Vision-controlled two-stage telescopic arm mobile harvesting robot

Abstract

This invention provides a vision-controlled, two-stage telescopic arm mobile harvesting robot, relating to the field of agricultural machinery technology. It includes an external frame, a lifting mechanism, an operating mechanism, and a vision recognition mechanism. The vision recognition mechanism identifies the target fruit and its size, and is electrically connected to both the lifting and operating mechanisms to control their movement. The lifting mechanism moves the operating mechanism to a suitable position based on the information identified by the vision recognition mechanism. The operating mechanism includes a robotic arm and a robotic claw. The robotic arm, based on the information collected by the vision recognition mechanism, drives the robotic claw towards the harvested fruit, achieving precise harvesting. This alleviates the technical problems in existing technologies where machines may not be able to identify certain types of crops in a timely manner and where the machine's positioning accuracy is insufficient. It achieves the technical effects of improving the positioning accuracy of machine harvesting and increasing the variety of harvested crops.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a vision-controlled, two-stage telescopic arm chain-driven mobile harvesting robot. Background Technology

[0002] With the continuous advancement of agricultural modernization, agricultural mechanization has become an important trend in agricultural production. In agricultural production sites such as orchards, traditional harvesting methods require a large investment of manpower and resources and are inefficient, making it difficult to meet market demand. Therefore, harvesting robots have emerged to achieve the goal of completing a large amount of harvesting work in a short period of time.

[0003] Existing harvesting robots are mainly industrial-grade robotic arms. Although they can achieve automated harvesting to a certain extent, machine harvesting also has some challenges and limitations. First, for some special types of crops, the machine may not be able to identify them in time, resulting in poor harvesting results. Second, the machine's positioning accuracy for the harvested items is not high enough, which reduces the quality and efficiency of harvesting and limits its popularization and application in agricultural production.

[0004] Therefore, the aforementioned technical issues still need to be addressed. Summary of the Invention

[0005] The purpose of this invention is to provide a vision-controlled, two-stage telescopic arm mobile harvesting robot to alleviate the technical problems in the prior art, such as the machine's inability to identify certain types of crops in a timely manner and insufficient positioning accuracy of the harvested items, which reduces the harvesting quality and efficiency.

[0006] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] The first aspect of the present invention provides a vision-controlled two-stage telescopic arm mobile harvesting robot, comprising an external frame, a lifting mechanism, an operating mechanism, and a vision recognition mechanism; the lifting mechanism and the operating mechanism are both electrically connected to the vision recognition mechanism.

[0008] The lifting mechanism is installed on the top of the external frame, and the lifting mechanism drives the operating mechanism to move up and down;

[0009] The operating mechanism includes a robotic arm and a robotic gripper. The robotic gripper is located at the end of the robotic arm, and the robotic arm drives the robotic gripper to move toward the harvested object based on the information collected by the visual recognition mechanism.

[0010] In some modified embodiments of the first aspect of the present invention, the robotic arm includes a gimbal and a telescopic assembly; one end of the telescopic assembly is connected to the gimbal and rotates with the gimbal, and the other end is connected to a robotic gripper.

[0011] The gimbal includes a center plate, a first fixed plate, a first inner ring gear, a first outer ring gear, a first drive motor, a bearing inner ring pad, and a thin-walled bearing; the end of the first fixed plate facing the harvested object is connected to the telescopic assembly;

[0012] The first inner ring gear is connected to the first fixed plate through the center plate, and the inner teeth of the first outer ring gear mesh with the first inner ring gear; the output end of the first drive motor drives the first outer ring gear to rotate through the first inner ring gear.

[0013] The bearing inner ring spacer is connected between the fixed plate and the thin-walled bearing; the first outer ring gear is fixedly connected to the bearing inner ring spacer while pressing against the thin-walled bearing.

[0014] In some modified embodiments of the first aspect of the present invention, the telescopic assembly includes a second drive motor, a first bevel gear, a second bevel gear, a first synchronous pulley, a telescopic arm, and a fixed arm, wherein the telescopic arm and the fixed arm are slidably connected.

