Tomato picking robot and picking method thereof

Abstract

The application relates to the technical field of fruit and vegetable picking, in particular to a tomato picking robot and a picking method thereof, which comprises a vehicle body, a control module, a storage mechanism and a mechanical hand, the storage mechanism and the mechanical hand are arranged on the vehicle body, the control module is arranged on the vehicle body and is used for collecting tomato information and controlling the mechanical hand to pick, a buffering mechanism is arranged on the vehicle body, the buffering mechanism comprises a buffering pipe and a damping pad, the buffering pipe is arranged on the vehicle body, the buffering pipe extends to the storage mechanism, the mechanical hand places picked tomatoes in the buffering pipe, and the damping pad is arranged on the inner wall of the buffering pipe and is used for reducing the collision of the tomatoes. The application has the effects of reducing the collision injury of the tomatoes and prolonging the storage time of the tomatoes.

Description

TECHNICAL FIELD

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

[0002] At present, the planting of domestic fruit and vegetable greenhouses and orchards mainly relies on manual labor. As an important work link in agricultural production, vegetable and fruit picking accounts for about 35% to 45% of the labor force in the entire production process, and is seasonally constrained, with high labor intensity, low efficiency, high cost, short cycle, and certain danger.

[0003] In related technologies, a tomato picking robot is disclosed in a Chinese patent with the authorization announcement number CN211020083U, which includes a support seat, the bottom end of the support seat is fixedly installed with two DC motors, the output end of each DC motor is provided with a main transmission shaft, one end of the main transmission shaft is fixedly provided with a main transmission gear, the main transmission gear is connected with a secondary transmission gear through a transmission track, the corresponding secondary transmission gears at both ends are connected through a secondary transmission shaft, the upper end of the support seat is fixedly installed with a support frame, the two ends of the support frame are installed with mechanical arms, the end of each mechanical arm away from the support frame is installed with a first mechanical hand and a second mechanical hand respectively, the upper end of the support frame is fixedly provided with a control box, a binocular camera is embeddedly installed on the side of the control box close to the mechanical hand, a main controller is fixedly arranged on the outer end side of the control box, and a picking box is arranged at one end of the support seat; when picking tomatoes, the first mechanical hand or the second mechanical hand picks tomatoes and then places the tomatoes in the picking box.

[0004] In the implementation of the present application, the inventors found that in the prior art, at least the following problems exist: when the mechanical hand places the tomatoes, the tomatoes are likely to be knocked in the picking box, which causes the tomatoes to be injured and leads to a shorter preservation time. SUMMARY

[0005] In order to reduce the collision and injury of tomatoes and prolong the preservation time of tomatoes, the present application provides a tomato picking robot and a picking method thereof.

[0006] In the first aspect, the present application provides a tomato picking robot, which adopts the following technical scheme:

[0007] The application discloses a tomato picking robot, which comprises a vehicle body, a control module, a storage mechanism and a mechanical arm, wherein the storage mechanism and the mechanical arm are arranged on the vehicle body, the control module is arranged on the vehicle body and is used for collecting tomato information and controlling the mechanical arm to pick tomatoes, and a buffering mechanism is arranged on the vehicle body and comprises a buffering pipe and a damping pad.

[0008] When the tomato picking robot picks tomatoes, the vehicle body travels to a tomato picking position, the control module collects tomato information and controls the mechanical arm to pick tomatoes, and then the picked tomatoes are placed in the buffering pipe, the tomatoes enter the buffering pipe and collide with the damping pad, the tomatoes enter the storage mechanism along the buffering pipe, the buffering mechanism is arranged to reduce the free-fall movement of the tomatoes and the collision of the tomatoes, thereby reducing the probability of the tomatoes being damaged, prolonging the storage time of the tomatoes, reducing the time for the mechanical arm to place the tomatoes and improving the tomato picking efficiency.

[0009] Optionally, the buffering mechanism further comprises an air buffering assembly, the air buffering assembly comprises a buffering ring pipe and an air pump, the buffering ring pipe is arranged in the buffering pipe, the buffering ring pipe is provided with a buffering air hole which is inclined to the direction close to the mechanical arm and is used for slowing down the falling speed of the tomatoes, and the air pump is arranged on the vehicle body and is used for supplying air to the buffering ring pipe.

