Picking method of snap-off picking manipulator and snap-off picking manipulator

Abstract

The present invention relates to the field of picking robot technology, and provides a picking method of a breaking-type picking manipulator and a breaking-type picking manipulator, the method comprising: identifying the position and posture of a fruit to be picked according to an image of the fruit to be picked; controlling the breaking-type picking manipulator to clamp the fruit to be picked according to the position and posture of the fruit to be picked; monitoring the acting force between the breaking-type picking manipulator and the fruit to be picked, determining the connection between the fruit stalk and the fruit to be picked according to the acting force, and controlling the breaking-type picking manipulator to rotate the fruit to be picked according to the connection between the fruit stalk and the fruit to be picked. The picking method of the breaking-type picking manipulator of the present invention monitors the acting force between the breaking-type picking manipulator and the fruit to be picked, ensures that the breaking-type picking manipulator rotates to break the fruit to be picked, ensures the success rate of breaking, and avoids the breaking-type picking manipulator continuing to rotate after the fruit stalk is broken, thereby extending the picking time and reducing the picking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of picking robots, and in particular to a picking method of a breaking-off picking manipulator and the breaking-off picking manipulator. Background Art

[0002] In the related technology, common fruit and vegetable picking robots can be divided into shearing type, pulling type, twisting type and breaking type according to the method of separating the fruit and the stalk.

[0003] Shearing manipulators usually cut fruit stems by setting a blade-shaped structure at the execution end. After the shearing manipulator is used for a long time, fruit stem slurry is likely to remain on the blade, hindering the movement of the blade. At the same time, the blade is easily worn and easily causes damage to the fruit.

[0004] The pulling-off type robot is likely to cause damage to the fruit itself when the fruit stalk is relatively hard; the twisting-off type robot is suitable for fruits with short stalks such as apples, but it is difficult to separate fruits with long stalks such as strawberries and kiwis from the stalks, and it is also easy to cause damage to the fruit itself; the breaking type robot is suitable for fruits with long stalks, and requires less axial tension, which can reduce fruit damage, but the breaking type robot mainly separates the fruit from the stalk by bending the stalk. During the bending process, it is difficult to determine whether the fruit has been separated from the stalk, which can easily lead to picking failure or low picking efficiency. Summary of the invention

[0005] The present invention provides a picking method of a breaking type picking robot and a breaking type picking robot, which are used to solve the problem in the prior art that the breaking type robot is difficult to judge whether the fruit is separated from the fruit stem during the picking process, resulting in picking failure or low picking efficiency.

[0006] In a first aspect, the present invention provides a picking method of a breaking-type picking manipulator, comprising:

[0007] Identify the position and posture of the fruit to be picked according to the image of the fruit to be picked;

[0008] According to the position and posture of the fruit to be picked, controlling the breaking-type picking manipulator to clamp the fruit to be picked;

[0009] Monitor the force between the breaking-type picking robot and the fruit to be picked, determine the connection between the fruit stalk and the fruit to be picked according to the force, and control the breaking-type picking robot to rotate the fruit to be picked according to the connection between the fruit stalk and the fruit to be picked, so that the fruit stalk is bent until the fruit stalk and the fruit to be picked are separated.

[0010] According to the picking method of the breaking type picking manipulator of the present invention, the steps of monitoring the force between the breaking type picking manipulator and the fruit to be picked, determining the connection between the fruit stalk and the fruit to be picked according to the force, and controlling the breaking type picking manipulator to rotate the fruit to be picked according to the connection between the fruit stalk and the fruit to be picked, so that the fruit stalk of the fruit to be picked is bent until the fruit stalk and the fruit to be picked are separated, include:

[0011] Monitoring the rotational torque between the snap-off picking manipulator and the fruit to be picked;

[0012] When the rotation torque of the fruit to be picked on the breaking type picking manipulator does not decrease in a step-like manner, continuously increasing the rotation angle of the breaking type picking manipulator on the fruit to be picked;

[0013] When the rotation torque of the breaking type picking manipulator caused by the fruit to be picked decreases in a step-like manner, the breaking type picking manipulator is controlled to stop rotating.

[0014] According to the picking method of the snap-off picking manipulator of the present invention, the step of controlling the snap-off picking manipulator to clamp the fruit to be picked comprises:

[0015] Monitoring the clamping force between the snap-off picking manipulator and the fruit to be picked;

[0016] The snap-off picking manipulator is controlled to keep the clamping force within a preset range.

[0017] According to the picking method of the breaking-type picking manipulator of the present invention, the step of identifying the position and posture of the fruit to be picked according to the image of the fruit to be picked comprises:

[0018] Based on the image of the fruit to be picked, the shape and position of the fruit to be picked are identified, and obstacles near the fruit to be picked are identified.

[0019] According to the picking method of the snap-off picking manipulator of the present invention, a clamping space is formed on the snap-off picking manipulator for clamping the fruit to be picked; the step of controlling the snap-off picking manipulator to clamp the fruit to be picked according to the position and posture of the fruit to be picked comprises:

[0020] Obtaining the distance between each obstacle and the fruit to be picked, and when the distance between the obstacle and the fruit to be picked is less than or equal to a first preset distance, controlling the break-type picking manipulator to move the corresponding obstacle so that the distance between each obstacle and the fruit to be picked is greater than the first preset distance;

[0021] Adjusting the posture of the snap-off picking manipulator so that the clamping space and the shape of the fruit to be picked are adapted, and controlling the snap-off picking manipulator to approach the fruit to be picked until the center line of the clamping space and the center line of the fruit to be picked in the vertical direction coincide with each other;

[0022] Controlling the snap-off picking manipulator to clamp the fruit to be picked; and in the process of controlling the snap-off picking manipulator to clamp the fruit to be picked, reciprocatingly rotating the end joint of the snap-off picking manipulator to move the surrounding obstacles;

[0023] The posture of the snap-off picking robot is adjusted so that the distance between the snap-off picking robot and each obstacle is greater than a second preset distance.

