A fruit and vegetable picking method and picking robot

Abstract

The present application belongs to the technical field of fruit and vegetable picking, and relates to a fruit and vegetable picking method and picking robot. The fruit and vegetable picking method comprises: taking a side image during walking of the picking robot, and identifying a fruit and vegetable plant based on the side image; stopping the picking robot when a fruit tree plant is identified in the side image; obtaining an image of a fruit and vegetable to be picked; determining a target picking area, a picking path and a picking sequence according to the image; picking the fruit and vegetable to be picked in different target picking areas according to the picking path and the picking sequence; and collecting the picked fruit and vegetable. The fruit and vegetable picking method can determine a target picking area and a picking sequence according to an image of a fruit and vegetable to be picked, and determine a suitable grabbing point based on the type of the fruit and vegetable to be picked and according to the curved surface and pose angle information of the fruit and vegetable to be picked, so that the picking robot controls an end picking mechanism to complete a picking action. The present application is suitable for picking different types of fruit and vegetable, and has strong versatility.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fruit and vegetable picking, and relates to a fruit and vegetable picking method and picking robot. BACKGROUND

[0002] In recent years, with the rapid development of social agriculture in China, the scale of fruit and vegetable planting is becoming larger and larger, and the yield is also increasing year by year. However, it is well known that fruit and vegetable picking has seasonality, and the picking period of fruit and vegetable is often short, which causes that the picking work needs to be completed in a short time after the fruit and vegetable is mature. At present, most of the fruit and vegetable picking is still mainly traditional manual picking, and the degree of mechanized picking is not high. However, the traditional manual picking has the following disadvantages:

[0003] Firstly, the cost is high, the efficiency is low, and the labor intensity is large: the traditional fruit and vegetable picking needs a large amount of human input, and the cost is high. In addition, the manual picking has high labor intensity and low efficiency, and it is difficult to meet the market demand.

[0004] Secondly, there is a shortage of labor force: with the acceleration of urbanization process in China, the agricultural production labor force is short, which affects the efficiency and quality of fruit and vegetable picking.

[0005] Thirdly, there are safety hazards in the picking process: fruit and vegetable picking needs climbing, bending and other actions, which is easy to cause worker injury and has safety hazards.

[0006] In order to solve the above-mentioned disadvantages of traditional manual picking, a variety of fruit and vegetable picking robots have been developed at home and abroad. The visual recognition and picking method of the picking robot is one of the key technologies to realize the successful completion of picking work. However, most of the current picking robots can only be used for picking a single type of fruit and vegetable, and different types of fruit and vegetable need to be matched with different mechanical arms and end picking mechanisms, which undoubtedly increases the processing cost of the picking robot. In addition, different types of fruit and vegetable, even the same type of fruit and vegetable, have different grasping points and grasping torque in different shapes and positions, and the existing fruit and vegetable picking method cannot determine the specific grasping point according to the type, shape, position and other factors of the fruit and vegetable, thereby affecting the picking accuracy and reducing the picking efficiency.

[0007] Therefore, the present application is proposed. SUMMARY

[0008] The purpose of the present application is to overcome the above-mentioned disadvantages of the prior art, and to provide a fruit and vegetable picking method and picking robot, which can realize the picking of different types of fruit and vegetable, and high-efficiency and high-precision picking according to the type and actual distribution of fruit and vegetable.

[0009] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0010] In one aspect, the present application provides a fruit and vegetable picking method, comprising the following steps:

[0011] 1) Taking a side image during the walking process of the picking robot, and identifying the fruit and vegetable plant based on the side image; when the fruit tree plant is identified in the side image, the picking robot stops walking;

[0012] 2) Obtaining an image of the fruit and vegetable to be picked;

[0013] 3) Determining the target picking area, picking path and picking sequence according to the image;

[0014] 4) Picking the fruit and vegetable to be picked in different target picking areas according to the picking path and picking sequence;

[0015] 5) Collecting the picked fruit and vegetable.

[0016] Further, the image in step 2) includes a 2D image and an RGBD point cloud image, which facilitates the construction of a 2D-3D matching relationship.

[0017] Further, step 3) determines the target picking area, picking path and picking sequence according to the image, specifically comprising:

[0018] Using a pre-trained YoloV5 model to detect the 2D image to obtain the type and 2D region information of the fruit and vegetable to be picked; and determining the target picking area according to the 2D region information;

[0019] In the determined target picking area, picking is performed according to the determined picking path and the picking sequence of “from near to far and from top to bottom”.

[0020] Further, step 4) specifically comprises:

[0021] According to the 2D region information and the constructed 2D-3D matching relationship, the 3D surface information of the fruit and vegetable to be picked is calculated, which contains curved surface and pose angle information; the 2D-3D matching relationship is constructed according to the 2D image and the RGBD point cloud image;

[0022] Based on the type of the fruit and vegetable to be picked, the appropriate grabbing point is determined according to the curved surface and pose angle information of the fruit and vegetable to be picked, and the picking robot controls the end picking mechanism to complete the picking action.

[0023] On the other hand, the present application also provides a picking robot applying part or all of the above-mentioned fruit and vegetable picking method, comprising a visual recognition system, a control system, an execution mechanism and a collection mechanism, wherein the control system is connected with the visual recognition system, the execution mechanism and the collection mechanism respectively;

[0024] The visual recognition system is used to acquire side images and images of fruits and vegetables to be picked;

[0025] The control system is used to process the images acquired by the visual recognition system, determine the target picking area and picking order, and control the execution mechanism or collection mechanism to perform corresponding actions.

[0026] The actuator is used to receive action commands from the control system and execute corresponding actions.

[0027] The collection mechanism is used to collect the harvested fruits and vegetables.

[0028] Furthermore, the actuator includes a walking mechanism, a robotic arm, and an end-effector harvesting mechanism.

[0029] The walking mechanism executes corresponding forward, backward, or turning actions according to the action commands received from the control system, thereby driving the picking robot to the designated target picking area.

[0030] The robotic arm is mounted on the chassis of the walking mechanism and can be adjusted with multiple degrees of freedom to meet the harvesting needs of fruits and vegetables in different locations. The robotic arm includes a linear guide rail, on which a first drive mechanism is mounted. The first drive mechanism is used to drive a support component mounted on the linear guide rail to reciprocate along the linear guide rail. A telescopic arm is movably mounted on the support component. A second drive mechanism is mounted at the bottom of the telescopic arm to drive it to move on the support component. The direction of movement of the telescopic arm is perpendicular to the linear guide rail.