[0015] The second drive motor, the first bevel gear, the second bevel gear, and the first synchronous belt pulley are installed inside the fixed arm. The output end of the second drive motor is connected to the second bevel gear through the first bevel gear. The second bevel gear and the first synchronous belt pulley are coaxially arranged.

[0016] The telescopic boom is equipped with a driven pulley that is compatible with the first synchronous pulley. A synchronous belt is provided between the first synchronous pulley and the driven pulley, and the outer side of the synchronous belt is engaged with the telescopic boom by a fastener.

[0017] In some modified embodiments of the first aspect of the present invention, the robotic arm further includes a guide wheel assembly, which includes a pulley side and a fixed side, the pulley side being disposed on the outer frame and the fixed side being disposed on both sides of the gimbal.

[0018] In some modified embodiments of the first aspect of the present invention, the mechanical gripper includes a first gripper, a second gripper, a first transmission assembly, a support housing, and a third drive motor, wherein the first transmission assembly is installed inside the support housing;

[0019] The first transmission assembly includes a transmission bevel gear, an upper gear, and a lower gear. The output end of the third drive motor passes through the support housing and is connected to the transmission bevel gear. The upper gear and the lower gear are respectively meshed and connected to the upper and lower sides of the transmission bevel gear. The upper gear is connected to the first gripper, and the lower gear is connected to the second gripper.

[0020] In some modified embodiments of the first aspect of the present invention, the lifting mechanism includes a fourth drive motor; a second transmission component, an optical shaft, and two support seats, wherein the optical shaft is connected between the two support seats;

[0021] The second transmission assembly includes a sprocket and a chain. The sprocket is located inside the support base. The output end of the fourth drive motor is connected to the sprocket inside one side of the support base. Under the drive of the fourth drive motor, the sprocket drives the chain to move.

[0022] The robotic arm also includes a connecting plate, through which the gimbal is connected to the chain.

[0023] In some modified embodiments of the first aspect of the present invention, a lifting mechanism is also included, which includes a fifth drive motor, a contact plate, an inner connecting rod, an outer connecting rod, a shaped slide rail, and a third transmission assembly.

[0024] One end of the inner connecting rod is slidably connected to the irregular slide rail, and the other end is connected to the contact plate; one end of the outer connecting rod is connected to the transmission assembly, and the other end is connected to the contact plate; the middle parts of the inner connecting rod and the middle parts of the outer connecting rod are connected by bolts to form an X-shaped opening and closing structure.

[0025] The third transmission assembly includes a plum blossom coupling, a worm gear, a worm, a second inner ring gear, and a second outer ring gear. The output end of the third drive motor is connected to the worm through the plum blossom coupling. After the worm meshes with the worm gear, the worm gear is connected to the second inner ring gear through a flange coupling. One end of the second outer ring gear is connected to the outer connecting rod, and the other end drives the outer connecting rod to move under the action of the meshing transmission of the second inner ring gear.

[0026] In some modified embodiments of the first aspect of the present invention, there are two lifting mechanisms, which are respectively fixedly connected to both sides of the outer frame. The lifting mechanism also includes a second synchronous pulley. The two lifting mechanisms are connected by synchronous pulley transmission, and one lifting mechanism is the active one and the other is the driven one.

[0027] Compared to existing technologies, the present invention provides a vision-controlled two-stage telescopic arm mobile harvesting robot, comprising an external frame, a lifting mechanism, an operating mechanism, and a vision recognition mechanism. The vision recognition mechanism identifies the target fruit and its size, and is electrically connected to the lifting mechanism and the operating mechanism via the vision recognition structure, controlling their movement. Specifically, the lifting mechanism moves the operating mechanism to a suitable position based on the information identified by the vision recognition mechanism. The operating mechanism includes a robotic arm and a robotic claw. The robotic arm, based on the information collected by the vision recognition mechanism, drives the robotic claw to move towards the harvested fruit, achieving precise harvesting. This alleviates the technical problems in existing technologies where the machine may not be able to identify certain types of crops in a timely manner and where the machine's positioning accuracy is insufficient. The invention achieves the technical effects of improving the positioning accuracy of machine harvesting and increasing the variety of harvested crops. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the embodiments will be briefly described below.