[0024] In a second aspect, the present invention further provides a breaking type picking manipulator, comprising:

[0025] Multi-axis adjustment device;

[0026] The clamping device comprises first joints arranged opposite to each other and joint components corresponding to the first joints one by one; a clamping space for clamping the fruit to be picked is formed between the two first joints, and the first joints are rotatably arranged on the corresponding joint components; the joint components are movably arranged on the multi-axis adjustment device to adjust the distance between the first joints;

[0027] A sensor assembly, disposed at the first joint and the joint assembly, to detect forces acting on the first joint and the joint assembly;

[0028] A control device is electrically connected to the multi-axis adjustment device, the clamping device and the sensor assembly; the control device is used to identify the position and posture of the fruit to be picked according to the image of the fruit to be picked, and control the multi-axis adjustment device to adjust the position of the clamping device according to the position and posture of the fruit to be picked, and control the first joint to clamp the fruit to be picked according to the force of the joint assembly, and control the first joint to rotate according to the force of the first joint to pick the fruit to be picked.

[0029] According to the snap-off picking manipulator of the present invention, the joint assembly includes a second joint and a third joint; the clamping device also includes a first driving member and a second driving member; and a fixing portion is provided on the multi-axis adjustment device;

[0030] The first joint is rotatably arranged at the corresponding second joint, and the output end of the first driving member is transmission-connected to the first joint to drive the first joint to rotate so as to break the fruit stem of the fruit to be picked;

[0031] The third joint is rotatably connected to the multi-axis adjustment device, and the output end of the second driving member is transmission-connected to the third joint; the second joint is rotatably connected to the corresponding third joint, and the rotating shaft of the second joint is connected to the fixing part;

[0032] The second driving member is used to drive the third joint to rotate so as to adjust the spacing of the first joint; when the third joint rotates, the rotating shaft of the third joint drives the rotating shaft of the second joint to rotate in the opposite direction so as to keep the relative second joints parallel;

[0033] The first driving member and the second driving member are both electrically connected to the control device.

[0034] According to the snap-off picking manipulator of the present invention, the fixing part comprises a first pulley and a fixing rope; the first pulley is fixedly arranged on the multi-axis adjusting device;

[0035] A second pulley coaxially arranged with the rotating shaft is arranged at the rotating shaft of the second joint; the fixing rope is wound around the first pulley and the second pulley, and is fixedly connected to both the first pulley and the second pulley.

[0036] According to the snap-off picking manipulator of the present invention, the first driving member and the second driving member both include a driving motor and a transmission rope / belt;

[0037] The output ends of the driving motors of the first driving member and the second driving member are respectively connected to the rotating shafts of the first joint and the third joint through the corresponding transmission ropes / belts.

[0038] According to the snap-off picking manipulator of the present invention, the sensor assembly includes a first tension sensor and a second tension sensor;

[0039] The first tension sensor is arranged on the transmission rope / belt of the first driving member;

[0040] The second tension sensor is arranged on the transmission rope / belt of the second driving member.

[0041] The picking method of the breaking type picking robot of the present invention processes and identifies the image of the fruit to be picked to determine the posture of the fruit to be picked and the relative position with the breaking type picking robot, so that the breaking type picking robot can approach and clamp the fruit to be picked, and the breaking type picking robot can rotate the fruit to be picked so that the stalk of the fruit to be picked is bent and broken, thereby completing the picking; in the process of the breaking type picking robot rotating the fruit to be picked, the force between the breaking type picking robot and the fruit to be picked is monitored, and the connection state of the fruit to be picked and the stalk is determined by the force, thereby ensuring that the breaking type picking robot rotates the fruit to be picked and breaks the stalk, thereby ensuring the success rate of breaking, and avoiding the breaking type picking robot continuing to rotate after the stalk is broken, thereby prolonging the picking time and reducing the picking efficiency, and effectively solving the problem in the prior art that it is difficult for the breaking robot to judge whether the fruit is separated from the stalk during the picking process, resulting in picking failure or low picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is one of the flow charts of the picking method of the breaking-type picking manipulator provided in the embodiment of the present invention;

[0044] Figure 2 This is one of the side views of the breaking-type picking manipulator performing picking provided by an embodiment of the present invention;

[0045] Figure 3 This is the second side view of the breaking-type picking manipulator performing picking provided by the embodiment of the present invention;

[0046] Figure 4 This is a third side view of the breaking-type picking manipulator performing picking provided by an embodiment of the present invention;

[0047] Figure 5 This is one of the front views of the breaking-type picking manipulator provided by the embodiment of the present invention performing picking;

[0048] Figure 6 This is the second front view of the breaking-type picking manipulator performing picking provided by the embodiment of the present invention;

[0049] Figure 7 This is the third front view of the breaking-type picking manipulator performing picking provided by the embodiment of the present invention;

[0050] Figure 8 This is the second flow chart of the picking method of the breaking-type picking manipulator provided in the embodiment of the present invention;

[0051] Fig. 9 This is the third flow chart of the picking method of the breaking-type picking manipulator provided in the embodiment of the present invention;

[0052] Fig.10 It is a schematic diagram of the breaking-type picking manipulator provided by an embodiment of the present invention pushing away obstacles before clamping the fruit to be picked;

[0053] Fig.11 Schematic diagram of the breaking-type picking manipulator pushing obstacles while holding the fruit to be picked;

[0054] Fig.12 is a schematic diagram of a breaking-type picking manipulator provided by an embodiment of the present invention;

[0055] Fig.13 It is one of the cross-sectional views of the breaking-type picking manipulator provided by the embodiment of the present invention;

[0056] Fig.14 This is the second cross-sectional view of the break-off type picking manipulator provided by the embodiment of the present invention;

[0057] Fig.15 is a schematic diagram of a transmission rope provided by an embodiment of the present invention;

[0058] Fig.16 is a schematic diagram of a control flow of a pulling force on a first joint provided by an embodiment of the present invention;

[0059] Fig.17 is a schematic diagram of a control flow of a pulling force on a third joint provided by an embodiment of the present invention;

[0060] Fig.18 is a schematic diagram of a first joint provided by an embodiment of the present invention;

[0061] Fig.19 It is a schematic diagram of the breaking-type picking robot 1 packing fruits into boxes according to an embodiment of the present invention.