[0031] The end-harvesting mechanism is located at the end of the robotic arm and is used to separate fruits and vegetables from their stems.

[0032] Furthermore, the support assembly includes a support base and first rollers connected to the support base and located on both sides of the linear guide rail, and second rollers connected to the support base and located on both sides of the telescopic arm; wherein,

[0033] The linear guide rail has limiting structures installed at both ends on the same side to limit the movement limit position of the support seat.

[0034] The bottom of the support base is fixedly connected to the first drive mechanism, and the top of the support base is equipped with a second transmission mechanism.

[0035] The linear guide rail is provided with first tracks on both sides of the top for positioning and guiding the first roller, and the first roller is movably engaged on the first track.

[0036] The bottom sides of the telescopic arm are provided with second tracks for positioning and guiding the second roller, and the second roller is movably engaged with the second track.

[0037] Further, the first driving mechanism and the second driving mechanism each comprise a synchronous pulley transmission structure and a driving motor;

[0038] The synchronous pulley transmission structure comprises a driving gear, a driven gear and a synchronous toothed belt wound on the driving gear and the driven gear, the synchronous toothed belt is engaged with the driving gear and the driven gear respectively, and the driving gear is driven by the driving motor;

[0039] The synchronous toothed belt of the first driving mechanism is fixedly connected with the bottom of the support seat, and the synchronous toothed belt of the second driving mechanism is fixedly connected with the top of the support seat.

[0040] Further, the visual recognition system comprises a navigation camera, a first picking camera and a second picking camera connected with the control system respectively;

[0041] The navigation camera is installed at the front and rear ends of the walking mechanism, and is used to obtain the environmental information around the picking robot during walking to ensure the safety of walking;

[0042] The first picking camera is installed on the mechanical arm, and is used to obtain the 2D image and the RGBD point cloud image of the fruits and vegetables to be picked on both sides of the picking robot during walking;

[0043] The second picking camera is installed on the end picking mechanism, and is used to obtain the image of the fruits and vegetables to be picked in the target picking area.

[0044] Further, the end picking mechanism comprises a clamping part, a first driving mechanism and a second driving mechanism; the first driving mechanism is connected with the clamping part to drive the clamping part to rotate and / or stretch and contract; and the second driving mechanism is connected with the first driving mechanism to drive the first driving mechanism to pitch up and down and / or swing left and right.

[0045] Compared with the prior art, the technical scheme provided by the present application has the following beneficial effects:

[0046] 1. The fruit and vegetable picking method can determine the target picking area and the picking sequence according to the image of the fruits and vegetables to be picked, and determine the appropriate grabbing point according to the curved surface and the pose angle information of the fruits and vegetables to be picked based on the type of the fruits and vegetables to be picked, so that the picking robot controls the end picking mechanism to complete the picking action. This method is suitable for picking different types of fruits and vegetables, and has strong universality; in addition, the fruits and vegetables can be picked according to the type and actual distribution of the fruits, and the picking precision is high, the fruit flesh is not damaged, and the picking efficiency and the quality of the picked fruits and vegetables are improved.

[0047] 2. The picking robot using the fruit and vegetable picking method, first, the control system processes the image data obtained by the visual recognition system to determine the target picking area and the picking order; second, the walking mechanism is controlled to move the picking robot to the target picking area; third, the moving direction and angle of the mechanical arm are controlled according to the specified picking order, so that the end picking mechanism at the front end of the telescopic arm is quickly moved to the vicinity of the position of the fruit and vegetable to be picked without damaging the fruit and vegetable and the surrounding branches; then, the appropriate gripping point is determined according to the type of the fruit and vegetable to be picked, the curved surface of the fruit and vegetable to be picked and the pose angle information, and the control system controls the end picking mechanism to pick the fruit and vegetable; finally, the picked fruit and vegetable is collected by the collecting mechanism to complete the picking work.

[0048] The mechanical arm structure designed by the application can meet the picking requirements of fruit and vegetables in different positions through multi-degree-of-freedom adjustment. Specifically, the telescopic arm reciprocally moves along the linear guide rail, which can be used to adjust the distance between the end picking mechanism and the target fruit and vegetable in the X-axis direction; the telescopic arm reciprocally extends and retracts along the support base (the moving direction is perpendicular to the linear guide rail), which can be used to adjust the distance between the end picking mechanism and the target fruit and vegetable in the Y-axis direction; the linear guide rail itself can rotate, which can be used to adjust the distance between the end picking mechanism and the target fruit and vegetable in the Z-axis direction. Therefore, the end picking mechanism can be quickly sent to the vicinity of the position of the fruit and vegetable to be picked through the cooperation of the multi-degree-of-freedom mechanical arm, and when the end picking mechanism reaches the fruit and vegetable to be picked, only the telescopic arm moves relative to the fruit and vegetable plant, which can better enter the gap of the fruit and vegetable plant and avoid touching or even damaging the adjacent fruit and branches.

[0049] The end picking mechanism designed by the application is characterized in that the first driving mechanism is connected with the clamping part to drive the clamping part to rotate and / or extend and retract; and the second driving mechanism is connected with the first driving mechanism to drive the first driving mechanism to pitch up and down and / or swing left and right. Compared with the prior art, the end picking mechanism can adjust the angle of the clamping part in a small range and with a small amplitude, which can avoid mistakenly damaging the adjacent unripe fruit and vegetable and can pick multiple targets in a small range, and is particularly suitable for picking fruit and vegetables such as jujubes, cherries and oranges that grow in clusters, and is conducive to improving the picking efficiency.

[0050] In summary, the picking robot provided by the application can realize completely autonomous operation in the whole picking process, improve the picking efficiency, and solve the defects of short picking period, large picking amount, high work intensity and the need for a large amount of labor to complete the picking work in the prior art. In addition, the end picking mechanism and the telescopic arm in the picking robot are detachably connected, and during actual picking, the end picking mechanism or the clamping part can be replaced according to different picking objects, which further meets the picking requirements of multiple different types of fruit and vegetables. BRIEF DESCRIPTION OF DRAWINGS

[0051] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate the principles of the application, and, together with the description, serve to explain the application.

