Self-propelled multi-arm multi-tooth flower and fruit thinning robot for table grapes

Abstract

According to the self-propelled multi-arm multi-tooth flower and fruit thinning robot for the table grapes, each group of cooperative mechanical arms of a system are independently arranged through a common shaft structure, an electric cylinder module and a lead screw sliding block module are configured, and multi-degree-of-freedom positioning control over an end effector is achieved. The tail end executor is provided with a flexible sparse finger and is combined with a control system, self-adaptive clamping distance adjustment can be achieved, the operation action simulates manual operation, the operation quality is reliable, and damage to clusters is small. A depth camera is combined with a deep learning algorithm to carry out cluster identification and positioning, and an operation point is determined through space coordinate solution. The control system can achieve area distribution, path planning and dynamic obstacle avoidance among multiple mechanical arms, and work procedures are coordinated through a multi-thread communication mechanism. The whole machine has the functions of automatic navigation, self-adaptive lifting, accurate ear recognition, multi-arm collaborative operation and the like, the operation efficiency is remarkably improved, the labor cost is reduced, and the application and popularization prospects are good.

Description

Technical Field

[0001] The present invention relates to the field of agricultural automation equipment, and in particular to a self-propelled fresh-grape multi-arm and multi-tooth flower and fruit thinning robot. Background Art

[0002] As my country's table grape planting area continues to expand and cultivation techniques improve, fruit yield and quality have become core concerns for growers. Flower and fruit thinning, a crucial step influencing grape berry size, uniformity, and commercialization, primarily improves fruit quality and market competitiveness by regulating bunch load, improving ventilation and light conditions, and promoting a concentrated supply of nutrients to high-quality berries.

[0003] Currently, grape flower and fruit thinning still relies primarily on manual labor. This process is labor-intensive, inefficient, and highly seasonal. With rising agricultural labor costs and an aging population, the difficulty of finding workers is becoming increasingly prominent. Furthermore, the window for flower and fruit thinning is relatively short, typically occurring within 7 to 15 days after flowering. This requires high timeliness. Failure to thin flowers in a timely manner will lead to nutrient waste and limited fruit expansion, thus affecting final yield and economic benefits.

[0004] Although relevant researchers have carried out some research and development work on grape flower and fruit thinning robots in recent years, most of them are still in the laboratory verification stage. There are problems such as low picking efficiency, complex structure, high manufacturing cost, and high bunch damage rate, and they have not yet been reliably applied in the field. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention aims to provide a self-propelled fresh-grape multi-arm and multi-tooth automated flower and fruit thinning robot that can adapt to the complex environment of the vineyard and has high-precision recognition and multi-arm collaborative operation capabilities. It has important practical significance for improving work efficiency, reducing labor costs, and ensuring work quality.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0007] According to a first aspect of the present invention, there is provided a self-propelled fresh grape multi-arm, multi-tooth flower and fruit thinning robot, comprising:

[0008] A control system configured to control the behavior and movement of the robot, electrically connected to the collaborative robotic arm, the flexible multi-tooth end effector, the depth camera, and the Beidou navigation self-propelled chassis;

[0009] The flexible multi-tooth end effector is configured to be used for thinning grape bunches, flowers, vegetables and fruits, and is installed at the end of the collaborative robot arm;

[0010] The collaborative robotic arm is configured to control the movement of the flexible multi-tooth end effector, and the collaborative robotic arm is fixedly installed above the working platform of the Beidou navigation self-propelled chassis, and at least one group of the collaborative robotic arm is provided;

[0011] The depth camera is configured to accurately identify and locate grape clusters, and the depth camera is fixedly mounted below the flexible multi-tooth end effector and maintains a fixed relative position thereto;

[0012] The Beidou navigation self-propelled chassis is configured to move the robot according to a planned route.

[0013] According to an embodiment of the present invention, the Beidou navigation self-propelled chassis includes:

[0014] A motion device, comprising two crawler-type walking devices connected to a bracket and moving in coordination, the motion device being electrically connected to the control system;

[0015] a lifting device, mounted on the bracket, for controlling the lifting and lowering of the work platform, the lifting device being electrically connected to the control system;

[0016] And the working platform is installed on the lifting device.

