Crop picking device and picking method thereof

Abstract

The embodiment of the invention discloses a crop picking device and a picking method of the crop picking device, and belongs to the technical field of picking equipment. A mobile loading platform in the crop picking device is configured to be capable of moving to a designated position based on a control instruction; the tracking and aiming assembly performs real-time positioning, aiming and distance measurement on the to-be-picked crops by adopting a dynamic focusing mode based on the action instruction; the cutting piece cuts the to-be-picked crops which are positioned and aimed in real time based on the cutting instruction; the collection assembly collects the cut crops based on the collection instruction; the main control system is at least used for generating and sending out a control instruction, an action instruction, a cutting instruction and a collecting instruction so as to control all the components. According to the crop picking device, through cooperative operation of all the components, picking can be carried out by crossing the spatial distance, so that the cooperative picking efficiency of various crops is improved, and the crop picking device can also be suitable for picking of various crops and is high in applicability.

Description

Technical Field

[0001] The present application relates to the technical field of harvesting equipment, and in particular to a crop harvesting device and a harvesting method of the crop harvesting device. Background Art

[0002] With the continuous improvement of agricultural production levels, there are more and more automated harvesting equipment for crop picking operations.

[0003] Most of the automatic harvesting equipment in the existing technology is used to harvest a single crop. Although lasers are also used to cut and recover crops, such automatic harvesting equipment cannot overcome the limitations of distance and space and cannot harvest crops at farther or higher locations. This can only be achieved by increasing the length of structures such as the robotic arms in the harvesting equipment. In addition, the coordination between the various components of the automatic harvesting equipment is low, and the response speed between them is low, resulting in low crop harvesting efficiency. Summary of the invention

[0004] The embodiment of the present application provides a crop picking device to at least solve the technical problem that the components of the existing automatic crop picking equipment have low coordination and low response speed to each other, resulting in low picking efficiency.

[0005] A first aspect of an embodiment of the present application provides a crop picking device, which includes: a mobile loading platform, a tracking and aiming component, a cutting member, a collecting component and a main control system arranged on the mobile loading platform;

[0006] The mobile loading platform is configured to be movable to a designated position based on a control instruction;

[0007] The tracking and aiming component forms real-time positioning, aiming and ranging of the crops to be picked based on the action instructions and using a dynamic focusing method;

[0008] The cutting element cuts the crops to be picked that are positioned and targeted in real time based on the cutting instructions;

[0009] The collecting component collects the cut crops based on the collecting instruction;

[0010] The main control system is at least used to generate and issue the control instructions, the action instructions, the cutting instructions and the collection instructions to complete the control of the mobile loading platform, the tracking and aiming component, the cutting piece and the collection component.

[0011] In some embodiments, the tracking and aiming assembly includes a six-axis robotic arm and a sighting member;

[0012] The six-axis mechanical arm is arranged at the middle position of the mobile loading platform;

[0013] The aiming member is arranged at the end of the six-axis mechanical arm;

[0014] The six-axis robotic arm adjusts the incident angle of the aiming device and its relative position to the crops to be picked based on the action instructions, and drives the aiming device to move according to environmental changes to complete real-time positioning and aiming of the crops to be picked.

[0015] In some embodiments, the aiming member includes a laser lens assembly, and the laser lens assembly includes a binocular camera and an indication light source;

[0016] The laser lens group is configured to obtain image recognition information of the crops to be picked based on the binocular camera, and to complete dynamic focusing and ranging of the target position of the crops to be picked through the virtual aiming point formed by the indicating light source.

[0017] In some embodiments, a moving component is disposed on the mobile loading platform, and the moving component drives the mobile loading platform to move in response to the control instruction.

[0018] In some embodiments, the moving assembly is a track-type structure.

[0019] In some embodiments, the cutting element comprises a pump laser;

[0020] The pump laser is configured to cut the crops to be picked according to the cutting instruction issued by the main control system;

[0021] The cutting parameters of the pump laser are controlled in real time by the main control system, and the cutting parameters at least include cutting power, spot size and continuous light emission time.

[0022] In some embodiments, the collection component includes a collection net with an opening and closing function;

[0023] The collecting net is fixed on the mobile loading platform through a collecting bracket and is located on one side of the tracking and aiming assembly. The outer edge of the collecting net is also provided with a collecting rod located above the collecting bracket;

[0024] The collecting bracket is configured to open in response to the collecting instruction issued by the main control system to collect the cut crops.

