A banana intelligent combing robot and its operation method

Abstract

This invention discloses a banana intelligent bunch-dropping robot and its operating method, including a robot body, a control system, a vision system for identifying and locating banana bunches and stems, a gripping manipulator mounted on the robot body for holding the fruit combs and stems on the banana bunches, and a cutting manipulator for cutting the stems. The cutting manipulator is equipped with a rapid reciprocating insert-cutting actuator at its end, which, in coordination with the gripping manipulator, achieves efficient and high-quality bunch-dropping and cutting. This robot can be used with cableways or tracked transport systems to automatically and intelligently bunch banana bunches, reducing labor intensity, improving work efficiency, and ensuring work quality.

Description

Technical Field

[0001] This invention relates to the field of automated agricultural robot technology, specifically to an intelligent banana combing robot and its operating method. Background Technology

[0002] Banana combing, a crucial step in the post-harvest commercial processing of bananas, aims to precisely separate the banana combs from the rachis. This process requires clean, smooth cuts, ensuring that the fingers on the banana comb remain intact and undamaged. The precision of banana combing directly affects the quality of the final product. Currently, banana combing still relies on traditional manual labor, which is labor-intensive, inefficient, and demands a high level of skill from workers. The repetitive, fast-paced work also poses a potential threat to the health of the workers. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned problems and provide a banana intelligent combing robot and its operation method. The robot can continuously and automatically comb whole bunches of bananas harvested from the field, reducing labor intensity, improving work efficiency, and ensuring work quality.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A banana intelligent combing robot includes a robot body, a control system, a vision system for identifying and locating banana bunches and stems, a gripping manipulator mounted on the robot body for gripping the combs and stems on the banana bunches, and a cutting manipulator for cutting the stems of the gripped combs to separate the combs from the stems on the banana bunches. The gripping manipulator includes a gripping arm mounted on the robot body and a gripping claw at the end of the gripping arm. The cutting manipulator includes a cutting arm mounted on the robot body and a rapid reciprocating insert cutter at the end of the cutting arm.

[0006] The working principle of the above-mentioned intelligent banana combing robot is as follows:

[0007] After the banana bunches are harvested in the field, they are precisely and smoothly transported to the subsequent processing area via a transportation system (such as cableways and track chains). The subsequent processing area includes a combing zone. A smart banana combing robot is deployed on one side of the transportation system corresponding to the combing zone. A vision system performs visual recognition and positioning of the banana bunches, and the control system performs calculations and analysis based on the recognition results to control the gripping robot and the cutting robot to perform precise and coordinated combing operations. The gripping robot arm drives the gripper to grip the fruit combs on the banana bunches. The cutting robot arm drives the rapid reciprocating insert cutter to cut the fruit stems on the firmly gripped fruit combs, thereby separating the fruit combs from the fruit shafts on the banana bunches. Through the gripping robot and the cutting robot, an efficient "one-to-one" combing operation is completed. The gripping robot maintains the gripping state of the separated fruit combs, and after moving the fruit combs away from the banana bunches, it releases the gripping robot arm, and the fruit combs fall into the washing pool below for washing, and are then washed away by the flowing water to the next work area.

[0008] A method for operating a banana intelligent combing robot includes the following steps:

[0009] (1) The whole bunch of banana bunches moves with the transport system. The vision system monitors the position of the banana bunches in real time. When the banana bunches reach the front of the banana intelligent combing robot, the transport system stops and prepares to start the combing operation from top to bottom.

[0010] (2) Combing operation:

[0011] (2.1) The gripping manipulator of the banana intelligent combing robot grips the fruit shaft at the top of the banana bunch; the gripping manipulator rotates the fruit shaft until the fruit comb at the top of the current banana bunch is facing the robot.

[0012] (2.2) The gripping robot turns to grip the topmost fruit comb;

[0013] (2.3) The cutting manipulator of the banana intelligent combing robot cuts the fruit stem of the already clamped fruit comb, so that the fruit comb is separated from the fruit axis on the banana bunch;

[0014] (2.4) The gripping robot holds the separated fruit comb in a gripping state, and after moving the fruit comb away from the banana bunch, it releases the gripping robot and the fruit comb falls into the washing pool below to be washed and then washed to the next working area with the flowing water.

[0015] (2.5) Repeat steps (2.1)-(2.4) until all the fruit combs of the banana bunch have been combed.

[0016] (3) After the unpacking operation is completed, the transport system is started. The transport system takes away the fruit stalks that have completed the unpacking operation and moves the next banana bunches to be unpacked towards the banana intelligent unpacking robot, and proceeds to step (1).