[0010] When the tomatoes enter the storage mechanism along the buffering pipe, the air pump intermittently supplies air to the buffering ring pipe, the air blown out of the buffering air hole blows the tomatoes, so that the tomatoes have a short hovering time, the falling speed of the tomatoes is slowed down, the collision of the tomatoes entering the storage mechanism is reduced, the probability of the tomatoes being damaged is further reduced, the storage time of the tomatoes is prolonged, and the appearance of the tomatoes is better.

[0011] Optionally, the buffering pipe is provided with a buffering ring, the buffering ring is arranged at one end of the buffering pipe close to the mechanical arm and is in a funnel shape, the buffering ring is made of an elastic material and is provided with a plurality of expansion joints in the circumferential direction.

[0012] When the tomatoes fall on the buffering ring, the expansion joints are expanded or contracted due to the gravity of the tomatoes, so that the tomatoes enter the buffering pipe through the buffering ring, the buffering ring can reduce the falling speed of the tomatoes and separate the sundries on the surface of the tomatoes from the tomatoes.

[0013] Optionally, the damping pad is provided with a vortex member, the vortex member is located at a position close to the buffer ring tube of the damping pad, and the vortex member is used for guiding air blown out of the buffer hole to converge in a direction close to the mechanical hand.

[0014] By adopting the above technical scheme, when the tomato falls along the buffer tube to the storage mechanism, the air pump is started, the air pump blows air out of the buffer hole, the air blows on the vortex member, the vortex member guides the air, so that the air is concentrated in the middle of the buffer tube, the air blows on the tomato, the tomato appears to be in the air and slowly falls after the air disappears; through the setting of the vortex member, the air is concentrated in the middle of the buffer tube, and the air is blown on the surface of the tomato, and the falling speed of the tomato is reduced, so that the initial speed of the tomato tends to zero, thereby reducing the falling speed and the falling distance of the tomato, reducing the damage of the tomato, and prolonging the storage time of the tomato.

[0015] Optionally, the storage mechanism comprises a storage box, a bottom plate and a lifting assembly, the storage box is arranged on the vehicle body, the bottom plate is arranged in the storage box and can slide in the vertical direction, and the lifting assembly is arranged on the vehicle body and connected with the bottom plate to drive the bottom plate to slide.

[0016] By adopting the above technical scheme, when the tomato approaches the storage box through the buffer tube, the lifting assembly drives the bottom plate to approach the buffer tube, and the tomato falls on the bottom plate, and the bottom plate can slide in the vertical direction, so that the falling height of the tomato is shortened, and the probability of injury of the tomato is further reduced, and the storage time of the tomato is prolonged.

[0017] Optionally, a plurality of first placing grooves and second placing grooves for placing tomatoes are arranged on the bottom plate, and the first placing grooves and the second placing grooves are arranged at intervals.

[0018] By adopting the above technical scheme, when the maturity degrees of the tomatoes are different, the tomatoes can be placed in the first placing grooves and the second placing grooves according to the maturity degrees, and the mature tomatoes can accelerate the ripening of the semi-mature tomatoes, so that the ripening states of the semi-mature tomatoes are roughly consistent.

[0019] Optionally, a moving mechanism is arranged on the vehicle body, the moving mechanism comprises a moving seat and a longitudinal moving assembly, the moving seat is arranged on the vehicle body and can slide, the storage box and the lifting assembly are arranged on the moving seat, and the longitudinal moving assembly is arranged on the vehicle body and drives the moving seat to slide.

[0020] By adopting the above technical scheme, when placing tomatoes, the longitudinal moving assembly drives the moving seat to slide, the moving seat drives the storage box to slide, the position of the storage box is changed, the position of placing tomatoes is changed, tomatoes are not gathered in one place, and the rolling of tomatoes after stacking is reduced, the knocking of tomatoes is reduced, and the placing of ripe and semi-ripe tomatoes is facilitated.

