Picking device, picking control method, and control device

Abstract

The application discloses a picking device, a picking control method and a control device. The picking control method comprises the following steps: receiving a starting instruction, acquiring first position information of a target fruit; judging whether the target fruit is located in an execution range of a picking mechanism according to the first position information; if the target fruit is located in the execution range of the picking mechanism, moving the picking mechanism to pick the target fruit; if the target fruit is located out of the execution range of the picking mechanism, starting a walking mechanism until the target fruit is located in the execution range of the picking mechanism, and then moving the picking mechanism to pick the target fruit. The picking control method can automatically complete the picking of fruits in a large area, can automatically identify the target fruit, has higher picking efficiency, and has better picking quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of picking machinery, in particular to a picking device, a picking control method and a control device. BACKGROUND

[0002] Fruits and vegetables are indispensable food in people's daily life, and fresh fruits and vegetables have good taste and high nutritional value. For example, strawberry is a perennial herbaceous plant, which contains various nutrients and is easy to absorb, and has high health and medical value. In recent years, with the popularization of strawberry planting, the area of domestic strawberry planting has rapidly increased. The main advantage of the strawberry aerial three-dimensional soilless cultivation technology mode is that it can fully utilize greenhouse space and solar energy, air circulation, easy operation and management, and easy adjustment of cultivation tank slope, easy return of irrigation liquid, increase of strawberry yield and quality, and therefore many strawberry planting areas in China adopt high cultivation mode planting method.

[0003] The picking season is the busiest and most time-consuming and labor-intensive season for strawberry growers, requiring a large amount of labor and high-intensity work. At present, domestic strawberry picking is all done by manual picking, but the cost of manual picking is high, and the labor intensity is high during the fruiting period, which seriously restricts the development of strawberry planting industry. Therefore, it is necessary to develop a practical and reliable, environmentally friendly and efficient picking device. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is the low efficiency, high labor intensity and high cost of traditional manual picking operation.

[0005] To solve the above technical problems, the present application provides a picking control method suitable for a picking device, the picking device comprising a walking mechanism and a picking mechanism, the walking mechanism being used to drive the picking device to move, and the picking mechanism being used to pick target fruits; the picking control method comprising:

[0006] receiving a start-up instruction and obtaining first position information of the target fruits;

[0007] determining whether the target fruits are located within an execution range of the picking mechanism according to the first position information;

[0008] if the target fruits are located within the execution range of the picking mechanism, moving the picking mechanism to pick the target fruits;

[0009] if the target fruits are located outside the execution range of the picking mechanism, starting the walking mechanism until the target fruits are located within the execution range of the picking mechanism, and then moving the picking mechanism to pick the target fruits.

[0010] Optionally, the receiving of the start-up instruction and the obtaining of the first position information of the target fruits specifically comprise:

[0011] receiving a starting instruction, and acquiring first image information of the fruits in the picking area;

[0012] determining a target fruit according to the first image information, and determining first position information of the target fruit; and / or,

[0013] if the target fruit is located outside the execution range of the picking mechanism, starting the walking mechanism until the target fruit is located within the execution range of the picking mechanism, and moving the picking mechanism to pick the target fruit, specifically comprising:

[0014] if the target fruit is located outside the execution range of the picking mechanism, starting the walking mechanism;

[0015] acquiring preset path information of the travel surface, and controlling the walking mechanism to move a specified distance along the preset path according to the first position information;

[0016] stopping the movement of the walking mechanism after the walking mechanism moves the specified distance, and acquiring second position information of the target fruit;

[0017] moving the picking mechanism to pick the target fruit according to the second position information.

[0018] Optionally, the picking mechanism is provided with two sets; the receiving of the starting instruction and the acquisition of the first position information of the target fruit specifically comprises:

[0019] receiving a starting instruction, acquiring a first distance value of a first target area, and acquiring a second distance value of a second target area;

[0020] comparing the first distance value and the second distance value;

[0021] if the first distance value is smaller than the second distance value, moving the walking mechanism according to the first distance value;

[0022] if the second distance value is smaller than the first distance value, moving the walking mechanism according to the second distance value.

[0023] The application further provides a control device of the picking equipment, which comprises a memory, a processor, and a control program of the picking equipment stored in the memory and capable of running on the processor, and the control program of the picking equipment is configured to implement the steps of the picking control method of the picking equipment.

[0024] The application further provides a picking equipment, which comprises:

[0025] a rack;

[0026] a walking mechanism arranged on the rack and used for driving the rack to move;

[0027] The picking mechanism is arranged on the frame, and comprises a first camera module, a second camera module, an execution structure movably arranged on the frame, and a picking driving structure connected with the execution structure. The execution structure has a picking state close to the target fruit and a waiting state away from the target fruit. The picking driving structure is used to drive the execution structure to switch between the picking state and the loading state. The first camera module is used to acquire first position information of the target fruit, and the second camera module is used to acquire second position information of the target fruit.

[0028] The control device is electrically connected with the walking mechanism, the first camera module, the second camera module, and the picking driving structure. The control device is used to control the walking mechanism to work according to the first position information acquired by the first camera module, and is used to control the picking driving structure to work according to the second position information acquired by the second camera module.

[0029] Optionally, the execution structure comprises:

[0030] The support frame is movably arranged on the frame and extends along the up-down direction of the frame. The support frame has at least a movement stroke along the front-rear direction of the frame and a movement stroke of rotation relative to the frame.

[0031] The first transmission component is connected with the support frame and is movable relative to the support frame along the up-down direction of the frame.

[0032] The second transmission component is hingedly connected with the first transmission component and has a movement stroke of rotation relative to the first transmission component. The second transmission component comprises a housing and a transmission plate movably arranged on one side of the housing. The transmission plate has a movement stroke of approaching and moving away from the housing. Two mounting portions are arranged on the transmission plate.

[0033] Two cutting members are connected with the transmission component. Each cutting member is provided with a matching portion. The two matching portions are arranged in one-to-one matching with the two mounting portions. When the transmission plate moves along the direction of approaching or moving away from the housing under the driving of the picking driving structure, the two cutting members can be driven to approach or move away from each other under the matching of the mounting portions and the matching portions.

[0034] The picking driving structure comprises a first driving component connected with the support frame, a second driving component connected with the first transmission component, a third driving component connected with the second transmission component, and a fourth driving component connected with the transmission plate.

[0035] Optionally, the first driving component comprises:

[0036] a first driver arranged on the frame;

[0037] a first sliding block connected with the first driver, the first driver being configured to drive the first sliding block to move along the front-rear direction of the frame;

[0038] a second driver arranged on the first sliding block;

[0039] a first gear transmission set comprising a first gear and a second gear in meshing engagement, the first gear being connected with an output shaft of the second driver, an axis of rotation of the first gear being perpendicular to an axis of rotation of the second gear, the axis of rotation of the second gear extending along the up-down direction of the frame, the support frame being connected with the second gear, the second gear being configured to rotate to drive the support frame to rotate.

