An overhead track type oil tea fruit harvesting robot system

Abstract

This invention discloses an overhead track-type camellia oleifera fruit harvesting robot system. The system includes an overhead mechanism, a walking device, a position adjustment device, a robot harvesting device, a vision recognition system, and a control system. The overhead mechanism supports the walking device. The walking device supports and mounts the position adjustment device and the control system, and can travel along the overhead track. The position adjustment device adjusts the working position of the robot harvesting device, and the robot harvesting device is installed at its adjustment end. The robot harvesting device harvests camellia oleifera fruits. The vision recognition system collects and identifies the position and size of the camellia oleifera fruits and feeds this information back to the control system. The control system, based on the data collected by the vision recognition system, controls the walking device, the position adjustment device, and the robot harvesting device to complete the self-service harvesting of camellia oleifera fruits. This invention utilizes a robotic arm equipped with a vision recognition system to harvest camellia oleifera fruits, achieving rapid and precise harvesting with a high degree of automation and high harvesting efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of forestry machinery, in particular to an overhead track type oil-tea fruit harvesting robot system. Background Art

[0002] Camellia oleifera is a unique oil-pressing plant in my country, with a planting area of ​​more than 70 million mu, 80% of which are mainly distributed in mountainous areas with complex site conditions. It has a large oil yield, rich nutrition and is easy to store. The fruit can be used to extract tea oil, and the tea cake can be used as a fertilizer to increase crop yields. However, it is difficult to pick camellia oleifera by manpower alone, the picking efficiency is low, and the labor cost is high. The existing camellia oleifera picking machines on the market are not suitable for complex terrains, and the mechanical equipment is expensive and the picking efficiency is low, which cannot meet the picking needs of farmers.

[0003] Some scholars have proposed using a crawler mechanism as the driving mechanism of the picking machine, and using the picking head to roll back and forth to pick tea fruit. The literature (Gao Zicheng et al., Development and Experiment of the Picking Actuator of the Tooth-comb Tea Fruit Picker [J]. Transactions of the Chinese Society of Agricultural Engineering, 2013, 29(10): 19-25.) proposed using a tooth-comb picking head for picking. The machine consists of a chassis, an engine, a picking mechanism, a suction system, a hydraulic drive system and an electrical control system. The hydraulic system is used to provide power for the picking mechanism and the travel mechanism. Although the tooth-comb picking head can improve the picking efficiency, it causes great damage to the fruit; Application No. CN202210763258.1, titled "A Convenient Picking Machine for Picking Tea Fruit" Portable Camellia Fruit Picking Device", this invention patent discloses a portable harvesting device, which mainly includes a clamping mechanism, an extension mechanism, etc. The clamping mechanism is composed of a clamping finger, a clamping arm, a clamping arm, a clamping motor, a clamping coupling, a clamping screw, a clamping screw nut, a clamping motor bracket, a support table and a pressure sensor. When in use, the extension mechanism can be controlled to retract the clamping mechanism according to the relative position and height of the camellia fruit to be picked for picking. It is easy to carry and has a higher efficiency than traditional manual harvesting, but it is still semi-mechanized picking and is not efficient enough. The invention patent with application number 201310292878.2 and the name of "A Camellia Fruit Picking Method and Camellia Fruit Picking Robot" discloses a camellia fruit picking machine, which includes a chassis, a chassis travel system and a control system for driving the chassis to move. The chassis is equipped with a three-phase asynchronous motor to provide power for the travel system. The crawler-type walking mechanism is used to drive the picking machine, which has a high degree of automation, but has low efficiency when facing large-scale tea-oil picking. The invention patent with application number CN202210310132.9 and titled "A remote-controlled obstacle avoidance device and transport vehicle suitable for electric monorail conveyors" discloses a monorail conveyor, the walking device of which is composed of a moving mechanism and a clamping mechanism. The moving mechanism is connected to the track, and the clamping mechanism is connected to the track and the moving mechanism. The clamping mechanism can adjust the tightness of the moving mechanism and the track to ensure that the track and the moving mechanism will not be separated; but this type of transport machinery mostly uses a single-track transmission structure. The single-track transmission structure is simple, but has poor positioning stability and is easy to shake, making it difficult to meet the precision requirements of the robotic harvesting system. Therefore, designing an automated tea-oil fruit harvesting robot system with high transmission accuracy and the ability to adapt to complex terrain has become an urgent need in my country's forestry machinery field. Summary of the invention

[0004] The purpose of the present invention is to provide an overhead track type oil-tea fruit harvesting robot system with low economic cost, high picking efficiency and adaptability to complex terrain, in order to address the problems that oil-tea fruit is currently difficult to pick by manpower, the picking efficiency is low, and the labor cost is high. The system integrates the aerial track with the robot harvesting device to achieve fast and accurate picking of oil-tea fruit.