[0021] Optionally, the moving mechanism further comprises a transverse moving seat and a transverse moving assembly, the transverse moving seat is slidably arranged on the vehicle body, the moving seat is arranged on the transverse moving seat, and the transverse moving assembly is arranged on the vehicle body and connected with the transverse moving seat to drive the transverse moving seat to slide.

[0022] By adopting the above technical scheme, when placing tomatoes, the longitudinal moving assembly drives the moving seat to slide, the moving seat drives the storage box to slide, the transverse moving assembly drives the transverse moving seat to slide, the transverse moving seat drives the moving seat to slide, the position of the storage box is changed, the position of placing tomatoes is changed, tomatoes are not gathered in one place, and the rolling of tomatoes after stacking is reduced, the knocking of tomatoes is reduced, and the placing of ripe and semi-ripe tomatoes is facilitated.

[0023] In a second aspect, the application provides a tomato picking method, which adopts the following technical scheme:

[0024] A tomato picking method comprises the following steps:

[0025] An picking instruction is acquired;

[0026] Based on the picking instruction, a preset picking path library is called;

[0027] A current picking path library is acquired, and the current picking path is included in the picking path library;

[0028] Based on the current picking path, a picking robot is released according to a pre-generated robot release table, and the picking robot picks tomatoes according to the current picking path;

[0029] A tomato growth image is acquired, the maturity of the current tomato is determined according to image maturity information, if the tomato is mature, the tomato is picked, and if the tomato is not mature, the tomato is not picked;

[0030] The picked tomatoes are collected by a storage mechanism;

[0031] When the current robot is picking, an electric quantity value of the current picking robot is acquired;

[0032] It is determined whether the electric quantity value is less than a preset minimum electric quantity threshold value, if yes, the picking robot returns to a charging bin to be charged, and the picking robot is released again according to the robot release table to continue the picking action.

[0033] By adopting the technical scheme, the picking instruction is sent, the picking path library is called based on the picking instruction, and then the current picking path is acquired; the robot releases the tomato picking robot to pick tomatoes according to the picking path, the tomato picking robot moves to the tomato plant, acquires a tomato photo, compares the existing image library with the actual image, judges the maturity state, picks the tomato when the picking requirement is met, and gives up picking when the picking requirement is not met; the tomato that meets the requirement is picked, and then the picked tomato is collected; when the tomato picking robot is picking tomatoes, the power value of the current tomato picking robot is acquired, and when the power value is less than the preset minimum power threshold, the tomato picking robot returns to the charging bin to charge; the tomato is picked through image recognition and judgment, so that the picked tomato is within the range required by the customer, and the power value is monitored to reduce the interruption of picking work or the inability of the robot to return to the charging bin caused by insufficient power.

[0034] Optionally, the picking method further comprises:

[0035] According to the tomato growth image, the mature tomatoes and the semi-mature tomatoes are alternately placed.

[0036] By adopting the technical scheme, the maturity of the tomatoes is judged according to the photographed image, and the mature tomatoes and the semi-mature tomatoes are placed separately, so that the mature tomatoes can accelerate the ripening of the semi-mature tomatoes, and the semi-mature tomatoes are fully surrounded by the semi-mature tomatoes, which facilitates the ripening.

[0037] Optionally, after the picking robot release table is generated, the method further comprises:

[0038] The initial power value is sequentially judged whether it is less than or equal to the power charging threshold, and if so, the preset robot release number is filled into the charging field of the preset charging table;

[0039] The robot library charges the picking robot to be charged according to the charging table.

[0040] By adopting the technical scheme, when the power value of the robot is less than or equal to the power charging threshold, the release number is integrated into the charging field of the charging table, and then the charging is sorted; through the above setting, the probability of the robot being released due to insufficient power is reduced, and the probability of the robot being unable to be recalled is further reduced.

[0041] Optionally, the picking method further comprises:

[0042] The power of the robot to be charged or in the charging state is compared, and the release number is sequentially edited according to the power value from large to small; the picking robot can be temporarily released according to the release number.