[0040] Optionally, the support frame comprises a bottom plate and a support rod arranged on the bottom plate, the bottom plate being connected with the second gear, the support rod extending along the up-down direction of the frame;

[0041] the second driving component comprises a screw rod arranged in parallel with the support rod, a nut screw-coupled with the screw rod, a second gear transmission set connected with the nut, and a third driver connected with the second gear transmission set;

[0042] the first transmission component comprises a transmission bracket, one end of the transmission bracket movably sleeved on the outside of the support rod, the second gear transmission set comprises a third gear and a fourth gear in meshing engagement, the third gear being connected with the nut, the third driver being arranged on the transmission bracket and connected with the fourth gear, the third driver being configured to drive the fourth gear to rotate, thereby driving the third gear to rotate, so that the nut moves up and down along the screw rod, and the transmission bracket moves along the up-down direction of the frame, the second transmission component being hingedly connected to the other end of the transmission bracket.

[0043] Optionally, the second transmission component further comprises a transmission shaft, at least a part of the transmission shaft being capable of extending out of the housing and being fixedly connected with the first transmission component; the third driving component comprises:

[0044] a fourth driver arranged in the housing;

[0045] a third gear transmission set comprising a fifth gear and a worm in meshing engagement, the worm being connected with the fourth driver, the fifth gear being rotatably connected with the housing, an axis of rotation of the fifth gear extending along the up-down direction of the frame, and the fifth gear being connected with the transmission shaft; and / or,

[0046] The second transmission component further comprises a mounting cylinder arranged at one side of the shell, the fourth driving component is arranged in the mounting cylinder, and the transmission plate is telescopically movable from one end of the mounting cylinder away from the shell;

[0047] The fourth driving component comprises:

[0048] A fifth driver is arranged in the mounting cylinder;

[0049] A connecting rod is connected at one end to the fifth driver and at the other end to the transmission plate;

[0050] The mounting portion comprises a mounting groove arranged on the transmission plate, the mounting groove is arranged obliquely along the axial direction of the mounting cylinder, the matching portion comprises a protruding column arranged on the cutting piece, each protruding column is hingedly connected to the corresponding mounting groove and can slide relative to the mounting groove;

[0051] The fifth driver is used to drive the transmission plate to reciprocate along the axial direction of the mounting cylinder, and under the cooperation of the mounting groove and the protruding column, the two cutting pieces are brought closer to or farther away from each other; and / or,

[0052] The execution structure further comprises a clamping component, the clamping component comprises two clamping pieces, the two clamping pieces are located below the two cutting pieces, and the two clamping pieces are respectively connected to the two cutting pieces one by one.

[0053] Optionally, the picking mechanism is provided with two sets, and the two sets of picking mechanisms are respectively located on the left and right sides of the rack.

[0054] The technical scheme provided by the present application has the following advantages:

[0055] The picking control method provided by the present application comprises the following steps: receiving a start-up instruction, obtaining first position information of a target fruit; determining whether the target fruit is located within the execution range of the picking mechanism according to the first position information; if the target fruit is located within the execution range of the picking mechanism, moving the picking mechanism to pick the target fruit; if the target fruit is located outside the execution range of the picking mechanism, starting the walking mechanism until the target fruit is located within the execution range of the picking mechanism, and then moving the picking mechanism to pick the target fruit. By automatically identifying the position of the target fruit, the walking mechanism is controlled to move, if the target fruit is located within the execution range of the picking mechanism, the picking mechanism can be directly controlled to pick, if the target fruit is far away, the walking mechanism is controlled to move according to the first position information of the target fruit, so that the target fruit is located within the execution range of the picking mechanism, and then the picking mechanism is controlled to pick. The picking control method can automatically complete the picking of fruits in a large area, can automatically identify the target fruit, has higher picking efficiency, and has more guaranteed picking quality. Attached Figure Description

[0056] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0057] Figure 1 This is a schematic diagram of an embodiment of a harvesting device provided by the present invention;

[0058] Figure 2 for Figure 1 A partial structural diagram of the harvesting equipment described herein (excluding the walking mechanism);

[0059] Figure 3 for Figure 2 A schematic diagram of the harvesting mechanism described in the document;

[0060] Figure 4 for Figure 3 A magnified structural diagram of detail A in the middle;

[0061] Figure 5 for Figure 1 A partial exploded view of the harvesting mechanism described in the diagram;

[0062] Figure 6 for Figure 5 A magnified structural diagram of detail B in the middle;

[0063] Figure 7 for Figure 1 A schematic diagram of the structure of the second transmission component and the cutting component;

[0064] Figure 8 for Figure 7 Another structural schematic diagram of the second transmission component and the cutting component;

[0065] Figure 9 for Figure 7 Enlarged structural schematic diagram of the cutting component and the transmission plate described herein;

[0066] Figure 10 A block diagram of a harvesting control device provided by the present invention;

[0067] Figure 11 This is a flowchart illustrating a harvesting control method provided by the present invention.

[0068] Explanation of reference numerals in the attached figures:

[0069] 100 - picking device; 1 - frame; 11 - loading plate; 2 - walking mechanism; 3 - picking mechanism; 31 - first camera module; 32 - second camera module; 321 - second camera; 322 - laser ranging sensor; 33 - execution structure; 331 - support frame; 3311 - bottom plate; 3312 - support rod; 332 - first transmission component; 3321 - transmission support; 333 - second transmission component; 3331 - housing; 3332 - transmission plate; 3333 - mounting portion; 3333a - mounting groove; 334 - cutting piece; 3341 - fitting portion; 3341a - protruding column; 335 - transmission shaft; 336 - mounting cylinder; 337 - clamping component; 3371 - clamping piece; 34 - picking driving structure; 341 - first driving component; 3411 - first driver; 3412 - first sliding block; 3413 - second driver; 3414 - first gear; 3415 - second gear; 342 - second driving component; 3421 - screw rod; 3422 - nut; 3423 - third gear; 3424 - fourth gear; 3425 - third driver; 343 - third driving component; 3431 - fourth driver; 3432 - fifth gear; 3433 - worm; 344 - fourth driving component; 3441 - fifth driver; 3442 - connecting rod; 4 - alarm device; 5 - third camera module; 1000 - control device; 1001 - processor; 1002 - communication bus; 1003 - user interface; 1004 - memory. DETAILED DESCRIPTION

[0070] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The present application will be described in detail below with reference to the drawings and in combination with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0071] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0072] In the present application, the orientation words such as "up", "down", "top", "bottom" used without the opposite description are generally directed to the direction shown in the drawings, or to the vertical, perpendicular or gravity direction of the components themselves; similarly, for the convenience of understanding and description, "inner", "outer" refers to the inner and outer relative to the contour of the components themselves, but the above-mentioned orientation words are not used to limit the present application.