[0005] The purpose of the present invention is to be solved by the following technical solutions:

[0006] An overhead track type oil tea fruit harvesting robot system, characterized in that the system comprises an overhead mechanism, a walking device, a position adjustment device, a robot harvesting device, a visual recognition system and a control system;

[0007] The overhead structure is fixed beside the oil-tea tree to be picked and is used to carry the walking device;

[0008] The walking device is installed on the overhead track of the overhead mechanism and can travel back and forth horizontally along the setting direction of the overhead track, and is used to carry the installation position adjustment device and the control system;

[0009] The position adjustment device can adjust the working position of the robot harvesting device in two dimensions or three dimensions in the horizontal and vertical directions, and the robot harvesting device is installed at the adjustment end of the position adjustment device;

[0010] The mechanical arm of the robotic harvesting device can adjust the real-time position of the harvesting end to harvest oil-tea camellia fruits;

[0011] The visual recognition system is used to collect and identify the position and size of the oil-tea fruit and feed it back to the control system;

[0012] Based on the data collected by the visual recognition system, the control system controls the walking device to drive the position adjustment device to move, controls the position adjustment device to adjust the position of the robotic harvesting device, controls the mechanical arm of the robotic harvesting device to adjust the position of its harvesting end, and controls the harvesting end through the mechanical arm to complete the self-service picking of tea fruit.

[0013] The position adjustment device, the robot harvesting device, and the visual acquisition part of the visual recognition system are arranged in a matching manner, and the position adjustment device is arranged on one side or both sides of the walking device.

[0014] The control system is arranged in a control cabinet, and the control cabinet is arranged on the top of the traveling device, or is fixedly installed on the side of the traveling device through a Z-shaped plate.

[0015] When the position adjustment device is arranged on both sides of the walking device, the control cabinet is arranged on the top of the walking device; when the position adjustment device is arranged on one side of the walking device, the control cabinet is arranged on the top of the walking device, or is fixedly installed on the side of the walking device through a Z-shaped plate, but the preferred solution is: the control cabinet is fixedly installed on the side of the walking device through a Z-shaped plate. This arrangement enables the control cabinet to balance the counterweight of the position adjustment device and the robotic harvesting device.

[0016] The visual acquisition part of the visual recognition system is arranged on the mechanical arm of the robot harvesting device, or on the overhead track of the overhead mechanism, or on the walking device, or on the position adjustment device; the image processing part of the visual recognition system is arranged in the control cabinet and the visual acquisition part of the visual recognition system and the image processing part of the visual recognition system are connected to transmit information through wired or wireless means.

[0017] The overhead mechanism includes a detachable support and an overhead track. The overhead track can be detachably installed on the top of the detachable support. The bottom of the detachable support can be fixed on the ground beside the oil tea tree. The number of the detachable support is at least one, preferably two. The overhead track is composed of two large round tubes and multiple small round tubes, at least one of which can be fixedly installed on the top of the detachable support.

[0018] The traveling device comprises a mounting chassis, a motor seat is mounted at the bottom of the mounting chassis, a brushless motor is mounted on the motor seat and the driving end of the brushless motor drives the driving wheel in the driving wheel mechanism to rotate through a coupling, the brushless motor, the coupling and the driving wheel in the driving wheel mechanism constitute the driving mechanism of the traveling device; or an auxiliary wheel mechanism is provided directly below the driving wheel mechanism, the auxiliary wheel in the auxiliary wheel mechanism and the driving wheel in the driving wheel mechanism directly above it clamp the overhead track, then the brushless motor, the coupling and the driving wheel in the driving wheel mechanism, the auxiliary wheel in the auxiliary wheel mechanism constitute the driving mechanism of the traveling device; the driving mechanism capable of driving the traveling device to move along the setting direction of the overhead track is located on one side of the overhead track, and a guide mechanism used in conjunction with the driving mechanism is provided on the other side of the overhead track.

