The agricultural multipurpose robot based on the RGB-D camera comprises a fixed base, supporting rods are fixedly connected to the positions, close to the four corners, of the top of the fixed base, a table top plate is fixedly connected between the top ends of the four supporting rods, and a mechanical arm control mechanism is fixedly arranged at the position, close to the center, of the top of the table top plate; the RGB-D camera is used for recognizing and positioning the top end of target cotton, a command is sent to the laser engraving module, laser is emitted at the focus position right in front of the top end of the cotton so as to accurately process the top end of the cotton, the RGB-D camera and the six-axis control mechanical arm work cooperatively, effective obstacle avoidance of an execution mechanism in a cotton field is achieved, and the work efficiency is improved. And after laser emission is stopped, the RGB-D camera carries out cotton top end identification again, and when no redundant top end exists in the visual field, the execution mechanism carries out reset and calibration operation.
本发明公开了基于RGB‑D相机的农业多用途机器人,包括固定底座,所述固定底座的顶部靠近四个拐角处均固定连接有支撑杆,四个所述支撑杆的顶端之间固定连接有桌面板,所述桌面板的顶部靠近中心处固定设置有机械臂控制机构,本发明通过RGB‑D摄像相机对目标棉花顶端进行识别和定位,通过给激光雕刻模块发送命令,在棉花顶端正前方焦点位置处,发射激光从而精确处理棉花顶端,RGB‑D摄像相机与六轴控制机械臂相互协同工作,实现棉田内执行机构的有效避障,从而使执行机构末端的激光雕刻模块移动至待打顶位置,激光停止发射后,RGB‑D摄像相机再次进行棉花顶端识别,当视野内没有多余顶端存在时,执行机构进行复位与校准操作。
Agricultural multipurpose robot based on RGB-D camera
基于RGB-D相机的农业多用途机器人
2025-03-28
Patent
Electronic Resource
Chinese