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0053] Figure 1 A flow chart of a fruit and vegetable picking method provided for Embodiment 1 of the present application;

[0054] Figure 2 A structural diagram of a picking robot provided for Embodiment 2 of the present application;

[0055] Figure 3 A schematic diagram of the overall structure of a mechanical arm of the picking robot provided for Embodiment 2 of the present application;

[0056] Figure 4 Another side schematic diagram of the overall structure of the mechanical arm of the picking robot provided for Embodiment 2 of the present application;

[0057] Figure 5 A first transmission mechanism schematic diagram of the picking robot provided for Embodiment 2 of the present application;

[0058] Figure 6 A schematic diagram of the first transmission mechanism of the picking robot provided for Embodiment 2 of the present application when connected with a support assembly;

[0059] Figure 7 A first motor and first transmission mechanism connection schematic diagram in Embodiment 2 of the present application;

[0060] Figure 8 A limit structure schematic diagram in Embodiment 2 of the present application;

[0061] Figure 9 A second transmission mechanism schematic diagram in Embodiment 2 of the present application;

[0062] Figure 10 A terminal picking mechanism schematic diagram in Embodiment 2 of the present application;

[0063] Figure 11 A third driving mechanism structure schematic diagram in Embodiment 2 of the present application;

[0064] Figure 12 A fourth driving mechanism structure schematic diagram in Embodiment 2 of the present application.

[0065] Wherein: 1, the first driving mechanism; 11, linear guide rail; 111, guide rail body; 112, first track; 1121, first protruding part; 12, first motor; 13, first transmission mechanism; 131, first driving wheel; 132, first driven wheel; 133, first synchronous toothed belt; 2, support assembly; 21, support seat; 22, first roller; 23, second roller; 3, second driving mechanism; 31, telescopic arm; 311, second track; 3111, second protruding part; 32, second motor; 33, second transmission mechanism; 331, second driving wheel; 332, second driven wheel; 333, second synchronous toothed belt; 4, limiting structure; 41, sleeve; 42, sleeve rod; 43, fixed seat; 5, support column; 6, rotary speed reducer motor; 7, screw nut driving mechanism; 71, third motor; 72, screw nut transmission mechanism; 73, "H" type support; 8, clamping part; 9, third driving mechanism; 91, screw key shaft; 92, third driven wheel; 93, fourth driven wheel; 94, third driving wheel; 95, fourth driving wheel; 96, shell; 97, second mounting bracket; 971, rectangular plate; 972, trapezoidal plate; 98, mark identification point; 10, fourth driving mechanism; 101, fourth motor; 102, fifth motor; 103, first rotating wheel; 104, second rotating wheel; 14, collection mechanism; 141, fruit and vegetable turnover frame; 142, transmission pipeline; 15, navigation camera; 16, first picking camera; 17, second picking camera. DETAILED DESCRIPTION

[0066] The exemplary embodiments will be described in detail hereinbelow with reference to the drawings. In the following description, the same numbers refer to the same or similar elements throughout the drawings. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Rather, they are merely examples of methods consistent with some aspects of the present application as detailed in the appended claims.

[0067] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be described in further detail below with reference to the drawings and examples.

[0068] Example 1

[0069] Referring to Figure 1 The present embodiment provides a fruit and vegetable picking method, specifically comprising the following steps:

[0070] 1) Taking a side image during the walking process of the picking robot, and identifying a fruit and vegetable plant based on the side image; when a fruit tree plant is identified in the side image, the picking robot stops walking;

[0071] 2) Obtaining an image of a fruit and vegetable to be picked;

[0072] 3) determining a target picking area, a picking path and a picking order according to the image;

[0073] 4) picking the fruit and vegetable to be picked in different target picking areas according to the picking path and the picking order;

[0074] 5) collecting the picked fruit and vegetable.

[0075] The image in the step 2) includes a 2D image and an RGBD point cloud image, and a 2D-3D matching relationship can be constructed according to the 2D image and the RGBD point cloud image.

[0076] Further, the step 3) of determining a target picking area, a picking path and a picking order according to the image specifically includes:

[0077] detecting the 2D image using a pre-trained YoloV5 model to obtain the type and 2D region information of the fruit and vegetable to be picked, and determining a target picking area according to the 2D region information;

[0078] picking in the determined target picking area according to the determined picking path and the picking order of “from near to far and from top to bottom”.

[0079] Further, the step 4) specifically includes:

[0080] calculating 3D surface information of the fruit and vegetable to be picked according to the 2D region information and a pre-set 2D-3D matching relationship (constructed according to the 2D image and the RGBD point cloud image), the 3D surface information including curved surface and pose angle information;

[0081] determining a suitable grabbing point according to the curved surface and pose angle information of the fruit and vegetable to be picked based on the type of the fruit and vegetable to be picked, and a picking robot controlling an end picking mechanism thereof to complete a picking action.

[0082] The fruit and vegetable picking method can determine a target picking area, a picking path and a picking order according to an image of fruit and vegetable to be picked, and determine a suitable grabbing point according to curved surface and pose angle information of the fruit and vegetable to be picked based on the type of the fruit and vegetable to be picked, and a picking robot controls an end picking mechanism thereof to complete a picking action. The method is suitable for picking different types of fruit and vegetable, and has strong versatility. It can also pick fruit and vegetable according to the type and actual distribution of the fruit, has high picking accuracy and does not damage the fruit, which is conducive to improving picking efficiency and the quality of picked fruit and vegetable.

[0083] Embodiment 2

[0084] Based on the embodiment 1, the embodiment also provides a picking robot applying the fruit and vegetable picking method, which is described in detail as follows: Figure 2As shown, it comprises a visual recognition system, a control system, an execution mechanism and a collection mechanism 14, the control system is connected with the visual recognition system, the execution mechanism and the collection mechanism 14 respectively;

[0085] The visual recognition system is used for acquiring side images and images of the fruit and vegetable to be picked;

[0086] The control system is used for processing the images acquired by the visual recognition system, determining the target picking area and picking sequence, and controlling the execution mechanism or the collection mechanism 14 to perform corresponding actions;

[0087] The execution mechanism is used for receiving the action instructions fed back by the control system and performing corresponding actions;

[0088] The collection mechanism 14 is used for collecting the picked fruit and vegetable.