[0019] The brushless motor is connected to the control system through corresponding lines.

[0020] The number of the guide mechanisms is an odd number. When n guide mechanisms are provided on one side of the overhead track on the same side as the driving mechanism, n guide mechanisms are provided on the other side of the overhead track for use in pair with one driving mechanism and the n guide mechanisms; the guide mechanisms include an upper guide wheel mechanism and a lower guide wheel mechanism, and the upper guide wheel in the upper guide wheel mechanism and the lower guide wheel in the lower guide wheel mechanism are paired to clamp the corresponding overhead track; the upper guide wheel mechanism is connected to the lower guide wheel mechanism below through the corresponding side connecting plate, and the driving wheel mechanism is connected to the auxiliary wheel mechanism below through the corresponding side connecting plate; the top plate of the driving wheel mechanism is fixedly arranged on the bottom of the mounting chassis, and the top plate of the upper guide wheel mechanism is fixedly arranged on the bottom of the mounting chassis.

[0021] Side guide wheel mechanisms are respectively provided on both sides of any side connecting plate, the side guide wheel mechanisms corresponding to the driving wheel and the auxiliary wheel are arranged in the middle of the area formed by the corresponding driving wheel and the auxiliary wheel, and the side guide wheel mechanisms corresponding to the upper guide wheel and the lower guide wheel are arranged in the middle of the area formed by the upper guide wheel and the lower guide wheel, and the side guide wheel mechanisms are used to apply a balancing force in the horizontal direction to prevent lateral movement of the walking device during operation; a bottom mounting plate is fixedly provided at the bottom of the side connecting plate, and a shock-absorbing spring that can be vertically extended and retracted up and down is arranged on the bottom mounting plate, and the lower guide wheel mechanism and the auxiliary wheel mechanism are respectively installed on the top of the corresponding shock-absorbing springs.

[0022] The position adjustment device includes a first screw rod and a second screw rod, the first screw rod arranged along the Z direction is fixedly mounted on the mounting chassis of the walking device through a connecting piece, one end of the second screw rod arranged along the X direction or the Y direction is fixedly mounted on the slider of the first screw rod, and a mechanical arm mounting seat is fixedly mounted on the slider of the second screw rod, and the bottom end of the mechanical arm of the robot harvesting device is fixedly mounted on the mechanical arm mounting seat, the first screw rod is driven by a first motor, and the second screw rod is driven by a second motor; or the position adjustment device includes a first screw rod, a second screw rod and a third screw rod, the first screw rod arranged along the Z direction is fixedly mounted on the mounting chassis of the walking device through a connecting piece, one end of the second screw rod arranged along the X direction or the Y direction is fixedly mounted on the slider of the first screw rod, and one end of the third screw rod arranged along the Y direction or the X direction is fixedly mounted on the slider of the second screw rod, a mechanical arm mounting seat is fixed on the slider of the third screw rod, and the bottom end of the mechanical arm of the robot harvesting device is fixedly mounted on the mechanical arm mounting seat, the first screw rod is driven by a first motor, the second screw rod is driven by a second motor, and the third screw rod is driven by a third motor. The above-mentioned motors are connected to the control system through corresponding lines respectively.

[0023] The mechanical arm of the robot harvesting device has five joint connections and each joint is equipped with a corresponding stepping motor, and each stepping motor is connected to the control system through a corresponding line.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] The system of the present invention uses detachable pillars to erect overhead tracks for the traveling device, which can adapt to complex mountain terrain. The overhead tracks are made of round steel pipes, which are easy to process and have low economic costs, and can be sustainably used in the field of oil-tea fruit picking.

[0026] The system of the present invention utilizes a robotic arm equipped with a visual recognition system to harvest tea-oil fruits, which can achieve rapid and accurate picking with a high degree of automation and high picking efficiency.

[0027] The components adopted by the system of the present invention have simple structures and are easy to build, and can meet the needs of sustainable picking of fruits and vegetables. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Attached Figure 1 It is a three-dimensional structural schematic diagram of the overhead track type oil tea fruit harvesting robot system of the present invention;

[0029] Attached Figure 2 It is a three-dimensional structural schematic diagram of the overhead track type oil-tea fruit harvesting robot system of the present invention without the walking device and the overhead mechanism;

[0030] Attached Figure 3 It is a three-dimensional structural schematic diagram of the combined state of the walking device and the overhead mechanism of the present invention;

[0031] Attached Figure 4 It is a schematic diagram of the three-dimensional structure of the walking device of the present invention;

[0032] Attached Figure 5 It is a schematic diagram of the three-dimensional structure of the guide mechanism in the walking device of the present invention.