[0029] Figure 1 A schematic diagram of the overall structure of a vision-controlled, two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the operating mechanism in a vision-controlled, two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the internal structure of the operating mechanism in a vision-controlled, two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention.

[0032] Figure 4 A schematic diagram of the telescopic component in a vision-controlled two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention;

[0033] Figure 5 The vision-controlled two-stage telescopic arm mobile harvesting robot provided in this embodiment of the invention Figure 4 A magnified view of a section at point A in the middle;

[0034] Figure 6 A schematic diagram of the mechanical claw in a vision-controlled, two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention;

[0035] Figure 7 A schematic diagram of the lifting device in a vision-controlled, two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention;

[0036] Figure 8 A schematic diagram of the lifting mechanism in a vision-controlled, two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram of the connection between the gimbal and the chain in a vision-controlled, two-stage telescopic arm mobile harvesting robot provided in an embodiment of the present invention.

[0038] Wherein: 10-external frame; 20-visual recognition mechanism; 30-synchronous belt; 100-lifting mechanism; 110-fourth drive motor; 121-sprocket; 122-chain; 130-optical shaft; 140-support base; 200-operating mechanism;

[0039] 210-Robotic arm; 211-Gimbal; 2111-First fixed plate; 2112-First inner ring gear; 2113-First outer ring gear; 2114-First drive motor; 2115-Bearing inner ring pad; 2116-Thin-walled bearing; 212-Telescopic assembly; 2121-Second drive motor; 2122-First bevel gear; 2123-Second bevel gear; 2124-First synchronous pulley; 2125-Telescopic arm; 2126-Fixed arm; 2127-Snap fastener; 2128-Driven pulley; 213-Pulley assembly; 2131-Guide wheel frame; 214-Connecting plate; 220-Robotic gripper; 221-First... 1-Gripper; 222-Second gripper; 223-Support housing; 224-Third drive motor; 225-Transmission bevel gear; 226-Upper gear; 227-Lower gear; 228-Blade; 300-Lifting mechanism; 301-Second synchronous pulley; 310-Fifth drive motor; 320-Contact plate; 330-Inner connecting rod; 340-Outer connecting rod; 350-Irregular slide rail; 360-Third transmission assembly; 361-Petal coupling; 362-Worm gear; 363-Worm; 364-Second inner ring gear; 365-Second outer ring gear; 370-Flange coupling; 380-Aluminum tube; 390-Flange bearing. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0042] Example 1

[0043] like Figure 1 As shown, this embodiment provides a vision-controlled two-stage telescopic arm mobile harvesting robot, including an external frame, a lifting mechanism 100, an operating mechanism 200, and a vision recognition mechanism; the lifting mechanism 100 and the operating mechanism 200 are both electrically connected to the vision recognition mechanism;

[0044] The lifting mechanism 100 is installed on the top of the external frame, and the lifting mechanism 100 drives the operating mechanism 200 to move up and down.

[0045] The operating mechanism 200 includes a robotic arm 210 and a robotic claw 220. The robotic claw 220 is located at the end of the robotic arm 210. The robotic arm 210 moves the robotic claw 220 toward the harvested object based on the information collected by the visual recognition mechanism. The robotic claw 220 reaches the target position through the swinging and secondary extension of the robotic arm 210. The robotic claw 220 cuts the rootstock while gripping the crop root.

[0046] Compared to existing technologies, the present invention provides a vision-controlled two-stage telescopic arm mobile harvesting robot, comprising an external frame, a lifting mechanism 100, an operating mechanism 200, and a vision recognition mechanism. The vision recognition mechanism identifies the target fruit and its size, and is electrically connected to the lifting mechanism 100 and the operating mechanism 200 via a vision recognition structure, controlling their movement. Specifically, the lifting mechanism 100 moves the operating mechanism 200 to a suitable position based on the information identified by the vision recognition mechanism. The operating mechanism 200 includes a robotic arm 210 and a robotic claw 220. The robotic arm 210, based on the information collected by the vision recognition mechanism, drives the robotic claw 220 towards the harvested fruit, achieving precise harvesting. This alleviates the technical problems in existing technologies where the machine may not be able to identify certain types of crops in a timely manner and where the machine's positioning accuracy is insufficient. The invention achieves the technical effects of improving the positioning accuracy of machine harvesting and increasing the variety of harvested crops.