[0017] According to an embodiment of the present invention, the crawler-type walking device includes:

[0018] a track wheel bracket, fixedly connected to the bracket;

[0019] A rubber crawler track surrounds the outer layer of the crawler-type walking device, and the rubber crawler track is configured to drive the crawler-type walking device to move by generating friction with the ground;

[0020] A driving wheel is fixedly mounted on the track wheel bracket, and the driving wheel is engaged with the rubber track to drive the rubber track to move;

[0021] A support wheel is mounted on the lower end of the track wheel bracket and is used to support the rubber track to maintain its shape during movement;

[0022] The tensioning device is fixedly mounted on the track wheel bracket, and acts on the rubber track to keep the rubber track in a tensioned state.

[0023] According to an embodiment of the present invention, the collaborative robotic arm includes a common shaft and multiple groups of robotic arms mounted on the common shaft, wherein:

[0024] The common shaft is fixedly mounted on the working platform and is a gear rack module. Each common shaft has a plurality of first movers, and the first movers are driven by independent first mover motors.

[0025] A plurality of mechanical arms are provided, wherein the mechanical arms are mounted on the first mover of the common shaft, and the mechanical arms include:

[0026] A vertical shaft is an electric cylinder module driven by an electric cylinder motor, and the vertical shaft is vertically mounted on the first mover;

[0027] A horizontal shaft is horizontally mounted above the vertical shaft, wherein the horizontal shaft is a screw slider module and includes a second mover driven by a second mover motor;

[0028] an extension rod, horizontally mounted on the second mover of the horizontal shaft, and fixedly connected to the flexible multi-tooth end effector at the horizontally extended end of the extension rod;

[0029] A proximity switch is installed on the common shaft, and is used to assist in the task planning of the working area of ​​each group of the robotic arms and the overtravel protection of the first mover.

[0030] According to an embodiment of the present invention, the flexible multi-tooth end effector comprises:

[0031] The base is equipped with two guide rails, and each guide rail is equipped with a slider;

[0032] two sparse fingers mounted on the slider and configured to grip the table grapes through synchronized opening and closing of the two sparse fingers;

[0033] A driving module is installed on the collaborative robot arm and connected to the base. The driving module is configured to drive the synchronous opening and closing actions of the two sparse fingers.

[0034] According to an embodiment of the present invention, the driving module includes:

[0035] a motor bracket, one end of which is connected to the cooperative robot arm, and the other end of which is fixedly connected to the base;

[0036] The motor is fixedly mounted on the motor bracket, and a gear is fixedly mounted on the motor power output shaft via a coupling, the gear is meshed with the two sliders, and the rotation of the gear drives the two sliders to move in opposite directions or towards each other;

[0037] The motor cover is mounted on the motor bracket and is used to protect the motor.

[0038] According to an embodiment of the present invention, the sparse fingers are composed of a sparse finger base and sparse teeth, and the sparse teeth are distributed in a rectangular array on the sparse finger base.

[0039] According to an embodiment of the present invention, the sparse finger comprises a first end made of an elastic material, and a second end for mounting on the sparse finger base;

[0040] The diameter of the second end of the sparse tooth is larger than the diameter of the first end.

[0041] According to a second aspect of the present invention, a control method for a self-propelled table grape multi-arm, multi-tooth flower and fruit thinning robot is provided, comprising the following steps:

[0042] Plan the operation route based on the orchard's planting pattern and layout, taking into account the robot's turning radius and working width;

[0043] The Beidou navigation self-propelled chassis advances a unit length along the operation route under the control of the control system, where the unit length is the length of the effective picking area of ​​the collaborative robotic arm;

[0044] After the robot stops in the currently unfinished working area, the depth camera starts to collect image information and depth information above it, and transmits the information to the control system through the serial port;

[0045] The control system retains reliable fruit ear targets based on the image information and the depth information, and calculates the width of each fruit ear through camera parameters;