[0062] Reference numerals:

[0063] 1. Breaking-type picking manipulator; 2. Fruits to be picked; 3. Fruit stalks;

[0064] 11. Clamping device; 111. First joint; 1111. Flexible protrusion; 112. Joint assembly; 1121. Second joint; 1122. Third joint; 113. Transmission rope;

[0065] 12. Sensor assembly; 13. Storage compartment; 14. Electrical compartment. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] In the description of the embodiments of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "back", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0068] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] Combine the following Figure 1-11 The invention describes a picking method of a breaking-type picking robot.

[0070] like Figures 1 to 8 As shown, the picking method of the breaking type picking manipulator of the present invention comprises the following steps:

[0071] Step S101: Identify the position and posture of the fruit to be picked based on the image of the fruit to be picked.

[0072] Step S102: According to the position and posture of the fruit to be picked, the breaking-type picking robot is controlled to clamp the fruit to be picked.

[0073] Step S103: monitor the force between the breaking-type picking robot and the fruit to be picked, determine the connection between the fruit stalk and the fruit to be picked according to the force, and control the breaking-type picking robot to rotate the fruit to be picked according to the connection between the fruit stalk and the fruit to be picked, so that the fruit stalk is bent until the fruit stalk and the fruit to be picked are separated.

[0074] Generally speaking, before carrying out the picking operation, it is necessary to use a visual device (such as a camera, a lidar, etc.) to capture or scan an image around the breaking-type picking robot 1; then the acquired image is processed by a control device to identify the fruit 2 to be picked, and determine the relative position between the fruit 2 to be picked and the breaking-type picking robot 1 and the current posture of the fruit 2 to be picked; specifically, the posture of the fruit 2 to be picked includes but is not limited to the position of the fruit stalk 3 connected to the fruit 2 to be picked, the angle between the fruit stalk 3 and the fruit 2 to be picked, etc.

[0075] After determining the position and posture of the fruit 2 to be picked, the breaking type picking robot 1 can be controlled to adjust the position and posture, so that the breaking type picking robot 1 can approach the position of the fruit 2 to be picked with a suitable posture. After the breaking type picking robot 1 reaches the corresponding position of the fruit 2 to be picked, the material robot 1 can be controlled to clamp the fruit 2 to be picked.

[0076] After the breaking-type picking robot 1 clamps the fruit 2 to be picked, the breaking-type picking robot 1 can be controlled to rotate the fruit 2 to be picked, so that the fruit stalk 3 of the fruit 2 to be picked is bent, and the degree of bending is gradually increased until the fruit stalk 3 is broken, thereby separating the fruit 2 to be picked from the fruit stalk 3. Specifically, during the bending process of the fruit stalk 3, the fruit stalk 3 will generate a force on the fruit to be picked 2, and this part of the force will be transmitted to the breaking type picking robot 1 through the fruit to be picked 2; when the fruit stalk 3 is broken, the force of the fruit stalk 3 on the fruit to be picked 2 will suddenly change; in the process of the breaking type picking robot 1 rotating the fruit to be picked 2, the connection status of the fruit stalk 3 and the fruit to be picked 2 can be judged by monitoring the force between the breaking type picking robot 1 and the fruit to be picked 2. Based on the connection status of the fruit stalk 3 and the fruit to be picked 2, the breaking type picking robot 1 is controlled, so as to avoid stopping the rotation of the fruit to be picked 2 before the fruit stalk 3 is broken, or continuing to rotate the fruit to be picked 2 after the fruit stalk 3 is broken, which not only ensures the success rate of breaking, but also improves the picking efficiency.

[0077] The picking method of the breaking type picking robot of the present invention processes and identifies the image of the fruit 2 to be picked to determine the posture of the fruit 2 to be picked and the relative position with the breaking type picking robot 1, so that the breaking type picking robot 1 can approach and clamp the fruit 2 to be picked, and the breaking type picking robot 1 can rotate the fruit 2 to be picked so that the fruit stalk 3 of the fruit 2 to be picked is bent and broken, thereby completing the picking; in the process of the breaking type picking robot 1 rotating the fruit 2 to be picked, by The force between the fruit 2 to be picked is monitored, and the connection status of the fruit 2 to be picked and the fruit stalk 3 is determined by the force, so as to ensure that the breaking type picking robot 1 rotates the fruit 2 to be picked and breaks the fruit stalk 3, thereby ensuring the success rate of breaking, and avoiding the breaking type picking robot 1 continuing to rotate after the fruit stalk 3 is broken, thereby prolonging the picking time and reducing the picking efficiency, and effectively solving the problem in the prior art that it is difficult for the breaking type robot to judge whether the fruit is separated from the fruit stalk during the picking process, resulting in picking failure or low picking efficiency.

[0078] Specifically, Figures 3 to 8 As shown, step S103: monitoring the force between the breaking type picking manipulator and the fruit to be picked, determining the connection between the fruit stalk and the fruit to be picked according to the force, and controlling the breaking type picking manipulator to rotate the fruit to be picked according to the connection between the fruit stalk and the fruit to be picked, so that the fruit stalk is bent until the fruit stalk and the fruit to be picked are separated, including the following steps:

[0079] Step S1031: monitor the rotational torque between the breaking-type picking robot and the fruit to be picked.

