Research And Design Of A Apple Picking Robot

In the field of apple picking,most orchards are still in the manual picking stage,which takes up a lot of labor costs.Among the factors affecting the realization of large-scale mechanized apple picking,the immature visual information and image processing technology as well as the structure of the designed picking robot is not suitable for the environment are included.If the design of picking robot structure can not adapt to the orchard environment,it will lead to the problem of low picking efficiency.Aiming at the low efficiency of picking at present,this paper designs an apple picking robot which can automatically drop fruit.Through the field investigation of the orchard,the specific fruit tree species,tree types and cultivation methods were studied and analyzed,and the hierarchical picking mode of picking robot was put forward,including the selection of picking time,picking way,picking posture and so on.On the basis of spatial analysis of fruit picking,the structure of picking robot is designed,and a picking robot suitable for hierarchical picking mode is developed,and a3 D virtual model is made in 3d software.Using DH parameter method and the coordinate transform the kinematics equation and dynamic equation is established,and the principle of using the data processing software was used to solve kinematics and dynamics,and at the same time,using the results of the forward kinematics inverse kinematics are verified,using the simulation software of inverse dynamics is verified,built for control system design and prototype selection made.Containing apple picking target and obstacle of point cloud data analysis,through sampling methods such as reduction,the point cloud data to generate 3 d entity,at the same time using A different path planning algorithm for the starting point and target point between path planning,in statistical analysis,found that the A * algorithm to generate the shortest path,but time generated close to RRT algorithm,The advantages of real-time performance are small,and the A~* algorithm is improved.Through analysis,it is found that the improved algorithm performs better in path generation time compared with A~*algorithm.Finally,the picking track is obtained by using the improved algorithm.The control system of picking robot is built.The control system uses an embedded microcontroller with touch screen as the lower computer,and uses the upper computer with strong computing ability.Build human-computer interaction interface,complete the information exchange between human and machine.After the end-effector was processed and assembled,apple picking experiment was carried out in the established fruit tree model to verify the picking effect of the end-effector,and the rationality of the generation path of the improved algorithm was verified in the experiment,and the harvest and deficiency of the experiment were analyzed and summarized,laying a foundation for large-scale mechanized apple picking in the future.