[0046] Based on the ear target and the width, the center point of the ear of fruit is calibrated and the coordinates of the operating point relative to the depth camera are determined in combination with the depth information;

[0047] The relative positions of the operating point and the center points of the two sparse fingers in three directions are obtained by coordinate calculation;

[0048] According to the coordinates of all the fruit ears in the field of view of the depth camera, the fruit ear targets in the effective working space are screened out, and a group of picking robotic arms are assigned to each fruit ear, and each group of robotic arms is responsible for the task of 1 / 3 of the area;

[0049] After the picking task is assigned, the control system positions the flexible multi-tooth end effector to the working point by controlling the corresponding robotic arm;

[0050] The two thinning fingers are controlled to close together. The minimum gap between the two thinning fingers is 1 / 2 of the width of the fruit cluster. The robotic arm drives the flexible multi-tooth end effector to clamp the fruit cluster vertically downward for a certain distance and then release it. The fruit cluster becomes sparse under the action of the thinning teeth, achieving the purpose of thinning flowers, vegetables and fruits. The flower and fruit thinning action is performed twice for each fruit cluster.

[0051] After each robotic arm completes the thinning of flowers and fruits of the current fruit cluster, it turns to the next target according to the assigned task until the assigned task is completed. After each group of robotic arms completes the current workspace task, the robot moves forward one unit length.

[0052] According to an embodiment of the present invention, three groups of robotic arms are independently controlled, and the fruit ear targets in the overlapping area of ​​interference between two adjacent groups of robotic arms are assigned to the robotic arm on the left. When one group of robotic arms picks the fruit ear targets in the overlapping area, the control system needs to restrict the other group of robotic arms from entering the area, thereby avoiding collision problems. Each group of machines completes the flower and fruit thinning operations on the fruit ear targets in sequence from left to right; each depth camera 3 and a group of robotic arms are controlled by a program, and the three programs are synchronized through a multi-threaded algorithm, and each thread communicates position and shares data through parameter files.

[0053] The beneficial effects of the present invention are:

[0054] This invention aims to address the current challenges of low efficiency, high cost, and low automation in grape flower and fruit thinning. It proposes a multi-arm collaborative fresh grape flower and fruit thinning robot and its control method. By incorporating target recognition and depth perception technologies, a flexible multi-tooth end-effector structure, and a multi-arm path planning and task allocation mechanism, it achieves precise identification, autonomous navigation, and efficient, low-damage operations.

[0055] The present invention designs a flexible multi-tooth end effector, the thinning fingers of which are made of flexible materials. Combined with a control system, the flower and fruit thinning clamping distance can be adaptively adjusted. The flower and fruit thinning action simulates the action of manual operation, the operation quality is reliable, and the damage to the fruit clusters is small.

[0056] The present invention constructs a multi-manipulator collaborative structure driven by a common axis. The new structure uses a common gear rack module as the main axis to connect three groups of independently controlled multi-degree-of-freedom manipulators. It can realize multi-arm parallel operation and improve efficiency, while simplifying the structure to reduce costs.

[0057] The present invention proposes a self-propelled operating chassis based on Beidou navigation, which integrates the Beidou navigation system with a tracked self-propelled chassis. Combined with the planned path, it realizes automatic navigation, precise docking and adaptive height adjustment of the equipment in an orchard environment. At the same time, combined with the visual system, the height of its operating platform can be adaptively adjusted according to the position of the fruit bunch, realizing compensation for the vertical working space of the robotic arm and adapting to different orchard planting patterns. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The present invention has the following accompanying drawings:

[0059] Figure 1 An overall diagram of the device according to an embodiment of the present invention;

[0060] Figure 2 is a schematic diagram of a cooperative robotic arm and a flexible multi-tooth end effector of the apparatus according to an embodiment of the present invention;

[0061] Figure 3 is a schematic diagram of a set of robotic arms of the apparatus according to an embodiment of the present invention;

[0062] Figure 4 Schematic diagram of a Beidou navigation self-propelled chassis of the device according to an embodiment of the present invention;