[0073] The present application provides a picking device 100, which can be used for picking fruits and vegetables such as strawberries, tomatoes, cherries, etc. For the convenience of description, the picking device 100 picking strawberries will be taken as an example to describe the specific structure of the picking device 100.

[0074] Specifically, referring to Figures 1 to 2 , the picking device 100 comprises a rack 1, a walking mechanism 2, a picking mechanism 3 and a control device 1000 arranged on the rack 1.

[0075] As shown in Figure 1 , the walking mechanism 2 is used to drive the rack 1 to move, so as to drive the whole picking device 100 to move, wherein the walking mechanism 2 comprises at least two wheel bodies and a wheel body driving structure, each wheel body is rotatably arranged on the rack 1 and used to contact with a running surface (such as the ground), and the wheel body driving structure drives at least one wheel body to rotate, so as to drive the plurality of wheel bodies to rotate together to drive the whole picking device 100 to move.

[0076] The picking mechanism 3 is used to obtain the position information of the target fruit, and to approach and pick the target fruit, and to collect and store the picked fruit. Preferably, the picking mechanism 3 comprises a first camera module 31, a second camera module 32, an execution structure 33 movably arranged on the rack 1, and a picking driving structure 34 connected with the execution structure 33, the execution structure 33 has a picking state for approaching the target fruit and a waiting state for moving away from the target fruit, when the execution structure 33 is in the picking state, the fruit stem can be cut by the execution structure 33, so that the fruit can be separated from the fruit tree or the fruit stem, thereby being picked and stored, when the execution structure 33 is in the waiting state, the execution structure 33 is in the initial position to prepare for the next picking; the picking driving structure 34 is used to drive the execution structure 33 to switch between the picking state and the loading state, so as to realize the continuous picking and collection of strawberries, the first camera module 31 is used to obtain the first position information of the target fruit, and the distance between the target fruit and the rack 1 can be obtained through the first position information, so as to determine whether the walking mechanism 2 needs to move and the moving distance of the walking mechanism 2; the second camera module 32 is used to obtain the second position information of the target fruit, and the position of the target fruit can be further accurately obtained when the target fruit is within the execution range of the execution structure 33 through the second position information, so as to accurately control the movement of the execution structure 33 to move to each target fruit (i.e. each strawberry) in turn for picking, to ensure the accuracy of picking, and to further ensure the picking quality.

[0077] The control device 1000 is electrically connected with the walking mechanism 2, the first camera module 31, the second camera module 32 and the picking driving structure 34, and is used for controlling the walking mechanism 2 to work according to the first position information acquired by the first camera module 31, i.e., determining whether the walking mechanism 2 needs to move and the moving stroke of the walking mechanism 2 according to the first position information; and the control device 1000 can control the picking driving structure 34 to work according to the second position information acquired by the second camera module 32, i.e., after the target strawberry is located in the execution range of the execution structure 33, the control device 1000 can control the moving action and the moving stroke of the execution structure 33 through the second position information, so that the execution structure 33 can accurately pick each target fruit.

[0078] It should be noted that the picking device 100 usually picks in a certain picking area when picking, and if there are greenhouses, picking gardens and the like, the fruits and vegetables arranged in a certain rule, and a certain detection mark (such as a reflective strip, an identifier, etc.) is usually arranged on the picking ground to form a driving path of the walking mechanism 2, so as to ensure that the picking device 100 will not crush the strawberry seedlings or surrounding components (such as planting pots, etc.) when picking. A third camera module is arranged on the picking device 100, and the third camera module can acquire image information of the detection mark, so as to calibrate the driving path and determine the direction of the movement of the whole picking device 100 along the detection mark. For example, the planted fruits are arranged in rows, and a driving path is arranged between the adjacent two rows of fruits for the driving of the picking device 100 or manual driving. The detection mark is usually arranged in the middle of the two driving paths, and the picking device 100 can acquire the reference detection mark through the third camera module when driving, so as to keep the picking device 100 in the middle of the driving path during driving, thereby avoiding the damage to the fruit plants. Moreover, the third camera module is provided with two third camera modules respectively arranged at the front and rear ends of the rack 1, so as to acquire the detection mark information at the front and rear ends of the picking device 100, and the picking device 100 can move along the preset path when driving forward or backward. Moreover, the standard for determining the fruits as target fruits can be set according to the user's demand. For example, some fruits need to be picked when the fruit body turns red, which indicates that the fruits are ripe. At this time, the color information of the fruits can be acquired to determine the target fruits. Some fruits cannot be picked until they are fully ripe, and the fruits are picked according to the size, so that the size information of the fruits can be acquired to determine the target fruits. Or, the user needs to meet the two parameters of maturity and size to pick the target fruits. The determination of the target fruits can be set according to the specific conditions of different fruits and vegetables. The structure of the picking device 100 is specifically described below by taking the color determination as an example.

[0079] The first camera module 31 obtains the first position information, which can include the position information of multiple target fruits adjacent to the position (i.e., the position information of multiple target fruits in a range can be obtained). Specifically, when the picking device 100 is started, the first camera module 31 can obtain the first image information in the picking area, which includes the color information of the fruits and the first position information. By comparing the color information with the preset color, the target area where the target fruits are located is determined, and the first position information of the multiple target fruits in the target area is obtained. For example, when the first camera module 31 obtains the first image information, the first image information can be sent to the control device 1000, which can analyze and process the first image information. For example, the first image information can be divided into multiple sub-areas, and the proportion of target fruits in the multiple sub-areas is compared. The sub-area with more target fruits is determined as the target area (i.e., the area with a large red area in the first image information can be set as the target area). Further, the positions of each target fruit in the target area are marked, and the first position information can indicate the coordinate positions of the target fruits, so as to determine whether the target area is located in the execution range of the execution structure 33. The determination of the target area is more intelligent, and the picking efficiency is higher. The first camera module 31 includes a first camera arranged on the execution structure 33. The first camera can be a long-focus camera, so that the image information of the fruits at a farther distance can be obtained, and the picking range is larger.

[0080] Further, when the walking mechanism 2 moves the entire picking device 100 so that the target area is located in the execution range of the execution structure 33, the second camera module 32 can further obtain the accurate positions of each target fruit in the target area. The control device 1000 can control the execution structure 33 to move according to the second position information of the second camera module 32, so as to pick each target fruit in sequence. The second camera module 32 includes a laser ranging sensor, two second cameras, and an illumination component arranged on the execution structure 33. The laser ranging sensor can measure the distance between the target fruit and the execution structure 33. The two second cameras can be two depth cameras, and the two second cameras form a binocular vision detection, so as to accurately obtain the three-dimensional coordinate information of the target fruit in combination with the distance measurement of the laser ranging sensor, and the execution structure 33 moves more accurately. The illumination component can be an LED lamp for light compensation, so that the picking device 100 can still pick in a darker working environment or at night, and the picking ability is stronger.