[0080] Step S1032: When the rotation torque of the breaking type picking robot for the fruit to be picked does not decrease in a step-like manner, the rotation angle of the breaking type picking robot for the fruit to be picked is continuously increased.

[0081] Step S1033: When the rotational torque of the breaking type picking robot caused by the fruits to be picked decreases in a step-like manner, the breaking type picking robot is controlled to stop rotating.

[0082] During the process of the breaking-type picking robot 1 rotating the fruit 2 to be picked, the bent fruit stalk 3 mainly produces a rotational torque on the fruit 2 to be picked that is opposite to the rotation direction, and correspondingly, the fruit 2 to be picked will also transmit the rotational torque to the fruit 2 to be picked; therefore, during the process of the breaking-type picking robot 1 rotating the fruit 2 to be picked, it is necessary to monitor the rotational torque between the breaking-type picking robot 1 and the fruit 2 to be picked to confirm the connection between the fruit 2 to be picked and the fruit stalk 3.

[0083] Specifically, when the rotational torque of the fruit 2 to be picked on the breaking type picking robot 1 does not decrease in a step-like manner, and changes with the rotation of the breaking type picking robot 1 on the fruit 2 to be picked, it means that the fruit stalk 3 is still connected to the fruit 2 to be picked, and it is necessary to continue to increase the torque of the breaking type picking robot 1 on the fruit 2 to be picked, so as to continue to rotate the fruit 2 to be picked, so that the rotation angle of the fruit 2 to be picked gradually increases until the fruit stalk 3 breaks and the picking is completed.

[0084] When the fruit stalk 3 is broken, the fruit 2 to be picked is separated from the fruit stalk 3, and the fruit stalk 3 no longer exerts force on the picked fruit 2. The rotational torque of the fruit stalk 3 on the picked fruit 2 disappears in an instant. Therefore, when the rotational torque of the fruit 2 to be picked on the breaking type picking robot 1 decreases in a step-like manner, it means that the picking is completed, and the breaking type picking robot 1 can be controlled to stop rotating to avoid wasting time by continuing to rotate.

[0085] In the process of breaking the fruit stalk 3, the relative positions of the fruit stalk 3 and the fruit 2 to be picked will change, and the fruit 2 to be picked may block the fruit stalk 3, making it difficult to confirm the connection status of the fruit stalk 3 and the fruit 2 to be picked through visual images; the picking method of the present invention judges the connection status of the fruit stalk 3 and the fruit 2 to be picked by monitoring the force between the fruit 2 to be picked and the breaking-type picking robot 1, and will not be affected by the mutual blocking of the fruit stalk 3 and the fruit 2 to be picked, so the judgment is more accurate and convenient.

[0086] In some embodiments, the step of controlling the breaking-type picking robot to clamp the fruit to be picked includes:

[0087] Monitoring of the gripping force between the snap-off picking robot and the fruit to be picked.

[0088] Control the snap-off picking manipulator to keep the gripping force within a preset range.

[0089] In this embodiment, before controlling the snap-off picking manipulator 1 to clamp the fruit 2 to be picked, it is usually necessary to determine a preset range of the clamping force of the snap-off picking manipulator 1 on the fruit 2 to be picked. When the clamping force is less than the lower limit of the preset range, the clamping force of the snap-off picking manipulator 1 on the fruit 2 to be picked is too small, and the fruit 2 to be picked is easy to slip from the snap-off picking manipulator 1, resulting in picking failure; when the clamping force is greater than the upper limit of the preset range, the clamping force of the snap-off picking manipulator 1 on the fruit 2 to be picked is too large, which may cause damage to the fruit 2 to be picked. By monitoring the clamping force between the snap-off picking manipulator 1 and the fruit 2 to be picked, the snap-off picking manipulator 1 is controlled to clamp or release the fruit 2 to be picked, so that the clamping force of the snap-off picking manipulator 1 on the fruit 2 to be picked is always maintained within the preset range, so that the clamping force of the snap-off picking manipulator on the fruit 2 to be picked can stably clamp the fruit 2 to be picked without causing damage to the fruit 2 to be picked.

[0090] Optionally, in some embodiments, before controlling the breaking-type picking robot 1 to clamp the fruit 2 to be picked, the variety and maturity of the fruit 2 to be picked can be determined through the image of the fruit 2 to be picked, and the corresponding preset range can be selected according to the variety and maturity of the fruit 2 to be picked, so that the preset range can be adjusted according to the variety and maturity of the fruit 2 to be picked, so that the breaking-type picking robot 1 can clamp and pick the fruits 2 to be picked of different varieties and maturity.

[0091] In some embodiments, step S101: identifying the position and posture of the fruit to be picked according to the image of the fruit to be picked, comprises the following steps:

[0092] According to the image of the fruit to be picked, the shape and position of the fruit to be picked are identified, and obstacles near the fruit to be picked are identified.

[0093] In this embodiment, after acquiring the image of the fruit 2 to be picked, the image is processed, and the shape and position of the fruit 2 to be picked in the image are identified, and the objects around the fruit 2 to be picked, such as other fruits, branches and leaves, etc., are identified, so that these obstacles can be avoided when the breaking-type picking robot 1 is subsequently controlled to move.

[0094] Specifically, in some embodiments, Fig. 9 and Fig.12 As shown, a clamping space is formed on the breaking type picking manipulator 1 for clamping the fruit 2 to be picked; step S102: according to the position and posture of the fruit to be picked, the breaking type picking manipulator is controlled to clamp the fruit to be picked, including the following steps:

[0095] Step S1021: Obtain the distance between each obstacle and the fruit to be picked. When the distance between the obstacle and the fruit to be picked is less than or equal to a first preset distance, control the breaking-type picking robot to move the corresponding obstacle so that the distance between each obstacle and the fruit to be picked is greater than the first preset distance.

