A fruit picking robot based on bionic design and its picking control method

Abstract

The present invention discloses a fruit picking robot based on bionic design, including a mobile mechanism and a sensor module, a control module, a rope driving mechanism, a bionic grasping manipulator and a shearing unit arranged on the mobile mechanism; the sensor module is used to collect feedback information, and the control module is used to control the mobile mechanism, the bionic grasping manipulator and the shearing unit according to the feedback information; the bionic grasping manipulator includes a base and a mechanical finger, a soft sac-shaped pad is arranged on the base, a plurality of the mechanical fingers are arranged on the base and surround the soft sac-shaped pad, and a plurality of uniformly distributed suction cups are arranged on one side of the mechanical finger close to the soft sac-shaped pad. Correspondingly, the present invention also discloses a picking control method related to the above-mentioned fruit picking robot. By adopting the present invention, the fruit picking and clamping is stable and reliable, and the fruit particles can be prevented from falling easily, and the structure is compact, the transmission efficiency is higher, and the environmental adaptability is stronger.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural picking robots, and in particular to a fruit picking robot based on bionic design and a picking control method thereof. Background Art

[0002] my country is the world's largest producer of fruits and vegetables, but currently fruit and vegetable picking is basically dependent on manual labor, which is labor-intensive and costly, and has a large impact from uncertain factors. With the aging of the population, the market is in urgent need of an intelligent picking robot to achieve the purpose of large-scale mechanized fruit picking, thereby replacing manual picking and meeting the needs of smart agriculture and smart farms.

[0003] Currently, existing picking robots are generally composed of a drive mechanism, scissors, and a two-finger soft gripper, which use simple pneumatic or electrical control to achieve the clipping and shearing action. Even though some studies have achieved accurate positioning of fruit stems through machine vision, the two-finger soft gripper does not achieve the envelope clamping of the fruit bunch, so there is a risk of fruit grains falling and being damaged. In addition, the drive mechanism in existing picking robots is generally composed of transmission parts such as cylinders, bearings, and screws. These rigid parts have the disadvantages of large motion inertia, large space occupation, non-reconfigurability, slow motion speed, and large motion errors. They cannot achieve flexible execution of picking tasks in complex field environments and have poor environmental adaptability. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a fruit picking robot based on bionic design and a picking control method thereof, which has stable and reliable fruit picking and clamping, can prevent fruit particles from falling easily, has a compact structure, higher transmission efficiency, and stronger environmental adaptability.

[0005] In order to solve the above technical problems, the present invention provides a fruit picking robot based on bionic design, including a mobile mechanism and a sensor module, a control module, a rope drive mechanism, a bionic grasping manipulator and a shearing unit arranged on the mobile mechanism; the sensor module is connected to the control module and is used to collect feedback information and send the feedback information to the control module, the feedback information includes a driving motor angle, a driving motor speed, a transmission rope tension, a target fruit position, a target fruit stem position, a grasping force and a fruit weight in a loading container; the control module is connected to the mobile mechanism, and the control module is respectively connected to the bionic grasping manipulator and the shearing unit through the rope drive mechanism, and the control module is used to control the mobile mechanism, the bionic grasping manipulator and the shearing unit according to the feedback information; wherein the bionic grasping manipulator includes a base and a mechanical finger, a soft cystic pad is arranged on the base, a plurality of the mechanical fingers are arranged on the base and surround the soft cystic pad, and a plurality of evenly distributed suction cups are arranged on one side of the mechanical finger close to the soft cystic pad.

[0006] As an improvement of the above-mentioned scheme, the rope drive mechanism includes a rotatable shaft, a first connecting sleeve, a rotating seat and a second connecting sleeve; the rotatable shaft is arranged on the moving mechanism and can rotate around a first axis, the first connecting sleeve and the second connecting sleeve are both arranged on the rotatable shaft and can move up and down along the first axis; the rotating seat is arranged on the first connecting sleeve and is fixedly connected to the base, and the rotating seat is used to drive the bionic grasping manipulator to rotate around a second axis, and the second axis is perpendicular to the first axis; the shearing unit is arranged on the second connecting sleeve.