[0081] Since the strawberry generally includes a fruit body and a fruit stem arranged at one end of the fruit body, the fruit stem is connected to the main body of the strawberry, so that when the strawberry is picked, the fruit stem needs to be cut off first, and then the strawberry is transferred and loaded. Preferably, in combination withFigures 3 to 5 As shown, the execution structure 33 comprises a support frame 331, a first transmission component 332, a second transmission component 333, and two cutting components 334. The support frame 331 is movably arranged on the frame 1 and extends along the up-down direction of the frame 1. The support frame 331 has at least a movement stroke along the front-back direction of the frame 1 and a movement stroke of rotation relative to the frame 1, i.e. the support frame 331 can rotate by itself. The first transmission component 332 is connected with the support frame 331 and can move along the up-down direction of the frame 1 relative to the support frame 331. The second transmission component 333 is hingedly connected with the first transmission component 332 and has a movement stroke of rotation relative to the first transmission component 332. The second transmission component 333 comprises a housing 3331 and a transmission plate 3332 movably arranged on one side of the housing 3331. The transmission plate 3332 has a movement stroke of approaching and moving away from the housing 3331. The transmission plate 3332 is provided with two mounting portions 3333. The two cutting components 334 are connected with the transmission component. Each of the cutting components 334 is provided with a matching portion 3341. The two matching portions 3341 are arranged in one-to-one matching with the two mounting portions 3333. When the transmission plate 3332 moves along the direction of approaching or moving away from the housing 3331 under the driving of the picking driving structure 34, the two cutting components 334 can be driven to approach or move away from each other under the cooperation of the mounting portions 3333 and the matching portions 3341.

[0082] The picking driving structure 34 comprises a first driving component 341 connected with the support frame 331, a second driving component 342 connected with the first transmission component 332, a third driving component 343 connected with the second transmission component 333, and a fourth driving component 344 connected with the transmission plate 3332. The first driving component 341 can drive the support frame 331 to move along the front-back direction of the frame 1, so as to adjust the movement of the two cutting components 334 along the front-back direction of the frame 1. The first driving component 341 can also drive the support frame 331 to rotate, so as to drive the first transmission component 332 connected with the support frame 331 to rotate, drive the second transmission component 333 to rotate, and make the two cutting components 334 rotate, so as to adjust the cutting direction. The second driving component 342 can drive the first transmission component 332 to move along the support frame 331, so as to drive the second transmission component 333 to move along the up-down direction of the frame 1, adjust the movement of the two cutting components 334 along the up-down direction of the frame 1, and adjust the cutting height, so as to be suitable for cutting strawberries at different heights. The third driving component 343 can further drive the second driving component 342 to rotate relative to the first driving component 341, so as to further adjust the cutting position of the two cutting components 334, and make the picking of the execution structure 33 more flexible.

[0083] wherein, again in combination with Figures 3 to 5 As shown in the figure, the first driving component 341 comprises a first driver 3411, a first sliding block 3412, a second driver 3413 and a first gear transmission group, the first driver 3411 is arranged on the rack 1, the first driver 3411 can comprise a first driving motor, a driving wheel connected with the first driving motor, a driven wheel arranged in a spaced manner with the driving wheel, and a synchronous transmission belt arranged around the driving wheel and the driven wheel, the synchronous transmission belt is arranged in the front-rear direction of the rack 1, the first sliding block 3412 is connected with the synchronous transmission belt, the first driver 3411 drives the driving wheel to rotate, drives the synchronous transmission belt to move, and drives the driven wheel to rotate, thereby driving the first sliding block 3412 to move in the front-rear direction of the rack 1; wherein the second driver 3413 is arranged on the first sliding block 3412, the first gear transmission group comprises a first gear 3414 and a second gear 3415 engaged with each other, the first gear 3414 is connected with the output shaft of the second driver 3413, the rotation axis of the first gear 3414 is perpendicular to the rotation axis of the second gear 3415, and the rotation axis of the second gear 3415 is arranged in the up-down direction of the rack 1, and the support frame 331 is connected with the second gear 3415. The first driver 3411 drives the first sliding block 3412 to move in the front-rear direction of the rack 1, drives the second driver 3413 and the first gear 3414 transmission group and the support frame 331 to move together, thereby adjusting the position of the execution structure 33 in the front-rear direction, and the first gear 3414 can be driven to rotate by the second driver 3413, thereby driving the second gear 3415 to rotate, so that the support frame 331 connected with the second gear 3415 rotates, thereby adjusting the rotation of the execution structure 33 in the horizontal direction, so that the movement of the cutting member 334 is more flexible and cutting is more convenient.

[0084] Further, as shown in the figure, Figure 4 The support frame 331 comprises a bottom plate 3311 and a support rod 3312 arranged on the bottom plate 3311, the bottom plate 3311 is connected with the second gear 3415, the rotation axis of the second gear 3415 is arranged in the up-down direction of the rack 1, and the bottom plate 3311 is located on the upper end surface of the second gear 3415, the bottom plate 3311 can be driven to rotate together by the rotation of the second gear 3415, and the support rod 3312 is arranged in the up-down direction of the rack 1.

[0085] In combination with Figure 4 and Figure 5As shown, the second driving component 342 comprises a screw rod 3421 arranged in parallel with the support rod 3312, a nut 3422 screw-connected with the screw rod 3421, a second gear transmission set connected with the nut 3422, and a third driver 3425 connected with the second gear transmission set; the first transmission component 332 comprises a transmission bracket 3321, one end of the transmission bracket 3321 movably sleeved outside the support rod 3312, the second gear transmission set comprises a third gear 3423 and a fourth gear 3424 in engagement, the third gear 3423 connected with the nut 3422, the third driver 3425 arranged on the transmission bracket 3321 and connected with the fourth gear 3424, the third driver 3425 driving the fourth gear 3424 to rotate, driving the third gear 3423 to rotate, thereby driving the nut 3422 to rotate relative to the screw rod 3421, so that the nut 3422 moves up and down along the screw rod 3421, and driving the transmission bracket 3321 to move in the up-and-down direction of the rack 1, the second transmission component 333 hinged to the other end of the transmission bracket 3321, thereby driving the entire second transmission component 333 to move in the up-and-down direction of the rack 1, so as to adjust the position of the cutting member 334 in the up-and-down direction, thereby adjusting the cutting height of the cutting member 334.