[0033] Among them: 1—detachable support; 2—overhead track; 3—first screw rod; 4—Z-type plate; 5—control cabinet; 6—guide mechanism; 7—drive mechanism; 8—second screw rod; 9—first motor; 10—mechanical arm; 11—second motor; 12—brushless motor; 13—coupling; 14—drive wheel mechanism; 15—motor seat; 16—mounting chassis; 17—upper guide wheel mechanism; 18—side connecting plate; 19—side guide wheel mechanism; 20—bottom mounting plate; 21—shock-absorbing spring; 22—mechanical arm mounting seat; 23—lower guide wheel mechanism. DETAILED DESCRIPTION

[0034] The device of the present invention is further described below in conjunction with the drawings and embodiments, but the protection scope of the present invention is not limited to the examples. Those skilled in the art can make modifications based on the basic idea of ​​the present invention, but as long as they do not deviate from the basic idea of ​​the present invention, they are all within the scope of the present invention.

[0035] like Figure 1-5As shown: an overhead track type oil-tea fruit harvesting robot system, the system includes an overhead mechanism, a walking device, a position adjustment device, a robot harvesting device, a visual recognition system and a control system; wherein the overhead mechanism is fixed beside the oil-tea fruit tree to be picked and is used to carry the walking device; the walking device is installed on the overhead track 2 of the overhead mechanism and can travel back and forth horizontally along the setting direction of the overhead track 2, and is used to carry and install the position adjustment device and the control system; the position adjustment device can adjust the working position of the robot harvesting device in two dimensions or three dimensions in the horizontal and vertical directions, and the robot harvesting device is installed at the adjustment end of the position adjustment device; the mechanical arm 10 of the robot harvesting device can adjust the real-time position of the harvesting end, and is used to harvest oil-tea fruit; the visual recognition system is used to collect and identify the position and size of the oil-tea fruit and feed it back to the control system; the control system controls the walking device to drive the position adjustment device to move, controls the position adjustment device to adjust the position of the robot harvesting device, controls the mechanical arm 10 of the robot harvesting device to adjust the position of its harvesting end, and controls the harvesting end through the mechanical arm 10 to complete the self-service picking of oil-tea fruit according to the data collected by the visual recognition system.

[0036] like Figure 1-5 As shown, the overhead track type oil-tea fruit harvesting robot system includes a detachable support 1, an overhead track 2, a first screw rod 3, a Z-shaped plate 4, a control cabinet 5, a guide mechanism 6, a driving mechanism 7, a second screw rod 8, a first motor 9, a mechanical arm 10, a second motor 11, a brushless motor 12, a coupling 13, a driving wheel mechanism 14, a motor seat 15, a mounting chassis 16, an upper guide wheel mechanism 17, a side connecting plate 18, a side guide wheel mechanism 19, a bottom mounting plate 20, a shock-absorbing spring 21, a mechanical arm mounting seat 22, and a lower guide wheel mechanism 23.

