Trunk diameter self-adaptive tree climbing and coconut picking robot based on Mecanum wheels and working method thereof

Abstract

The invention provides a trunk diameter self-adaptive tree climbing and coconut picking robot based on Mecanum wheels and a working method thereof, and is characterized in that the trunk diameter self-adaptive tree climbing and coconut picking robot comprises a control module, and further comprises a holding arm structure, a climbing wheel set based on the Mecanum wheels and a coconut picking device; the arm holding structure comprises a rack, a large arm, a small arm and a damping device. When the device carries out coconut picking work on a coconut tree, the holding arm structure provides pushing force, so that the climbing wheel set is tightly pressed on the surface of a trunk, the climbing wheel set starts to work, the tree climbing and coconut picking robot can move on the trunk in all directions, and the coconut picking device is used for picking coconuts on the coconut tree; the problems that an existing traditional coconut picking robot is low in precision, poor in flexibility, limited in action range and low in efficiency can be solved.

Description

Technical Field

[0001] This invention proposes a tree-climbing coconut-harvesting robot based on Mecanum wheel trunk diameter and its working method, which relates to the field of agricultural robot technology. Background Technology

[0002] The coconut industry holds significant economic value in tropical regions worldwide, but its development faces challenges such as labor shortages, safety hazards, inefficiency, and rising costs. Coconut trees can grow to 15-30 meters tall, with fruit concentrated at the top of the canopy. Harvesting coconuts relies on manual climbing, which is risky and inefficient. Furthermore, the complex environment of coconut cultivation, with its high temperature and humidity and uneven terrain, further increases the difficulty of harvesting. To address these issues, research into climbing coconut harvesting robots is particularly necessary. Robots can replace manual labor in high-altitude operations, reducing safety risks, improving harvesting efficiency, and adapting to complex environments, thereby promoting the modernization and intelligent transformation of the coconut industry. Currently, existing climbing robot technology is mostly concentrated in other fields (such as high-voltage power line clearing), and its application in agricultural coconut harvesting robots still has many shortcomings.

[0003] The existing methods for harvesting coconuts mainly include the following:

[0004] Aerial work platforms. By modifying traditional aerial work vehicles used for garden pruning, hydraulic or electric lifting arms are used to directly deliver workers or coconut harvesting robots to the tree canopy. This method is extremely efficient, far exceeding manual labor. However, it has certain requirements for the flatness of the plantation terrain and the spacing between trees, and the equipment purchase and modification costs are relatively high. It is only suitable for plantations with good terrain conditions and a large planting scale, and its application range is not wide enough.

[0005] Manual coconut harvesting. This is the most traditional and historically most common method of coconut harvesting, relying entirely on the physical strength, skills, and experience of the harvesters. This method requires no complex equipment, but it is extremely dangerous, with a high risk of falls, and places extremely demanding requirements on the physical fitness of the workers.

[0006] Long-hook cutting. This is a relatively safe ground-based method. Coconut harvesters use a long bamboo pole or lightweight metal pole with a sickle or iron hook attached to the end. Standing on the ground, they use hooking, pulling, and cutting motions to remove the coconuts. This method avoids the risks of working at heights, but its disadvantages are also very obvious: it is extremely physically and time-consuming, and it is not suitable for tall coconut trees. Summary of the Invention

[0007] In view of the shortcomings of existing technologies, this invention proposes a tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter and its working method. The significance of this invention lies in its integration of a Mecanum wheel omnidirectional movement system, an adaptive arm structure, and an intelligent visual recognition coconut-harvesting device. This fundamentally solves the core problems faced by the traditional coconut harvesting industry, such as the risks of high-altitude operations, labor shortages, and low efficiency. It can not only completely replace manual labor in high-risk climbing operations, ensuring personnel safety, but also achieve precise and efficient automated coconut harvesting, significantly improving economic benefits. Its superior trunk adaptability and omnidirectional movement capabilities ensure stable operation and wide coverage in complex natural environments, promoting the intelligent transformation of agriculture. Furthermore, this technology platform has significant transfer value and promising prospects in related fields such as forestry monitoring and high-altitude maintenance.

