Development automated capture device for picking apples

Dmitriy Khort,Igor Smirnov,Daniil Pupin,Alexey Kutyrev,S Belousov,S Roshchupkin

doi:10.1051/e3sconf/202128507025

Dmitriy Khort, Igor Smirnov + Show 4 more

Open Access

https://doi.org/10.1051/e3sconf/202128507025

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Abstract

In the system of the mechanized process of cultivation of fruit crops, harvesting is an important final stage, which requires the development of new, convenient, including those that do not damage the fruit, automated technical devices. As a result of a series of experiments, the operability of the developed automated fruit picking device was confirmed, it gently captures the fruit and reliably holds it. The operating modes of the automated device for picking fruits have been established. The following characteristics of the device for picking fruits were revealed: the time for a complete capture of the apple is from 1.5 seconds to 2 seconds, depending on their size, the maximum size of the captured apple is 85x80 mm, the maximum weight of the captured apple is 400 g. The permissible pressure of the paws of the device on the fruit is determined ... It was found that with the force of the linear stepper motor on the pusher in 8N, the safety of the apple is ensured with minimal damage, while the apple is securely fixed in the capture paws.

Highlights

In the system of the mechanized process of cultivation of fruit crops, harvesting is an important final stage, which requires the development of new, convenient, including nonfruit-damaging automated technical devices installed on robotic platforms capable of autonomously harvesting fruits, developments for the creation of automated devices for removing fruits of fruit plantations with minimal damage at a height of up to 5 meters are an urgent task [1,2]
A block diagram of the automated control system for fetal removal has been de-veloped, which includes a set of hardware and software tools, a microcontroller (MC), a fetal tear sensor (DSP), a fetal pressure sensor (DDP), a stepper motor driver (SMD), a linear actuator (LA), and a computer for manipulating a manipu-lator with a fruit recognition system (K) (Fig.2)
The material used is polyamide 12 (PA 12), better known as nylon, this material is characterized by high strength, wear resistance, resistance to weathering

Summary

Introduction

In the system of the mechanized process of cultivation of fruit crops, harvesting is an important final stage, which requires the development of new, convenient, including nonfruit-damaging automated technical devices installed on robotic platforms capable of autonomously harvesting fruits, developments for the creation of automated devices for removing fruits of fruit plantations with minimal damage (or without them) at a height of up to 5 meters are an urgent task [1,2]. The existing models of industrial robots cannot be directly applied to perform technological processes of loading, unloading, sorting and harvesting apples [3,4]. For the latter, it is necessary to develop special actuators, capture devices and new algorithms for their control for harvesting fruit plantations in the field [5,6]. A self-propelled robotic technical device with a developed automated capture-manipulator will make it possible to carry out a high-quality technological operation of harvesting fruits in industrial garden plantings without human intervention

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