[0025] In some embodiments, a positioning module is also included;

[0026] The positioning module is configured to locate the real-time position of the mobile loading platform based on GPS positioning method and / or Beidou positioning method.

[0027] A second aspect of the embodiments of the present application provides a picking method of a crop picking device, which is applied to the crop picking device as described in the first aspect. The picking method of the crop picking device includes:

[0028] The main control system obtains the current position of the mobile loading platform through the positioning module and forms a control instruction to control the mobile loading platform to move to the specified position;

[0029] After the mobile loading platform moves to the designated position, the aiming device is controlled to start and obtain image recognition information of the crops to be picked, and after the main control system obtains the image recognition information, it measures the target distance between the aiming device and the crops to be picked;

[0030] Based on the target distance, the main control system controls the six-axis robotic arm to adjust the angle of the aiming member and the working distance between the crops to be picked and the aiming member;

[0031] According to the working distance and in response to the collecting instruction and the cutting instruction, the main control system controls the collecting component to open and starts the cutting element to cut, so as to complete the collection of the cut crops by using the collecting component;

[0032] During the laser cutting process, the cutting parameters of the cutting piece are adjusted in real time based on the main control system.

[0033] In some embodiments, the real-time regulation of the cutting parameters of the cutting element based on the main control system includes:

[0034] The main control system at least performs real-time regulation on the cutting power, the spot size and the continuous light emission time of the pump laser.

[0035] Compared with the prior art, the beneficial effects of the present invention are mainly:

[0036] In the crop picking device and the picking method of the crop picking device in the present application, the crop picking device includes a mobile loading platform, a tracking and aiming component, a cutting component, a collecting component and a main control system arranged on the mobile loading platform; the mobile loading platform is configured to be movable to a specified position based on a control instruction; the tracking and aiming component forms real-time positioning, aiming and ranging of the crops to be picked based on the action instruction and adopts a dynamic focusing method; the cutting component cuts the crops to be picked that are positioned and aimed in real time based on the cutting instruction; the collecting component collects the cut crops based on the collecting instruction; the main control system is at least used to generate and issue control instructions, action instructions, cutting instructions and collecting instructions to complete the control of the mobile loading platform, the tracking and aiming component, the cutting component and the collecting component. The crop picking device in the present application can pick across a spatial distance through the collaborative operation between the various components, thereby improving the collaborative picking efficiency of various crops, and can also be applied to the picking of various crops, with high applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0038] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0039] Figure 1 is a schematic structural diagram of a crop picking device according to an embodiment of the present invention;

[0040] Figure 2 is a logic control schematic diagram of a crop picking device according to an embodiment of the present invention;

[0041] Figure 3 The present invention is a flowchart of the steps of a picking method of a crop picking device according to an embodiment of the present invention.

[0042] Reference numerals:

[0043] 100. Crop picking device; 110. Mobile loading platform; 111. Mobile component; 120. Tracking component; 121. Six-axis robotic arm; 122. Aiming component; 130. Cutting component; 140. Collecting component; 141. Collecting net; 142. Collecting bracket; 143. Collecting rod; 150. Main control system; 160. Positioning module. DETAILED DESCRIPTION

[0044] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. 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.

[0045] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two, but does not exclude the inclusion of at least one.

[0046] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0047] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0048] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0049] like Figure 1 and Figure 2As shown, an exemplary embodiment of the present invention provides a crop picking device 100. The crop picking device 100 includes a mobile loading platform 110, a tracking and aiming assembly 120 disposed on the mobile loading platform 110, a cutting member 130, a collecting assembly 140 and a main control system 150.

[0050] This architectural design enables efficient and accurate crop harvesting. Each component has its own specific function and works together to complete the harvesting task.

[0051] The mobile loading platform 110 is configured to be movable to a designated position based on a control instruction. That is, the mobile loading platform 110, as the basis of the entire crop picking device 100, can be moved to a designated position according to a control instruction issued by the main control system 150. This allows the crop picking device 100 to flexibly shuttle in the farmland and reach different crop planting areas for picking operations, thereby increasing the scope and flexibility of picking.

[0052] The mobility of the mobile loading platform 110 can be achieved by using wheels, tracks or other mobile modes suitable for the farmland terrain. After receiving the control command of the main control system 150, the mobile loading platform 110 can move between the ridges and different plots of the farmland. For example, in a large farm, it can quickly move to the area of ​​crops that need to be picked along a preset path. At the same time, the mobile loading platform 110 can also ensure that the tracking and aiming components 120, cutting components 130 and collecting components 140 thereon can work stably to avoid affecting the accuracy of picking due to the shaking of the platform.