[0043] According to the above technical solution, the robots are numbered according to the size of the electric quantity value, and when the number of dispatched robots cannot meet the picking efficiency, the robot with a relatively large electric quantity value can be released to perform picking work, so as to ensure the picking efficiency.

[0044] In summary, the present application has the following beneficial technical effects:

[0045] 1. The free fall motion of the tomatoes is reduced by the buffer mechanism, the collision of the tomatoes is reduced, the probability of injury of the tomatoes is reduced, the storage time of the tomatoes is prolonged, the time of placing the tomatoes by the mechanical hand is reduced, and the tomato picking efficiency is improved;

[0046] 2. The air is gathered in the middle of the buffer pipe by the vortex member, and the air is used to blow and wipe the surface of the tomato, and the falling speed of the tomato is reduced, so that the initial speed of the tomato tends to zero, and the falling speed and the drop of the tomato are reduced, the damage of the tomato is reduced, and the storage time of the tomato is prolonged;

[0047] 3. According to the size of the electric quantity value, when the number of dispatched robots cannot meet the picking efficiency, the robot with a relatively large electric quantity value can be released to perform picking work, so as to ensure the picking efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 It is a structure schematic view of the tomato picking robot in the embodiment of the present application;

[0049] Figure 2 It is a structure schematic view of the storage mechanism in the embodiment of the present application;

[0050] Figure 3 It is a structure schematic view of the moving mechanism in the embodiment of the present application;

[0051] Figure 4 It is a structure schematic view of the lifting assembly in the embodiment of the present application;

[0052] Figure 5 It is a structure schematic view of the air buffer assembly in the embodiment of the present application;

[0053] Figure 6 It is a cross-sectional view of the buffer pipe in the embodiment of the present application;

[0054] Figure 7 It is a flowchart of the tomato picking method in the embodiment of the present application;

[0055] Figure 8 It is a flowchart of the generation of the picking robot release table in the embodiment of the present application;

[0056] Figure 9Release table for picking robot in embodiments of the present application

[0057] Figure 10 Flow chart for temporary release of picking robot in embodiments of the present application.

[0058] 100, vehicle body; 200, control module; 210, binocular RGB-D camera; 220, operation screen; 300, storage mechanism; 310, storage box; 320, bottom plate; 321, first placement slot; 322, second placement slot; 330, lifting assembly; 331, lifting cylinder; 332, connecting plate; 333, connecting strip; 400, mechanical hand; 500, buffer mechanism; 510, buffer tube; 520, shock pad; 530, air buffer assembly; 531, buffer ring tube; 532, air pump; 533, connecting tube; 540, buffer ring; 550, vortex piece; 551, vortex hole; 560, connecting frame; 570, collection hopper; 600, moving mechanism; 610, moving seat; 620, longitudinal moving assembly; 621, longitudinal moving motor; 622, longitudinal moving lead screw; 630, transverse moving seat; 640, transverse moving assembly; 641, transverse moving motor; 642, transverse moving lead screw. DETAILED DESCRIPTION

[0059] The above description is made in conjunction with the accompanying drawings Figures 1-10 The present application is further described in detail.

[0060] Embodiments of the present application disclose a tomato picking robot.

[0061] Reference Figure 1 The tomato picking robot comprises a vehicle body 100, a control module 200 arranged on the vehicle body 100, a storage mechanism 300 arranged on the vehicle body 100 for collecting tomatoes, a mechanical hand 400 arranged on the vehicle body 100 for picking tomatoes, and a buffer mechanism 500 arranged on the vehicle body 100 for reducing the impact of the tomatoes, wherein the buffer mechanism 500 extends to the storage mechanism 300 for guiding the tomatoes; when picking the tomatoes, the vehicle body 100 drives the mechanical hand 400 to run to a position to be picked, the control module 200 identifies the maturity of the tomatoes and controls the mechanical hand 400 to pick the mature tomatoes, and after the picking is completed, the tomatoes are guided into the storage mechanism 300 by the buffer mechanism 500.