[0047] The visual recognition mechanism can employ a control system based on a CCD or CMOS camera. Specifically, it includes a camera and an image processing module. The camera captures images of the orchard, and the image processing module processes the images to identify the position and size of the target fruit, transmitting the recognition results to the control system. Based on the recognition results, the control system controls the start and stop of the first drive motor 2114, the second drive motor 2121, the third drive motor 224, the fourth drive motor 110, and the fifth drive motor 310, thereby controlling the movement trajectory of the robotic arm 120 in the operating mechanism 100 to achieve precise harvesting.

[0048] like Figure 2 As shown, the robotic arm 210 further includes a gimbal 211 and a telescopic assembly 212; one end of the telescopic assembly 212 is connected to the gimbal 211 and rotates with the gimbal 211, and the other end is connected to a robotic gripper 220.

[0049] The gimbal 211 includes a center plate, a first fixed plate 2111, a first inner ring gear 2112, a first outer ring gear 2113, a first drive motor 2114, a bearing inner ring pad 2115, and a thin-walled bearing 2116; the end of the first fixed plate 2111 facing the harvested object is connected to the telescopic assembly 212.

[0050] The first inner ring gear 2112 is connected to the first fixed plate 2111 through the center plate, and the inner teeth of the first outer ring gear 2113 mesh with the first inner ring gear 2112; the output end of the first drive motor 2114 drives the first outer ring gear 2113 to rotate through the first inner ring gear 2112.

[0051] The bearing inner ring pad 2115 is connected between the first fixed plate 2111 and the thin-walled bearing 2116; the first outer ring gear 2113 is fixedly connected to the bearing inner ring pad 2115 while pressing the thin-walled bearing 2116.

[0052] In the robotic arm 210, the gimbal 211 drives the telescopic component 212 to rotate. When the robotic arm 210 is idle, the gimbal 211 makes the telescopic component 212 face downward to reduce the space required. When the telescopic component 212 needs to pick the harvested item, it drives the telescopic component 212 to rotate in the direction of the harvested item to pick it.

[0053] The first fixing plate 2111 is fixed to the bearing inner ring pad 2115. The bearing inner ring pad 2115 is connected to the thin-walled bearing 2116, restricting the radial movement of the thin-walled bearing 2116. The bearing inner ring cover plate presses down on the thin-walled bearing 2116 and is fixed to the bearing inner ring pad 2115, thereby restricting the axial movement of the thin-walled bearing 2116. The first drive motor 2114 is fixed to the motor fixing plate. The first inner ring gear 2112 is fixed to the output shaft of the first drive motor 2114. At the same time, the first inner ring gear 2112 meshes with the first outer ring gear 2113. The first outer ring gear 2113 replaces one side of the bearing inner ring cover plate. The rotation of the gear meshing with the first inner ring gear 2112 drives the gimbal 211 to rotate.

[0054] Furthermore, such as Figure 3 , Figure 4 and Figure 5 The telescopic assembly 212 shown includes a second drive motor 2121, a first bevel gear 2122, a second bevel gear 2123, a first synchronous pulley 2124, a telescopic arm 2125, and a fixed arm 2126, with the telescopic arm 2125 and the fixed arm 2126 slidably connected.

[0055] The second drive motor 2121, the first bevel gear 2122, the second bevel gear 2123 and the first synchronous pulley 2124 are arranged inside the fixed arm 2126. The output end of the second drive motor 2121 is connected to the second bevel gear 2123 through the first bevel gear 2122. The second bevel gear 2123 and the first synchronous pulley 2124 are coaxially arranged.

[0056] The telescopic boom 2125 is provided with a driven pulley 2128 that is adapted to the first synchronous pulley 2124. A synchronous belt is provided between the first synchronous pulley 2124 and the driven pulley 2128, and the outer side of the synchronous belt is engaged with the telescopic boom 2125 by a fastener 2127.