[0007] As an improvement of the above scheme, the robotic finger includes a first knuckle, a second knuckle, a third knuckle and a pulley, and the pulley includes a first pulley, a second pulley and a third pulley; one end of the first knuckle is arranged on the base, one end of the second knuckle is hinged to the other end of the first knuckle through the first pulley, one end of the third knuckle is hinged to the other end of the second knuckle through the second pulley, and the third pulley is arranged at the other end of the third knuckle; the rope drive mechanism is connected to the pulley to control the opening and closing of the bionic grasping manipulator.

[0008] As an improvement of the above-mentioned scheme, the rope drive mechanism includes a drive motor, a first transmission rope and a second transmission rope; the first transmission rope is fixedly connected to the first pulley and is used to drive the first pulley to rotate forward, the second transmission rope is fixedly connected to the first pulley and is used to drive the first pulley to rotate reversely, and the rotating shaft of the drive motor is respectively connected to the first transmission rope and the second transmission rope and is used to pull one of the first transmission rope and the second transmission rope.

[0009] As an improvement of the above solution, the bionic grasping manipulator further includes a soft outer coat; the soft outer coat is sleeved on the base and the manipulator fingers, and the suction cup is arranged on the surface of the soft outer coat.

[0010] As an improvement of the above solution, the control module includes a human-machine interaction host computer, an industrial computer and a motion control board connected in sequence; the motion control board is respectively connected to the sensor module, the moving mechanism and the rope driving mechanism.

[0011] As an improvement of the above-mentioned scheme, the sensor module includes a photoelectric encoder, a force sensor, a tactile sensor and a visual sensor; the photoelectric encoder is arranged on the drive motor and is used to collect the drive motor angle and the drive motor speed, the force sensor is arranged on the transmission rope and is used to collect the transmission rope tension, the tactile sensor is arranged on the surface of the soft jacket and is used to collect the grasping force, and the visual sensor is arranged on the shearing unit and is used to collect the target fruit position and the target fruit stem position.

[0012] As an improvement of the above-mentioned scheme, the fruit picking robot also includes a loading container arranged on the moving mechanism, and the sensor module includes a weighing sensor; the bionic grasping manipulator is arranged below the shearing unit, the loading container is arranged below the bionic grasping manipulator, and the weighing sensor is arranged on the bottom surface of the loading container and is used to detect the weight of the fruit in the loading container.

[0013] Correspondingly, the present invention also provides a picking control method based on the above-mentioned fruit picking robot, including: controlling a moving mechanism to move along a planned route, wherein the planned route is a path moving from a current position to a target fruit position; obtaining feedback information collected by a sensor module, wherein the feedback information includes a driving motor angle, a driving motor speed, a transmission rope tension, a target fruit position, a target fruit stem position, a gripping force, and a fruit weight in a loading container; controlling the moving mechanism to move to the front of the target fruit according to the target fruit position; and controlling the bionic gripping manipulator to close to grip the fruit according to the target fruit position. The target fruit is grasped, and the motion state of the bionic grasping manipulator is adjusted according to the closed-loop feedback of the driving motor angle, the driving motor speed and the transmission rope tension during grasping; when the grasping force is greater than or equal to the reference grasping force, the bionic grasping manipulator is controlled to stop closing; according to the target fruit stalk position, the shearing unit is controlled to cut the target fruit from the fruit tree; the bionic grasping manipulator is controlled to put the target fruit into the loading container; it is determined whether the weight of the fruit in the loading container is greater than or equal to the reference weight, and the picking work is terminated when it is determined to be yes, and the next target fruit is picked when it is determined to be no.

[0014] As an improvement of the above scheme, before the step of controlling the mobile mechanism to walk along the planned route, the picking control method also includes: system initialization; starting the sensor module; judging whether the sensor module is operating normally, and executing the step of controlling the mobile mechanism to walk along the planned route if it is judged to be, otherwise outputting "sensor module error".