[0062] Reference Figure 2 and Figure 3The vehicle body 100 can be a crawler or a tire vehicle. The vehicle body 100 is provided with a moving mechanism 600 for driving the accommodation mechanism 300 to adjust the position. The moving mechanism 600 comprises a transverse moving seat 630 sliding along the width direction of the vehicle body 100. The vehicle body 100 is provided with a transverse moving assembly 640. The transverse moving assembly 640 comprises a transverse moving motor 641 fixedly connected to the inner wall of the transverse moving groove. The output shaft of the transverse moving motor 641 is fixedly connected with a transverse moving lead screw 642. The transverse moving lead screw 642 is rotatably connected to the side wall of the transverse moving groove and is threadedly connected with the transverse moving seat 630.

[0063] Reference Figure 3 and Figure 4 The accommodation mechanism 300 comprises an accommodation box 310 placed on the moving seat 610. The accommodation box 310 is a cylindrical structure with two open ends. Four limiting plates are fixedly connected to one end of the accommodation box 310 close to the moving seat 610. The four limiting plates are connected end to end and fixed to the inner wall of the accommodation box 310 along the circumferential direction of the accommodation box 310. A bottom plate 320 is slidably connected in the accommodation box 310. The bottom plate 320 slides in the vertical direction and approaches or moves away from the limiting plates. A plurality of first placing grooves 321 and a plurality of second placing grooves 322 are formed in the side wall of the bottom plate 320 away from the moving seat 610. In this embodiment, two rows of first placing grooves 321 and one row of second placing grooves 322 are formed. The two rows of first placing grooves 321 are arranged by the one row of second placing grooves 322. The first placing grooves 321 can be used to place more mature tomatoes. The second placing grooves 322 can be used to place semi-mature or relatively immature tomatoes.

[0064] The moving seat 610 is provided with a lifting assembly 330. The lifting assembly 330 comprises four lifting cylinders 331 fixedly connected to the moving seat 610. The cylinder bodies of the four lifting cylinders 331 are sunk into the moving seat 610. A connecting plate 332 is vertically fixedly connected to the piston rod of the lifting cylinder 331. Four connecting strips 333 are fixedly connected to the side wall of the bottom plate 320 close to the moving seat 610. The four connecting strips 333 correspond to the four connecting plates 332 respectively. A connecting groove is formed in one side wall of the same direction of the four connecting strips 333. The connecting plate 332 is inserted into the connecting groove.

[0065] With reference to Figure 5 and Figure 6 The mechanical arm 400 is a six-degree-of-freedom mechanical arm, and the mechanical arm 400 can adopt an elephant MyCobot Pro; the buffer mechanism 500 comprises a connecting frame 560 fixedly connected to the vehicle body 100 and located on one side of the storage box 310, a rotating frame rotatably connected to the connecting frame 560, and a buffer pipe 510 fixedly connected to the rotating frame, one end of the buffer pipe 510 being located above the storage box 310 through rotation of the rotating frame; the other end of the buffer pipe 510 is located on one side of the mechanical arm 400 and is fixedly connected to a material collecting hopper, the material collecting hopper is funnel-shaped, a shock pad 520 is bonded to the inner wall of the buffer pipe 510, and the shock pad 520 is made of a resilient material such as sponge, rubber or silicone; the end of the buffer pipe 510 close to the material collecting hopper is fixedly connected to a buffer ring 540, the buffer ring 540 is funnel-shaped and has a plurality of expansion joints formed at the end with a smaller diameter, the expansion joints are equally and circumferentially spaced apart, and the buffer ring 540 is made of the same resilient material as the shock pad 520.