[0063] Figure 5 is a schematic diagram of a crawler-type walking device of the device according to an embodiment of the present invention;

[0064] Figure 6 is an overall diagram of a flexible multi-tooth end effector of the device according to an embodiment of the present invention;

[0065] Figure 7 is a diagram of the internal structure of a flexible multi-tooth end effector of the device according to an embodiment of the present invention;

[0066] Figure 8 Schematic diagram of a slider and a guide rail of a flexible multi-tooth end effector of an apparatus according to an embodiment of the present invention;

[0067] Figure 9 It is a structural diagram of the sparse finger according to an embodiment of the present invention.

[0068] In the figure: collaborative robot arm 1, common axis 11, first mover 111, first mover motor 112, proximity switch 12, vertical axis 13, electric cylinder motor 131, extension rod 14, horizontal axis 15, second mover 151, second mover motor 152;

[0069] End effector 2, motor housing 21, motor 22, motor bracket 23, base 24, sparse finger 25, sparse finger base 251, sparse teeth 252, gear 26, coupling 27, slider 28, guide rail 29;

[0070] Depth Camera-3;

[0071] Chassis 4, working platform 41, lifting device 42, movement device 43, bracket 44, crawler travel device 45, rubber track 451, drive wheel 452, crawler wheel bracket 453, support wheel 454, tensioning device 455;

[0072] Control system-5. DETAILED DESCRIPTION

[0073] The present invention is further described in detail below with reference to the embodiments and accompanying drawings.

[0074] The following describes the present invention and its embodiments. This description is not restrictive, and the actual embodiments are not limited to this. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without creatively designing them, they shall fall within the scope of protection of the present invention.

[0075] According to the first aspect of the present invention, referring to Figure 1-2 , provides a self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot, including:

[0076] A control system 5 is configured to control the behavior and movement of the robot and is electrically connected to the collaborative robotic arm 1, the flexible multi-tooth end effector 2, the depth camera 3, and the Beidou navigation self-propelled chassis 4;

[0077] The flexible multi-tooth end effector 2 is configured to pick the table grapes, and the flexible multi-tooth end effector 2 is installed at the end of the collaborative robot arm 1;

[0078] The collaborative robotic arm 1 is configured to control the movement of the flexible multi-tooth end effector 2. The collaborative robotic arm 1 is fixedly mounted above the working platform 41 of the Beidou navigation self-propelled chassis 4, and at least one group of the collaborative robotic arm 1 is provided.

[0079] The depth camera 3 is configured to accurately identify and locate grape bunches. The depth camera 3 is fixedly installed below the flexible multi-tooth end effector 2 and maintains a fixed relative position therewith;

[0080] The Beidou navigation self-propelled chassis 4 is configured to move the robot according to a planned route.

[0081] According to an embodiment of the present invention, see Figure 3 The Beidou navigation self-propelled chassis 4 includes:

[0082] A motion device 43 includes two crawler-type walking devices 45 connected to a bracket 44 and moving in coordination with each other. The motion device 43 is electrically connected to the control system 5.

[0083] A lifting device 42 is installed on the bracket 44 and is used to control the lifting of the working platform 41. The lifting device 42 is electrically connected to the control system 5;

[0084] The working platform 41 is installed on the lifting device 42 .

[0085] The working platform 41 of the Beidou navigation self-propelled chassis 4 has a lifting function. At the same time, combined with the depth camera 3, the height of the working platform 41 can be adaptively adjusted according to the position of the fruit cluster by controlling the height of the lifting device 42, thereby compensating for the vertical working space of the collaborative robot arm 1 and adapting to different orchard planting patterns. The Beidou navigation self-propelled chassis 4 moves and pauses autonomously according to the planned route under the control of the control system 5;

[0086] According to an embodiment of the present invention, Figure 4 and Figure 5 The crawler-type walking device 45 includes: a driving wheel 452 and a tensioning device 455 mounted on a crawler wheel bracket 453, and the crawler wheel bracket 453 is fixedly connected to the bracket 44;