[0015] The beneficial effects of implementing the present invention are:

[0016] In the fruit picking robot based on bionic design of the present invention, since the mechanical fingers are provided with a plurality of evenly distributed suction cups and the bionic octopus tentacle design, the fruit can be grasped stably and reliably, thereby preventing the fruit from falling easily; secondly, since the base is provided with a soft sac-like pad, the fruit can form a soft landing on the soft sac-like pad during the picking process, thereby avoiding fruit damage as much as possible and reducing the loss caused during the picking process; in addition, the rope drive mechanism is used to drive the bionic grasping manipulator and the shearing unit, which has the advantages of compact structure, higher transmission efficiency and stronger environmental adaptability compared to the drive mechanism composed of rigid parts such as cylinders, bearings and screw rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the fruit picking robot based on bionic design of the present invention;

[0018] Figure 2 It is a structural schematic diagram of a bionic grasping manipulator in a fruit picking robot based on bionic design of the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the mechanical fingers in the bionic grasping manipulator;

[0020] Figure 4 It is a system block diagram of the fruit picking robot based on bionic design of the present invention;

[0021] Figure 5 It is an implementation flow chart of the picking control method based on the fruit picking robot of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that the directional terms such as up, down, left, right, front, back, inside, outside, etc. that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention, and are not specific limitations of the present invention.

[0023] Combination Figure 1 to Figure 4 As shown, the present invention provides a fruit picking robot based on bionic design, including a mobile mechanism 1 and a sensor module 2, a control module 3, a rope driving mechanism 4, a bionic grasping manipulator 5 and a shearing unit 6 arranged on the mobile mechanism 1; the sensor module 2 is connected to the control module 3 and is used to collect feedback information and send the feedback information to the control module 3, the control module 3 is connected to the mobile mechanism 1, and the feedback information includes a driving motor angle, a driving motor speed, a transmission rope tension, a target fruit position, a target fruit stem position, a grasping force and a loading container. The weight of the fruit; the control module 3 is connected to the bionic grasping manipulator 5 and the shearing unit 6 respectively through the rope driving mechanism 4, and the control module 3 is used to control the moving mechanism 1, the bionic grasping manipulator 5 and the shearing unit 6 according to the feedback information; wherein the bionic grasping manipulator 5 comprises a base 51 and a mechanical finger 52, the base 51 is provided with a soft cystic pad 53, a plurality of the mechanical fingers 52 are arranged on the base 51 and surround the soft cystic pad 53, and a plurality of uniformly distributed suction cups 54 are arranged on one side of the mechanical finger 52 close to the soft cystic pad 53. In this embodiment, the soft cystic pad 53 is preferably a soft cystic rubber pad.

[0024] It should be noted that in the fruit picking robot based on bionic design of the present invention, since the mechanical fingers 52 are provided with a plurality of evenly distributed suction cups 54, the bionic octopus tentacle design can achieve stable and reliable fruit grasping, thereby preventing the fruit from falling easily; secondly, since the base 51 is provided with a soft sac-like pad 53, the fruit can form a soft landing on the soft sac-like pad 53 during the picking process, thereby avoiding fruit damage as much as possible and reducing the loss caused during the picking process; in addition, the rope drive mechanism 4 is used to drive the bionic grasping manipulator 5 and the shearing unit 6, which has the advantages of compact structure, higher transmission efficiency and stronger environmental adaptability compared to the drive mechanism composed of rigid parts such as cylinders, bearings and screws.