[0017] Preferably, the rapid reciprocating insert-cutting actuator includes an arc-shaped cutter and a cutting drive mechanism for driving the arc-shaped cutter to perform rapid reciprocating motion. In the above structure, the cutting robotic arm can precisely control the position of the arc-shaped cutter. When the arc-shaped cutter reaches the position for cutting the fruit stem, the cutting drive mechanism drives the arc-shaped cutter to reciprocate and cut the fruit stem.

[0018] Preferably, in step (2.3), the cutting manipulator of the banana intelligent combing robot cuts the fruit stalk of the already clamped fruit comb, so that the fruit comb separates from the fruit axis on the banana bunch. The specific steps are as follows:

[0019] The cutting robotic arm controls the curved blade to move to the position for cutting the fruit stem. The cutting drive mechanism is activated, causing the curved blade to move vertically up and down rapidly. Then, the cutting robotic arm moves, driving the curved blade along the arc-shaped trajectory formed on the surface of the fruit shaft to cut the fruit stem. After cutting, the fruit comb separates from the fruit shaft, and the cutting robotic arm moves the curved blade away from the position of cutting the fruit stem and stops the cutting drive mechanism. In the above steps, because the fruit stem area is arc-shaped, the curved blade moves along the arc trajectory, causing the curved blade to form a planar arc cutting trajectory, which can separate the fruit shaft from the fruit stem, thereby increasing the arc length coverage of the cutting blade and improving the cut quality.

[0020] Preferably, a receiving platform for receiving the fruit comb is provided below the gripping claw. The purpose is that, when dealing with large fruit combs, the receiving platform securely supports the comb to stabilize the cutting process. Simultaneously, when the gripping shaft rotates, the comb can be accurately positioned so that it faces the banana intelligent combing robot.

[0021] Preferably, the vision system includes multiple sensing cameras for locating the banana bunch, the fruit-clamping axis, the fruit-clamping comb, the fruit-supporting comb, and the cut fruit stem. Specifically, it employs object detection, semantic segmentation, target tracking, and 3D reconstruction technologies. Pixels in images captured in real-time by the sensing cameras are classified, detected, and segmented. Simultaneously, positional information corresponding to multiple key point clouds is extracted, and motion analysis and precise positioning of the target object are performed. This enables real-time tracking of the banana bunch's falling state and the location of the banana bunch, fruit-clamping axis, fruit-clamping comb, fruit-supporting comb, and cut fruit stem.

[0022] Preferably, the receiving platform is a telescopic platform, capable of telescopic movement. When targeting small fruit combs or clamping fruit shafts, the telescopic platform can be retracted. If the target fruit comb is too large, in addition to clamping the fruit comb, the telescopic platform can be extended to more securely clamp the receiving fruit comb, thereby completing the cutting stably.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. The banana intelligent combing robot and its operating method in this invention complete the efficient "one-to-one" combing operation by using a clamping manipulator and a cutting manipulator, realizing the automatic combing operation of banana bunches, reducing labor, improving work efficiency, and ensuring work quality; no human operation is required, avoiding repetitive and fast-paced operations that pose a potential threat to the health of workers.

[0025] 2. The banana intelligent combing robot and its operation method in this invention are designed for transportation systems. The banana intelligent combing robot realizes convenient installation and intelligent automated operation, thereby improving production efficiency. Through automatic combing operation, the safety of the operation process is ensured, and in the long run, it also effectively reduces production and operation costs.

[0026] 3. The banana intelligent combing robot and its operating method in this invention achieve coordinated dual-arm operation by setting up a clamping manipulator and a cutting manipulator, which simplifies the overall mechanical form and adapts to the complex combing operation requirements brought about by unstructured natural growth of banana bunches, ensuring the efficiency and precision of the combing operation; secondly, the use of a rapid reciprocating insertion cutting combing method greatly reduces the cutting reaction force and improves combing efficiency and smooth and beautiful cuts.

[0027] 4. The banana intelligent combing robot and its operation method in this invention, by combining a vision system that extracts key information from multiple perspectives, achieves real-time tracking of the combing state throughout the process, and guides the planning of the clamping manipulator and the cutting manipulator to achieve precise operation. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a banana intelligent combing robot according to the present invention during operation.