[0053] The tracking and aiming component 120 uses dynamic focusing to perform real-time positioning, aiming and distance measurement on the crops to be picked. Through dynamic focusing, it can adapt to the position changes of crops in the natural environment, such as the shaking of crops when the wind blows. Real-time positioning can accurately find the specific position of the crops, aiming ensures that the cutting element 130 can accurately act on the target crops, and ranging provides distance parameters for the operation of the cutting element 130, which helps to determine the strength and method of cutting.

[0054] In one example, the tracking and aiming component 120 can use a laser rangefinder, a camera and other devices to achieve positioning, aiming and distance measurement. Taking apple picking as an example, the camera can capture the image of the apple, determine the position and maturity of the apple through image recognition technology (which can be used as a reference for whether to pick it), and the laser rangefinder accurately measures the distance between the apple and the cutting piece. During operation, when the apple swings due to wind, the tracking and aiming component 120 can continuously track and adjust the aiming direction and focusing distance to provide accurate target information for the cutting piece 130.

[0055] The cutting element 130 cuts the crops to be picked that are positioned and aimed at in real time after receiving the cutting command from the main control system 150. The operation of the cutting element 130 needs to adjust the cutting force and position according to the ranging information provided by the tracking and aiming component 120 to avoid over-cutting or under-cutting.

[0056] The collecting component 140 collects the cut crops according to the collecting instructions. The collecting method varies according to the crops. For cereal crops, the collecting component 140 may be a barn structure similar to a harvester, and the cut cereals are collected into the barn through a conveyor belt and other devices. For fruit crops, the collecting component may be a collecting basket or a collecting bag with a buffer device to prevent the fruit from being damaged by falling or colliding. The collecting component 140 is used in conjunction with the cutting element 130 to effectively ensure that the cut crops can be collected in a timely and accurate manner, and to avoid the loss caused by the crops being scattered in the field.

[0057] The main control system 150 is the control unit of the entire crop picking device 100. It can obtain farmland environment information, crop growth information, etc. through corresponding sensors, and then generate control instructions, action instructions, cutting instructions and collection instructions according to preset programs and algorithms. For example, the main control system 150 can decide whether to issue a cutting instruction based on the crop maturity information fed back by the tracking component 120. It can also plan the best moving path according to the position of the mobile loading platform 110 and the distribution of the target crops, and issue control instructions to enable the mobile loading platform 110 to move efficiently. At the same time, the main control system 150 can also coordinate the working order between the various components to ensure the smoothness and accuracy of the picking process.

[0058] The crop picking device 100 of this example can complete the picking operation of a large number of crops to be picked in a short time, wherein the damage rate of the crops can be reduced and the quality of the agricultural products can be improved through the precise coordination between the tracking and aiming component 120, the cutting member 130 and the collecting component 140. In addition, the crop picking device 100 can move and operate autonomously under the control of the main control system 150, which reduces manpower input and labor costs.

[0059] Furthermore, the crop picking device can perform picking across spatial distances through the collaborative operation of various components, thereby improving the collaborative picking efficiency of various crops, and can also be applied to the picking of various crops, with high applicability.

[0060] like Figure 1 and Figure 2 As shown, in some embodiments, the tracking and aiming assembly 120 includes a six-axis robotic arm 121 and a sighting member 122 .

[0061] The six-axis robot arm 121 has multiple degrees of freedom and can move flexibly in three-dimensional space, and the aiming piece 122 is set at the end of the six-axis robot arm 121 as a component that directly interacts with the crops to be picked. Among them, the six-axis robot arm 121 provides sufficient flexibility to adjust the position and posture of the aiming piece 122, which helps to accurately operate the crops to be picked in a complex farmland environment. The aiming piece 122 is a key component for locating and aiming crops, and it can use optical, laser or other sensor technologies to achieve its function.

[0062] The six-axis robotic arm 121 is disposed at the middle position of the mobile loading platform 110. By disposing the six-axis robotic arm 121 at this position, the center of gravity deviation of the crops collected by the collecting component 140 can be balanced during the increasing process, so that the crop picking device 100 is always in a stable state.