[0008] This invention proposes a tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter. The robot comprises a cradle structure, a first climbing wheel assembly, a second climbing wheel assembly, a coconut-harvesting device, bolts, a rotating joint, a forearm, a main arm, shock-absorbing springs, an electric push rod, spring damping, a slider, a slide rail, a frame, a wheel assembly mounting plate, a motor frame, a coupling, a synchronous pulley, a synchronous belt, an optical shaft, Mecanum wheels, a planar thrust bearing, a DC geared motor, a wheel assembly connecting block, an aluminum square tube, a passive wheel mounting block, a cutting device, a vision recognition module, a servo motor, a crank, a main arm, and connecting rods.

[0009] The first climbing wheel assembly includes a first wheel assembly frame and four Mecanum wheels connected to the wheel assembly frame; the first wheel assembly frame of the first climbing wheel assembly is fixed to the frame;

[0010] The second climbing wheel assembly includes a second wheel assembly frame and a third wheel assembly frame, wherein each wheel assembly frame is connected to four Mecanum wheels; the two wheel assembly frames of the second climbing wheel assembly are respectively connected to the rotating joints of the forearm sections on both sides;

[0011] Furthermore, the first wheel set frame of the first climbing wheel set is driven by two DC geared motors, one DC geared motor on each side of the wheel set. The DC motors drive the driving wheel, and the driven wheel and the driving wheel are linked together by a synchronous pulley and a synchronous belt. The second wheel set frame and the third wheel set frame of the second climbing wheel set are both driven by two DC geared motors, one DC geared motor on each side of the wheel set. The DC motors drive the driving wheel, and the driven wheel and the driving wheel are linked together by a synchronous pulley and a synchronous belt.

[0012] Furthermore, the wheel assembly frame consists of a wheel assembly mounting plate, aluminum square tubes, and wheel assembly connecting blocks. The motor frame is mounted on the aluminum square tubes. The included angle between the motor frame mounting surfaces of the two aluminum square tubes is 135° to improve the fit of the Mecanum wheel to the tree trunk surface.

[0013] Furthermore, a coupling is installed on each side of the Mecanum wheel hub. One coupling is connected to a DC geared motor via a planar thrust bearing, and the other coupling is connected to an optical shaft. A synchronous pulley is installed on the optical shaft, and the other Mecanum wheel on the same side can be linked by the synchronous belt.

[0014] Furthermore, the frame of the arm-shaped structure is divided into two symmetrical parts; the upper arm of the arm-shaped structure provides a thrust for clamping the tree trunk, and the thrust comes from the electric push rod connecting the frame and the upper arm; the lower arm of the arm-shaped structure has a rotating joint at its end, which allows the climbing wheel set connected to it to be close to the surface of the tree trunk; the shock absorption device is located at the connection between the upper arm and the lower arm and at the connection between the left and right parts of the frame.

[0015] Furthermore, the shock absorption device includes a spring shock absorber located at the connection between the boom and the forearm, and a slider, slide rail, and spring shock absorber located at the connection between the left and right parts of the frame.

[0016] Furthermore, the damping device provides additional degrees of freedom, offering adaptive adjustment capabilities in the event of changes in trunk diameter or uneven surface.

[0017] Furthermore, the end effector of the robotic arm comprises a cutting device and a vision recognition module. When the robot moves to the coconut canopy to harvest coconuts, the control module controls the vision recognition module to determine the coconut's location, controls the robotic arm to move near the coconut, and the vision recognition module then locates the coconut's root, controlling the robotic arm's cutting device to cut the coconut's root so that it falls off. The robotic arm is a common two-degree-of-freedom linkage robotic arm; the cutting device is a chainsaw structure controlled by a DC geared motor.