[0089] In some embodiments, the execution mechanism comprises a walking mechanism, a mechanical arm and an end picking mechanism,

[0090] The walking mechanism performs corresponding advancing, retreating or turning actions according to the action instructions fed back by the control system, and then drives the picking robot to move to the determined target picking area;

[0091] Referring to Figures 3-4 As shown, the mechanical arm is installed on the chassis of the walking mechanism and can be adjusted through multiple degrees of freedom to meet the picking requirements of fruit and vegetable in different positions; the mechanical arm comprises a linear guide rail 11, a first driving mechanism 1 is installed on the linear guide rail 11, the first driving mechanism 1 is used for driving a support assembly 2 provided on the linear guide rail 11 to reciprocate along the linear guide rail 11; a telescopic arm 31 is movably provided on the support assembly 2, the bottom of the telescopic arm 31 is provided with a second driving mechanism 3 for driving the telescopic arm 31 to move on the support assembly 2, and the moving direction of the telescopic arm 31 is perpendicular to the linear guide rail 11;

[0092] The end picking mechanism is arranged at the end of the mechanical arm and is used for realizing the separation of fruit and vegetable from the stem.

[0093] In some embodiments, the support assembly 2 comprises a support seat 21, first rollers 22 connected with the support seat 21 and located on both sides of the linear guide rail 11, and second rollers 23 connected with the support seat 21 and located on both sides of the telescopic arm 31; wherein,

[0094] The same side of the linear guide rail 11 is provided with limiting structures 4 at both ends for limiting the moving limit positions of the support seat 21;

[0095] The bottom of the support seat 21 is fixedly connected with the first driving mechanism 1, and the top of the support seat 21 is provided with a second transmission mechanism 33;

[0096] The linear guide rail 11 comprises a guide rail body 111, the top of the guide rail body 111 is provided with a first track 112 for positioning and guiding the first roller 22, and the first roller 22 is movably clamped on the first track 112.

[0097] The bottom of the telescopic arm 31 is provided with a second track 311 for positioning and guiding the second roller 23, and the second roller 23 is movably clamped on the second track 311.

[0098] Optionally, the first roller 22 is a concave wheel, the outer side of the first track 112 is provided with a first protruding part 1121 movably clamped with the first roller 22, and the first roller 22 reciprocally rolls along the first track 112 under the positioning and guiding of the first protruding part 1121; or, the first roller 22 is a convex wheel, the outer side of the first track 112 is provided with a first recess part movably clamped with the first roller 22, and the first roller 22 reciprocally rolls along the first track 112 under the positioning and guiding of the first recess part; or, the first roller 22 is a flat wheel, and the first roller 22 reciprocally rolls along the first track 112 under the positioning and guiding of the first track 112.

[0099] Similarly, the second roller 23 is a concave wheel, the outer side of the second track 311 is provided with a second protruding part 3111 movably clamped with the second roller 23, and the second roller 23 reciprocally rolls along the second track 311 under the positioning and guiding of the second protruding part 3111; or, the second roller 23 is a convex wheel, the outer side of the second track 311 is provided with a second recess part movably clamped with the second roller 23, and the second roller 23 reciprocally rolls along the second track 311 under the positioning and guiding of the second recess part; or, the second roller 23 is a flat wheel, and the second roller 23 reciprocally rolls along the second track 311 under the positioning and guiding of the second track 311.

[0100] Here, the specific form of the limiting structure 4 is not specifically limited in the embodiment, as long as the above functions can be realized. Preferably, referring to Figure 8 The limiting structure 4 comprises a sleeve 41 arranged horizontally, a sleeve rod 42 with a T-shaped cross section and a disc spring (not shown in the figure) are installed in the sleeve 41, the sleeve rod 42 is arranged in the sleeve 41 with a large diameter, and the small diameter end is always stretched out of the opening end of the sleeve 41 under the extrusion of the disc spring, the sleeve 41 is installed on the side surface of the linear guide rail 11 through a fixing seat 43 and a fastening screw, and the two limiting structures 4 are symmetrically arranged, and the limiting stop rod is installed on the support seat 21, when the limiting stop rod contacts the head of the sleeve rod 42, the impact force of the support seat 21 is unloaded through the elastic disc spring, and the long-term stable and reliable work of the support assembly 2 is ensured.

[0101] In some example embodiments, the first driving mechanism 1 and the second driving mechanism 3 each comprise a synchronous pulley transmission structure and a driving motor; the synchronous pulley transmission structure has the following advantages: 1. The synchronous pulley transmission does not need to slide during work, and has an accurate transmission ratio; 2. The transmission efficiency is high, and the energy saving effect is good; 3. The transmission ratio range is large, and the structure is compact; 4. Maintenance is convenient, and the operation cost is low; 5. It can still work normally under harsh environmental conditions.

[0102] Referring to Figures 5-7 Specifically, the first driving mechanism 1 in the first driving mechanism 1 comprises a first driving wheel 131, a first driven wheel 132, and a first synchronous toothed belt 133 wound around the first driving wheel 131 and the first driven wheel 132, and the first synchronous toothed belt 133 is in meshing connection with the first driving wheel 131 and the first driven wheel 132, respectively, and the first synchronous toothed belt 133 is fixedly connected with the support seat 21; the first driving wheel 131 is driven by the first motor 12 installed on the linear guide rail 11; through actual test, the moving speed of the support seat 21 on the linear guide rail 11 can reach 10 m / s at most, which provides support for high-efficiency and fast picking of fruits and vegetables;

[0103] Referring to Figure 9 The second driving mechanism 3 in the second driving mechanism 3 comprises a second driving wheel 331, a second driven wheel 332, and a second synchronous toothed belt 333 wound around the second driving wheel 331 and the second driven wheel 332, and the second synchronous toothed belt 333 is in meshing connection with the second driving wheel 331 and the second driven wheel 332, respectively, and the second synchronous toothed belt 333 is fixedly connected with the support seat 21; the second driving wheel 331 is driven by the second motor 32 installed on the telescopic arm 31.

[0104] Preferably, brushes are arranged on the inner sides of the driving wheels (the first driving wheel 131 and the second driving wheel 331) and the driven wheels (the first driven wheel 132 and the second driven wheel 332) of the first driving mechanism 13 and the second driving mechanism 33, for cleaning foreign matters on the synchronous toothed belts (the first synchronous toothed belt 133 and the second synchronous toothed belt 333), to prevent the foreign matters from entering and affecting the meshing transmission of the tooth wheels and the synchronous belts.