[0066] With reference to Figure 5 and Figure 6 The buffer pipe 510 is provided with an air buffer assembly 530 for slowing down the falling speed of the tomatoes, the air buffer assembly 530 comprises a buffer ring pipe 531 fixedly connected to one end of the buffer pipe 510 close to the storage box 310, the buffer ring pipe 531 is in abutment with the inner wall of the buffer pipe 510, a plurality of buffer air holes are formed in the buffer ring pipe 531, the buffer air holes are equally and circumferentially spaced apart and inclined toward the middle part of the buffer pipe 510; a gas pump 532 is fixedly connected to the vehicle body 100, a connecting pipe 533 is fixedly connected to the gas outlet end of the gas pump 532, the connecting pipe 533 penetrates through the side wall of the buffer pipe 510 and is connected and communicated with the buffer ring pipe 531, and the part of the connecting pipe 533 outside the buffer pipe 510 is a hose; a vortex member 550 is fixedly connected to one end of the buffer pipe 510 close to the storage box 310, the vortex member 550 is a resilient rubber ring and is in abutment with the buffer ring pipe 531, an arc groove is formed on the side of the vortex member 550 close to the buffer ring pipe 531 and in abutment with the outer wall of the buffer ring pipe 531, a plurality of vortex holes 551 corresponding to the plurality of buffer air holes are formed in the arc groove, the vortex holes 551 are curved and formed and the end thereof away from the buffer ring pipe 531 is curved toward the middle part of the buffer pipe 510, and the cross-sectional area of the vortex holes 551 gradually decreases in the direction away from the buffer ring pipe 531; the buffer air holes are directed toward the end of the buffer pipe 510 close to the middle part of the vortex member 550, and the buffer air holes form a horizontal flow wind through the guidance of the vortex member 550, so that the tomatoes are retained at the vortex member 550, and the initial speed of the tomatoes is reduced to zero due to the air retention.

[0067] With reference to Figure 1 and Figure 2The control module 200 includes an operation screen 220 fixedly connected to the vehicle body 100, and a binocular RGB-D camera 210 fixedly connected to the mechanical arm 400 by bolts to capture RGB pictures and obtain and calibrate depth coordinates. The binocular RGB-D camera 210 can be a camera of the RealSense435i type. The vehicle body 100 is fixedly connected to a controller, and the controller has a control program compiled therein. Tomato photos captured are transmitted to the controller, and a comparison is made with a pre-input color depth to determine the maturity of the tomatoes. The controller is electrically connected to the mechanical arm 400, the air pump 532, the horizontal moving motor 641, the vertical moving motor 621 and the vehicle body 100 to control the picking of the tomatoes, the movement of the vehicle body 100 and the position change of the storage box 310, and also to control the air pump 532 to start and slow down the falling speed of the tomatoes.

[0068] The implementation principle of the tomato picking robot according to the embodiment of the application is as follows. When picking tomatoes, the vehicle body 100 drives the mechanical arm 400 to move to the position of the tomato plants. The binocular RGB-D camera 210 captures photos and compares them with pre-recorded photos, and obtains the coordinates of the tomatoes and transmits the coordinates to the controller. The controller controls the mechanical arm 400 to pick the tomatoes. After picking, the mechanical arm 400 places the tomatoes in the storage hopper. The tomatoes abut against the buffer ring 540 and enter the buffer pipe 510 and fall along the buffer pipe 510. The controller controls the air pump 532 to intermittently blow air, so that the air blown out of the buffer pipe 510 is guided by the vortex member 550 and gathered under the tomatoes, so that the tomatoes are suspended in the air and then fall into the storage box 310. When placing the next tomato, the controller controls the vertical moving motor 621 to start, the vertical moving motor 621 drives the vertical moving lead screw 622 to rotate, the vertical moving lead screw 622 drives the moving seat 610 to slide, the horizontal moving motor 641 starts and drives the horizontal moving lead screw 642 to rotate, and the horizontal moving lead screw 642 drives the horizontal moving seat 630 to slide, so that the position of the storage box 310 and the outlet of the buffer pipe 510 changes, and the next tomato is placed, achieving the placement of the tomatoes at different positions.

[0069] The embodiment of the application also discloses a tomato picking method.

[0070] Reference Figure 7 The tomato picking method comprises the following steps.

[0071] S110, obtaining a picking instruction;

[0072] Specifically, the picking instruction can be input by a worker or issued at a set time.

[0073] S120, based on the picking instruction, calling a preset picking path library; the picking path library stores picking paths, which can be the picking paths of a region or all the picking paths in a responsible region.

[0074] S130, acquire a current picking path library, the current picking path being contained in the picking path library;

[0075] S140, based on the current picking path, the robot library releases the picking robot according to a pre-generated robot release table, and the picking robot picks tomatoes according to the current picking path;

[0076] Specifically, after calling the picking path library, the staff selects the current picking path that needs to be picked, and the picking path is dispatched to the picking robot to be released. After the picking robot receives the picking path, it performs picking work according to the current picking path.