[0057] The first bevel gear 2122 and the second bevel gear 2123 mesh at an angle, and the second bevel gear 2123 is coaxially arranged with the first synchronous pulley 2124. By rotating the second drive motor 2121, the torque direction of the second drive motor 2121 can be converted into the torque of the first synchronous pulley 2124. The telescopic arm 2125 is provided with a driven pulley 2128 adapted to the first synchronous pulley 2124. A synchronous belt is provided between the first synchronous pulley 2124 and the driven pulley 2128. By providing a fastening member 2127 on the telescopic arm 2125, the synchronous belt passes through the fastening member 2127 to achieve synchronous fixation of the part of the synchronous belt passing through the fastening member 2127 with the telescopic arm 2125. During the movement of the synchronous belt, the telescopic arm 2125 moves along the fixed arm 2126 with the synchronous belt through the fastening member 2127.

[0058] Furthermore, the robotic arm 210 also includes a guide wheel assembly 213, which includes a pulley side and a fixed side. The pulley side is disposed on the outer frame, and the fixed side is disposed on both sides of the gimbal 211.

[0059] Meanwhile, the robotic arm 210 also includes a guide wheel assembly 213. The function of the guide wheel assembly 213 is to ensure the sliding between the telescopic arm 2125 and the fixed arm 2126 and the stable connection between them and the gimbal 211. Specifically, the fixed side of the guide wheel assembly 213 is fixedly connected to the bearing outer ring cover plate through a 20×20 aluminum tube 380 to assist the robotic arm 210 in moving up and down. The 10×10 aluminum tube 380 is connected to the first fixed plate 2111. The distance between the first fixed plates 2111 is determined by the telescopic cover plate. The side plate of the telescopic arm 2125 is fixed to the aluminum tube 380. The motor fixing plate is fixed to the cover plate of the fixed arm 2126 and the side plate of the fixed arm 2126 at the same time through tenon and tenon joints. The guide wheel frame 2131 is fixed to the front end of the first telescopic arm 2125 and the end of the second telescopic arm 2125 respectively.

[0060] Furthermore, such as Figure 6 As shown, the mechanical gripper 220 includes a first gripper 221, a second gripper 222, a first transmission assembly, a support housing 223, and a third drive motor 224. The first transmission assembly is installed inside the support housing 223.

[0061] The first transmission assembly includes a transmission bevel gear 225, an upper gear 226, and a lower gear 227. The output end of the third drive motor 224 passes through the support housing 223 and is connected to the transmission bevel gear 225. The upper gear 226 and the lower gear 227 are respectively meshed and connected to the upper and lower sides of the transmission bevel gear 225. The upper gear 226 is connected to the first gripper 221, and the lower gear 227 is connected to the second gripper 222.

[0062] In this embodiment, the mechanical claw 220 directly contacts the harvested material. When the mechanical claw 220 moves to the harvested material under the drive of the robotic arm 210, the third drive motor 224 rotates the transmission bevel gear 225 after receiving the information collected by the visual recognition mechanism. Since the upper gear 226 and the lower gear 227 are respectively meshed and connected to the upper and lower sides of the transmission bevel gear 225, and the upper gear 226 is connected to the first gripper 221 and the lower gear 227 is connected to the second gripper 222, the upper gear 226 and the lower gear 227 rotate in opposite directions under the drive of the transmission bevel gear 225, thereby controlling the opening and closing between the first gripper 221 and the second gripper 222.

[0063] It should be noted that, in order to further ensure the harvesting effect of the harvested material, one of the first gripper 221 and the second gripper 222 is set as a flexible gripper and the other is set as a rigid gripper, and the blade 228 is fixed to one side of the flexible gripper, so as to achieve the function of cutting off the stem of the harvested material while gripping it.

[0064] Furthermore, such as Figure 7 and Figure 9 As shown, the lifting mechanism 100 includes a fourth drive motor 110; a second transmission assembly, an optical shaft 130 and two support seats 140, with the optical shaft 130 connected between the two support seats 140;

[0065] The second transmission assembly includes a sprocket 121 and a chain 122. The sprocket 121 is disposed in the support base 140. The output end of the fourth drive motor 110 is connected to the sprocket 121 in the support base 140 on one side. Under the drive of the fourth drive motor 110, the sprocket 121 drives the chain 122 to move.