[0087] A rubber crawler 451 surrounds the outer layer of the crawler-type traveling device 45 , and the rubber crawler 451 is configured to drive the crawler-type traveling device 45 to move by generating friction with the ground;

[0088] The driving wheel 452 is engaged with the rubber track 451 and is used to drive the rubber track 451 to move and generate friction with the ground;

[0089] The support wheel 454 is mounted on the lower end of the track wheel bracket 453, and there are five support wheels 454, which are used to support the rubber track 451 to maintain its shape during movement;

[0090] The tensioning device 455 acts on the rubber track 451 to keep the rubber track 451 in a tensioned state. Under the action of the driving wheel 452, the rubber track 451 rubs against the ground, and the crawler-type walking devices 45 on both sides cooperate with each other to achieve walking and steering functions.

[0091] According to an embodiment of the present invention, see Figure 2 The collaborative robot arm 1 includes a common shaft 11 and multiple groups of robot arms mounted on the common shaft 11, wherein:

[0092] The common shaft 11 is fixedly mounted on the working platform 41 and is a gear rack module. Each common shaft 11 has a plurality of first movers 111 , and the first movers 111 are driven by independent first mover motors 112 ;

[0093] A robotic arm is provided with multiple groups, each of which is mounted on the first mover 111 of the common shaft 11. The robotic arm includes: a vertical shaft 13, which is an electric cylinder module driven by an electric cylinder motor 131, and the vertical shaft 13 is vertically mounted on the first mover 111; a horizontal shaft 15, which is horizontally mounted above the vertical shaft 13, and the horizontal shaft 15 is a screw slider module, including a second mover 151 driven by a second mover motor 152; an extension rod 14, which is horizontally mounted on the second mover 151 of the horizontal shaft 15, and a flexible multi-tooth end effector 2 is fixedly mounted at the horizontally extended end;

[0094] A proximity switch 12 is installed on the common shaft 11 . The proximity switch 12 is used to assist in the task planning of the working area of ​​each group of the robotic arms and the overtravel protection of the first mover 111 .

[0095] According to an embodiment of the present invention, see Figure 6-9 , the flexible multi-tooth end effector 2 includes:

[0096] The base 24 is equipped with two guide rails 29, and each guide rail 29 is equipped with a slider 28;

[0097] Two sparse fingers 25 are mounted on the slider 28 and are configured to grip the table grapes through synchronized opening and closing of the two sparse fingers 25;

[0098] A driving module is installed on the collaborative robot arm 1 and connected to the base 24 . The driving module is configured to drive the synchronous opening and closing of the two sparse fingers 25 .

[0099] According to an embodiment of the present invention, the driving module includes:

[0100] A motor bracket 23, one end of which is connected to the cooperative robot arm 1, and the other end of which is fixedly connected to the base 24;

[0101] The motor 22 is fixedly mounted on the motor bracket 23, and a gear 26 is fixedly mounted on the power output shaft of the motor 22 through a coupling 27. The gear 26 is meshed and linked with two sliders 28, and the two sliders 28 are driven to move in opposite directions or towards each other by the rotation of the gear 26; the synchronous opening and closing action of the two sparse fingers 25 is controlled by controlling the forward and reverse rotation of the motor 22, and the position information of the motor shaft is fed back by the encoder of the motor 22 to realize the spacing control of the two sparse fingers 25.

[0102] The motor cover 21 is mounted on the motor bracket 23 and is used to protect the motor 22 .

[0103] According to an embodiment of the present invention, the sparse fingers 25 are composed of a sparse finger base 251 and sparse teeth 252 , and the sparse teeth 252 are distributed on the sparse finger base 251 in a rectangular array.

[0104] According to an embodiment of the present invention, the sparse tooth 252 includes a first end made of an elastic material, such as nylon with good elasticity, and a second end for mounting on the sparse finger base 251;

[0105] The diameter of the second end of the sparse tooth 252 is larger than the diameter of the first end. The bottom of the sparse tooth 252 is thicker and the top is thinner. It can undergo large deformation to prevent damage to grapes during the process of thinning flowers, vegetables and fruits.