[0086] Further, in combination with Figure 5 and Figure 7As shown, the second transmission component 333 further comprises a transmission shaft 335, at least a part of the transmission shaft 335 can be extended from the housing 3331 and fixedly connected with the first transmission component 332, specifically, the transmission shaft 335 is fixedly arranged at the end of the transmission support 3321 away from the support rod 3312; the third driving component 343 comprises a fourth driver 3431 and a third gear transmission set, the fourth driver 3431 is arranged in the housing 3331; the third gear transmission set comprises a fifth gear 3432 and a worm 3433 arranged in meshing, the worm 3433 is connected with the fourth driver 3431, and the fourth driver 3431 and the worm 3433 are both connected with the housing 3331, the fifth gear 3432 is rotationally arranged in the housing 3331, the rotation axis of the fifth gear 3432 is arranged in the up-down direction of the rack 1, and the fifth gear 3432 is connected with the transmission shaft 335. The fourth driver 3431, the first camera module 31, the second camera module 32 and the third gear transmission set 3423 can be wrapped and protected by the housing 3331, the worm 3433 is driven to rotate by the fourth driver 3431, and since the fifth gear 3432 is fixedly connected with the transmission shaft 335 and is fixed on the transmission support 3321, the fifth gear 3432 will not rotate, and the worm 3433 is driven to rotate around the fifth gear 3432 to drive the whole housing 3331 to rotate, so as to further adjust the position of the cutting piece 334 in the horizontal direction, and flexible cutting of strawberries is realized.

[0087] Further, as Figure 7As shown in FIG. 13, the second transmission component 333 further comprises a mounting cylinder 336 arranged on one side of the housing 3331, which is in the shape of an elongated cylinder, so as to extend into the rhizome of the strawberry, the fourth driving component 344 is arranged in the mounting cylinder 336, and the transmission plate 3332 can be telescopically moved away from one end of the mounting cylinder 336 and the housing 3331; the fourth driving component 344 comprises a fifth driver 3441 and a connecting rod, the fifth driver 3441 is arranged in the mounting cylinder 336; one end of the connecting rod 3442 is connected with the fifth driver 3441, and the other end is hingedly connected with the transmission plate 3332; the mounting portion 3333 comprises a mounting groove 3333a arranged on the transmission plate 3332, which is arranged in an inclined manner along the axial direction of the mounting cylinder 336; the fitting portion 3341 comprises a protruding column 3341a arranged on the cutting member 334, each protruding column 3341a is hingedly connected with a corresponding mounting groove 3333a and can slide relative to the mounting groove 3333a, and a wedge-shaped fitting is formed between the protruding column 3341a and the corresponding mounting groove 3333a; the fifth driver 3441 is used to drive the transmission plate 3332 to reciprocally move along the axial direction of the mounting cylinder 336, and under the cooperation of the mounting groove 3333a and the protruding column 3341a, the displacement of the transmission plate 3332 along the axial direction of the mounting cylinder 336 can be converted into the displacement of the cutting member 334 along the radial direction of the mounting cylinder 336, so as to drive the two cutting members 334 to move close to or away from each other.

[0088] When the two cutting members 334 move close to each other, the fruit stalks can be cut, so that the strawberries can fall off the strawberry body, in order to avoid damage caused by falling, further, as shown in Figure 8 and Figure 9 As shown in FIG. 13, the second transmission component 333 further comprises a mounting cylinder 336 arranged on one side of the housing 3331, which is in the shape of an elongated cylinder, so as to extend into the rhizome of the strawberry, the fourth driving component 344 is arranged in the mounting cylinder 336, and the transmission plate 3332 can be telescopically moved away from one end of the mounting cylinder 336 and the housing 3331; the fourth driving component 344 comprises a fifth driver 3441 and a connecting rod, the fifth driver 3441 is arranged in the mounting cylinder 336; one end of the connecting rod 3442 is connected with the fifth driver 3441, and the other end is hingedly connected with the transmission plate 3332; the mounting portion 3333 comprises a mounting groove 3333a arranged on the transmission plate 3332, which is arranged in an inclined manner along the axial direction of the mounting cylinder 336; the fitting portion 3341 comprises a protruding column 3341a arranged on the cutting member 334, each protruding column 3341a is hingedly connected with a corresponding mounting groove 3333a and can slide relative to the mounting groove 3333a, and a wedge-shaped fitting is formed between the protruding column 3341a and the corresponding mounting groove 3333a; the fifth driver 3441 is used to drive the transmission plate 3332 to reciprocally move along the axial direction of the mounting cylinder 336, and under the cooperation of the mounting groove 3333a and the protruding column 3341a, the displacement of the transmission plate 3332 along the axial direction of the mounting cylinder 336 can be converted into the displacement of the cutting member 334 along the radial direction of the mounting cylinder 336, so as to drive the two cutting members 334 to move close to or away from each other.

[0089] Furthermore, in combination with Figures 1 to 3As shown, the picking mechanism 3 is provided with two sets, and the two sets of picking mechanism 3 are respectively located on the left and right sides of the rack 1, and the picking efficiency can be further improved by simultaneously picking through the two sets of picking mechanism 3. Specifically, during picking, the picking device 100 is located in the middle of the driving path, and the two sets of picking mechanism 3 can be used to pick fruits in the picking area on both sides of the driving path, and the picking speed is faster.

[0090] In addition, the picking device 100 further comprises a loading plate provided on the rack 1 and located between the two sets of picking mechanism 3. After the two clamping pieces 3371 of the execution structure 33 clamp the fruit stem of the strawberry, the two clamping pieces 3371 can be further rotated to move to the loading plate, and after the strawberry is placed on the loading plate, the two clamping pieces 3371 are reset to the waiting state to pick the next strawberry.

[0091] Furthermore, the picking device 100 further comprises an alarm device electrically connected with the control device 1000. When the picking device 100 abnormally, such as the battery is used up, the execution structure 33 abnormally works or the walking mechanism 2 cannot walk, the alarm device can give an alarm to prompt the user to handle in time. The alarm mode is various, such as sound signal, photoelectric signal, etc., which will not be described in detail here.

[0092] The application further provides a control device 1000 of the picking device 100. It should be noted that the control device 1000 can be understood with reference to Figure 10 The control device 1000 of the picking device 100 can comprise a processor 1001 such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004 and a memory 1005. The communication bus 1002 is used to realize the connection and communication among these components. The user interface 1003 can comprise a display, an input unit such as a keyboard, and a key. The optional user interface 1003 can further comprise a standard wired interface and a wireless interface. The network interface 1004 can optionally comprise a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory or a stable memory such as a disk memory. The memory 1005 can optionally be a storage device independent of the aforementioned processor 1001.

[0093] Those skilled in the art can understand that Figure 10 The structure of the control device 1000 shown in the specification does not constitute a limitation on the control device 1000, and can comprise more or fewer components than shown, or combine certain components, or different component arrangements.

[0094] As Figure 10As shown, the memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a control program of the picking device 100.