[0018] Furthermore, the control module is a control board; when the tree trunk diameter adaptive climbing coconut harvesting robot is harvesting coconuts on the tree, the control board on the robot receives control commands sent wirelessly from the ground control console or is controlled wirelessly, and receives control board information wirelessly; the climbing coconut harvesting robot operates with its built-in lithium battery.

[0019] This invention proposes a working method for a tree-climbing coconut-harvesting robot based on Mecanum wheels that adapts to the trunk diameter. Applied to the tree-climbing coconut-harvesting robot based on Mecanum wheels described in any one of these inventions, the working method comprises the following:

[0020] Step S1: Select the coconut tree variety from the ground control panel. The control panel determines the range of trunk diameter based on the coconut tree variety and calculates the stroke of the electric actuator based on the trunk diameter data.

[0021] Step S2: The control board controls the movement of the electric push rod according to the data, pushing the large arm to clamp the tree trunk. At the same time, the shock-absorbing spring in the shock-absorbing device is compressed and stretched to adapt to the irregular shape of the tree trunk surface.

[0022] Step S3: The DC geared motor drives the climbing wheel assembly to move, and the Mecanum wheel moves on the surface of the tree trunk through friction until the coconut on the tree appears within the recognition range of the vision recognition module on the robotic arm;

[0023] Step S4: The vision recognition module on the robotic arm begins to identify the position of the coconut. After obtaining the coconut position information, it transmits the data to the control board. The control board controls the climbing wheel assembly to move forward or translate according to the coconut position data, so that the robot reaches the vicinity of the coconut.

[0024] Step S5: When the tree-climbing coconut-picking robot reaches the vicinity of the coconut, the vision recognition module will re-identify the location of the coconut root to control the robot to adjust its posture and ensure that the coconut enters the working range of the robotic arm; the cutting device cuts the coconut root, and the coconut falls.

[0025] When the tree-climbing coconut-picking robot completes its coconut-picking task, and a return command is issued from the ground control console, the robot's robotic arm retracts, the visual recognition module stops working, and the robot returns to the ground.

[0026] The present invention has the following advantages:

[0027] This invention automates and automates coconut harvesting. The coconut harvesting work can be completed by a robot controlled from the ground, which can completely replace manual labor in high-risk tree climbing operations, fundamentally eliminating the risk of falls. At the same time, it achieves precise and efficient automated coconut harvesting, significantly improving operational safety and economic efficiency.

[0028] This invention employs a Mecanum wheel set and a trunk diameter adaptive arm shock absorption system, enabling the robot to not only move flexibly in all directions on the trunk, but also to closely fit trunks of different diameters and with uneven surfaces, ensuring that the robot can work stably in more complex coconut harvesting environments.

[0029] This invention has good technology transferability. The core climbing, movement and recognition technologies of this robot, after adaptive modification, can be widely applied to other high-altitude operation scenarios, such as forestry monitoring, fruit tree pruning, and power facility maintenance, and has broad application prospects. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the tree-climbing coconut-harvesting robot based on the Mecanum wheel, which is an adaptive trunk diameter for the present invention.

[0031] Figure 2 This is a schematic diagram showing the assembly relationship between the coconut harvesting device and the climbing wheel assembly of the present invention.

[0032] Figure 3 This is a schematic diagram illustrating the structure of the arm-holding structure of the present invention.

[0033] Figure 4 This is a schematic diagram illustrating the structure of the climbing wheel assembly based on the Mecanum wheel of the present invention.

[0034] Figure 5 This is a schematic diagram illustrating the structure of the coconut harvesting device of the present invention.

[0035] Figure 6 This is a simplified schematic diagram illustrating the power supply and control system of the device of the present invention.

[0036] Figure 7 This is a flowchart of the steps of the present invention.