[0077] Referring to Figure 8 , the picking robot release table is generated as follows:

[0078] S141, sequentially acquire initial power values of multiple picking robots in the robot library;

[0079] S142, fill the initial power values in the power value field in the picking robot release table in descending order;

[0080] S143, sequentially fill the pre-set picking robot numbers in the number field of the picking robot release table to generate a complete picking robot release table.

[0081] The picking robot release table is as shown in Figure 9 .

[0082] S150, acquire a tomato growth image, determine the current tomato maturity degree according to the image maturity information, if yes, pick, if not, do not pick;

[0083] Specifically, the tomato growth image can be captured by a binocular RGB-D camera or an infrared camera, and then compared with the pre-input image or the input color and the captured image. When the picking requirement is met, the tomato is picked, and when the picking requirement is not met, the tomato is not picked.

[0084] S160, acquire the power value of the current picking robot when the current picking robot is picking;

[0085] Determine whether the picking power value is less than the pre-set minimum power threshold, if yes, the picking robot returns to the charging compartment in the robot warehouse for charging, and the picking robot is released again according to the robot release table to continue picking action.

[0086] Specifically, in the picking process, the picked electric quantity is compared with the preset minimum electric quantity threshold value, when less than or equal to the minimum electric quantity threshold value, the picking robot is recalled for charging, when the picking robot returns to the charging bin for charging, the position information at the time of recall is sent to the controller, and then the robot bin releases the picking robot to the recall position according to the robot release table to continue the picking work.

[0087] Referring to Figure 10 After S143, S144-S146 can also be included:

[0088] S144, sequentially judge whether the initial electric quantity value of the picking robot is less than or equal to the electric quantity charging threshold value, if yes, fill the preset robot release number to the charging field of the preset charging table;

[0089] S145, the robot library charges the picking robot to be charged according to the charging table;

[0090] S146, the electric quantity of the robot to be charged or in charging is compared, and the temporary release number is edited in turn according to the electric quantity value from large to small, and the picking robot can be temporarily released according to the temporary release number;

[0091] Specifically, when the picking demand is large, the release quantity of the picking robot cannot meet the picking demand, the picking robot to be charged or in charging can be released according to the temporary release number, and the picking robot can be recalled in time when the electric quantity does not meet the picking demand.

[0092] S170, tomato collection and placement, the picked tomatoes are collected by the storage mechanism;

[0093] Specifically, the controller can control the horizontal moving assembly and the vertical moving assembly to drive the horizontal moving seat and the moving seat to slide, so that the position of the storage box changes, and the tomatoes can be placed at different positions;

[0094] When placing tomatoes, the step S171 can be taken:

[0095] S171, according to the tomato growth image, the mature tomatoes and the semi-mature tomatoes are placed alternately;

[0096] Specifically, according to the image comparison result when picking, it is judged whether the tomato belongs to mature or semi-mature state, and then the controller controls the horizontal moving assembly and the vertical moving assembly to drive the horizontal moving seat and the moving seat to slide, so that the mature tomatoes and the immature tomatoes are placed alternately, so that the mature tomatoes are placed around the immature tomatoes, and the maturation of the immature tomatoes is facilitated.

[0097] The implementation principle of the embodiment is:

[0098] The picking instruction is received, and then based on the picking instruction, the picking path library is called, and the current picking path is obtained. After the picking robot is released by the robot warehouse according to the robot release table, the picking robot picks according to the current picking path; when the current picking robot is patrolled, the picking electric quantity value of the current picking robot is obtained, and it is judged whether the picking electric quantity value is less than the electric quantity minimum threshold value, if yes, the robot warehouse recycles the current picking robot, charges the current picking robot, and releases the picking robot according to the picking robot release table; during the picking process of the picking robot, the picking electric quantity is monitored and compared in real time, when it is less than or equal to the minimum electric quantity threshold value, the picking robot is recalled for charging, when the picking robot returns to the charging warehouse for charging, the position information at the time of recall is sent to the controller, then the robot warehouse releases the picking robot to move to the recall position according to the robot release table to continue the picking work, and after picking a tomato, it is placed in the storage mechanism for collection, when collecting, the horizontal moving assembly and the vertical moving assembly drive the storage box position to change according to the initial maturity judgment, so that the mature and semi-mature tomatoes are cross-placed.