[0095] In Figure 10 In the control device 1000 as shown, the control program of the picking device 100 stored in the memory 1005 is called by the processor 1001, and the following operations are performed:

[0096] Receiving a start-up instruction, obtaining first position information of a target fruit;

[0097] According to the first position information, it is determined whether the target fruit is located within the execution range of the picking mechanism 3;

[0098] If the target fruit is located within the execution range of the picking mechanism 3, the picking mechanism 3 is moved to pick the target fruit;

[0099] If the target fruit is located outside the execution range of the picking mechanism 3, the walking mechanism 2 is started until the target fruit is located within the execution range of the picking mechanism 3, and then the picking mechanism 3 is moved to pick the target fruit.

[0100] Further, the processor 1001 calls the control program of the picking device 100 stored in the memory 1005, and further performs the following operations:

[0101] Receiving a start-up instruction, obtaining first image information of fruits in a picking area;

[0102] According to the first image information, a target fruit is determined, and first position information of the target fruit is determined.

[0103] Further, the processor 1001 calls the control program of the picking device 100 stored in the memory 1005, and further performs the following operations:

[0104] If the target fruit is located outside the execution range of the picking mechanism 3, the walking mechanism 2 is started;

[0105] Obtaining preset path information of the travel surface, and controlling the walking mechanism 2 to move a specified distance along the preset path according to the first position information;

[0106] When the walking mechanism 2 moves the specified distance, the movement is stopped, and second position information of the target fruit is obtained;

[0107] According to the second position information, the picking mechanism 3 is moved to pick the target fruit.

[0108] Further, the processor 1001 calls the control program of the picking device 100 stored in the memory 1005, and further performs the following operations:

[0109] Receiving a start-up instruction, obtaining a first distance value of a first target area, and obtaining a second distance value of a second target area;

[0110] Comparing the first distance value and the second distance value;

[0111] If the first distance value is less than the second distance value, moving the walking mechanism 2 according to the first distance value;

[0112] If the second distance value is less than the first distance value, moving the walking mechanism 2 according to the second distance value.

[0113] In combination with the above hardware facilities, the present application further provides a picking control method, as shown in the above, the picking control method comprising the following steps: Figure 11

[0114] S100, receiving a start-up instruction, and obtaining first position information of a target fruit;

[0115] Wherein, mechanical buttons, touch screen buttons can be provided on the rack 1 of the picking device 100, or a start button is provided on a user mobile terminal (such as a mobile phone, a tablet computer or a computer), or a voice receiving device is provided on the picking device 100, and the start-up instruction can instruct the user to press the mechanical button, the touch screen button, or send a start instruction from a remote terminal, or control the picking device 100 to start through a voice instruction. The starting mode of the picking device 100 is various, and will not be described one by one here, and any starting mode that can start the picking device 100 to perform picking work should belong to the protection scope of the present application. The first position information of the target fruit is obtained, that is, the distance between the target fruit and the execution structure 33 of the picking device 100 is determined, so that the fruit can be picked by the execution structure 33. The target fruit is a mature fruit or a fruit of a certain size or a fruit of a certain color determined by the user, for example, a strawberry is determined as a target fruit when it is red to a certain extent, or a single strawberry is a target fruit when the red proportion is more than 50%.

[0116] S200, determining whether the target fruit is located within the execution range of the picking mechanism 3 according to the first position information;

[0117] It can be understood that the distance between the target fruit and the execution structure 33 of the picking mechanism 3 can be calculated by the control device 1000 through the first position information, that is, the position of the target fruit, so as to determine whether the target fruit can be picked by the picking mechanism 3, and further, the control device 1000 can determine whether to control the walking mechanism 2 to move or directly control the execution structure 33 to perform a picking action.

[0118] S210, if the target fruit is located within the execution range of the picking mechanism 3, moving the picking mechanism 3 to pick the target fruit;

[0119] ​S220, if the target fruit is located outside the execution range of the picking mechanism 3, the walking mechanism 2 is started until the target fruit is located within the execution range of the picking mechanism 3, and the picking mechanism 3 is moved to pick the target fruit.

[0120] It can be understood that when the control device 1000 calculates that the target fruit is located within the execution range of the picking mechanism 3 according to the first position information, the control device 1000 can directly control the picking mechanism 3 to work to perform the action of picking the strawberry; when the control device 1000 calculates that the target fruit is located outside the execution range of the picking mechanism 3 according to the first position information, the control device 1000 can control the walking mechanism 2 to work to drive the whole picking device 100 to move towards the direction close to the target fruit, and then control the picking mechanism 3 to work when the target fruit is located within the execution range of the picking mechanism 3.

[0121] The picking control method can automatically obtain the target fruit and the first position information thereof, so that whether the target fruit is located within the execution range of the picking mechanism 3 can be determined through the first position information, and the walking mechanism 2 or the picking mechanism 3 can be further controlled to work to realize automatic picking of the fruit, so that the whole process of picking the fruit does not need manual operation, the position of the target fruit can be more accurately obtained, the picking efficiency of the fruit is higher, and the picking quality is also more guaranteed.

[0122] Further, the above step S100 specifically includes:

[0123] S110, receiving a start-up instruction, and obtaining first image information of fruits in a picking area;

[0124] S120, determining a target fruit according to the first image information, and determining first position information of the target fruit.

[0125] It can be understood that when the first position information of the target fruit is obtained, the position of the target fruit needs to be determined first to determine which is the target fruit and which is not. There are many judgment methods, for example, some fruits are mature and need to be picked when the fruit body is red, at this time, the color information of the fruit can be obtained to confirm that the fruit is the target fruit; some fruits are picked when they are not fully mature, but are picked according to the size of the fruit, so the size information of the fruit can be obtained to determine the target fruit; or the user needs to meet both the maturity and size to pick, so as to confirm the target fruit. The confirmation of the target fruit can be set according to the specific conditions of different fruits and vegetables. The structure of the picking device 100 is specifically described below by taking the color confirmation method as an example.

[0126] Specifically, when the picking device 100 is started, the first camera module 31 can obtain the first image information of the picking area, which includes the color information and the first position information of the fruits. By comparing the color information with the preset color, the target fruit area (referred to as target area) is determined, and the first position information of the target fruits in the target area is obtained. For example, when the first camera module 31 obtains the first image information, the first image information can be sent to the control device 1000, and the control device 1000 can analyze and process the first image information. For example, the first image information can be divided into multiple sub-areas, and the proportion of target fruits in the multiple sub-areas is compared. The sub-area with more target fruits is determined as the target area (i.e., the area with a large red area in the first image information can be set as the target area). Further, the positions of each target fruit in the target area are marked, and the first position information can refer to the coordinate position information of the multiple target fruits in the target area. Thus, it is determined whether the target area is located in the execution range of the execution structure 33, and the confirmation of the target area is more intelligent, so that the picking efficiency is higher.

[0127] Moreover, when most of the target fruits in the target area are located in the execution range of the execution structure 33, the control device 1000 can control the execution structure 33 to directly perform the picking work. After most of the target fruits are picked, the walking mechanism 2 can be controlled by the control device 1000 to make fine adjustment, so that the remaining target fruits are located in the execution range, and then the execution structure 33 is controlled to pick the target fruits. The picking efficiency is higher, and the picking is more flexible and intelligent.