[0105] Preferably, the mechanical arm further comprises two support columns 5 fixedly installed on the picking robot mobile platform by fastening screws; one end of the linear guide rail 11 is rotatably connected with one of the support columns 5 through a bearing, and the other end is fixedly connected with the output shaft of the rotary reduction motor 6 installed on the other support column 5, the linear guide rail 11 is driven to rotate by the rotary reduction motor 6, and the height of the end picking mechanism installed at the end of the telescopic arm 31 from the ground is adjusted.

[0106] Further, the mechanical arm further comprises a lead screw nut driving mechanism 7, which comprises a third motor 71, a lead screw nut transmission mechanism 72, and a "H" shaped bracket 73. The lead screw nut transmission mechanism 72 comprises a lead screw, a nut rotatably arranged on the lead screw, and a pull rod fixedly connected with the nut. The top of the "H" shaped bracket 73 is used for installing the end picking mechanism, one end of the bottom of the "H" shaped bracket 73 is hingedly connected with the pull rod, the other end of the bottom of the "H" shaped bracket 73 is hingedly connected with the telescopic arm 31, and the third motor 71 is fixedly arranged on the top surface of the telescopic arm 31. The output shaft of the third motor 71 is connected with the lead screw through a shaft coupling. That is, by controlling the forward and reverse rotation of the third motor 71, the nut located on the lead screw and the pull rod exert a pulling force or a pushing force on the "H" shaped bracket 73, so as to adjust the inclination angle of the end picking mechanism. In order to make the lead screw work more stably and reliably in the fruit and vegetable garden, a protective cover is arranged outside the lead screw in the embodiment.

[0107] In addition, the mechanical arm further comprises a plurality of encoders connected with the control system. The plurality of encoders can be independently powered by a dedicated battery when power is off, and can be powered by an energy storage battery when working normally. The encoders are respectively used to record the angles of rotation of the linear guide rail 11 and the support column 5, the position of the support seat 21 on the linear guide rail 11, the position of the telescopic arm 31 extending out of the support seat 21, and the angle of inclination of the end picking mechanism adjusted by the lead screw nut driving mechanism 7. In this way, the current position value can be memorized after the picking robot is powered off, and the picking efficiency is further improved when the picking robot is used again without the need to return to the initial position reference point for repositioning. Moreover, the rotary reduction motor 6, the first motor 12, the second motor 32, and the third motor 71 are electrically connected with the energy storage battery in the picking robot through wires. In addition, the linear guide rail 11, the support column 5, and the telescopic arm 31 in the embodiment are all frame structures. On the one hand, the frame structures are convenient for hiding and arranging the wires, and ensure the safety of electricity use. On the other hand, the frame structures reduce the weight of the picking robot while ensuring the strength.

[0108] In some example embodiments, the visual recognition system comprises a navigation camera 15, a first picking camera 16, and a second picking camera 17, which are respectively connected with the control system;

[0109] The navigation camera 15 is installed at the front and rear ends of the walking mechanism, and is used to obtain the environmental information around the picking robot when the picking robot is running to ensure the safety of running.

[0110] The first picking camera 16 is mounted on a mechanical arm to obtain 2D images and RGBD point cloud images of the fruits and vegetables to be picked on both sides during the walking of the picking robot;

[0111] The second picking camera 17 is mounted on the end picking mechanism to obtain images of the fruits and vegetables to be picked in the target picking area.

[0112] In some embodiments, referring to Figure 10 The end picking mechanism includes a clamping part 8, a third driving mechanism 9 and a fourth driving mechanism 10; the third driving mechanism 9 is connected with the clamping part 8 to drive the clamping part 8 to rotate and / or stretch and contract; the fourth driving mechanism 10 is connected with the third driving mechanism 9 to drive the third driving mechanism 9 to pitch up and down and / or swing left and right.

[0113] Preferably, referring to Figure 12 The fourth driving mechanism 10 includes a fixed frame, a fourth motor 101, a transmission assembly and a fifth motor 102; the fourth motor 101 is fixedly connected with the fixed frame to drive the fifth motor 102 to pitch up and down through the transmission assembly; the output shaft of the fifth motor 102 is fixedly connected with the third driving mechanism 9 to drive the third driving mechanism 9 to swing left and right.

[0114] Further, the transmission assembly includes a first rotating wheel 103, a second rotating wheel 104 and a transmission belt; the first rotating wheel 103 is fixedly connected with the output shaft of the fourth motor 101, and the second rotating wheel 104 is fixedly connected with the fifth motor 102; when the fourth motor 101 starts to work, the fifth motor 102 is made to pitch up and down through the cooperation of the first rotating wheel 103, the second rotating wheel 104 and the transmission belt. Preferably, the pitch angle of the fourth driving motor is ±30°.

[0115] In some exemplary embodiments, the fixed frame is a U-shaped frame; the fourth motor 101 is fixedly installed on the side wall or the bottom of the U-shaped frame, and the fifth motor 102 is hinged on the two side walls of the U-shaped frame, and the output shaft of the fifth motor 102 can pitch up and down in the space region of the opening of the U-shaped frame.

[0116] Preferably, referring to Figure 11 The third driving mechanism 9 includes a first mounting frame and a ball screw key mechanism installed in the first mounting frame; the ball screw key mechanism includes a screw key shaft 91, third and fourth driven wheels 92 and 93 symmetrically distributed on the screw key shaft 91, sixth and seventh motors symmetrically distributed on one side of the first mounting frame;

[0117] The sixth motor drives the third driving wheel 94 to rotate, and the third driving wheel 94 drives the third driven wheel 92 to rotate; the seventh motor drives the fourth driving wheel 95 to rotate, and the fourth driving wheel 95 drives the fourth driven wheel 93 to rotate; the third driven wheel 92 and the fourth driven wheel 93 are located on the other side of the first mounting frame;

[0118] The screw key shaft 91 is provided with a plurality of groups of parallel grooves in the axial direction and a spiral groove in the spiral direction; the screw key shaft 91 is further provided with a ball screw nut and a spline nut, respectively; the ball screw nut is connected with the third driven wheel 92 through a flange plate, and the spline nut is connected with the fourth driven wheel 93 through a flange plate;

[0119] When any one of the third driven wheel 92 and the fourth driven wheel 93 rotates while the other one is stationary, the screw key shaft 91 extends / retracts in the axial direction under the rotation of the ball screw nut or the spline nut;

[0120] When the third driven wheel 92 and the fourth driven wheel 93 rotate in the same direction and at the same speed, the screw key shaft 91 rotates under the joint action of the ball screw nut and the spline nut.