[0063] The middle position helps to maintain the balance of the six-axis robot 121 during the movement of the mobile loading platform 110. When the mobile loading platform 110 is traveling in the farmland, it will encounter uneven ground or turns, and the six-axis robot 121 located in the middle position will be subject to relatively less shaking and unbalanced forces, so that it can work more stably. At the same time, the middle position can also allow the six-axis robot 121 to cover a larger operating range without being subject to too many restrictions, and can achieve adjustment in any direction and angle, so that the aiming member 122 can aim at the crops to be picked around, reducing the operating blind spots caused by improper positioning of the six-axis robot 121.

[0064] The six-axis robot 121 can be adjusted based on the motion instructions issued by the main control system 150. Under the control of the motion instructions, the six-axis robot 121 can accurately change the incident angle of the aiming member 122. For example, when the crops to be picked are in different growth postures or heights, the six-axis robot 121 can adjust the incident angle of the aiming member 122 to ensure that the aiming member 122 can accurately locate the key parts of the crops, such as the stem (for cutting positioning of stem crops) or the fruit stalk (for picking positioning of fruit crops).

[0065] At the same time, the six-axis robot arm 121 can also adjust the relative position between the aiming member 122 and the crops to be picked. That is, according to the actual distribution of the crops in the field, the aiming member 122 is moved to a suitable position. For example, when picking crops planted in rows, the six-axis robot arm 121 can adjust the lateral position of the aiming member 122 along the direction of the crop row, and adjust the longitudinal position according to the spacing between the crops, so as to achieve accurate positioning of each crop.

[0066] In the crop growth environment, there are many factors that affect the picking operation, such as wind, growth changes of the crops themselves, etc. The six-axis robot arm 121 can drive the aiming member 122 to move according to these environmental changes. When the wind blows the crops, the position of the crops will shift. The six-axis robot arm 121 can adapt to this change in real time and quickly adjust the position of the aiming member 122 to maintain real-time positioning and aiming of the crops.

[0067] In this example, the coordinated work of the six-axis robotic arm 121 and the aiming component 122 in the tracking and aiming assembly 120 greatly improves the accuracy of picking, while also effectively reducing unnecessary damage to crops and improving picking efficiency and picking results.

[0068] like Figure 1 and Figure 2 As shown, in some embodiments, the aiming member 122 includes a laser lens assembly (not shown in the figure), wherein the laser lens assembly includes a binocular camera and an indication light source.

[0069] The laser lens group is configured to obtain image recognition information of crops to be picked based on a binocular camera, and to complete dynamic focusing and ranging of a target position of the crops to be picked by indicating a virtual aiming point formed by a light source.

[0070] The binocular camera can capture images of crops to be picked and provide raw data for subsequent image recognition. For example, when picking fruit, the binocular camera can clearly capture the fruit's color, shape, maturity (judged by features such as color and texture), and its specific location in the field.

[0071] Different types of crops require different focusing distances and angles, and image recognition information can provide a basis for adjusting these parameters. For example, for smaller strawberries, a shorter focusing distance and more precise angle adjustment are required, while for larger watermelons, a different focusing strategy is required.

[0072] The indicator light source can visually mark the target position of the crop. When the indicator light source emits light, a virtual aiming point is formed on the crop, which is an important reference point for dynamic focusing and ranging. For example, when deciding to pick a fruit at a high place, the virtual aiming point formed by the indicator light source can help determine the most appropriate angle and distance for focusing and cutting operations.

[0073] Among them, the virtual aiming point formed by the indicator light source plays a guiding role in the dynamic focusing and ranging process. First of all, dynamic focusing refers to the ability to adjust the focus in real time when the position of crops changes during their growth or due to external factors (such as wind). The virtual aiming point serves as a fixed reference point. Even if the position of the crop changes, as long as this point is still at the target position of the crop, the focus can be readjusted based on this point.

[0074] In terms of distance measurement, the distance to the target position of the crop to be picked can be calculated by observing the relative position relationship between the virtual aiming point and the laser lens group. For example, the principle of triangulation can be used to calculate the distance to the crop by taking the two lenses of the binocular camera and the virtual aiming point as the three vertices of the triangle and the known parameters such as the lens spacing and angle. This distance measurement method provides accurate operating distance information for the cutting piece, ensuring the accuracy of the cutting operation.

[0075] In this example, using binocular cameras and indicator light sources as aiming members 122 can effectively improve the accuracy of picking the crops to be picked, ensure that the cutting member 130 can cut at the correct cutting position, and reduce unnecessary damage to the crops to be picked. In addition, the aiming member 122 of this structure can be used in various very complex environments, continuously obtain new image recognition information through the binocular camera, and use the virtual aiming point of the indicator light source to adjust the operation in real time, flexibly locate, focus and measure the distance of each crop, and ensure the smooth progress of the picking work.