[0037] In the diagram: 1-Arm structure, 2-First climbing wheel assembly, 3-Second climbing wheel assembly, 4-Coconut harvesting device, 5-Bolt, 6-Rotating joint, 7-Forearm, 8-Arm, 9-Shock-absorbing spring, 10-Electric push rod, 11-Spring shock absorber, 12-Slider, 13-Slide rail, 14-Frame, 15-Wheel assembly mounting plate, 16-Motor frame, 17-Coupling, 18-Synchronous pulley, 19-Synchronous belt, 20-Optical shaft, 21-Mecanum wheel, 22-Plane thrust bearing, 23-DC geared motor, 24-Wheel assembly connecting block, 25-Aluminum square tube, 26-Passive wheel mounting block, 27-Cutting device, 28-Vision recognition module, 29-Servo motor, 30-Crank, 31-Main arm, 32-Connecting rod. Detailed Implementation

[0038] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0039] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] like Figures 1 to 6As shown, this invention proposes a tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter. The robot comprises a cradle structure 1, a first climbing wheel assembly 2, a second climbing wheel assembly 3, a coconut-harvesting device 4, bolts 5, a rotating joint 6, a forearm 7, a main arm 8, a shock-absorbing spring 9, an electric push rod 10, a spring damper 11, a slider 12, a slide rail 13, a frame 14, a wheel assembly mounting plate 15, a motor frame 16, a coupling 17, a synchronous pulley 18, a synchronous belt 19, an optical shaft 20, a Mecanum wheel 21, a planar thrust bearing 22, a DC geared motor 23, a wheel assembly connecting block 24, an aluminum square tube 25, a passive wheel mounting block 26, a cutting device 27, a vision recognition module 28, a servo motor 29, a crank 30, a main arm 31, and a connecting rod 32.

[0042] The first climbing wheel assembly 2 includes a first wheel assembly frame and four Mecanum wheels 21 connected to the wheel assembly frame; the first wheel assembly frame of the first climbing wheel assembly 2 is fixed on the frame 14;

[0043] The second climbing wheel set 3 includes a second wheel set frame and a third wheel set frame, wherein each wheel set frame is connected to four Mecanum wheels 21; the two wheel set frames of the second climbing wheel set 3 are respectively connected to the rotating joints 6 of the forearm on both sides;

[0044] Preferably, the first wheel set frame of the first climbing wheel set is driven by two DC geared motors 23, with one DC geared motor on each side of the wheel set. The DC motors drive the driving wheel, and the driven wheel and the driving wheel are linked together by a synchronous pulley 18 and a synchronous belt 19. The second wheel set frame and the third wheel set frame of the second climbing wheel set are both driven by two DC geared motors 23, with one DC geared motor on each side of the wheel set. The DC motors drive the driving wheel, and the driven wheel and the driving wheel are linked together by a synchronous pulley 18 and a synchronous belt 19.

[0045] Preferably, the wheel assembly frame consists of a wheel assembly mounting plate 15, an aluminum square tube 25, and a wheel assembly connecting block 24. The motor frame 16 is mounted on the aluminum square tube 25. The included angle between the motor frame mounting surfaces of the two aluminum square tubes is 135° to improve the fit of the Mecanum wheel to the tree trunk surface.

[0046] Preferably, a coupling 17 is installed on each side of the hub of the Mecanum wheel 21. One coupling is connected to the DC geared motor 23 through a planar thrust bearing 22, and the other coupling 17 is connected to the optical shaft 20. A synchronous pulley 18 is installed on the optical shaft, and the other Mecanum wheel on the same side can be linked through the synchronous belt 19.

[0047] Preferably, the frame 14 of the arm-holding structure 1 is divided into two symmetrical parts; the upper arm 8 of the arm-holding structure provides a thrust for clamping the tree trunk, and the thrust originates from the electric push rod 10 connecting the frame 14 and the upper arm 8; the lower arm of the arm-holding structure is provided with a rotating joint 6 at its end, which allows the climbing wheel group 3 connected to it to be close to the surface of the tree trunk; the shock absorption device is located at the connection between the upper arm 6 and the lower arm 7 and at the connection between the left and right parts of the frame 14.