[0121] In addition, when the third driven wheel 92 and the fourth driven wheel 93 rotate in the same direction and there is a certain speed difference between them, the screw key shaft 91 spirally moves under the joint action of the ball screw nut and the spline nut.

[0122] In some embodiments, the third driving wheel 94 drives the third driven wheel 92 to rotate in a belt transmission manner, and the fourth driving wheel 95 drives the fourth driven wheel 93 to rotate in a belt transmission manner. It should be noted that, in addition to the belt transmission manner, a synchronous belt or magnetic transmission can also be used.

[0123] Further, the screw key shaft 91 extends / retracts in the axial direction, specifically: when the fourth driven wheel 93 stops rotating and only the ball screw nut is driven to rotate by the third driven wheel 92, the screw key shaft 91 moves linearly in the axial direction; when the third driven wheel 92 stops rotating and only the spline nut is driven to rotate by the fourth driven wheel 93, the screw key shaft 91 spirally moves.

[0124] Further, the third driving mechanism 9 further comprises an encoder for measuring the rotational displacement of the sixth motor and the seventh motor. Optionally, the encoder has a power-off memory function (independent power supply through a special battery when power off), which can remember the current position value after the picking robot is powered off, and does not need to return to the position reference point for repositioning when used again, which is beneficial to improve the picking efficiency.

[0125] In some embodiments, the clamping part 8 is a clamping jaw or a suction cup fixedly installed at the end of the screw lead screw shaft 91. In some example embodiments, the clamping jaw can be an electric clamping jaw or a pneumatic clamping jaw; the electric clamping jaw is preferably a servo electric clamping jaw. In some example embodiments, the suction cup can be a vacuum suction cup device.

[0126] Preferably, the clamping jaw is a pneumatic clamping jaw, and in particular implementation, a channel for facilitating the passage of the air pipe can be formed in the center of the screw lead screw shaft 91 in the axial direction to avoid the air pipe of the pneumatic clamping jaw being affected by the extension / retraction / rotation of the screw lead screw shaft 91, thereby prolonging the service life of the air pipe.

[0127] In some embodiments, the first mounting bracket includes an outer shell 96 mounted outside the ball screw nut and the spline nut, and further includes a second mounting bracket 97 for placing the sixth motor and the seventh motor; the second mounting bracket 97 has a U-shaped cross section and is integrally formed by a rectangular plate 971 and trapezoidal plates 972 located on both sides of the rectangular plate 971; the sixth motor and the seventh motor are respectively installed on corresponding motor supports, and the motor supports are fixedly installed on the rectangular plate 971 by bolts.

[0128] In order to improve the positioning accuracy of the vision system of the picking robot, mark recognition points 98 are arranged on the outer surface of the rectangular plate 971 and the outer surface of the outer shell 96; at the same time, the mark recognition points 98 can be read to a space coordinate point through camera recognition, and the space coordinate point can further improve the operation speed of the whole mechanical arm system.

[0129] In some embodiments, the collecting mechanism 14 includes a fruit and vegetable turnover box 141, and a fruit and vegetable collecting box 143 is arranged in the middle region of the chassis of the walking mechanism. The fruit and vegetable collecting box 143 is connected in communication with the fruit and vegetable turnover box 141 fixedly arranged below the end picking mechanism (the position where the screw key shaft 91 drives the clamping part 8 to retract is just above the opening of the fruit and vegetable turnover box 141) through a transmission pipeline 142. The fruit and vegetable turnover box 141 is used to collect the fruit and vegetables picked by the clamping part 8. When the end picking mechanism picks at a high place, the fruit and vegetables fall into the transmission pipeline 142 through the fruit and vegetable turnover box 141 under the action of gravity and are collected into the fruit and vegetable collecting box 143. When the end picking mechanism picks at a low place (at this time, the fruit and vegetables cannot flow to the fruit and vegetable collecting box 143 under the action of gravity), the picked fruit and vegetables are temporarily stored in the fruit and vegetable turnover box 141. The bottom of the fruit and vegetable turnover box 141 is provided with a first weight sensor connected with the control system. When the first weight sensor monitors that the fruit and vegetables in the fruit and vegetable turnover box 141 reach a first preset weight threshold (close to full load), the control system controls the mechanical arm to drive the end picking mechanism to be lifted, so that the fruit and vegetables stored in the fruit and vegetable turnover box 141 fall into the transmission pipeline 142 under the action of gravity and are collected into the fruit and vegetable collecting box 143. In the actual picking process, in order to ensure the quality of the fruit and vegetables, the fruit and vegetable turnover box 141, the transmission pipeline 142 and the fruit and vegetable collecting box 143 are all made of soft buffering materials, so as to reduce the impact and injury of the fruit and vegetables in the collecting process. In addition, the bottom of the fruit and vegetable collecting box 143 is also provided with a second weight sensor for monitoring the weight of the fruit and vegetables in the fruit and vegetable collecting box 143 in real time. When the monitored weight of the fruit and vegetables reaches a second preset weight threshold, the control system starts an alarm device (a buzzer alarm or a voice alarm) to remind the operator to replace the fruit and vegetable collecting box 143 in time.

[0130] In summary, the fruit and vegetable picking robot provided in the embodiment has the following specific working process:

[0131] After the fruit and vegetable picking robot receives the picking instruction, the robot reaches the vicinity of the region to be picked through the walking mechanism under the cooperation of the control system and the visual recognition system.

[0132] The target picking region, picking path and picking sequence are further determined according to the image information obtained by the visual system. The control system controls the moving direction and angle of the mechanical arm (large-range adjustment of direction and angle) to make the end picking mechanism reach the position of the fruit and vegetables to be picked.

[0133] The appropriate grasping point is determined according to the type of the fruit and vegetables to be picked obtained by the visual recognition system and the curvature and pose angle information of the fruit and vegetables to be picked fed back by the control system (small-range adjustment of direction and angle). The picking robot controls the end picking mechanism to pick the fruit and vegetables meeting the requirements.

[0134] The fruit and vegetable picked by the end picking mechanism is collected by the collecting mechanism 14.