[0096] Step S1022: adjust the posture of the breaking type picking robot to adapt the clamping space to the shape of the fruit to be picked, and control the breaking type picking robot to approach the fruit to be picked until the center line of the clamping space coincides with the center line of the fruit to be picked in the vertical direction.

[0097] Step S1023: Control the snap-off picking robot to clamp the fruit to be picked; and in the process of controlling the snap-off picking robot to clamp the fruit to be picked, reciprocate the distal end joint of the snap-off picking robot to move the surrounding obstacles.

[0098] Step S1024: adjusting the position and posture of the snap-off picking robot so that the distance between the snap-off picking robot and each obstacle is greater than a second preset distance.

[0099] After the fruit 2 to be picked and obstacles near the fruit 2 to be picked are identified through images, in order to avoid collision and damage between the obstacle and the fruit 2 to be picked or the breaking-type picking robot 1 during the picking process, it is necessary to move the obstacles that are too close to the fruit 2 to be picked away in advance. Specifically, it is necessary to determine whether the obstacle is too close to the fruit 2 to be picked based on the distance between the obstacle and the fruit 2 to be picked, that is, when the distance between the obstacle and the fruit 2 to be picked is less than or equal to the first preset distance, the corresponding obstacle needs to be moved away from the fruit 2 to be picked (such as Fig.10 As shown), so that it is less than the first preset distance.

[0100] After identifying the shape of the fruit 2 to be picked in the image, the posture of the breaking type picking robot 1 can be adjusted. Specifically, the width and direction of the clamping space can be adjusted so that the width of the clamping space can be slightly larger than the width of the fruit 2 to be picked, so that the volume of the clamping space can be reduced as much as possible, thereby reducing the space occupied by the breaking type picking robot 1 as much as possible, reducing the possibility of the breaking type picking robot 1 colliding with other obstacles during movement; then control the breaking type picking robot 1 to approach the fruit 2 to be picked, so that the fruit 2 to be picked completely enters the clamping space, and makes the center line of the clamping space coincide with the center line of the fruit 2 to be picked in the vertical direction, so that the breaking type picking robot 1 can clamp the fruit 2 to be picked at a symmetrical position in the vertical direction, so that the fruit 2 to be picked can be rotated subsequently.

[0101] In the process of controlling the snap-off picking manipulator 1 to approach and clamp the fruit 2 to be picked, the end joint of the snap-off picking manipulator 1 can be synchronously rotated back and forth to move the surrounding obstacles (such as Fig.11 As shown), the obstacles around the fruit 2 to be picked are further pushed away to avoid interference with the picking process; it can be understood that when there are fewer obstacles, the above-mentioned reciprocating rotating breaking picking hand 1 to push the surrounding obstacles can be omitted to increase the picking speed.

[0102] After the breaking-type picking manipulator 1 clamps the fruit 2 to be picked, there may be obstacles such as fruits, branches and leaves near the fruit 2 to be picked. When the breaking-type picking manipulator 1 rotates the fruit 2 to be picked, the breaking-type picking manipulator 1 and the fruit 2 to be picked may collide with these obstacles, causing damage to the breaking-type picking manipulator 1 and the fruit 2 to be picked. Therefore, before the breaking-type picking manipulator 1 rotates the fruit 2 to be picked, it is necessary to adjust the position and posture of the breaking-type picking manipulator 1 according to the position of each obstacle, so that the breaking-type picking manipulator 1 and each obstacle are greater than the second preset distance, so that when the breaking-type picking manipulator 1 rotates the fruit 2 to be picked, it can avoid each obstacle, thereby preventing the breaking-type picking manipulator 1 and the fruit 2 to be picked from being bumped. Specifically, the second preset distance needs to be calculated and determined according to the rotation structure of the breaking-type picking manipulator 1 and the size of the fruit 2 to be picked.

[0103] It is easy to understand that the first preset distance needs to be calculated and determined based on the second preset distance. Specifically, the first preset distance is the basis for judging whether the distance between the break-type picking robot and each obstacle can be greater than the second preset distance through obstacle clearing means during and after the process of clamping the fruit 2 to be picked. In other words, if before the fruit 2 to be picked is clamped, the distance between the obstacle and the fruit 2 to be picked is less than or equal to the first preset distance, it means that the distance between the obstacle and the fruit 2 to be picked cannot be greater than the second preset distance through the obstacle clearing steps during or after the clamping process, and it is impossible to clear enough space for picking; accordingly, when the distance between all obstacles and the fruit 2 to be picked is greater than the first preset distance, it means that sufficient space can be cleared for picking through subsequent obstacle clearing steps.

[0104] On the other hand, Figure 12 to Figure 14As shown, corresponding to the picking method of the above-mentioned snap-off picking manipulator, the present invention also provides a snap-off picking manipulator 1, comprising: a multi-axis adjustment device (not shown in the figure), a clamping device 11, a sensor assembly 12 and a control device (not shown in the figure); the clamping device 11 comprises first joints 111 arranged opposite to each other and joint assemblies 112 corresponding to the first joints 111 one by one; a clamping space for clamping the fruit 2 to be picked is formed between the two first joints 111, and the first joints 111 are rotatably arranged on the corresponding joint assemblies 112; the joint assemblies 112 are movably arranged on the multi-axis adjustment device to adjust the distance between the first joints 111. The sensor assembly 12 is arranged at the first joint 111 and the joint assembly 112 to detect the forces on the first joint 111 and the joint assembly 112; the control device is electrically connected to the multi-axis adjustment device, the clamping device 11 and the sensor assembly 12; the control device is used to identify the position and posture of the fruit 2 to be picked according to the image of the fruit 2 to be picked, and control the multi-axis adjustment device to adjust the position of the clamping device 11 according to the position and posture of the fruit 2 to be picked, and control the first joint 111 to clamp the fruit 2 to be picked according to the force on the joint assembly 112, and control the first joint 111 to rotate according to the force on the first joint 111 to pick the fruit 2 to be picked.