[0106] According to a second aspect of the present invention, a control method for a self-propelled table grape multi-arm, multi-tooth flower and fruit thinning robot is provided, comprising the following steps:

[0107] Plan the operation route based on the orchard's planting pattern and layout, taking into account the robot's turning radius and working width;

[0108] The Beidou navigation self-propelled chassis 4 advances one unit length along the operation route under the control of the control system 5, where the unit length is the length of the effective picking area of ​​the collaborative robotic arm 2;

[0109] After the robot stops in the currently unfinished working area, the depth camera 3 starts to collect image information and depth information above it, and transmits the information to the control system 5 through the serial port;

[0110] The control system 5 retains reliable fruit ear targets based on the image information and the depth information, and calculates the width of each fruit ear through camera parameters;

[0111] Based on the ear target and the width, the center point of the ear of fruit is calibrated and the coordinates of the operating point relative to the depth camera 3 are determined in combination with the depth information;

[0112] The relative positions of the operating point and the center points of the two sparse fingers 25 in three directions are obtained by coordinate calculation;

[0113] According to the coordinates of all the fruit ears in the field of view of the depth camera 3, the fruit ear targets in the effective working space are screened out, and a group of picking robotic arms are assigned to each fruit ear, and each group of robotic arms is responsible for the task of their own 1 / 3 area;

[0114] After the picking task is assigned, the control system 5 positions the flexible multi-tooth end effector 2 to the working point by controlling the corresponding robotic arm;

[0115] The two thinning fingers 25 are controlled to close, and the minimum gap between the two thinning fingers 25 is 1 / 2 of the width of the fruit ear. The robotic arm drives the flexible multi-tooth end effector 2 to clamp the fruit ear vertically downward for a certain distance and then release it. The fruit ear becomes sparse under the action of the thinning teeth 252, achieving the purpose of thinning flowers, vegetables and fruits. The flower and fruit thinning action is performed twice for each fruit ear.

[0116] After each robotic arm completes the thinning of flowers and fruits of the current fruit cluster, it turns to the next target according to the assigned task until the assigned task is completed. After each group of robotic arms completes the current workspace task, the robot moves forward one unit length.

[0117] According to an embodiment of the present invention, three groups of robotic arms are independently controlled, and the fruit ear targets in the overlapping area of ​​interference between two adjacent groups of robotic arms are assigned to the robotic arm on the left. When one group of robotic arms picks the fruit ear targets in the overlapping area, the control system needs to restrict the other group of robotic arms from entering the area, thereby avoiding collision problems. Each group of machines completes the flower and fruit thinning operations on the fruit ear targets in sequence from left to right; each depth camera 3 and a group of robotic arms are controlled by a program, and the three programs are synchronized through a multi-threaded algorithm, and each thread communicates position and shares data through parameter files.

[0118] like Figure 1-9 As shown, the self-propelled fresh grape multi-arm and multi-tooth flower and fruit thinning robot provided by the present invention can be driven according to a planned route. During operation, the Beidou navigation self-propelled chassis 4 advances along the route under the control of the control system 5, and the driving wheel 452 rotates, driving the rubber track 451 to move, thereby driving the entire robot to move forward, backward or turn, and move forward with the length of the effective picking area of ​​the cooperative robot arm 1 as the unit length. After the flower and fruit thinning operation in the area is completed, it advances to the next unit length to operate.

[0119] The depth camera 3 is used to accurately identify and locate grape clusters. The control system controls the collaborative robot arm 1 to perform fixed-point operations based on the recognition results of the depth camera 3.

[0120] Each grape bunch can be assigned a group of robotic arms, each group of robotic arms is responsible for the task of its own 1 / 3 area. The three groups of robotic arms are independently controlled. During picking, the first mover 111 on the common axis 11 controls the robotic arms to the appropriate horizontal position. The electric cylinder motor 131 on the vertical axis 13 controls the height of the flexible multi-tooth end effector 2. The second mover 151 on the horizontal axis 15 controls the depth of the flexible multi-tooth end effector 2, so that the grape bunch can be accurately operated.