[0025] like Figure 1 As shown, the rope drive mechanism 4 includes a rotatable shaft body 41, a first connecting sleeve 42, a rotating seat 43 and a second connecting sleeve 44; the rotatable shaft body 41 is arranged on the moving mechanism 1 and can rotate around a first axis, the first connecting sleeve 42 and the second connecting sleeve 44 are both arranged on the rotatable shaft body 41 and can move up and down along the first axis; the rotating seat 43 is arranged on the first connecting sleeve 42 and is fixedly connected to the base 51, and the rotating seat 43 is used to drive the bionic grasping manipulator 5 to rotate around a second axis, and the second axis is perpendicular to the first axis; the shearing unit 6 is arranged on the second connecting sleeve 44. Among them, the rotatable shaft body 41 can drive the first connecting sleeve 42 and the second connecting sleeve 44 to rotate 360 ​​degrees around the first axis, thereby driving the bionic grasping manipulator 5 and the shearing unit 6 to rotate to adjust the positions of the bionic grasping manipulator 5 and the shearing unit 6; secondly, since the first connecting sleeve 42 and the second connecting sleeve 44 can both move up and down along the first axis, the grasping height of the bionic grasping manipulator 5 can be adjusted by adjusting the height of the first connecting sleeve 42, and the shearing height of the shearing unit 6 can be adjusted by adjusting the height of the second connecting sleeve 44; in addition, the rotating seat 43 can drive the bionic grasping manipulator 5 to rotate around the second axis to adjust the palm direction of the bionic grasping manipulator 5. In this embodiment, the rotatable shaft body 41 is preferably connected to the servo motor provided in the moving mechanism 1, and the rotating seat 43 is preferably connected to the servo motor provided in the first connecting sleeve 42, but it is not limited thereto, and it can achieve the above functions; the shearing unit 6 is preferably an electric scissors.

[0026] Combination Figure 1 and Figure 2As shown, the mechanical finger 52 includes a first knuckle 521, a second knuckle 522, a third knuckle 523 and a pulley, wherein the pulley includes a first pulley 524, a second pulley 525 and a third pulley 526; one end of the first knuckle 521 is arranged on the base 51, one end of the second knuckle 522 is hinged to the other end of the first knuckle 521 through the first pulley 524, one end of the third knuckle 523 is hinged to the other end of the second knuckle 522 through the second pulley 525, and the third pulley 526 is arranged at the other end of the third knuckle 523; the rope drive mechanism 4 is connected to the pulley to control the opening and closing of the bionic grasping manipulator 5. Among them, the mechanical finger 52 is bionic human finger, and has three knuckles in total, which reduces the manufacturing cost and has better wrapping. In this embodiment, in order to reduce the manufacturing cost and improve the stability of grasping, the bionic grasping manipulator 5 includes a total of four mechanical fingers 52. Similarly, the shearing unit 6 is also driven by the corresponding rope driving mechanism 4 .

[0027] Specifically, the rope drive mechanism 4 includes a driving motor 41 and a transmission rope 42, wherein the transmission rope 42 includes a first transmission rope and a second transmission rope; the first transmission rope is fixedly connected to the first pulley 524 and is used to drive the first pulley 524 to rotate forward, the second transmission rope is fixedly connected to the first pulley 524 and is used to drive the first pulley 524 to rotate reversely, and the rotating shaft of the driving motor 41 is respectively connected to the first transmission rope and the second transmission rope and is used to pull one of the first transmission rope and the second transmission rope, that is, the first transmission rope and the second transmission rope are wound on the rotating shaft of the driving motor in different directions. When the driving motor 41 rotates forward, the rotating shaft of the driving motor 41 pulls the first transmission rope while loosening the second transmission rope, thereby driving the first pulley 524 to rotate forward, so that the second finger joint 522 opens outward; when the driving motor 41 rotates reversely, the rotating shaft of the driving motor 41 loosens the first transmission rope while pulling the first transmission rope, thereby driving the first pulley 524 to rotate reversely, so that the second finger joint 522 is folded inward. The driving method of the third finger joint 523 is the same as the driving method of the second finger joint 522, and will not be described in detail here.

[0028] like Figure 2 As shown, in order to further reduce the loss rate of fruits during the picking process, the bionic grasping manipulator 5 further includes a soft outer cover 55; the soft outer cover 55 is sleeved on the base 51 and the manipulator fingers 52 to prevent the manipulator fingers 52 from scratching the fruits, and the suction cup 54 is arranged on the surface of the soft outer cover 55. In this embodiment, the soft outer cover 55 is preferably a soft rubber cover.

