박성준,백상윤,박상수,PARK SUNG JUN,BAEK SANG YUN,PARK SANG SOO
申请号：
KR1020180061589
公开号：
KR1020190136209A
申请日:
2018.05.30
申请国别(地区):
KR
年份:
2019
代理人:
摘要：
The present invention relates to a fruit harvesting robot device, and more particularly, the recognition and position calculation of the fruit is carried out in advance, and the collection of the fruit and the loading of the already collected fruit is performed at the same time to shorten the time required for harvesting. In addition, the present invention relates to a fruit harvesting robot device that is simple in structure and operation by minimizing the degree of freedom of an actuator for collecting fruit. The fruit harvesting robot apparatus according to the present invention is a fruit harvesting robot apparatus for collecting and harvesting fruits suspended on both sides of a passage, comprising: a bogie running along a passage, a platform placed on an upper portion of the bogie, and lifting up and down； An error recognizing means provided to recognize the fruit suspended on both sides of the passage and calculating the position of the recognized fruit, a harvester provided at the top of the platform to collect the fruit recognized by the fruit recognizing means, and A loading unit provided on an upper portion of the platform so that the collected fruit is loaded and loaded, controlling the running of the trolley, controlling the elevation of the platform, controlling the operation of the fruit recognizing means, and Control the operation of the harvester to collect the recognized fruit according to the position of the fruit recognized by the It is characterized in that the control means for controlling the harvester to inject the fruit into the loading unit.본 발명은 과실 수확 로봇 장치에 관한 것으로, 보다 상세하게는 과실의 인식과 위치 산출이 미리 수행되고, 아울러 과실의 채취와 이미 채취된 과실의 적재가 동시에 수행되도록 구성되어 수확에 소용되는 시간을 단축할 수 있을 뿐만 아니라 과실을 채취하는 작동기의 자유도를 최소화함으로써 구조 및 작동이 간단한 과실 수확 로봇 장치에 관한 것이다.본 발명에 따른 과실 수확 로봇 장치는, 통로의 양측에 매달린 과실을 채취하여 수확하기 위한 과실 수확 로봇 장치에 있어서, 통로를 따라 주행하는 대차와, 상기 대차의 상부에 놓여 상하로 승강되는 승강대와, 통로의 양측에 매달린 과실을 인식하고 인식된 과실의 위치를 산출하도록 구비된 과실 인식 수단과, 상기 과실 인식 수단에 의해 인식된 과실을 채취하도록 상기 승강대의 상부에 구비