[0029] Figure 2 This is a rear view and a partially enlarged schematic diagram of a banana intelligent combing robot according to the present invention. Detailed Implementation

[0030] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0031] See Figures 1-2This embodiment discloses a banana intelligent combing robot for combing a whole bunch of banana fruits. The whole bunch of banana fruits is called banana bunch 5. Banana bunch 5 includes fruit axis 2 and multiple combs 4 distributed on the fruit axis 2. The combs 4 include fruit stalks and multiple fruit fingers 3 (i.e. multiple bananas). The fruit stalks are used to connect the fruit fingers 3 and the fruit axis 2. The intelligent banana combing robot includes a robot body 8, a control system, a vision system for identifying and locating banana bunches 5 and fruit stems, a gripping manipulator mounted on the robot body 8 for gripping the fruit combs 4 and fruit shafts 2 on the banana bunches 5, and a cutting manipulator for cutting the fruit stems of the gripped fruit combs 4 so that the fruit combs 4 are separated from the fruit shafts 2 on the banana bunches 5; wherein, the control system is connected to the vision system, the gripping manipulator, and the cutting manipulator; the gripping manipulator includes a gripping arm 12 mounted on the robot body 8 and a gripping claw 10 at the end of the gripping arm 12; the cutting manipulator includes a cutting arm 14 mounted on the robot body 8 and a rapid reciprocating insert cutter at the end of the cutting arm 14.

[0032] See Figures 1-2 In this embodiment, both the clamping robotic arm 12 and the cutting robotic arm 14 are multi-joint robotic arms that can move freely in space; the working efficiency is greatly improved by the coordinated combing operation of the two arms; the fast reciprocating insert-cutting actuator can ensure the smoothness of the fruit stem cut.

[0033] See Figures 1-2 The rapid reciprocating insert-cutting actuator includes an arc-shaped cutter 11 and a cutting drive mechanism for driving the arc-shaped cutter 11 to perform rapid reciprocating motion. In the above structure, the cutting robotic arm 14 can precisely control the position of the arc-shaped cutter 11. When the arc-shaped cutter 11 reaches the position for cutting the fruit stem, the cutting drive mechanism drives the arc-shaped cutter 11 to reciprocate to cut the fruit stem.

[0034] See Figures 1-2 The gripper 10 includes a gripper and a power source that provides gripping force to the gripper; the gripper can be a conventional gripper or a flexible gripper. The gripper 10 is a cylinder gripper or an electric gripper, with a cylinder as the power source for the cylinder gripper and a drive motor as the power source for the electric gripper. A flexible gripper and cylinder drive are used, and the gripping force is adjusted by air pressure to prevent damage to the fruit finger 3.

[0035] See Figures 1-2 The cutting drive mechanism in this embodiment may include a motor, gears, and a rack; the motor drives the gears, which in turn drive the rack to reciprocate, thereby realizing the reciprocating motion of the arc-shaped cutter 11.

[0036] See Figures 1-2Below the gripper 10, there is a receiving platform for receiving the fruit comb 4. The purpose is that when dealing with a large fruit comb 4 target, the receiving platform is used to firmly support the fruit comb 4 to stabilize the cutting process. At the same time, when the gripper shaft 2 rotates, the fruit comb 4 can be accurately positioned so that it faces the banana intelligent combing robot.

[0037] See Figures 1-2 The receiving platform is a telescopic platform that can extend and retract. When targeting a small fruit comb 4 or clamping the fruit shaft 2, the telescopic platform can be retracted. If the target fruit comb 4 is too large, in addition to clamping the fruit comb 4, the telescopic platform can be extended to more firmly clamp the receiving fruit comb 4, thereby completing the cutting stably.

[0038] See Figures 1-2 The vision system includes multiple sensing cameras 7 and 9, used to locate the positions of the banana bunch 5, the fruit-clamping axis, the fruit-clamping comb, the fruit-supporting comb, and the fruit-cutting stem. Specifically, it employs technologies such as object detection, semantic segmentation, target tracking, and 3D reconstruction. Pixels in the images captured in real time by the sensing cameras 7 and 9 are classified, detected, and segmented. Simultaneously, the positional information corresponding to multiple key point clouds is extracted, and motion analysis and precise positioning of the target object are performed. This enables real-time tracking of the banana bunch 5's falling state and the location of the banana bunch, fruit-clamping axis, fruit-clamping comb, fruit-supporting comb, and fruit-cutting stem.

[0039] See Figures 1-2 The sensing cameras 7 and 9 are mounted on the robot body 8. The sensing cameras 7 and 9 are binocular cameras, and there are two sensing cameras 7 and 9.

[0040] See Figures 1-2 The control system is used for powering, communicating, and computing on the perception results of the vision system of the banana intelligent combing robot, and to plan the movements of the gripping and cutting manipulators. The control system is control cabinet 13.