[0029] like Figure 4As shown, the control module 3 includes a human-machine interaction host computer 31, an industrial computer 32 and a motion control board 33 connected in sequence; the motion control board 33 is respectively connected to the sensor module 2, the mobile mechanism 1 and the rope drive mechanism 4. The sensor module 2 transmits the collected feedback information to the feedback input end of the motion control board 33, and the motion control board 33 processes the feedback information in real time and sends the processed feedback information to the industrial computer 32 through the communication module. In this embodiment, in order to improve the execution speed of instructions, the industrial computer 32 controls the motion control board 33 through the 5G wired / wireless communication channel. In addition, the industrial computer 32 further displays the processed feedback information in real time through the human-machine interaction host computer 31 for user monitoring and debugging. The user can send control instructions to the human-machine interaction host computer 31, and the industrial computer 32 is used to send control signals to the motion control board 33 according to the control instructions and feedback information. The motion control board 33 is used to control the mobile mechanism 1, the bionic grasping manipulator 5 and the shearing unit 6 according to the control signal.

[0030] Secondly, the sensor module 2 includes a photoelectric encoder 21, a force sensor 22, a tactile sensor 23 and a visual sensor 24; the photoelectric encoder 21 is arranged on the drive motor 45 and is used to collect the rotation angle and the speed of the drive motor, and the motion control board 33 is used to perform closed-loop feedback control on the drive motor 45 according to the rotation angle and the speed of the drive motor 45 to ensure that the drive motor 45 operates normally and meets the task requirements; the force sensor 22 is arranged on the transmission rope 46 and is used to collect the tension of the transmission rope, and the industrial computer 32 is used to appropriately adjust the traction force according to the tension of the transmission rope , ensuring the normal operation of the bionic grasping manipulator 5; the tactile sensor 23 is arranged on the surface of the soft outer cover 55 and is used to collect the grasping force, and the industrial computer 32 is used to judge whether the bionic grasping manipulator 5 has grasped the fruit according to the magnitude of the grasping force; the visual sensor 24 is arranged on the shearing unit 6 and is used to collect the target fruit position and the target fruit stalk position, and the industrial computer 32 is used to adjust the moving target of the mobile mechanism 1 and adjust the position of the bionic grasping manipulator 5 according to the target fruit position, and the industrial computer 32 is also used to adjust the position of the shearing unit 6 according to the fruit stalk position.

[0031] Combination Figure 1 and Figure 4As shown, the fruit picking robot also includes a loading container 7 arranged on the mobile mechanism 1, and the sensor module 2 also includes a weighing sensor 25; the bionic grasping manipulator 5 is arranged below the shearing unit 6, and the loading container 7 is arranged below the bionic grasping manipulator 5. The loading container 7 is used to load the picked fruits, and the weighing sensor 25 is arranged on the bottom surface of the loading container 7 and is used to detect the weight of the fruits in the loading container 7. The industrial computer 32 is used to determine whether to continue the picking action based on the weight of the fruits. The size of the loading container 7 can be set according to the actual situation and is not limited to Figure 1 In this embodiment, the mobile mechanism 1 is preferably an AGV trolley, which is provided with an automatic navigation device such as an electromagnetic or optical device, and can travel along a specified navigation path. The mobile mechanism 1 includes a first layer structure and a second layer structure arranged from bottom to top. The first layer structure is equipped with the driving motor 45, the industrial computer 32 and the human-computer interaction host computer 31, and the second layer structure is equipped with a rotatable shaft 41, a bionic grasping manipulator 5, a shearing unit 6 and a loading container 7.

[0032] like Figure 5 As shown, the present invention also provides a picking control method based on the above-mentioned fruit picking robot, comprising:

[0033] S101, system initialization.

[0034] Initialize the picking robot system, check whether each working component is working normally and whether the network communication is smooth, so as to ensure the normal operation of subsequent picking work.

[0035] S102, start the sensor module.