[0128] The step S220 specifically includes:

[0129] S221, if the target fruit is located outside the execution range of the picking mechanism 3, the walking mechanism 2 is started;

[0130] S222, obtaining the preset path information of the driving surface, and controlling the walking mechanism 2 to move along the preset path by a specified distance according to the first position information;

[0131] S223, when the walking mechanism 2 moves by the specified distance, the movement is stopped, and the second position information of the target fruit is obtained;

[0132] S224, moving the picking mechanism 3 to pick the target fruit according to the second position information.

[0133] It should be noted that the picking device 100 is usually arranged in a certain picking area when picking, and if the picking area is a vegetable shed or a picking garden, the fruits and vegetables arranged in the picking area are usually arranged in a certain rule, and a certain detection mark (such as a reflective strip or an identifier) is usually arranged on the picking ground to form a driving path of the walking mechanism 2, so as to ensure that the picking device 100 will not crush the strawberry seedlings or surrounding components (such as planting pots) when picking. For example, the planted fruits are arranged in rows, and a driving path is arranged between the adjacent two rows of fruits for the picking device 100 or manual driving, and the detection mark is usually arranged in the middle of the two driving paths, so that the picking device 100 can refer to the detection mark when driving, so as to keep the picking device 100 in the middle of the driving path during driving, and avoid damaging the fruit plants.

[0134] The picking mechanism 3 has various forms, such as a picking mechanical arm or a picking clamp, and the picking mechanism 3 has a certain movement stroke, thereby limiting the picking range of the picking mechanism 3, that is, the execution range of the picking mechanism 3. Only when the target fruit is located in the execution range of the picking mechanism 3, the picking mechanism 3 can pick the fruit, and therefore, the control device 1000 needs to control the walking mechanism 2 to move, so that when the target fruit is far away from the picking mechanism 3, the walking mechanism 2 is first moved to make the target fruit located in the execution range of the picking mechanism 3, and then picking is performed. Moreover, the second camera module 32 is arranged on the picking mechanism 3, the second camera module 32 can further obtain the accurate positions of the target fruits in the target area, and the control device 1000 can control the movement of the execution structure 33 according to the second position information of the second camera module 32, so as to pick the target fruits one by one. The second camera module 32 includes a laser ranging sensor, two second cameras and an illumination component arranged on the execution structure 33. The laser ranging sensor can measure the distance between the target fruit and the execution structure 33, the two second cameras can be two depth cameras, and the two second cameras form binocular vision detection, so as to accurately obtain the three-dimensional coordinate information of the target fruit in combination with the distance measurement of the laser ranging sensor, and the execution structure 33 is more accurate when moving, thereby the point-to-point picking makes the picking effect better and the fruits are less damaged.

[0135] In addition, when the picking device 100 has two sets, the above step S100 specifically includes:

[0136] receiving a start-up instruction, obtaining a first distance value of the first target area, and obtaining a second distance value of the second target area;

[0137] comparing the first distance value and the second distance value;

[0138] If the first distance value is less than the second distance value, the walking mechanism 2 is moved according to the first distance value;

[0139] If the second distance value is less than the first distance value, the walking mechanism 2 is moved according to the second distance value.

[0140] It should be noted that since the strawberries are generally planted in rows when planted, in order to improve the picking efficiency when the picking device 100 moves between two adjacent rows of strawberries, a set of picking mechanism 3 can be arranged on the left and right sides of the picking device 100, and the two sets of picking mechanism 3 can be used to pick the strawberries on the left and right sides of the picking device 100 at the same time, and the picking speed is faster. However, it can be understood that since the first camera module 31 is arranged on both picking mechanisms 3, when the two first camera modules 31 obtain two target areas, the principle of short distance first picking can be adopted for picking.

[0141] Among them, the two picking mechanisms 3 can be defined as a first picking mechanism 3 and a second picking mechanism 3, after the picking device 100 is turned on, the first picking mechanism 3 obtains the first position information of the first target area, and at the same time, the second picking mechanism 3 can obtain the first position information of the second target area, and the first distance value of the first target area and the second distance value of the second target area can be calculated by the control device 1000, and the first distance value and the second distance value are further compared, if the first distance value is less than the second distance value, the walking mechanism 2 is moved according to the first distance value, so that the picking device 100 can be moved first towards the direction close to the first target area, and the first target area is picked, and at this time, the second picking mechanism 3 can further detect whether there is a target fruit within the execution range of the second picking mechanism 3, if there is, it can be picked at the same time; if the second distance value is less than the first distance value, the walking mechanism 2 is moved according to the second distance value, so that the picking device 100 can be moved first towards the direction close to the second target area, and the second target area is picked, and at this time, the first picking mechanism 3 can further detect whether there is a target fruit within the execution range of the first picking mechanism 3, if there is, it can be picked at the same time.

[0142] Of course, when the picking device 100 also includes an alarm device, the picking control method further includes:

[0143] When the picking device 100 is abnormal, the alarm device sends an alarm.

[0144] Specifically, when the picking device 100 is abnormal, such as running out of power, the execution structure 33 is abnormal, or the walking mechanism 2 cannot walk, the alarm device can send an alarm to prompt the user to handle it in time. The alarm mode is various, such as sound signal, photoelectric signal, etc., which will not be described here.

[0145] Obviously, the above described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, other different forms of changes or variations can be made by those skilled in the art without creative labor, and all should belong to the protection scope of the present application.

Claims

1. A harvesting control method, applicable to harvesting equipment, characterized in that, The harvesting equipment includes a walking mechanism and a harvesting mechanism. The walking mechanism is used to drive the harvesting equipment to move, and the harvesting mechanism is used to harvest the target fruit. There are two sets of harvesting mechanisms, namely a first harvesting mechanism and a second harvesting mechanism. The first harvesting mechanism can obtain the first location information of the first target area, and the second harvesting mechanism can obtain the first location information of the second target area. The harvesting control method includes: Upon receiving the power-on command, the system obtains a first distance value for the first target area based on the first location information of the first target area obtained by the first harvesting mechanism; and obtains a second distance value for the second target area based on the first location information of the second target area obtained by the second harvesting mechanism. Compare the first distance value and the second distance value; If the first distance value is less than the second distance value, the walking mechanism is moved according to the first distance value; If the second distance value is less than the first distance value, the walking mechanism is moved according to the second distance value; The first image information is divided into multiple sub-regions. The proportions of target fruits in the multiple sub-regions are compared. The sub-region with more target fruits is identified as the target region. The positions of each target fruit in the target region are then marked, and the first position information of the target fruit is determined. Determine whether the target fruit is within the harvesting facility's operational range based on the initial location information; If the target fruit is within the harvesting mechanism's operating range, the harvesting mechanism will move to harvest the target fruit. If the target fruit is outside the harvesting mechanism's operating range, the walking mechanism is activated until the target fruit is within the harvesting mechanism's operating range, at which point the harvesting mechanism is moved to harvest the target fruit.