[0121] During operation, the two thinning fingers 25 are controlled to close, and the two sliders 28 are driven to move in opposite directions or toward each other by controlling the forward and reverse rotation of the motor 22, thereby driving the synchronous opening and closing of the two thinning fingers 25. The position information of the motor shaft is fed back by the encoder of the motor 22 to realize the spacing control of the two thinning fingers 25. The minimum gap between the two thinning fingers 25 is 1 / 2 of the width of the fruit cluster. After closing, the control robot arm drives the flexible multi-tooth end effector 2 to clamp the fruit cluster vertically downward for a certain distance and then release it. The fruit cluster becomes sparse under the action of the thinning teeth 252, achieving the purpose of thinning flowers, vegetables and fruits. The flower and fruit thinning action of each fruit cluster is performed twice. After each robot arm completes the flower and fruit thinning action of the current fruit cluster, the robot arm turns to the next target according to the task assigned in the step until the assigned task is completed. After each group of robot arms completes the current working space task, the device advances to other positions to operate.

[0122] The above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also fall within the scope of protection of the present invention.

[0123] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot, characterized in that: include: A control system configured to control the behavior and movement of the robot, electrically connected to the collaborative robotic arm, the flexible multi-tooth end effector, the depth camera, and the Beidou navigation self-propelled chassis; The flexible multi-tooth end effector is configured to be used for grape bunch flower thinning and fruit and vegetable operations, and the flexible multi-tooth end effector is installed at the end of the collaborative robot arm; The collaborative robotic arm is configured to control the movement of the flexible multi-tooth end effector, and the collaborative robotic arm is fixedly installed above the working platform of the Beidou navigation self-propelled chassis, and at least one group of the collaborative robotic arm is provided; The depth camera is configured to accurately identify and locate grape clusters, and the depth camera is fixedly mounted below the flexible multi-tooth end effector and maintains a fixed relative position therewith; The Beidou navigation self-propelled chassis is configured to move the robot according to a planned route.

2. The self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot according to claim 1, characterized in that: The Beidou navigation self-propelled chassis includes: A motion device, comprising two crawler-type walking devices connected to a bracket and moving in coordination, the motion device being electrically connected to the control system; a lifting device, mounted on the bracket, for controlling the lifting and lowering of the work platform, the lifting device being electrically connected to the control system; And the working platform is installed on the lifting device.

3. The self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot according to claim 1, characterized in that: The crawler-type walking device comprises: a track wheel bracket, fixedly connected to the bracket; A rubber crawler track surrounds the outer layer of the crawler-type walking device, and the rubber crawler track is configured to drive the crawler-type walking device to move by generating friction with the ground; A driving wheel is fixedly mounted on the track wheel bracket, and the driving wheel is engaged with the rubber track to drive the rubber track to move; A support wheel is mounted on the lower end of the track wheel bracket and is used to support the rubber track to maintain its shape during movement; The tensioning device is fixedly mounted on the track wheel bracket, and acts on the rubber track to keep the rubber track in a tensioned state.

4. The self-propelled fresh-eating grape multi-arm multi-tooth flower and fruit thinning robot according to claim 1, characterized in that: The collaborative robotic arm comprises a common shaft and multiple sets of robotic arms mounted on the common shaft, wherein: The common shaft is fixedly mounted on the working platform and is a gear rack module. Each common shaft has a plurality of first movers, and the first movers are driven by independent first mover motors. A plurality of mechanical arms are provided, wherein the mechanical arms are mounted on the first mover of the common shaft, and the mechanical arms include: A vertical shaft is an electric cylinder module driven by an electric cylinder motor, and the vertical shaft is vertically mounted on the first mover; A horizontal shaft is horizontally mounted above the vertical shaft, wherein the horizontal shaft is a screw slider module and includes a second mover driven by a second mover motor; An extension rod is horizontally mounted on the second mover of the horizontal shaft, and the horizontally extended end of the extension rod is fixedly connected to the flexible multi-tooth end effector; A proximity switch is installed on the common shaft, and is used to assist in the task planning of the working area of ​​each group of the robotic arms and the overtravel protection of the first mover.