[0036] S103, determining whether the sensor module 2 is operating normally, and executing step S103 if it is determined to be so, otherwise outputting "sensor module 2 error".

[0037] Check whether all sensors are operating normally and whether the signal transmission of all sensors is normal, so as to facilitate the normal operation of subsequent picking work.

[0038] S104, controlling the mobile mechanism 1 to move along the planned route.

[0039] The planned route is a path from the current position to the target fruit position.

[0040] S105, obtaining feedback information collected by the sensor module 2.

[0041] The feedback information includes the driving motor rotation angle, the driving motor rotation speed, the transmission rope tension, the target fruit position, the target fruit stem position, the grasping force and the weight of the fruit in the loading container 7.

[0042] S106, controlling the moving mechanism to move in front of the target fruit according to the position of the target fruit.

[0043] S107, controlling the bionic grasping manipulator 5 to close according to the position of the target fruit to grasp the target fruit, and adjusting the motion state of the bionic grasping manipulator 5 according to the closed-loop feedback of the driving motor angle, the driving motor speed and the transmission rope tension during grasping.

[0044] Specifically, the rotation angle and speed of the drive motor 45 are adjusted in real time according to the rotation angle and speed of the drive motor to obtain a suitable grabbing speed, and the traction force of the transmission rope 46 is adjusted in real time according to the tension of the transmission rope to avoid the situation of false traction.

[0045] S108, when the grasping force is greater than or equal to the reference grasping force, controlling the bionic grasping manipulator 5 to stop closing.

[0046] When the grasping force is less than the reference grasping force, the industrial computer 32 can determine that the bionic grasping manipulator 5 has not grasped the fruit or has not grasped it firmly. When the grasping force is greater than or equal to the reference grasping force, the industrial computer 32 can determine that the bionic grasping manipulator 5 has grasped the fruit.

[0047] The reference gripping force may be set according to the force limit of different fruits.

[0048] S109, controlling the cutting unit 6 to cut the target fruit from the fruit tree according to the target fruit stem position.

[0049] S110, controlling the bionic grasping manipulator 5 to put the target fruit into the loading container 7.

[0050] S111, determining whether the weight of the fruit in the loading container 7 is greater than or equal to the reference weight, if not, continuing to execute step S105 again to pick the next target fruit, if yes, ending the picking work.

[0051] In summary, by adopting the present invention, the fruit picking and clamping is stable and reliable, and the fruit particles can be prevented from falling easily. The structure is compact, the transmission efficiency is higher, and the environmental adaptability is stronger.

[0052] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A fruit picking robot based on bionic design, characterized in that: It includes a moving mechanism and a sensor module, a control module, a rope driving mechanism, a bionic grasping manipulator and a shearing unit arranged on the moving mechanism; The sensor module is connected to the control module and is used to collect feedback information and send the feedback information to the control module, wherein the feedback information includes a driving motor rotation angle, a driving motor rotation speed, a transmission rope tension, a target fruit position, a target fruit stem position, a gripping force, and a fruit weight in a loading container; The control module is connected to the moving mechanism, and the control module is respectively connected to the bionic grasping manipulator and the shearing unit through the rope driving mechanism, and the control module is used to control the moving mechanism, the bionic grasping manipulator and the shearing unit according to the feedback information; The bionic grasping manipulator comprises a base and a manipulator finger, the base is provided with a soft sac-shaped pad, a plurality of manipulator fingers are provided on the base and surround the soft sac-shaped pad, and a plurality of evenly distributed suction cups are provided on one side of the manipulator finger close to the soft sac-shaped pad; The mechanical finger comprises a first knuckle, a second knuckle, a third knuckle and a pulley, wherein the pulley comprises a first pulley, a second pulley and a third pulley; one end of the first knuckle is arranged on the base, one end of the second knuckle is hinged to the other end of the first knuckle through the first pulley, one end of the third knuckle is hinged to the other end of the second knuckle through the second pulley, and the third pulley is arranged at the other end of the third knuckle; the rope driving mechanism is connected to the pulley to control the opening and closing of the bionic grasping manipulator; The rope driving mechanism includes a rotatable shaft, a first connecting sleeve, a rotating seat, a second connecting sleeve, a driving motor and a transmission rope; the rotatable shaft is arranged on the moving mechanism and can rotate around a first axis, and the first connecting sleeve and the second connecting sleeve are both sleeved on the rotatable shaft and can move up and down along the first axis; the rotating seat is arranged on the first connecting sleeve and fixedly connected to the base, and the rotating seat is used to drive the bionic grasping manipulator to rotate around a second axis, and the second axis is perpendicular to the first axis; the shearing unit is arranged on the second connecting sleeve; the transmission rope includes a first transmission rope and a second transmission rope; the first transmission rope is fixedly connected to the first pulley and is used to drive the first pulley to rotate forward, and the second transmission rope is fixedly connected to the first pulley and is used to drive the first pulley to reverse, and the rotating shaft of the driving motor is respectively connected to the first transmission rope and the second transmission rope and is used to pull one of the first transmission rope and the second transmission rope.