[0105] In this embodiment, by setting a control device, the control device can process and identify the image of the fruit 2 to be picked to determine the position and posture of the fruit 2 to be picked, and operate the multi-axis adjustment device according to the position and posture of the fruit 2 to be picked, adjust the position of the clamping device 11 along the multi-axis, so that the clamping device 11 is close to the fruit 2 to be picked, and align the first joint 111 with the fruit 2 to be picked; then, control the joint assembly 112 to move in the multi-axis adjustment device to adjust the distance between the first joints 111, so that the first joint 111 can contact and clamp the fruit 2 to be picked from both sides, And according to the stress condition of the joint assembly 112, the clamping force of the first joint 111 on the fruit 2 to be picked is controlled; then, the first joint 111 is controlled to rotate the fruit 2 to be picked so that the stalk 3 of the fruit 2 to be picked is bent and finally broken, thereby completing the picking of the fruit 2 to be picked. During the rotation process, the control device determines whether the fruit 2 to be picked has been separated from the stalk 3 through the stress condition of the first joint 111, so that the control device can accurately control the first joint 111 to rotate until the stalk 3 breaks, and stop rotating immediately after it breaks, which can not only ensure the success rate but also improve the picking efficiency.

[0106] The breaking type picking robot 1 of the present invention can be used to implement the picking method of the aforementioned embodiment, and therefore also has the advantages of the picking method of the aforementioned embodiment, which will not be described in detail herein.

[0107] Optionally, the break-off picking robot 1 is also provided with a visual device (such as a laser radar, a camera, etc.) to capture or scan images around the break-off picking robot 1.

[0108] Specifically, in some embodiments, Figures 13 to 15 As shown, the joint assembly 112 includes a second joint 1121 and a third joint 1122; the clamping device 11 also includes a first driving member and a second driving member; a fixing portion is provided on the multi-axis adjustment device; the first joint 111 is rotatably arranged on the corresponding second joint 1121, and the output end of the first driving member is transmission-connected with the first joint 111 to drive the first joint 111 to rotate so as to break the fruit stalk 3 of the fruit 2 to be picked; the third joint 1122 is rotatably connected to the multi-axis adjustment device, and the output end of the second driving member is transmission-connected with the third joint 1122; the second joint 1121 is rotatably connected to the corresponding third joint 1122, and the rotating shaft of the second joint 1121 is connected to the fixing portion; the second driving member is used to drive the third joint 1122 to rotate so as to adjust the spacing of the first joint 111; when the third joint 1122 rotates, the fixing portion drives the rotating shaft of the second joint 1121 to rotate in the opposite direction so that the relative second joint 1121 remains parallel; the first driving member and the second driving member are both electrically connected to the control device.

[0109] In this embodiment, the control device controls the second driving member to drive the third joint 1122 to rotate, and the two third joints 1122 can rotate in the direction away from each other so that the first joints 111 can move away from each other, or the two third joints 1122 can rotate closer to each other so that the first joints 111 can approach each other, so that the first joints 111 can clamp or release the fruit 2 to be picked; when the third joint 1122 rotates, the fixing part can drive the rotating shaft of the second joint 1121 to rotate in the opposite direction relative to the third joint 1122, so that the relative second joints 1121 always remain parallel, so that when the spacing between the first joints 111 on the second joints 1121 changes, the side used to clamp the fruit 2 to be picked can always remain relative to achieve the clamping function; and when the first joint 111 clamps the fruit 2 to be picked, the control device can control the first driving member to drive the first joint 111 to rotate to drive the fruit 2 to be picked to rotate, so that the fruit stalk 3 of the fruit 2 to be picked is bent and finally broken.

[0110] Specifically, the fixing part includes a first pulley and a fixing rope; the first pulley is fixedly arranged on the multi-axis adjustment device; a second pulley coaxially arranged with the rotating shaft is arranged at the rotating shaft of the second joint 1121; the fixing rope is wound around the first pulley and the second pulley, and is fixedly connected to both the first pulley and the second pulley.

[0111] In this embodiment, by winding the fixing rope around the first pulley and the second pulley and fixedly connected to the first pulley and the second pulley, when the third joint 1122 rotates, the fixing rope can rotate to drive the second joint 1121 to rotate in the opposite direction relative to the third joint 1122, so that the angle between the second joint 1121 and the fixed part remains unchanged, thereby making the two relative second joints 1121 always remain parallel.

[0112] Specifically, in some embodiments, Fig.14 and Fig.15 As shown, the first driving member and the second driving member both include a driving motor and a transmission rope 113; the output ends of the driving motors of the first driving member and the second driving member are respectively connected to the rotating shafts of the first joint 111 and the third joint 1122 through the corresponding transmission ropes 113.

[0113] In this embodiment, the output ends (usually the output shafts) of the driving motors of the first driving member and the second driving member can rotate to drive the transmission rope 113 to rotate, thereby respectively driving the first joint 111 and the third joint 1122 to rotate around their own rotating axes, so as to adjust the spacing of the first joint 111, or rotate the first joint 111 to pick the fruit 2 to be picked; by using the transmission rope 113 for transmission, the transmission rope 113 can be easily turned, which is more convenient for the arrangement of each driving motor and transmission structure, and can make the overall layout of the entire breaking type picking robot 1 more compact, which is conducive to reducing the volume of the entire breaking type picking robot 1.