[0041] See Figures 1-2 The gripping and cutting manipulators are located on both sides of the robot body 8, and are connected to the robot body 8 via lifting mechanisms. The two lifting mechanisms can control the gripping and cutting manipulators to move linearly up and down, improving their flexibility. These lifting mechanisms can be driven by motors and lead screws.

[0042] See Figures 1-2 The working principle of the aforementioned intelligent banana combing robot is as follows:

[0043] After the entire bunch of bananas 5 is harvested in the field, it is precisely and smoothly transported to the subsequent processing area via an advanced transportation system (such as cableway 1, track system, etc.). The subsequent processing area includes a combing area for bananas. A banana intelligent combing robot is deployed on one side of the transportation system corresponding to the combing area. The vision system performs visual recognition and positioning of the banana bunches 5, and the control system performs calculations and analysis based on the recognition results, controlling the gripping robot and the cutting robot to perform precise coordinated combing operations. The gripping robot arm 12 drives the gripping claw 10 to comb the banana bunches 5. The banana comb 4 is gripped; the cutting robotic arm 14 drives a rapid reciprocating insert cutter to cut the fruit stem on the firmly gripped comb 4, thus separating the comb 4 from the fruit shaft 2 on the banana bunch 5; through the gripping robotic arm and the cutting robotic arm, an efficient "one-stop-one-cut" combing operation is completed; the gripping robotic arm holds the separated comb 4, and after moving the comb 4 away from the banana bunch 5, it releases the gripping robotic arm, and the comb 4 falls into the washing pool 6 below for cleaning, and is then washed away by the flowing water to the next work area. The operation mode of the banana intelligent combing robot not only improves work efficiency, but also ensures the stability of cutting quality and the safety of the operation process. In the long run, it also effectively reduces production and operating costs.

[0044] See Figures 1-2 This embodiment also discloses an operation method for a banana intelligent combing robot, which includes the following steps:

[0045] (1) The whole bunch of banana bunches 5 moves with the transport system. The vision system monitors the position of the banana bunches 5 in real time. When the banana bunches 5 reach the front of the banana intelligent combing robot, the transport system stops and prepares to start the combing operation from top to bottom. That is, the banana bunches 5 start combing from the top comb 4 of the fruit shaft 2, and comb the fruit combs 4 on the fruit shaft 2 from top to bottom.

[0046] (2) Combing operation:

[0047] (2.1) The gripping manipulator of the banana intelligent combing robot grips the fruit shaft 2 at the top of the banana bunch 5; the gripping manipulator rotates the fruit shaft 2 until the fruit comb 4 at the top of the current banana bunch 5 (the first comb fruit comb 4 at the top of the fruit shaft 2) is facing the robot.

[0048] (2.2) The gripping robot turns to grip the topmost fruit comb 4 (fruit finger 3); the gripping robot helps to stabilize the comb for cutting.

[0049] (2.3) The cutting manipulator of the banana intelligent comb robot cuts the fruit stem of the already clamped fruit comb 4, so that the fruit comb 4 is separated from the fruit axis 2 on the banana bunch 5.

[0050] (2.4) The gripping robot holds the separated fruit comb 4 (fruit finger 3) in a gripping state. After the gripping robot moves the fruit comb 4 away from the banana bunch 5, it releases the gripping robot and the fruit comb 4 falls into the washing pool 6 below to be washed and then washed to the next working area with the flowing water. In the above steps, the gripping robot moves the fruit comb 4 away from the banana bunch 5 to prevent it from damaging other fruit combs 4 still on the fruit shaft 2.

[0051] (2.5) Repeat steps (2.1)-(2.4) until all the fruit combs 4 of the banana bunch 5 have been combed;

[0052] (3) After the unpacking operation is completed, the transport system is started, and the transport system takes away the fruit stalk 2 that has completed the unpacking operation; and moves the next banana bunch 5 to be unpacked towards the banana intelligent unpacking robot, and enters step (1). In the above steps, the unpacking operation of banana bunch 5 can be continuously realized, and the degree of automation is high.