[0099] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A tomato picking robot, comprising a vehicle body (100), a control module (200), a storage mechanism (300) and a mechanical hand (400), the storage mechanism (300) and the mechanical hand (400) are arranged on the vehicle body (100), the control module (200) is arranged on the vehicle body (100) for tomato information collection and control of the mechanical hand (400), characterized in that, The vehicle body (100) is provided with a buffering mechanism (500), the buffering mechanism (500) comprises a buffering pipe (510) and a shock pad (520), the buffering pipe (510) is arranged on the vehicle body (100), the buffering pipe (510) extends to the storage mechanism (300), the mechanical hand (400) places the picked tomatoes in the buffering pipe (510), and the shock pad (520) is arranged on the inner wall of the buffering pipe (510) and is used for reducing the bumping of the tomatoes. The buffering mechanism (500) further comprises a gas buffering assembly (530), the gas buffering assembly (530) comprises a buffering ring pipe (531) and a gas pump (532), the buffering ring pipe (531) is arranged in the buffering pipe (510), the buffering ring pipe (531) is provided with a buffering air hole, the buffering air hole is inclinedly arranged towards the direction close to the mechanical hand (400) and is used for slowing down the falling speed of the tomatoes, and the gas pump (532) is arranged on the vehicle body (100) and is used for supplying gas to the buffering ring pipe (531). The buffering pipe (510) is provided with a buffering ring (540), the buffering ring (540) is arranged at one end of the buffering pipe (510) close to the mechanical hand (400) and is funnel-shaped, the buffering ring (540) is made of elastic material and is provided with a plurality of expansion joints along the circumferential direction. The shock pad (520) is provided with a vortex member (550), the vortex member (550) is located at the position of the shock pad (520) close to the buffering ring pipe (531), the vortex member (550) is used for guiding the air blown out of the buffering air hole to converge towards the direction close to the mechanical hand (400), guiding the air, making the air concentrate in the middle part of the buffering pipe, blowing the air on the tomatoes, making the tomatoes appear in the air and slowly falling after the air disappears.

2. The tomato picking robot according to claim 1, characterized in that, The storage mechanism (300) comprises a storage box (310), a bottom plate (320) and a lifting assembly (330), the storage box (310) is arranged on the vehicle body (100), the bottom plate (320) is slidably arranged in the storage box (310) in the vertical direction, and the lifting assembly (330) is arranged on the vehicle body (100) and connected with the bottom plate (320) and drives the bottom plate (320) to slide.

3. The tomato picking robot according to claim 2, characterized in that, A plurality of first placing grooves (321) and second placing grooves (322) for placing tomatoes are formed in the bottom plate (320), and the first placing grooves (321) and the second placing grooves (322) are arranged at intervals.

4. Tomato picking robot according to claim 2 or 3, characterized in that, The vehicle body (100) is provided with a moving mechanism (600), the moving mechanism (600) comprises a moving seat (610) and a longitudinal moving assembly (620), the moving seat (610) is slidably arranged on the vehicle body (100), the storage box (310) and the lifting assembly (330) are arranged on the moving seat (610), and the longitudinal moving assembly (620) is arranged on the vehicle body (100) and drives the moving seat (610) to slide.

5. The tomato picking robot according to claim 4, characterized in that, The moving mechanism (600) further comprises a horizontal moving seat (630) and a horizontal moving assembly (640), the horizontal moving seat (630) is slidingly arranged on the vehicle body (100), the moving seat (610) is arranged on the horizontal moving seat (630), and the horizontal moving assembly (640) is arranged on the vehicle body (100), and the horizontal moving assembly (640) is connected with the horizontal moving seat (630) and drives the horizontal moving seat (630) to slide.

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