[0114] It is easy to understand that the transmission rope 113 can also be replaced by a transmission belt, and the structure and technical effects are similar to those of the above embodiment, which will not be repeated here.

[0115] In a specific embodiment, Fig.12 and Fig.13 As shown, the first joint 111 is connected to the second joint 1121 through a revolute pair, the second joint 1121 is connected to the third joint 1122 through a revolute pair, and the third joint 1122 is connected to the multi-axis adjustment device through a revolute pair. The revolute pair of the first joint 111 and the revolute pairs of the second joint 1121 and the third joint 1122 are perpendicular to each other.

[0116] The rotating pair of the first joint 111 is circumferentially constructed with a groove for winding the transmission rope 113, and the transmission rope 113 is wound around the groove and the output end of the first driving member. The output end of the first driving member rotates to drive the transmission rope 113 to rotate, thereby driving the first joint 111. The rotating pair of the first joint 111 and the output end of the first driving member can be guided by a fixed pulley so that the transmission rope 113 can avoid other structures in the breaking type picking robot 1, so that the internal structure of the breaking type picking robot 1 is more compact to save space.

[0117] Similarly, the transmission connection structure of the rotation pair of the third joint 1122 and the second driving member is similar and will not be described in detail here.

[0118] In some embodiments, Fig.16 and Fig.17 As shown, the sensor assembly 12 includes a first tension sensor and a second tension sensor; the first tension sensor is arranged on the transmission rope 113 or the transmission belt of the first driving member; the second tension sensor is arranged on the transmission rope 113 or the transmission belt of the second driving member.

[0119] In this embodiment, a first tension sensor is provided on the transmission rope 113 or the transmission belt of the first driving member to detect the tension transmitted on the transmission rope 113 or the transmission belt. According to the tension transmitted on the transmission rope 113 or the transmission belt, the rotational torque received by the first joint 111 can be calculated. According to the rotational torque received by the first joint 111, the connection status of the fruit 2 to be picked and the fruit stalk 3 currently clamped by the first joint 111 can be determined, so that the control device controls the first driving member according to the connection status, so that the first joint 111 can rotate the fruit 2 to be picked to break the fruit stalk 3, and Stop rotating when it breaks; similarly, by arranging a second tension sensor on the transmission rope 113 or the transmission belt of the second driving member to detect the tension transmitted on the transmission rope 113 or the transmission belt, the force exerted by the third joint 1122 on the first joint 111 can be calculated according to the tension transmitted on the transmission rope 113 or the transmission belt, thereby calculating the clamping force of the first joint 111 on the fruit 2 to be picked, so that the control device controls the second driving member according to the connection condition, controls the clamping force, and enables the first joint 111 to clamp and fix the fruit 2 to be picked without causing damage to the fruit 2 to be picked.

[0120] In some embodiments, Fig.18 As shown, a plurality of flexible protrusions 1111 are provided on one side of the first joint 111 facing the clamping space; when the first joint 111 clamps the fruit 2 to be picked, the plurality of flexible protrusions 1111 abut against the fruit 2 to be picked and generate elastic deformation.

[0121] In this embodiment, by providing a plurality of flexible protrusions 1111 on the side of the first joint 111 facing the clamping space, when the first joint 111 clamps the fruit 2 to be picked, the plurality of flexible protrusions 1111 can elastically deform when contacting the fruit 2 to be picked, so as to fit tightly to the surface of the fruit 2 to be picked, so that the contact area between the fruit 2 to be picked and the first joint 111 is larger and the force is more uniform, thereby making the first joint 111 clamp the fruit 2 to be picked more stable; at the same time, the flexible protrusions 1111 can elastically deform according to the surface morphology of the fruit 2 to be picked when contacting the fruit 2 to be picked, so that the first joint 111 can be suitable for more fruits 2 to be picked with different shapes and surfaces.

[0122] In a specific embodiment, Fig.18 As shown, the first joint 111 is an arc-shaped structure, and the flexible protrusion 1111 includes a larger contact portion and a narrower connecting portion. The contact portion is connected to the inner side of the arc-shaped structure through the connecting portion. When the first joint 111 clamps the fruit 2 to be picked, the fruit 2 to be picked squeezes the contact portion and bends the connecting portion, so that the contact portion is tangent to the surface of the fruit 2 to be picked, and is better released from the fruit 2 to be picked, thereby enhancing the clamping stability of the first joint 111.

[0123] In some embodiments, Figure 12 to Figure 14 and Fig.19 As shown, the breaking-type picking manipulator 1 also includes a storage bin 13 and an electrical bin 14. A storage cavity with an opening on one side is constructed in the storage bin 13, and the clamping device 11 is arranged at the opening position of the storage cavity, and the storage bin 13 is arranged on the multi-axis adjustment device; after the clamping device 11 clamps the fruit 2 to be picked and separates the fruit 2 to be picked from the fruit stalk 3, the fruit 2 to be picked can be released and fall into the storage cavity for temporary storage. After the storage cavity is full, the multi-axis adjustment device is controlled to move the storage bin 13 to a centralized storage place (such as a box, a wooden barrel, etc.) and pour the picked fruits into the centralized storage place; the electrical bin 14 is arranged at the bottom of the storage bin 13, and an electrical accommodating cavity is constructed in the electrical bin 14 for accommodating electrical components such as a drive motor.