5. The self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot according to claim 1, characterized in that: The flexible multi-tooth end effector comprises: The base is equipped with two guide rails, and each guide rail is equipped with a slider; two sparse fingers mounted on the slider and configured to grip the table grapes through synchronized opening and closing of the two sparse fingers; A driving module is installed on the collaborative robot arm and connected to the base. The driving module is configured to drive the synchronous opening and closing actions of the two sparse fingers.

6. The self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot according to claim 5, characterized in that: The driving module includes: a motor bracket, one end of which is connected to the cooperative robot arm, and the other end of which is fixedly connected to the base; The motor is fixedly mounted on the motor bracket, and a gear is fixedly mounted on the motor power output shaft via a coupling, the gear is meshed with the two sliders, and the rotation of the gear drives the two sliders to move in opposite directions or towards each other; The motor cover is mounted on the motor bracket and is used to protect the motor.

7. The self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot according to claim 5, characterized in that: The sparse fingers are composed of a sparse finger base and sparse teeth, and the sparse teeth are distributed in a rectangular array on the sparse finger base.

8. The self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot according to claim 7, characterized in that: The sparse tooth includes a first end made of elastic material and a second end for mounting on the sparse finger base; The diameter of the second end of the sparse tooth is larger than the diameter of the first end.

9. A control method for the self-propelled fresh grape multi-arm multi-tooth flower and fruit thinning robot according to claims 1-8, characterized in that: The following steps are involved: Plan the operation route based on the orchard's planting pattern and layout, taking into account the robot's turning radius and working width; The Beidou navigation self-propelled chassis advances a unit length along the operation route under the control of the control system, where the unit length is the length of the effective picking area of ​​the collaborative robotic arm; After the robot stops in the currently unfinished working area, the depth camera starts to collect image information and depth information above it, and transmits the information to the control system through the serial port; The control system retains reliable fruit ear targets based on the image information and the depth information, and calculates the width of each fruit ear through camera parameters; Based on the ear target and the width, the center point of the ear of fruit is calibrated and the coordinates of the operating point relative to the depth camera are determined in combination with the depth information; The relative positions of the operating point and the center points of the two sparse fingers in three directions are obtained by coordinate calculation; According to the coordinates of all the fruit ears in the field of view of the depth camera, the fruit ear targets in the effective working space are screened out, and a group of picking robotic arms are assigned to each fruit ear, and each group of robotic arms is responsible for the task of 1 / 3 of the area; After the picking task is assigned, the control system positions the flexible multi-tooth end effector to the working point by controlling the corresponding robotic arm; The two thinning fingers are controlled to close together. The minimum gap between the two thinning fingers is 1 / 2 of the width of the fruit cluster. The robotic arm drives the flexible multi-tooth end effector to clamp the fruit cluster vertically downward for a certain distance and then release it. The fruit cluster becomes sparse under the action of the thinning teeth, achieving the purpose of thinning flowers, vegetables and fruits. The flower and fruit thinning action is performed twice for each fruit cluster. After each robotic arm completes the thinning of flowers and fruits of the current fruit cluster, it turns to the next target according to the assigned task until the assigned task is completed. After each group of robotic arms completes the current workspace task, the robot moves forward one unit length.

10. The control method of the self-propelled multi-arm, multi-tooth robot for thinning flowers and fruits of table grapes according to claim 9, characterized in that: The three groups of robotic arms are controlled independently. The fruit ear targets in the overlapping interference area between two adjacent groups of robotic arms are assigned to the robotic arm on the left. When one group of robotic arms picks the fruit ear targets in the overlapping area, the control system needs to restrict the other group of robotic arms from entering the area to avoid collision problems. Each group of machines completes the flower and fruit thinning operations on the fruit ear targets in order from left to right; each depth camera 3 and a group of robotic arms are controlled by a program, and the three programs are synchronized through a multi-threaded algorithm. Position communication and data sharing are carried out between each thread through parameter files.

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