[0048] Preferably, the shock absorption device includes a spring shock absorber 9 located at the connection between the upper arm 8 and the lower arm 7, and a slider 12, a slide rail 13, and a spring shock absorber 11 located at the connection between the left and right parts of the frame.

[0049] Preferably, the damping device provides additional degrees of freedom, offering adaptive adjustment capabilities in the event of changes in trunk diameter or uneven surface.

[0050] Preferably, the end effector of the robotic arm is a cutting device 27 and a vision recognition module 28. When the robot moves to the coconut canopy to harvest coconuts, the control module controls the vision recognition module to determine the coconut's location, controls the robotic arm to move near the coconut, and the vision recognition module 28 repositions the coconut's root position, controlling the cutting device 27 of the robotic arm to cut the coconut's root to make it fall. The robotic arm is a common two-degree-of-freedom linkage robotic arm; the cutting device 27 is a chainsaw structure, controlled by a DC geared motor 33.

[0051] Preferably, the control module is a control board; when the tree trunk diameter adaptive climbing coconut harvesting robot is harvesting coconuts on the tree, the control board on the robot receives control commands sent wirelessly from the ground control console or is controlled wirelessly, and receives control board information wirelessly; the climbing coconut harvesting robot operates with its built-in lithium battery.

[0052] like Figure 7 As shown, this invention proposes a working method for a tree-climbing coconut-harvesting robot based on Mecanum wheels that adapts to the trunk diameter. Applied to the tree-climbing coconut-harvesting robot based on Mecanum wheels described in any one of these inventions, the working method of the tree-climbing coconut-harvesting robot based on the trunk diameter includes the following:

[0053] Step S1: Select the coconut tree variety from the ground control console. The control panel determines the range of trunk diameter based on the coconut tree variety and calculates the stroke of the electric push rod 10 based on the trunk diameter data.

[0054] Step S2: The control board controls the movement of the electric push rod 10 according to the data, pushing the large arm 8 to clamp the tree trunk. At the same time, the shock-absorbing spring 9 in the shock-absorbing device is compressed and the shock-absorbing spring 11 is stretched to adapt to the irregular shape of the tree trunk surface.

[0055] Step S3: The DC geared motor 23 drives the climbing wheel group 3 to move, and the Mecanum wheel 21 moves on the surface of the tree trunk through friction until the coconut on the tree appears within the recognition range of the vision recognition module 28 on the robotic arm.

[0056] Step S4: The vision recognition module 28 on the robotic arm begins to identify the position of the coconut. After obtaining the coconut position information, it transmits the data to the control board. The control board controls the climbing wheel group 3 to move forward or translate according to the coconut position data, so that the robot reaches the position near the coconut.

[0057] Step S5: When the tree-climbing coconut-picking robot reaches the vicinity of the coconut, the visual recognition module 28 will re-identify the position of the coconut root to control the robot to adjust its posture and ensure that the coconut enters the working range of the robotic arm; the cutting device 27 cuts the coconut root and the coconut falls.

[0058] When the tree-climbing coconut-picking robot completes its coconut-picking task, and a return command is issued from the ground control console, the robot's robotic arm retracts, the visual recognition module 28 stops working, and the coconut-picking robot returns to the ground.

[0059] In addition to the above, the present invention also has related embodiments, including the following:

[0060] In one embodiment of the present invention, such as Figure 1 This is a tree-climbing coconut-harvesting robot based on Mecanum wheels and adaptive to tree trunk diameter. The robot includes a cradle structure 1, a first climbing wheel assembly 2 and a second climbing wheel assembly 3 based on Mecanum wheels, and a coconut-harvesting device 4. The climbing wheel assemblies 2 and 3 are structurally identical, differing only in their mounting positions. Climbing wheel assembly 2 is mounted on a rotating joint 6, while climbing wheel assembly 3 is mounted on a frame 14.

[0061] In one embodiment of the present invention, such as Figure 2 As shown, the coconut harvesting device 4 is fitted with the threaded mounting holes on the second climbing wheel set 3 via bolts 5.