2. The fruit picking robot according to claim 1, characterized in that: The bionic grasping manipulator also includes a soft outer coat; The soft outer cover is sleeved on the base and the mechanical finger, and the suction cup is arranged on the surface of the soft outer cover.

3. The fruit picking robot according to claim 1, characterized in that: The control module includes a human-computer interaction host computer, an industrial computer and a motion control board connected in sequence; The motion control board is connected to the sensor module, the moving mechanism and the rope driving mechanism respectively.

4. The fruit picking robot according to claim 2, characterized in that: The sensor module includes a photoelectric encoder, a force sensor, a tactile sensor and a visual sensor; The photoelectric encoder is arranged on the driving motor and is used to collect the driving motor rotation angle and the driving motor speed. The force sensor is arranged on the transmission rope and is used to collect the transmission rope tension. The tactile sensor is arranged on the surface of the soft jacket and is used to collect the grasping force. The visual sensor is arranged on the shearing unit and is used to collect the target fruit position and the target fruit stem position.

5. The fruit picking robot according to claim 1, characterized in that: Also included is a loading container disposed on the mobile mechanism, wherein the sensor module includes a weighing sensor; The bionic grasping manipulator is arranged below the shearing unit, the loading container is arranged below the bionic grasping manipulator, and the weighing sensor is arranged on the bottom surface of the loading container and is used to detect the weight of the fruit in the loading container.

6. A fruit picking control method based on the fruit picking robot according to any one of claims 1 to 5, characterized in that: include: Controlling the mobile mechanism to move along a planned route, wherein the planned route is a path from a current position to a target fruit position; Acquiring feedback information collected by the sensor module, wherein the feedback information includes a driving motor rotation angle, a driving motor rotation speed, a transmission rope tension, a target fruit position, a target fruit stem position, a grasping force, and a fruit weight in a loading container; Control the moving mechanism to move in front of the target fruit according to the position of the target fruit; According to the position of the target fruit, the bionic grasping manipulator is controlled to close to grasp the target fruit, and during the grasping period, the motion state of the bionic grasping manipulator is adjusted according to the closed-loop feedback of the driving motor rotation angle, the driving motor speed and the transmission rope tension; When the grasping force is greater than or equal to the reference grasping force, controlling the bionic grasping manipulator to stop closing; Controlling a shearing unit to cut the target fruit from the fruit tree according to the target fruit stem position; Controlling the bionic grasping manipulator to put the target fruit into the loading container; It is determined whether the weight of the fruit in the loading container is greater than or equal to the reference weight. If it is determined to be yes, the picking work is ended, and if it is determined to be no, the next target fruit is picked.

7. The fruit picking control method of the fruit picking robot according to claim 6, characterized in that: Before the step of controlling the mobile mechanism to walk along the planned route, the method further includes: System initialization; Starting the sensor module; Determine whether the sensor module is operating normally, and if it is, execute the step of controlling the mobile mechanism to walk according to the planned route; otherwise, output "sensor module error".

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