[0066] The robotic arm 210 also includes a connecting plate 214, through which the gimbal 211 is connected to the chain 122.

[0067] The fourth drive motor 110 is fixed to the outer frame via the support base 140. The sprocket 121 is located inside the support base 140 and connected to the output end of the fourth drive motor 110. To ensure the coaxiality between the two sprockets 121, an optical shaft 130 is connected between the two sprockets 121. As the sprockets 121 rotate, the chain 122 moves up and down.

[0068] The robotic arm 210 includes a connecting plate 214, and the gimbal 211 is connected to the chain 122 through the connecting plate 214.

[0069] Furthermore, such as Figure 8 As shown, it also includes a lifting mechanism 300, which includes a fifth drive motor 310, a contact plate 320, an inner connecting rod 330, an outer connecting rod 340, a special-shaped slide rail 350, and a third transmission assembly 360.

[0070] One end of the inner connecting rod 330 is slidably connected to the irregular slide rail 350, and the other end is connected to the contact plate 320; one end of the outer connecting rod 340 is connected to the transmission assembly, and the other end is connected to the contact plate 320; the middle part of the inner connecting rod 330 and the middle part of the outer connecting rod 340 are connected by bolts to form an X-shaped opening and closing structure.

[0071] The third transmission assembly 360 includes a swivel coupling 361, a worm gear 362, a worm 363, a second inner ring gear 364, and a second outer ring gear 365. The output end of the third drive motor 224 is connected to the worm 363 through the swivel coupling 361. After the worm 363 meshes with the worm gear 362, the worm gear 362 is connected to the second inner ring gear 364 through a flange coupling 370. One end of the second outer ring gear 365 is connected to the outer connecting rod 340, and the other end drives the outer connecting rod 340 to move under the action of the meshing transmission of the second inner ring gear 364.

[0072] When the harvested fruit is picked by the robotic gripper 220, the harvested fruit needs to be placed into the receiving bin. Once the receiving bin is full, the robot automatically moves to the stacking area. At this point, the lifting mechanism 300 lowers the full receiving bin and then moves it to an empty bin to prepare for the next harvest. The specific process is as follows:

[0073] The third drive motor 224 is fixed on the second fixed plate, and the third drive motor 224 is connected to the worm gear 363 through the plum blossom coupling 361. The worm gear 363 is driven by the worm wheel 362, and the worm wheel 362 is connected to the second inner ring gear 364 through the flange coupling 370, which drives the second inner ring gear 364 to rotate, so that the second inner ring gear 364 meshes with the second outer ring gear 365. One end of the outer connecting rod 340 is connected to the second outer ring gear 365. In the meshing transmission between the second outer ring gear 365 and the second inner ring gear 364, the second outer ring gear 365 drives the outer connecting rod 340 to lift and lower. Since the middle part of the inner connecting rod 330 and the middle part of the outer connecting rod 340 are connected by bolts to form an X-shaped opening and closing structure, the structure composed of the inner connecting rod 330 and the outer connecting rod 340 is opened and closed, thereby realizing the lifting and lowering of the contact plate 320.

[0074] It should be noted that in this embodiment, the contact plate 320 is provided with a special-shaped slide rail 350. One end of the outer connecting rod 340 is connected to the special-shaped slide rail 350 through a flange bearing 390. The other end of the contact plate 320 is extended through an aluminum tube 380 and connected to the inner connecting rod 330. The other end of the inner connecting rod 330 is slidably connected to the special-shaped slide rail 350 located at the bottom.

[0075] Furthermore, there are two lifting mechanisms 300, which are fixedly connected to both sides of the outer frame respectively. Each lifting mechanism 300 also includes a second synchronous pulley 301. The two lifting mechanisms 300 are connected by synchronous pulley transmission, and one lifting mechanism 300 is the active one and the other is the driven one.

[0076] In this embodiment, the second synchronous pulley 301 and the plum blossom coupling 361 are simultaneously fixed to the output shaft of the third drive motor 224, and one side of the lifting mechanism 300 is active while the other side is driven, thereby reducing the production cost of the equipment.