[0037] like Figure 1 , 3-5, the bases of the two detachable pillars 1 are fixed beside the oil-tea tree to be picked, the top of the detachable pillars 1 is installed with an overhead track 2 of a circular track, a walking device is arranged on the overhead track 2, the walking device includes a mounting chassis 16, a guide mechanism 6, a driving mechanism 7, a lateral stabilization mechanism, and an elastic adjustment mechanism, a motor seat 15 is installed at the bottom of the mounting chassis 16, a brushless motor 12 is installed on the motor seat 15, and the brushless motor 12 is connected to the control system in the control cabinet 5 through corresponding lines, and the driving end of the brushless motor 12 drives the driving wheel in the driving wheel mechanism 14 to rotate through the coupling 13 The top plate of the driving wheel mechanism 14 is fixedly arranged at the bottom of the mounting chassis 16 and an auxiliary wheel mechanism is provided directly below the driving wheel mechanism 14. The auxiliary wheel in the auxiliary wheel mechanism and the driving wheel in the driving wheel mechanism 14 directly above it clamp the overhead track 2. The brushless motor 12, the coupling 13, the driving wheel in the driving wheel mechanism 14, and the auxiliary wheel in the auxiliary wheel mechanism constitute the driving mechanism 7 of the walking device; on one side of the overhead track 2, a guide mechanism 6 is provided on the same side as the driving mechanism 7, and on the other side of the overhead track 2, three guide mechanisms 6 used in pair with one driving mechanism 7 and one guide mechanism 6 are provided. The guide mechanism 6 includes an upper guide wheel mechanism 17 and a lower guide wheel mechanism 23. The upper guide wheel in the upper guide wheel mechanism 17 and the lower guide wheel in the lower guide wheel mechanism 23 are paired to clamp the corresponding overhead track 2. In addition, the top plate of the upper guide wheel mechanism 17 is fixedly arranged at the bottom of the mounting chassis 16, and the upper guide wheel mechanism 17 is connected to the lower guide wheel mechanism 23 below through the corresponding side connecting plate 18, and the driving wheel mechanism 14 is connected to the auxiliary wheel mechanism below through the corresponding side connecting plate 18. Specifically, a bottom mounting plate 20 is fixedly arranged at the bottom of the side connecting plate 18, and a shock-absorbing spring 21 that can be vertically extended and retracted up and down is arranged on the bottom mounting plate 20 as an elastic adjustment mechanism. The lower guide wheel mechanism 23 and the auxiliary wheel mechanism are respectively installed on the top of the corresponding shock-absorbing spring 21.

[0038] like Figure 3-5 As shown, based on the above structure, the walking device is provided with side guide wheel mechanisms 19 on both sides of the connecting plate 18 on either side, the side guide wheel mechanisms 19 corresponding to the driving wheel and the auxiliary wheel are arranged in the middle of the area formed by the corresponding driving wheel and the auxiliary wheel, and the side guide wheel mechanisms 19 corresponding to the upper guide wheel and the lower guide wheel are arranged in the middle of the area formed by the upper guide wheel and the lower guide wheel. The side guide wheel mechanisms 19 are used to apply a balancing force in the horizontal direction to prevent the walking device from shifting sideways during operation; a plurality of side guide wheel mechanisms 19 arranged in pairs constitute a lateral stabilization mechanism of the walking device.

[0039] like Figure 1-2As shown, a first screw rod 3 arranged along the Z direction is fixedly arranged on the left side of the mounting chassis 16, one end of a second screw rod 8 arranged along the X direction is fixedly mounted on the slider of the first screw rod 3, and a mechanical arm mounting seat 22 is fixedly mounted on the slider of the second screw rod 8, and the bottom end of the mechanical arm 10 of the robotic harvesting device is fixedly mounted on the mechanical arm mounting seat 22, the mechanical arm 10 of the robotic harvesting device has five joint connections and each joint is configured with a corresponding stepping motor, and each stepping motor is connected to the control system through a corresponding circuit; at the same time, the first screw rod 3 is driven by the first motor 9, the second screw rod 8 is driven by the second motor 11, and the first motor 9 and the second motor 11 are both controlled by the control system, so that the mechanical arm 10 can move left and right under the action of the second screw rod 8, and move up and down under the action of the first screw rod 3.

[0040] like Figure 1-2 As shown, in addition, a Z-shaped plate 4 is fixedly installed on the right side of the mounting chassis 16, and a control cabinet 5 with a built-in control system is fixedly installed on the outer flat plate of the Z-shaped plate 4. This arrangement enables the control cabinet 5 to balance the weight of the position adjustment device and the robot harvesting device. The control system is connected to the corresponding first motor 9, the second motor 11, the brushless motor 12 and the stepping motor on the robot arm 10 through lines.

[0041] In order to enable the visual acquisition part of the visual recognition system to be adjusted synchronously with the robotic arm 10, the visual acquisition part of the visual recognition system is set on the robotic arm 10 of the robotic harvesting device, the image processing part of the visual recognition system is set in the control cabinet 5, and the visual acquisition part of the visual recognition system and the image processing part of the visual recognition system are connected to transmit information through wired or wireless means.

[0042] On the basis of the above system, the traveling device may also be equipped with a special sensor system so that the traveling device can determine the braking moment by itself according to the signal of the sensor system.