[0062] In one embodiment of the present invention, such as Figure 3The specific structural composition of the arm-clamping structure 1 in Embodiment 1 is shown. 6 is a rotating joint, 7 is the forearm, 8 is the upper arm, 9 is a shock-absorbing spring, 10 is an electric push rod, 11 is a spring damper, 12 is a slider, 13 is a slide rail, and 14 is a frame. The rotating joint 6 has threaded holes that can mate with the mounting holes on the climbing wheel assembly 2. The forearm 7 is fixed to the upper arm 8 with bolts. The upper arm 8 is fixed to the frame 14 with bolts. The spring damper 11 serves as a shock-absorbing device connecting the upper arm 8 and the forearm 7; one end is fixed to the forearm 7 with a bolt, and the other end is fixed to the upper arm 8 with a bolt, allowing the forearm 7 to rotate freely within a certain range. One end of the electric push rod 10 is fixed to the frame 14 with a bolt, and the other end is fixed to the upper arm 8 with a bolt; it generates thrust to enable the arm-clamping structure to clamp the tree trunk. One end of the spring damper 11 is fixed to the frame 14 by bolts, and the other end is fixed to the guide rail 13 by bolts. The slider 12 is fixed to the frame 14 by bolts. The spring damper 11, slider 12, and guide rail 13 together form the damping device at the frame 14, which can provide the arm structure 1 with the freedom to extend to both sides.

[0063] When the clamping arm structure 1 performs the task of clamping the tree trunk, the electric push rod 10 begins to extend, pushing the main arm 8 to rotate around the connection point with the frame 14. When the first lifting wheel assembly 2 connected to the frame 14 and the lifting wheel assembly 2 connected to the rotating joint 6 begin to contact the tree trunk surface, the rotating joint 6, due to the torque, begins to adaptively rotate the trunk diameter, causing the first lifting wheel assembly 2 to conform to the tree trunk surface. At the same time, the shock-absorbing spring 9 is compressed and the shock-absorbing spring 11 is stretched, allowing the clamping arm structure 1 to better adapt to the uneven tree trunk surface.

[0064] In one embodiment of the present invention, such as Figure 4The specific structural composition of the first climbing wheel set 2 and the second climbing wheel set 3 in Embodiment 1 is shown. 15 is the wheel set mounting plate, 16 is the motor frame, 17 is the coupling, 18 is the synchronous pulley, 19 is the synchronous belt, 20 is the optical shaft, 21 is the Mecanum wheel, 22 is the planar thrust bearing, 23 is the DC geared motor, 24 is the wheel set connecting block, 25 is the aluminum square tube, and 26 is the driven wheel mounting block. The wheel set mounting plate 15 is designed with two bends of 135° each. This ensures that when the aluminum square tube 25 is bolted to the wheel set mounting plate 15, the included angle between the motor mounting surfaces of the aluminum square tube 25 on both sides of the wheel set is 135°, allowing the wheel set to better fit the tree trunk surface. The motor frame 16 is bolted to the aluminum square tube 25. Couplings 17 are mounted on both sides of the Mecanum wheel 21 hub. For the driving wheel, one coupling 17 of the Mecanum wheel 21 is mounted on the DC geared motor 23 via a planar thrust bearing 22, and the other coupling 17 is connected to a shaft 20, on which a synchronous pulley 18 is mounted. For the driven wheel, the driven wheel mounting block 26 is bolted to the motor frame 16, through which a shaft 20 passes. The Mecanum wheel 21 with couplings 17 and the synchronous pulley 18 are mounted on the shaft 20. When the driving wheel starts to rotate under the drive of the DC geared motor 23, the synchronous belt 19 simultaneously drives the driven wheel to rotate. The wheel assembly mounting block 24 has holes, allowing the entire wheel assembly to be mounted on the frame 14 or the rotating joint 6 using bolts.

[0065] In one embodiment of the present invention, Figure 5 The specific structural composition of the coconut harvesting device 4 is shown. Since the first climbing wheel group 2 and the second climbing wheel group 3 based on Mecanum wheels already provide a certain degree of freedom for the coconut harvesting robot, the design of the coconut harvesting device adopts fewer degrees of freedom.

