consuming and laborious,so the research on robot has important practical significance.Because the study on the use of mechanical harvesting of small berries is still made less,the paper studies the blueberry picking robot.First of all,the paper introduces the technology of the picking robot at home and abroad in order to providing the necessary theoretical foundation,and summed up the purpose of thesis research and significance.The paper introduces TRIZ;the Russian equivalent of the acronym TIPS(Theory of Inventive Problem Solving),what is a process for innovation in science and technology that originates from the former Soviet Union.This paper introduces the basic principles and some methods of TRIZ.Contradiction Matrix and Substance-Field Analysis are used to solve the concept design problem of the blueberry picking robot,and solves the design problem of the overall program finally.The paper does a simple theoretical analysis on the recognition and positioning of the blueberries.A measurement of 3D locations of the blueberry by binocular stereo vision was done for harvesting.Then the paper makes the model structures,identifies the focal points and finalizes the picking point to blueberries in order to realizing the position of picking fruit.The parameters' Optimization design of the robot framework and structure is made according to the blueberries' growth circumstance and distribution space.The robot working space are carried out and simulated through the Matlab software.The paper has established manipulator's kinematics equation and the back motion solution process,and has carried on the simulation,and has confirmed the structural design rationality.On the foundation of the path planning system,the paper analyzes and designs the path planning avoiding obstacle for blueberries.The paper uses the method of the obstacle in the working space mapping the joint space(C-space),and combines with the characteristics of the environment,so summed the obstacles in the blueberries' environment that can be represented by the critical collision angle of the working space to express C-space.