2. The harvesting control method as described in claim 1, characterized in that, If the target fruit is outside the operating range of the harvesting mechanism, the walking mechanism is activated until the target fruit is within the operating range of the harvesting mechanism, at which point the harvesting mechanism is moved to harvest the target fruit. Specifically, this includes: If the target fruit is outside the harvesting mechanism's operating range, the walking mechanism will be activated; Obtain the preset path information of the driving surface, and control the walking mechanism to move a specified distance along the preset path according to the first position information; After the walking mechanism moves a specified distance, it stops moving and obtains the second position information of the target fruit; The harvesting mechanism moves to pick the target fruit based on the second location information.

3. A control device for harvesting equipment, characterized in that, The device includes a memory, a processor, and a control program for a harvesting device stored in the memory and executable on the processor, the control program being configured to implement the steps of the harvesting control method for the harvesting device as described in any one of claims 1 to 2.

4. A harvesting device, characterized in that, include: frame; A traveling mechanism, mounted on the frame, is used to drive the frame to move; A harvesting mechanism, mounted on the frame, includes a first camera module, a second camera module, an execution structure movably mounted on the frame, and a harvesting drive structure connected to the execution structure. The execution structure has a harvesting state close to the target fruit and a waiting state far from the target fruit. The harvesting drive structure drives the execution structure to switch between the harvesting state and the loading state. The first camera module is used to acquire first image information of the target fruit, and the second camera module is used to acquire second position information of the target fruit. Two sets of harvesting mechanisms are provided, namely a first harvesting mechanism and a second harvesting mechanism. The control device is electrically connected to the walking mechanism, the first camera module, the second camera module, and the picking drive structure. The control device is used to control the walking mechanism to work based on the first image information obtained by the first camera module, and to control the picking drive structure to work based on the second position information obtained by the second camera module. The control device can analyze and process the first image information, divide the first image information into multiple sub-regions, compare the proportion of target fruits in the multiple sub-regions, identify the sub-region with more target fruits as the target region, and then mark the position of each target fruit in the target region. Furthermore, the control device obtains a first distance value of the first target area based on the first location information of the first target area obtained by the first harvesting mechanism; and obtains a second distance value of the second target area based on the first location information of the second target area obtained by the second harvesting mechanism. Compare the first distance value and the second distance value; If the first distance value is less than the second distance value, the control device can move the walking mechanism according to the first distance value; If the second distance value is less than the first distance value, the control device can move the walking mechanism according to the second distance value.

5. The harvesting equipment as described in claim 4, characterized in that, The execution structure includes: A support frame is movably mounted on the frame and extends along the vertical direction of the frame. The support frame has at least a travel distance along the front-back direction of the frame and a travel distance that allows it to rotate relative to the frame. The first transmission component is connected to the support frame and can move relative to the support frame in the vertical direction of the frame; The second transmission component is hinged to the first transmission component and has a rotatable stroke relative to the first transmission component. The second transmission component includes a housing and a transmission plate movably disposed on one side of the housing. The transmission plate has a rotatable stroke toward and away from the housing and is provided with two mounting portions. Two cutting components are connected to the transmission component. Each cutting component is provided with a mating part. The two mating parts are configured to mate with the two mounting parts. When the transmission plate moves in a direction closer to or further away from the housing under the drive of the picking drive structure, the two cutting components can be driven to move closer to or further away from each other under the action of the mounting part and the mating part. The picking drive structure includes a first drive component connected to the support frame, a second drive component connected to the first transmission component, a third drive component connected to the second transmission component, and a fourth drive component connected to the transmission plate.

6. The harvesting equipment as described in claim 5, characterized in that, The first driving component includes: The first driver is mounted on the rack; A first sliding block is connected to the first driver, and the first driver is used to drive the first sliding block to move along the front-back direction of the frame; The second driver is located on the first sliding block; The first gear transmission assembly includes a first gear and a second gear that mesh with each other. The first gear is connected to the output shaft of the second driver. The rotation shaft of the first gear is perpendicular to the rotation shaft of the second gear, and the rotation shaft of the second gear extends along the vertical direction of the frame. The support frame is connected to the second gear, and the rotation of the second gear drives the support frame to rotate.

7. The harvesting equipment as described in claim 6, characterized in that, The support frame includes a base plate and a support rod disposed on the base plate. The base plate is connected to the second gear, and the support rod extends along the vertical direction of the frame. The second driving component includes a lead screw arranged parallel to the support rod, a nut screwed to the lead screw, a second gear transmission group connected to the nut, and a third driver connected to the second gear transmission group; The first transmission component includes a transmission bracket, one end of which is movably sleeved on the outside of the support rod. The second gear transmission group includes a meshing third gear and a fourth gear. The third gear is connected to the nut. The third driver is disposed on the transmission bracket and connected to the fourth gear. The third driver drives the fourth gear to rotate, thereby causing the third gear to rotate so that the nut moves up and down along the lead screw and drives the transmission bracket to move up and down along the frame. The second transmission component is hinged to the other end of the transmission bracket.

8. The harvesting equipment as described in claim 5, characterized in that, The second transmission component further includes a transmission shaft, at least a portion of which extends from the housing and is fixedly connected to the first transmission component; the third drive component includes: The fourth actuator is located within the housing; The third gear transmission assembly includes a fifth gear and a worm gear meshing with each other. The worm gear is connected to the fourth driver, and the fifth gear is rotatably connected to the housing. The rotation shaft of the fifth gear extends along the vertical direction of the frame, and the fifth gear is connected to the transmission shaft; and / or, The second transmission component further includes a mounting cylinder disposed on one side of the housing, the fourth driving component is disposed inside the mounting cylinder, and the transmission plate can extend and retract from the end of the mounting cylinder away from the housing; The fourth driving component includes: The fifth actuator is located inside the mounting cylinder; The connecting rod is connected at one end to the fifth driver and at the other end to the transmission plate; The mounting part includes a mounting groove provided on the transmission plate, the mounting groove being inclined along the axial direction of the mounting cylinder; the mating part includes a protrusion provided on the cutting member, each of the protrusions being hinged to the corresponding mounting groove and being slidable relative to the mounting groove. The fifth actuator is used to drive the transmission plate to reciprocate along the axial direction of the mounting cylinder, thereby causing the two cutting parts to move closer or further apart under the cooperation of the mounting groove and the protrusion; and / or, The execution structure further includes a clamping component, which includes two clamping plates located below the two cutting elements, and the two clamping plates are respectively connected to the two cutting elements one-to-one.

9. The harvesting equipment as described in claim 4, characterized in that, The two harvesting mechanisms are located on the left and right sides of the frame, respectively.

Images