[0053] See Figures 1-2 In step (2.3), the cutting manipulator of the banana intelligent combing robot cuts the fruit stalk of the already clamped fruit comb 4, so that the fruit comb 4 separates from the fruit axis 2 on the banana bunch 5. The specific steps are as follows:

[0054] See Figures 1-2 The cutting robotic arm 14 controls the curved blade 11 to move to the position for cutting the fruit stem. The cutting drive mechanism is activated, causing the curved blade 11 to move vertically up and down rapidly. Then, the cutting robotic arm 14 moves, causing the curved blade 11 to move along the arc-shaped trajectory formed on the surface of the fruit shaft 2 to cut the fruit stem. After cutting, the fruit comb 4 separates from the fruit shaft 2. The cutting robotic arm 14 then moves the curved blade 11 away from the position for cutting the fruit stem and stops the cutting drive mechanism. In the above steps, because the fruit stem area is arc-shaped, the curved blade 11 moves along the arc-shaped trajectory, causing the curved blade 11 to form a planar arc cutting trajectory, which can separate the fruit shaft 2 from the fruit stem, thereby increasing the arc length coverage of the cutting blade and improving the cut quality.

[0055] See Figures 1-2 The arc-shaped cutter 11 moves vertically up and down rapidly at a reciprocating frequency of 40Hz and a reciprocating stroke of 15mm.

[0056] See Figures 1-2 The transportation system is a cableway 1, which has hooks and pulleys that attach banana tassels 5 via hemp ropes, causing them to move horizontally. A washing pool 6 is located below the cableway 1 to collect the fruit combs 4 that have been cut and fallen. The pool has a water circulation system that allows the fruit combs 4 to float to the next work area.

[0057] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A working method, characterized in that, The described operation method is that of a banana intelligent combing robot. The intelligent banana combing robot includes a robot body, a control system, a vision system for identifying and locating banana bunches and stems, a gripping manipulator mounted on the robot body for holding the combs and stems on the banana bunches, and a cutting manipulator for cutting the stems of the gripped combs to separate them from the stems on the banana bunches. The gripping manipulator includes a gripping arm mounted on the robot body and a gripping claw at the end of the gripping arm. The cutting manipulator includes a cutting arm mounted on the robot body and a rapid reciprocating cutting actuator at the end of the cutting arm. A receiving platform for receiving the combs is located below the gripping claw; this receiving platform is a telescopic platform. The vision system performs visual identification and positioning of the banana bunches, and the control system performs calculations and analysis based on the identification results to control the gripping manipulator and the cutting manipulator to perform precise and coordinated combing operations. The operation method includes the following steps: (1) The whole bunch of bananas moves with the transport system. The vision system monitors the position of the banana bunch in real time. When the banana bunch reaches the front of the banana intelligent combing robot, the transport system stops and prepares to start the combing operation from top to bottom. (2) Combing operation: (2.1) The gripping manipulator of the banana intelligent combing robot grips the fruit shaft at the top of the banana bunch; the gripping manipulator rotates the fruit shaft until the fruit comb at the top of the current banana bunch is facing the robot. (2.2) The gripping robot turns to grip the topmost fruit comb; (2.3) The cutting manipulator of the banana intelligent combing robot cuts the fruit stem of the already clamped fruit comb, so that the fruit comb is separated from the fruit axis on the banana bunch; (2.4) The gripping robot holds the separated fruit comb in a gripping state, and after moving the fruit comb away from the banana bunch, it releases the gripping robot and the fruit comb falls into the washing pool below to be washed, and then flows with the water to the next working area. (2.5) Repeat steps (2.1)-(2.4) until all the fruit combs on the banana bunch have been combed; (3) After the combing operation is completed, the transport system is started and the transport system takes away the fruit stalks that have completed the combing operation; and the next banana bunch to be combed is brought closer to the banana intelligent combing robot, and step (1) is entered.

2. The operating method according to claim 1, characterized in that, The rapid reciprocating insert actuator includes an arc-shaped cutter and a cutting drive mechanism for driving the arc-shaped cutter to perform rapid reciprocating motion.

3. The operating method according to claim 2, characterized in that, In step (2.3), the cutting manipulator of the banana intelligent combing robot cuts the fruit stalk of the already clamped comb, so that the comb separates from the fruit axis on the banana bunch. The specific steps are as follows: The cutting robotic arm controls the curved blade to move to the position of cutting the fruit stem. The cutting drive mechanism is activated, which drives the curved blade to move vertically up and down quickly. Then, the cutting robotic arm moves, which drives the curved blade to move along the arc-shaped trajectory formed on the surface of the fruit shaft to cut the fruit stem. After the cutting is completed, the fruit comb is separated from the fruit shaft. The cutting robotic arm drives the curved blade away from the position of cutting the fruit stem and stops the cutting drive mechanism.

4. The operating method according to claim 1, characterized in that, The vision system includes multiple sensing cameras used to locate the banana bunch position, the fruit shaft clamping position, the fruit comb clamping position, the fruit support comb position, and the fruit stem cutting position.

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