[0043] The use principle of the overhead track type oil tea fruit harvesting robot system provided by the present invention is as follows:

[0044] During operation, the walking device on the overhead track 2 starts to move under the drive of the brushless motor 12, and the visual acquisition part of the visual recognition system constantly transmits the position of the tea fruit on the tea tree to the control system. When approaching the first tea tree, the walking device completes braking under the command of the control system, and the error of the entire braking stroke is 3-5mm; after the walking device stops, the position adjustment device adjusts the position of the robot harvesting device from the up and down and left and right dimensions according to the position of the tea tree, so that the robot arm 10 is close to the tea fruit on the tea tree; then the visual recognition system identifies the position, size and other information of the tea fruit on the tea tree, and transmits it to the control system. The control system transmits the picking instruction to the robot arm 110 in front, and the robot arm 10 completes precise picking by adjusting the position of its harvesting end. The robot arm 10 continues to adjust the robot arm 10 up and down and left and right through the lead screw module according to the information such as the position and size of the tea fruit transmitted by the visual recognition system, and completes autonomous picking. When the tea fruits on one tea tree are picked, the robot arm 10 retracts, and the walking device moves to support the next tea tree, and the process is repeated.

[0045] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention; any technology not involved in the present invention can be realized by existing technologies.

Claims

1. An overhead track type oil tea fruit harvesting robot system, characterized in that: The system includes an overhead mechanism, a walking device, a position adjustment device, a robotic harvesting device, a visual recognition system and a control system; The overhead structure is fixed beside the oil-tea tree to be picked and is used to carry the walking device; The walking device is installed on the overhead track (2) of the overhead mechanism and is capable of horizontally reciprocating along the setting direction of the overhead track (2), and is used to carry the installation position adjustment device and the control system; The position adjustment device can adjust the working position of the robot harvesting device in two dimensions or three dimensions in the horizontal and vertical directions, and the robot harvesting device is installed at the adjustment end of the position adjustment device; The mechanical arm (10) of the robotic harvesting device is capable of adjusting the real-time position of the harvesting end, and is used for harvesting tea fruit; The visual recognition system is used to collect and identify the position and size of the oil-tea fruit and feed it back to the control system; The control system controls the walking device to drive the position adjustment device to move according to the data collected by the visual recognition system, controls the position adjustment device to adjust the position of the robot harvesting device, controls the mechanical arm (10) of the robot harvesting device to adjust the position of its harvesting end, and controls the harvesting end through the mechanical arm (10) to complete the self-service picking of tea fruit; The visual acquisition part of the visual recognition system is arranged on a mechanical arm (10) of the robotic harvesting device, or on an overhead track (2) of an overhead mechanism, or on a walking device, or on a position adjustment device; the image processing part of the visual recognition system is arranged in a control cabinet (5), and the visual acquisition part of the visual recognition system and the image processing part of the visual recognition system are connected to transmit information via a wired or wireless method; The walking device comprises a mounting chassis (16), a motor seat (15) is mounted at the bottom of the mounting chassis (16), a brushless motor (12) is mounted on the motor seat (15), and the driving end of the brushless motor (12) drives the driving wheel in the driving wheel mechanism (14) to rotate through a coupling (13), and the brushless motor (12), the coupling (13) and the driving wheel in the driving wheel mechanism (14) constitute a driving mechanism (7) of the walking device; or an auxiliary wheel mechanism is provided directly below the driving wheel mechanism (14), and the auxiliary wheel mechanism The auxiliary wheel in the wheel mechanism and the driving wheel in the driving wheel mechanism (14) directly above it clamp the overhead track (2), and the brushless motor (12), the coupling (13), the driving wheel in the driving wheel mechanism (14), and the auxiliary wheel in the auxiliary wheel mechanism constitute a driving mechanism (7) of the walking device; the driving mechanism (7) capable of driving the walking device to move along the setting direction of the overhead track (2) is located on one side of the overhead track (2), and a guide mechanism (6) used in conjunction with the driving mechanism (7) is provided on the other side of the overhead track (2); The number of the guide mechanisms (6) is an odd number. When n-1 guide mechanisms (6) are provided on one side of the overhead track (2) on the same side as the drive mechanism (7), n guide mechanisms (6) are provided on the other side of the overhead track (2) to be used in pair with one drive mechanism (7) and n-1 guide mechanisms (6); the guide mechanisms (6) include an upper guide wheel mechanism (17) and a lower guide wheel mechanism (23); the upper guide wheel in the upper guide wheel mechanism (17) and the lower guide wheel in the lower guide wheel mechanism (23) are paired to clamp the corresponding overhead track (2); the upper guide wheel mechanism (17) is connected to the lower guide wheel mechanism (23) below via a corresponding side connecting plate (18), and the drive wheel mechanism (14) is connected to the auxiliary wheel mechanism below via a corresponding side connecting plate (18); the top plate of the drive wheel mechanism (14) is fixedly arranged on the bottom of the mounting chassis (16), and the top plate of the upper guide wheel mechanism (17) is fixedly arranged on the bottom of the mounting chassis (16); Side guide wheel mechanisms (19) are respectively provided on both sides of any side connecting plate (18); the side guide wheel mechanisms (19) corresponding to the driving wheel and the auxiliary wheel are arranged in the middle of the area formed by the corresponding driving wheel and the auxiliary wheel; the side guide wheel mechanisms (19) corresponding to the upper guide wheel and the lower guide wheel are arranged in the middle of the area formed by the upper guide wheel and the lower guide wheel; the side guide wheel mechanisms (19) are used to apply a balancing force in the horizontal direction to prevent the walking device from shifting sideways when it is running; a bottom mounting plate (20) is fixedly provided at the bottom of the side connecting plate (18); a shock absorbing spring (21) capable of vertically extending and retracting upward and downward is arranged on the bottom mounting plate (20); and the lower guide wheel mechanism (23) and the auxiliary wheel mechanism are respectively installed at the top of the corresponding shock absorbing spring (21).