[0077] The operation method of this embodiment is as follows:

[0078] (1) Preparation: Place the robot in the picking area.

[0079] (2) Start the robot: Start the picking robot by remote control or by pressing the start button on the robot.

[0080] (3) Move to the target location: The binocular camera first identifies the fruit on the crop. When a mature fruit is identified, the robot moves its chassis to position itself in the center of the fruit.

[0081] (4) Harvesting operation: The lifting mechanism 100 drives the operating mechanism 200 to rise to a certain height. The gimbal 211 controls the mechanical arm to rotate to a suitable angle. The mechanical arm performs two-stage extension and retraction. When the mechanical claw 220 reaches the front of the target fruit, the mechanical claw 220 opens. The arm then extends and retracts a distance so that the fruit stem enters the opening and closing area of ​​the mechanical claw 220. Then the mechanical claw 220 closes to pick the fruit. Finally, the picked fruit is placed in the harvest box.

[0082] (5) Automatic harvest box replacement: When the harvest box is full, the robot automatically drives to the stacking area, uses the lifting mechanism 300 on the vehicle to put down the full harvest box, and then equips an empty box for the next harvest.

[0083] (6) Remote monitoring: The robot is connected to the network in real time. The robot's current working status can be obtained through a mobile phone or tablet. The robot's harvesting situation can be observed through the monitoring camera on the robot. The robot can be remotely controlled and its working status can be adjusted.

[0084] (7) Change the crop to be picked: When the target crop is changed to another crop, first replace the mechanical claw 220 at the end of the robotic arm and adjust it to the end effector required for picking. Then, modify the picking object through the interactive screen on the robot to achieve the purpose of picking multiple crops.

[0085] (8) End the picking task: When the robot has finished picking all the fruits in the target area, the picking task is considered to be completed, and the robot can return to the starting position to wait for the next round of picking.

[0086] Through the above operation process, the vision-controlled two-stage telescopic arm mobile harvesting robot can achieve precise harvesting of target crops. The combination of the lifting device and the gimbal 211 enables the robot to harvest over a wide range. The mechanical claw 220 adopts a modular design and can be quickly disassembled to achieve the purpose of harvesting different crops. When the box is full, the robot can also automatically change, realizing truly unmanned harvesting and saving a lot of manpower and material resources.

[0087] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vision-controlled, two-stage telescopic arm mobile harvesting robot, characterized in that, It includes an external frame (10), a lifting mechanism (100), an operating mechanism (200), and a vision recognition mechanism (20); the lifting mechanism (100) and the operating mechanism (200) are both electrically connected to the vision recognition mechanism (20). The lifting mechanism (100) is installed on the top of the outer frame (10), and the lifting mechanism (100) drives the operating mechanism (200) to move up and down; The operating mechanism (200) includes a robotic arm (210) and a robotic claw (220). The robotic claw (220) is located at the end of the robotic arm (210), and the robotic arm (210) moves the robotic claw (220) toward the harvested object based on the information collected by the visual recognition mechanism (20). The robotic arm (210) includes a gimbal (211) and a telescopic assembly (212); one end of the telescopic assembly (212) is connected to the gimbal (211) and rotates with the gimbal (211), and the other end is connected to a robotic gripper (220) and drives the robotic gripper (220) to extend and retract. The gimbal (211) includes a center plate, a first fixed plate (2111), a first inner ring gear (2112), a first outer ring gear (2113), a first drive motor (2114), a bearing inner ring pad (2115), and a thin-walled bearing (2116); the end of the first fixed plate (2111) facing the harvested object is connected to the telescopic assembly (212); The first inner ring gear (2112) is connected to the first fixed plate (2111) through the center plate, and the inner teeth of the first outer ring gear (2113) mesh with the first inner ring gear (2112); the output end of the first drive motor (2114) drives the first outer ring gear (2113) to rotate through the first inner ring gear (2112); The bearing inner ring spacer (2115) is connected between the fixed plate and the thin-walled bearing (2116); the first outer ring gear (2113) is fixedly connected to the bearing inner ring spacer (2115) while pressing against the thin-walled bearing (2116); The telescopic assembly (212) includes a second drive motor (2121), a first bevel gear (2122), a first synchronous pulley (2124), a telescopic arm (2125), and a fixed arm (2126), wherein the telescopic arm (2125) and the fixed arm (2126) are slidably connected; The second drive motor (2121), the first bevel gear (2122), the second bevel gear (2123) and the first synchronous pulley (2124) are installed inside the fixed arm (2126). The output end of the second drive motor (2121) is connected to the second bevel gear (2123) through the first bevel gear (2122). The second bevel gear (2123) and the first synchronous pulley (2124) are coaxially arranged. The telescopic boom (2125) is provided with a driven pulley (2128) that is compatible with the first synchronous pulley (2124). A synchronous belt is provided between the first synchronous pulley (2124) and the driven pulley (2128), and the outer side of the synchronous belt is engaged with the telescopic boom (2125) through a buckle (2127). The lifting mechanism (100) includes a fourth drive motor (110); a second transmission assembly, an optical shaft (130) and two support seats (140), with the optical shaft (130) connected between the two support seats (140); The second transmission assembly includes a sprocket (121) and a chain (122). The sprocket (121) is located inside the support base (140). The output end of the fourth drive motor (110) is connected to the sprocket (121) inside the support base (140) on one side. Under the drive of the fourth drive motor (110), the sprocket (121) drives the chain (122) to move. The robotic arm (210) also includes a connecting plate (214), through which the gimbal (211) is connected to the chain (122).