[0135] To facilitate those skilled in the art to better understand the above-mentioned mechanical arm structure and its function, a first spatial coordinate system is established for illustration: the geometric center of the linear guide rail 11 is defined as the coordinate origin, and the length direction of the horizontally arranged linear guide rail 11 is defined as the X axis, the front and rear telescopic direction of the telescopic arm 31 is defined as the Y axis, and the height direction of the end picking mechanism driven by the rotation of the linear guide rail 11 from the ground is defined as the Z axis. It can be known from the working principle that the telescopic arm 31 is installed on the linear guide rail 11 through the support assembly 2, and is driven by the first motor 12 to drive the first transmission mechanism 13 to move the telescopic arm 31 reciprocally on the linear guide rail 11, which can be used to adjust the distance between the end picking mechanism and the target fruit and vegetable in the X axis direction; the telescopic arm 31 is driven by the second motor 32 to drive the second transmission mechanism 33 to move it reciprocally along the support assembly 2, which can be used to adjust the distance between the end picking mechanism and the target fruit and vegetable in the Y axis direction; and the linear guide rail 11 is rotatably installed on the support column 5 through the rotary reduction motor 6, that is, the distance between the end picking mechanism and the target fruit and vegetable in the Z axis direction can be adjusted through the rotary reduction motor 6. Therefore, through the cooperation of the above-mentioned mechanisms, the mechanical arm can accurately send the end picking mechanism to the target picking area, and since the position of the linear guide rail 11 is relatively fixed, only the telescopic arm 31 and the end picking mechanism at the front end thereof actually extend into the fruit and vegetable picking area, which is beneficial to bypass the obstacles and avoid touching and even damaging the fruit and vegetable and / or branches.

[0136] To facilitate those skilled in the art to better understand the above-mentioned end picking mechanism and its function, a second spatial coordinate system is established for illustration, and the execution process includes 3 "rotations" and 1 "telescoping", which can realize the adjustment of small-angle working range in space, and is convenient for the picking robot to carry out picking operation. Specifically as follows:

[0137] A three-dimensional coordinate system is established with the center of the fifth motor 102 as the coordinate origin, the rotation axis direction of the fifth motor 102 is defined as the Z axis, the length direction of the U-shaped frame is defined as the Y axis, and the straight line direction determined by the hinge joint of the fifth motor 102 and the U-shaped frame is defined as the X axis. When the end picking mechanism of the picking robot receives a picking instruction to perform a picking action, the specific execution process is as follows:

[0138] 1) The end picking mechanism moves to the position to be picked: through the rotation of the fourth motor 101 in the fourth driving mechanism 10, the fifth motor 102 is driven to drive the third driving mechanism 9 to perform up-down pitching (i.e. along the Z axis direction of the middle, the pitching angle is adjusted within a small range, and the pitching angle is about 30°, which is the first "rotation"); under the action of the fifth motor 102, the third driving mechanism 9 is driven to perform left-right swinging (i.e. along the X axis direction of the middle, the swinging angle is adjusted within a small range, and the swinging angle is about 30°, which is the second "rotation"); under the action of the fourth motor 101, the third driving mechanism 9 is driven to perform front-back telescoping (i.e. along the Y axis direction of the middle, the telescoping angle is adjusted within a small range, and the telescoping angle is about 30°, which is the third "rotation"); under the action of the fifth motor 102, the third driving mechanism 9 is driven to perform up-down pitching (i.e. along the Z axis direction of the middle, the pitching angle is adjusted within a small range, and the pitching angle is about 30°, which is the fourth "rotation"). Figure 10 The end picking mechanism moves to the position to be picked: through the rotation of the fourth motor 101 in the fourth driving mechanism 10, the fifth motor 102 is driven to drive the third driving mechanism 9 to perform up-down pitching (i.e. along the Z axis direction of the middle, the pitching angle is adjusted within a small range, and the pitching angle is about 30°, which is the first "rotation"); under the action of the fifth motor 102, the third driving mechanism 9 is driven to perform left-right swinging (i.e. along the X axis direction of the middle, the swinging angle is adjusted within a small range, and the swinging angle is about 30°, which is the second "rotation"); under the action of the fourth motor 101, the third driving mechanism 9 is driven to perform front-back telescoping (i.e. along the Y axis direction of the middle, the telescoping angle is adjusted within a small range, and the telescoping angle is about 30°, which is the third "rotation"); under the action of the fifth motor 102, the third driving mechanism 9 is driven to perform up-down pitching (i.e. along the Z axis direction of the middle, the pitching angle is adjusted within a small range, and the pitching angle is about 30°, which is the fourth "rotation").Figure 10 Swing in the Y-axis direction, which is the second "rotation");

[0139] 2) The clamping part 8 of the end picking mechanism extends to clamp the fruit or vegetable to be picked: the ball screw nut is driven to rotate by the third driven wheel 92 in the third driving mechanism 9, the screw key shaft 91 is extended in the axial direction, and the clamping part 8 is further extended; or the spline nut is driven to rotate by the fourth driven wheel 93 in the third driving mechanism 9, the screw key shaft 91 is helically extended in the axial direction, and the clamping part 8 is further extended;

[0140] 3) The clamping part 8 of the end picking mechanism rotates to make the fruit or vegetable to be picked and the fruit stem separate: the screw key shaft 91 is rotated by the ball screw nut driven to rotate by the third driven wheel 92 and the spline nut driven to rotate by the fourth driven wheel 93 in the same direction and at the same speed, and the clamping part 8 further rotates the fruit or vegetable to be picked, completing the separation of the fruit or vegetable to be picked and the fruit stem;

[0141] 4) The clamping part 8 of the end picking mechanism of the picking robot retracts: the ball screw nut is driven to rotate by the fourth driven wheel 93, the screw key shaft 91 is retracted in the axial direction, and the clamping part 8 is further retracted; or the spline nut is driven to rotate by the fourth driven wheel 93, the screw key shaft 91 is helically retracted in the axial direction, and the clamping part 8 is further retracted.

[0142] The execution mechanism, under the premise of abandoning the eccentric blade, can realize picking of fruit and vegetable, especially fruit and vegetable such as jujube and orange growing in clusters, only by cooperation of the third driving mechanism 9, the fourth driving mechanism 10 and the clamping part 8. The third driving mechanism 9 adopts a ball screw spline mechanism, so that the clamping part 8 can complete linear motion, helical motion and rotary motion, and cooperate with the fourth driving mechanism 10 to make the third driving mechanism 9 realize up-down pitching and / or left-right swinging, which is beneficial to realize angle adjustment of the clamping part 8 in a small range at a picking site, and avoid injury to nearby unripe fruit and vegetable.