2. The overhead track type oil-tea fruit harvesting robot system according to claim 1, characterized in that: The position adjustment device, the robot harvesting device, and the visual acquisition part of the visual recognition system are arranged in a matching manner, and the position adjustment device is arranged on one side or both sides of the walking device.

3. The overhead track type oil-tea fruit harvesting robot system according to claim 1, characterized in that: The control system is arranged in a control cabinet (5), and the control cabinet (5) is arranged on the top of the traveling device, or is fixedly installed on the side of the traveling device via a Z-shaped plate (4).

4. The overhead track type oil-tea fruit harvesting robot system according to any one of claims 1 to 3, characterized in that: The overhead mechanism comprises a detachable support (1) and an overhead track (2), wherein the overhead track (2) is detachably mounted on the top of the detachable support (1), and the bottom of the detachable support (1) can be fixed on the ground beside the oil tea fruit tree, and the number of the detachable support (1) is at least one; the overhead track (2) is composed of two large round tubes and a plurality of small round tubes, wherein at least one small round tube can be fixedly mounted on the top of the detachable support (1).

5. The overhead track type oil-tea fruit harvesting robot system according to any one of claims 1 to 3, characterized in that: The position adjustment device comprises a first screw rod (3) and a second screw rod (8), the first screw rod (3) arranged along the Z direction is fixedly mounted on the mounting chassis (16) of the walking device through a connecting piece, one end of the second screw rod (8) arranged along the X direction or the Y direction is fixedly mounted on the slider of the first screw rod (3), and a mechanical arm mounting seat (22) is fixedly mounted on the slider of the second screw rod (8), and the bottom end of the mechanical arm (10) of the robotic harvesting device is fixedly mounted on the mechanical arm mounting seat (22), the first screw rod (3) is driven by a first motor (9), and the second screw rod (8) is driven by a second motor (11); or the position adjustment device comprises the first screw rod (3) and the second screw rod ( 8) and a third screw rod, wherein the first screw rod (3) arranged along the Z direction is fixedly mounted on the mounting chassis (16) of the walking device through a connecting piece, one end of the second screw rod (8) arranged along the X direction or the Y direction is fixedly mounted on the slider of the first screw rod (3), and one end of the third screw rod arranged along the Y direction or the X direction is fixedly mounted on the slider of the second screw rod (8), a mechanical arm mounting seat (22) is fixed on the slider of the third screw rod, and the bottom end of the mechanical arm (10) of the robot harvesting device is fixedly mounted on the mechanical arm mounting seat (22), the first screw rod (3) is driven by a first motor (9), the second screw rod (8) is driven by a second motor (11), and the third screw rod is driven by a third motor.

6. The overhead track type oil-tea fruit harvesting robot system according to any one of claims 1 to 3, characterized in that: The mechanical arm (10) of the robotic harvesting device has five joint connections and each joint is equipped with a corresponding stepping motor, and each stepping motor is connected to a control system via a corresponding line.

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