Research On Picking And Following Collection System Of Fruit Picking Robot

China is a large agricultural country,in which there is a large demand for fruit planting.Until now,the fruit picking mainly depends on the method of manual picking with low efficiency and high cost.Therefore,it is of great and practical value for the fruit-growers to apply the automatic control technology.Considering the current fruit-picking robots more or less exist some drawbacks with low efficiency and high cost,this thesis mainly focuses on the system of fruit-picking and collection,which is a kind of exquisite portable fruit picking robot and easy to operate,including the picking actuator,picking manipulator and collecting devices.The main contents are as follows:(1)According to the characters of apples,pears and other fruits,three kinds of picking schemes were put forward: external force separation,shearing separation and fusing separation.At the same time,the air suction picking actuator and a threedimensional model were designed.By analyzing the theoretical performance and key structure of the picking actuator,it is proved that the integrated air-aspiration type picking method is theoretically feasible for fruit picking.(2)Combined with the level of agricultural mechanization,and compared the construction of the mainstream picking manipulator,the structure and movement of the practical picking mechanical arm with three degrees of freedom rectangular coordinates were proposed and designed.According to the investigation of the target orchard,the features and function,the transmission mode of the manipulator,and the three-dimensional model were determined.(3)Analyzing the low collection efficiency of the current fruit-picking robot,this paper put forward a new solution of fruit picking following collection.Compared with the current mainstream positioning scheme,the UWB positioning scheme was selected.Also in the paper,combined with Kalman filter algorithm,the UWB ranging method and positioning algorithm optimize the positioning results,and reduce the observation noise.(4)The design and manufacture of the air suction picking actuator and the supporting portable picking machine were conducted,and the rationality and practicability of this design were verified by the simulation experiments of single fruit and multiple fruits,in which the average picking time of each fruit was 1.8s,and the success rate of picking was 100%.(5)The Cartesian coordinate manipulator was assembled to test the performance and efficiency.It was verified that the combination of air-aspiration picking actuator and Cartesian coordinate robot was feasible in the field of fruit picking.(6)In the experimental platform of the tracking and collecting system,the whole experiment was carried out and completed,which measured and analyzed the static positioning error of the relative localization system and the deviation degree of the collecting device.