[0124] The above described embodiments are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art may understand and implement the embodiments without creative effort.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A picking method using a breaking picking manipulator, It is characterized in that include: Identify the position and posture of the fruit to be picked according to the image of the fruit to be picked; According to the position and posture of the fruit to be picked, controlling the breaking-type picking manipulator to clamp the fruit to be picked; Monitor the force between the breaking-type picking manipulator and the fruit to be picked, determine the connection between the fruit stalk and the fruit to be picked according to the force, and control the breaking-type picking manipulator to rotate the fruit to be picked according to the connection between the fruit stalk and the fruit to be picked, so that the fruit stalk is bent until the fruit stalk is separated from the fruit to be picked; The breaking type picking manipulator comprises: Multi-axis adjustment device; The clamping device comprises first joints arranged opposite to each other and joint components corresponding to the first joints one by one; a clamping space for clamping the fruit to be picked is formed between the two first joints, and the first joints are rotatably arranged on the corresponding joint components; the joint components are movably arranged on the multi-axis adjustment device to adjust the distance between the first joints; A sensor assembly, disposed at the first joint and the joint assembly, to detect forces acting on the first joint and the joint assembly; A control device is electrically connected to the multi-axis adjustment device, the clamping device and the sensor assembly; the control device is used to identify the position and posture of the fruit to be picked according to the image of the fruit to be picked, and control the multi-axis adjustment device to adjust the position of the clamping device according to the position and posture of the fruit to be picked, and control the first joint to clamp the fruit to be picked according to the force of the joint assembly, and control the first joint to rotate according to the force of the first joint to pick the fruit to be picked; The joint assembly includes a second joint and a third joint; the clamping device also includes a first driving member and a second driving member; the multi-axis adjustment device is provided with a fixing portion; The first joint is rotatably arranged at the corresponding second joint, and the output end of the first driving member is transmission-connected to the first joint to drive the first joint to rotate so as to break the fruit stem of the fruit to be picked; The third joint is rotatably connected to the multi-axis adjustment device, and the output end of the second driving member is transmission-connected to the third joint; the second joint is rotatably connected to the corresponding third joint, and the rotating shaft of the second joint is connected to the fixing part; The second driving member is used to drive the third joint to rotate so as to adjust the spacing of the first joint; when the third joint rotates, the fixing part drives the rotating shaft of the second joint to rotate in the opposite direction so as to keep the relative second joints parallel; The first driving member and the second driving member are both electrically connected to the control device.

2. The picking method of the snap-off picking manipulator according to claim 1, It is characterized in that The step of monitoring the force between the breaking-type picking manipulator and the fruit to be picked, determining the connection between the fruit stalk and the fruit to be picked according to the force, and controlling the breaking-type picking manipulator to rotate the fruit to be picked according to the connection between the fruit stalk and the fruit to be picked, so that the fruit stalk of the fruit to be picked is bent until the fruit stalk and the fruit to be picked are separated, comprises: Monitoring the rotational torque between the snap-off picking manipulator and the fruit to be picked; When the rotation torque of the fruit to be picked on the breaking type picking manipulator does not decrease in a step-like manner, continuously increasing the rotation angle of the breaking type picking manipulator on the fruit to be picked; When the rotation torque of the breaking type picking manipulator caused by the fruit to be picked decreases in a step-like manner, the breaking type picking manipulator is controlled to stop rotating.

3. The picking method of the snap-off picking manipulator according to claim 1, It is characterized in that The step of controlling the breaking-type picking manipulator to clamp the fruit to be picked includes: Monitoring the clamping force between the snap-off picking manipulator and the fruit to be picked; The snap-off picking manipulator is controlled to keep the clamping force within a preset range.

4. The picking method of the snap-off picking robot according to claim 1, It is characterized in that The step of identifying the position and posture of the fruit to be picked according to the image of the fruit to be picked comprises: Based on the image of the fruit to be picked, the shape and position of the fruit to be picked are identified, and obstacles near the fruit to be picked are identified.

5. The picking method of the snap-off picking robot according to claim 4, It is characterized in that The snap-off picking manipulator is provided with a clamping space for clamping the fruit to be picked; the step of controlling the snap-off picking manipulator to clamp the fruit to be picked according to the position and posture of the fruit to be picked comprises: Obtaining the distance between each obstacle and the fruit to be picked, and when the distance between the obstacle and the fruit to be picked is less than or equal to a first preset distance, controlling the break-type picking manipulator to move the corresponding obstacle so that the distance between each obstacle and the fruit to be picked is greater than the first preset distance; Adjusting the posture of the snap-off picking manipulator so that the clamping space and the shape of the fruit to be picked are adapted, and controlling the snap-off picking manipulator to approach the fruit to be picked until the center line of the clamping space and the center line of the fruit to be picked in the vertical direction coincide with each other; Controlling the snap-off picking manipulator to clamp the fruit to be picked; and in the process of controlling the snap-off picking manipulator to clamp the fruit to be picked, reciprocatingly rotating the end joint of the snap-off picking manipulator to move the surrounding obstacles; The posture of the snap-off picking robot is adjusted so that the distance between the snap-off picking robot and each obstacle is greater than a second preset distance.

6. The picking method of the snap-off picking manipulator according to claim 1, It is characterized in that The fixing part includes a first pulley and a fixing rope; the first pulley is fixedly arranged on the multi-axis adjustment device; A second pulley coaxially arranged with the rotating shaft is arranged at the rotating shaft of the second joint; the fixing rope is wound around the first pulley and the second pulley, and is fixedly connected to both the first pulley and the second pulley.

7. The picking method of the snap-off picking robot according to claim 1, It is characterized in that The first driving member and the second driving member each include a driving motor and a transmission rope / belt; The output ends of the driving motors of the first driving member and the second driving member are respectively connected to the rotating shafts of the first joint and the third joint through the corresponding transmission ropes / belts.

8. The picking method of the snap-off picking robot according to claim 7, It is characterized in that The sensor assembly includes a first tension sensor and a second tension sensor; The first tension sensor is arranged on the transmission rope / belt of the first driving member; The second tension sensor is arranged on the transmission rope / belt of the second driving member.

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