[0066] 27 is the cutting device, 28 is the vision recognition module, 29 is the servo motor, 30 is the crank, 31 is the main arm, 32 is the connecting rod, and 33 is the DC geared motor.

[0067] The robotic arm of the coconut harvesting device is a common two-degree-of-freedom linkage robotic arm. Its working process can be simply described as follows: the robotic arm is controlled by two servo motors. The crank 30 is connected to one of the servo motors 29, and the connecting rod 32 is connected to the crank 30. When the crank 30 rotates, the connecting rod 32 is driven, which provides the first degree of freedom. The main arm 31 is connected to the other servo motor 29, which provides the second degree of freedom.

[0068] The cutting device 27 is controlled by a DC geared motor 33, and the vision recognition module 28 is fixed to the cutting device with bolts. When the coconut is harvested, when the coconut appears in the line of sight of the vision recognition module 28, it will start to identify the position of the coconut root and obtain position data. The robotic arm will then send the cutting device 27 to the position of the coconut root according to the set program and perform the cutting work.

[0069] In one embodiment of the present invention, Figure 6 This is a simplified diagram illustrating the power supply and control system of the device. The entire device is controlled by a ground control console, primarily via wireless signal transmission. The ground control console can send control commands to the control board on the tree-climbing robot and also receive their information. The tree-climbing robot is equipped with a lithium battery pack to power all electrical equipment. The control board is mainly used to control the movement of moving parts such as servos, motors, and electric actuators, and also to receive, process, and analyze data transmitted from the vision recognition module.

[0070] The above are preferred embodiments of the present invention. Any changes made to the technical solution of the present invention that do not exceed the scope of the technical solution of the present invention shall fall within the protection scope of the present invention.

Claims

1. A tree-climbing, coconut-harvesting robot based on Mecanum wheels and adaptive trunk diameter, characterized in that, The tree trunk diameter adaptive climbing coconut harvesting robot includes a hugging arm structure, a first climbing wheel set, a second climbing wheel set, a coconut harvesting device, bolts, a rotating joint, a forearm, a main arm, a shock-absorbing spring, an electric push rod, spring shock absorbers, a slider, a slide rail, a frame, a wheel set mounting plate, a motor frame, a coupling, a synchronous pulley, a synchronous belt, an optical shaft, a Mecanum wheel, a planar thrust bearing, a DC geared motor, a wheel set connecting block, an aluminum square tube, a passive wheel mounting block, a cutting device, a vision recognition module, a servo motor, a crank, a main arm, and a connecting rod. The first climbing wheel assembly includes a first wheel assembly frame and four Mecanum wheels connected to the wheel assembly frame; the first wheel assembly frame of the first climbing wheel assembly is fixed to the frame; The second climbing wheel assembly includes a second wheel assembly frame and a third wheel assembly frame, wherein each wheel assembly frame is connected to four Mecanum wheels; the two wheel assembly frames of the second climbing wheel assembly are respectively connected to the rotating joints of the forearm sections on both sides.

2. The tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 1, characterized in that, The first wheel set frame of the first climbing wheel set is driven by two DC geared motors, one on each side of the wheel set. The DC motors drive the driving wheel, and the driven wheel and the driving wheel are linked by a synchronous pulley and a synchronous belt. The second wheel set frame and the third wheel set frame of the second climbing wheel set are both driven by two DC geared motors, one on each side of the wheel set. The DC motors drive the driving wheel, and the driven wheel and the driving wheel are linked by a synchronous pulley and a synchronous belt.

3. The tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 1, characterized in that, The wheel set frame consists of a wheel set mounting plate, aluminum square tubes, and wheel set connecting blocks; the motor frame is mounted on the aluminum square tubes; the included angle between the motor frame mounting surfaces of the two aluminum square tubes is 135° to improve the fit of the Mecanum wheel to the tree trunk surface.