[0143] In summary, the picking robot provided by the present application can realize completely autonomous operation in the whole picking process, improve picking efficiency, and solve the defects of short picking period, large picking amount, high working intensity and the need for a large amount of labor to complete picking work in the prior art. In addition, the end picking mechanism in the picking robot is detachably connected with the telescopic arm 31, and during actual picking, the end picking mechanism or the clamping part 8 can be replaced according to different picking fruit and vegetable objects, further meeting the picking needs of various types of fruit and vegetable.

[0144] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application.

[0145] It is to be understood that the application is not limited to the details of the above-described embodiments and that numerous modifications and changes can be effected without departing from the scope of the application. It is intended that only such limitations be placed on the application as are imposed by the appended claims.

Claims

1. A method for harvesting fruits and vegetables, characterized in that, Suitable for fruits and vegetables that grow in clusters, including the following steps: 1) Take side images while the harvesting robot is walking, and identify fruit and vegetable plants based on the side images; when a fruit tree plant is identified in the side image, the harvesting robot stops walking. 2) Acquire images of the fruits and vegetables to be harvested, wherein the images include 2D images and RGBD point cloud images; 3) Determine the target picking area, picking path, and picking order based on the image, specifically including: The 2D image is detected using a pre-trained YOLOv5 model to obtain the types of fruits and vegetables to be picked and 2D region information; the target picking area is determined based on the 2D region information. Within the designated target picking area, picking shall be carried out according to the determined picking path and the picking order of "from near to far → from top to bottom"; 4) Harvest the fruits and vegetables to be harvested in different target harvesting areas according to the harvesting path and harvesting order, specifically as follows: Based on the 2D region information and the constructed 2D-3D matching relationship, the 3D surface information of the fruits and vegetables to be harvested is calculated. The 3D surface information includes curved surface and pose angle information. The 2D-3D matching relationship is constructed based on the 2D image and the RGBD point cloud image. Based on the type of fruits and vegetables to be picked, and according to the surface and pose angle information of the fruits and vegetables to be picked, a suitable gripping point is determined, and the picking robot controls its end-effector to complete the picking action. 5) Collect the harvested fruits and vegetables.

2. A harvesting robot using the fruit and vegetable harvesting method of claim 1, characterized in that, It includes a visual recognition system, a control system, an actuator, and a collection mechanism (14), wherein the control system is connected to the visual recognition system, the actuator, and the collection mechanism (14) respectively; The visual recognition system is used to acquire side images and images of fruits and vegetables to be picked; The control system is used to process the images acquired by the visual recognition system, determine the target picking area and picking order, and control the execution mechanism or collection mechanism (14) to perform corresponding actions. The actuator is used to receive action commands from the control system and execute corresponding actions. The collection mechanism (14) is used to collect the harvested fruits and vegetables; The visual recognition system includes a navigation camera (15), a first picking camera (16), and a second picking camera (17) that are respectively connected to the control system; The navigation camera (15) is installed at the front and rear ends of the walking mechanism to obtain environmental information around the picking robot while it is moving to ensure its safety. The first picking camera (16) is mounted on the robotic arm and is used to acquire 2D images and RGBD point cloud images of the fruits and vegetables to be picked on both sides during the walking process of the picking robot. The second picking camera (17) is installed on the end picking mechanism to acquire images of fruits and vegetables to be picked within the target picking area.

3. The harvesting robot according to claim 2, characterized in that, The actuator includes a walking mechanism, a robotic arm, and an end-effector harvesting mechanism. The walking mechanism executes corresponding forward, backward, or turning actions according to the action commands received from the control system, thereby driving the picking robot to the designated target picking area. The robotic arm is mounted on the chassis of the walking mechanism and can be adjusted with multiple degrees of freedom to meet the harvesting needs of fruits and vegetables in different locations. The robotic arm includes a linear guide rail (11), on which a first drive mechanism (1) is mounted. The first drive mechanism (1) is used to drive a support component (2) mounted on the linear guide rail (11) to reciprocate along the linear guide rail (11). A telescopic arm (31) is movably mounted on the support component (2). A second drive mechanism (3) is mounted at the bottom of the telescopic arm (31) to drive it to move on the support component (2). The direction of movement of the telescopic arm (31) is perpendicular to the linear guide rail (11). The end-harvesting mechanism is located at the end of the robotic arm and is used to separate fruits and vegetables from their stems.

4. The harvesting robot according to claim 3, characterized in that, The support assembly (2) includes a support base (21), a first roller (22) connected to the support base (21) and located on both sides of the linear guide rail (11), and a second roller (23) connected to the support base (21) and located on both sides of the telescopic arm (31); wherein, The linear guide (11) has a limiting structure (4) installed at both ends on the same side to limit the movement limit position of the support base (21); The bottom of the support base (21) is fixedly connected to the first drive mechanism (1), and the top of the support base (21) is equipped with a second transmission mechanism (33); The top two sides of the linear guide rail (11) are provided with first tracks (112) for positioning and guiding the first roller (22), and the first roller (22) is movably engaged on the first track (112). The telescopic arm (31) is provided with second tracks (311) on both sides of its bottom for positioning and guiding the second roller (23), and the second roller (23) is movably engaged on the second track (311).

5. The harvesting robot according to claim 4, characterized in that, Both the first drive mechanism (1) and the second drive mechanism (3) include a synchronous belt pulley transmission structure and a drive motor; The synchronous belt pulley transmission structure includes a driving gear, a driven gear, and a synchronous toothed belt wound around the driving gear and the driven gear. The synchronous toothed belt meshes with the driving gear and the driven gear respectively. The driving gear is driven by a drive motor. The synchronous toothed belt of the first drive mechanism (1) is fixedly connected to the bottom of the support base (21), and the synchronous toothed belt of the second drive mechanism (3) is fixedly connected to the top of the support base (21).

6. The harvesting robot according to claim 3, characterized in that, The end-picking mechanism includes a clamping part (8), a third drive mechanism (9), and a fourth drive mechanism (10); the third drive mechanism (9) is connected to the clamping part (8) and is used to drive the clamping part (8) to rotate and / or extend; the fourth drive mechanism (10) is connected to the third drive mechanism (9) and is used to drive the third drive mechanism (9) to pitch up and down and / or swing left and right.

Images