2. The vision-controlled, two-stage telescopic arm mobile harvesting robot according to claim 1, characterized in that, The robotic arm (210) also includes a guide wheel assembly (213), which includes a pulley side and a fixed side. The pulley side is located on the outer frame (10), and the fixed side is located on both sides of the gimbal (211).

3. The vision-controlled, two-stage telescopic arm mobile harvesting robot according to claim 1, characterized in that, The mechanical gripper (220) includes a first gripper (221), a second gripper (222), a first transmission assembly, a support housing (223), and a third drive motor (224). The first transmission assembly is installed inside the support housing (223). The first transmission assembly includes a transmission bevel gear (225), an upper gear (226), and a lower gear (227). The output end of the third drive motor (224) passes through the support housing (223) and is connected to the transmission bevel gear (225). The upper gear (226) and the lower gear (227) are respectively meshed and connected to the upper and lower sides of the transmission bevel gear (225). The upper gear (226) is connected to the first gripper (221), and the lower gear (227) is connected to the second gripper (222).

4. The vision-controlled, two-stage telescopic arm mobile harvesting robot according to claim 1, characterized in that, It also includes a lifting mechanism (300), which includes a fifth drive motor (310), a contact plate (320), an inner connecting rod (330), an outer connecting rod (340), a shaped slide rail (350), and a third transmission assembly (360). One end of the inner connecting rod (330) is slidably connected to the irregular slide rail (350), and the other end is connected to the contact plate (320); one end of the outer connecting rod (340) is connected to the transmission assembly, and the other end is connected to the contact plate (320); the middle part of the inner connecting rod (330) and the middle part of the outer connecting rod (340) are connected by bolts to form an X-shaped opening and closing structure; The third transmission assembly (360) includes a plum blossom coupling (361), a worm gear (362), a worm (363), a second inner ring gear (364), and a second outer ring gear (365). The output end of the third drive motor (224) is connected to the worm (363) through the plum blossom coupling (361). After the worm (363) meshes with the worm gear (362), the worm gear (362) is connected to the second inner ring gear (364) through the flange coupling (366). One end of the second outer ring gear (365) is connected to the outer connecting rod (340), and the other end drives the outer connecting rod (340) to move under the action of the meshing transmission of the second inner ring gear (364).

5. The vision-controlled, two-stage telescopic arm mobile harvesting robot according to claim 4, characterized in that, There are two lifting mechanisms (300), which are fixedly connected to both sides of the outer frame (10). The lifting mechanism (300) also includes a second synchronous pulley. The two lifting mechanisms (300) are connected by synchronous pulley transmission, and one lifting mechanism (300) is active and the other is driven.

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