4. The tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 1, characterized in that, The Mecanum wheel has a coupling installed on each side of its hub. One coupling is connected to a DC geared motor via a planar thrust bearing, and the other coupling is connected to an optical shaft. A synchronous pulley is installed on the optical shaft, and the other Mecanum wheel on the same side can be linked by the synchronous belt.

5. The tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 1, characterized in that, The frame of the arm-shaped structure is divided into two symmetrical parts; the upper arm of the arm-shaped structure provides the thrust to clamp the tree trunk, and the thrust comes from the electric push rod connecting the frame and the upper arm; the lower arm of the arm-shaped structure has a rotating joint at its end, which allows the climbing wheel set connected to it to be close to the surface of the tree trunk; the shock absorption device is located at the connection between the upper arm and the lower arm and at the connection between the left and right parts of the frame.

6. The tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 5, characterized in that, The shock absorption device includes a spring shock absorber located at the connection between the boom and the forearm, and a slider, slide rail and spring shock absorber located at the connection between the left and right parts of the frame.

7. A tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 6, characterized in that, The damping device provides additional degrees of freedom, offering adaptive adjustment capabilities in the event of changes in trunk diameter or uneven surface.

8. The tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 1, characterized in that, The end effector of the robotic arm consists of a cutting device and a vision recognition module. When the robot moves to the canopy of a coconut tree to harvest coconuts, the control module controls the vision recognition module to determine the location of the coconut, controls the robotic arm to move near the coconut, the vision recognition module then locates the root of the coconut, and controls the cutting device of the robotic arm to cut the root of the coconut so that it falls off. The robotic arm is a common two-degree-of-freedom linkage robotic arm. The cutting device is a chainsaw structure controlled by a DC geared motor.

9. A tree-climbing coconut-harvesting robot based on Mecanum wheels with adaptive trunk diameter as described in claim 1, characterized in that, The control module is a control board; when the tree trunk diameter adaptive climbing coconut harvesting robot is harvesting coconuts on the tree, the control board on the robot receives control commands sent wirelessly from the ground control console or is controlled wirelessly, and receives control board information wirelessly; the climbing coconut harvesting robot operates with its built-in lithium battery.

10. A method for operating a tree-climbing coconut-harvesting robot based on a Mecanum wheel that adapts to the trunk diameter, applied to the tree-climbing coconut-harvesting robot based on a Mecanum wheel as described in any one of claims 1 to 9, characterized in that... The working method of the tree-climbing coconut-harvesting robot based on Mecanum wheel trunk diameter adaptive includes the following: Step S1: Select the coconut tree variety from the ground control console. The control panel determines the range of trunk diameter based on the coconut tree variety and calculates the stroke of the electric actuator based on the trunk diameter data. Step S2: The control board controls the movement of the electric push rod according to the data, pushing the large arm to clamp the tree trunk. At the same time, the shock-absorbing spring in the shock-absorbing device is compressed and stretched to adapt to the irregular shape of the tree trunk surface. Step S3: The DC geared motor drives the climbing wheel assembly to move, and the Mecanum wheel moves on the surface of the tree trunk through friction until the coconut on the tree appears within the recognition range of the vision recognition module on the robotic arm; Step S4: The vision recognition module on the robotic arm begins to identify the position of the coconut. After obtaining the coconut position information, it transmits the data to the control board. The control board controls the climbing wheel assembly to move forward or translate according to the coconut position data, so that the robot reaches the vicinity of the coconut. Step S5: When the tree-climbing coconut-picking robot reaches the vicinity of the coconut, the vision recognition module will re-identify the location of the coconut root to control the robot to adjust its posture and ensure that the coconut enters the working range of the robotic arm; the cutting device cuts the coconut root, and the coconut falls. When the tree-climbing coconut-picking robot completes its coconut-picking task, and a return command is issued from the ground control console, the robot's robotic arm retracts, the visual recognition module stops working, and the robot returns to the ground.

Images