[0076] like Figure 1 and Figure 2 As shown, in some embodiments, a moving component 111 is disposed on the mobile loading platform 110 , and the moving component 111 drives the mobile loading platform 110 to move in response to a control instruction.

[0077] The control instructions issued by the main control system 150 include information about the moving direction, speed, path, etc. The moving component 111 accurately drives the mobile loading platform 110 to move according to these instructions, so that the crop picking device 100 can operate in the farmland according to the predetermined plan.

[0078] The moving assembly 111 may be a crawler-type structure. For example, the moving assembly 111 includes components such as a motor, a reducer, a transmission shaft, and a crawler. The power generated by the motor is decelerated and torque-increased by the reducer, and then transmitted to the transmission shaft, which finally drives the crawler to move.

[0079] In this example, the mobile component 111 using a crawler structure can respond to control instructions quickly and accurately, so that the picking device can quickly move from one picking point to the next picking point. At the same time, it can also enable the crop picking device 100 to cover a larger area in a shorter time, reducing idling time and unnecessary moving paths during the picking process, thereby improving the overall picking efficiency.

[0080] like Figure 1 and Figure 2 As shown, in some embodiments, the cutting element 130 includes a pump laser. The pump laser is configured to cut the crops to be picked according to the cutting instructions issued by the main control system 150.

[0081] When the main control system 150 issues a cutting instruction, the pump laser starts the cutting operation. For example, when picking fruits, the main control system 150 determines whether to issue a cutting instruction based on the fruit position, maturity and other information provided by the tracking and aiming component 120. If the fruit is ripe and the position is accurately located, the cutting instruction will be sent to the pump laser.

[0082] After receiving the command, the pump laser uses its high-energy laser beam to cut the crops to be picked. The laser beam can be focused on a specific part of the crop, such as the stem or the fruit stalk, and the crop tissue is cut through the instantaneous high energy effect, thereby achieving the picking of the crops to be picked.

[0083] The cutting parameters of the pump laser are adjusted by the main control system 150 to meet the cutting requirements of different crops. The cutting parameters include at least cutting power, spot size, and continuous light emission time.

[0084] Different crops have different requirements for cutting power. For thicker crop stems, such as sugarcane, higher cutting power is required to successfully cut them. The main control system 150 adjusts the cutting power of the pump laser according to information such as the type of crops to be picked and the thickness of the stems.

[0085] The spot size is also regulated by the main control system 150. The size of the spot size will affect the accuracy and effect of cutting. For small crop fruits or delicate crop parts, such as strawberry stalks or flower stems, a smaller spot size is required for precise cutting to avoid damaging the fruit or flower itself. The main control system 150 determines the required spot size based on the crop image recognition information provided by the tracking and aiming component 120. For example, when picking small fruit crops, the main control system 150 will reduce the spot size of the pump laser so that the laser beam can act more accurately on the fruit stalk, achieving clean cutting while reducing the impact on the fruit.

[0086] In addition, the length of the continuous light output time is closely related to the efficiency and effect of cutting. For some tougher crops, a longer continuous light output time is required to ensure complete cutting. The main control system will adjust the continuous light output time according to the material characteristics of the crops and the actual cutting situation. For example, when cutting the stems of crops with a high degree of lignification, the main control system 150 will appropriately extend the continuous light output time of the pump laser to ensure the thoroughness of the cutting; while for the tenderer stems of crops, a shorter continuous light output time can complete the cutting, and too long a continuous light output time may cause over-cutting or thermal damage to surrounding crops.

[0087] In a specific example, the output power and action time of the pump laser are adjusted according to the different crops to be picked to achieve the effect of rapid picking. For petioles or stalks with different material compositions, work efficiency can also be improved by replacing lasers with different wavelengths.

[0088] For example, when the crops to be picked are mulberry leaves, a laser with a power range of 300 to 500W, a wavelength of 1980nm and an optical lens with a focused spot size of 1mm can be used, and the time range of acting on the target position is 0.1 to 2s, so as to achieve the effect of rapid picking.

[0089] For example, when the crop to be picked is kiwi fruit, a laser with a power range of 500 to 1000W, a wavelength of 1080nm and an optical lens with a focused spot size of 1 to 2mm can be used, and the time range of acting on the target position is 0.1 to 2s to achieve the effect of rapid picking.

[0090] like Figure 1 and Figure 2 As shown, in some embodiments, the collection component 140 includes a collection net 141 with an opening and closing function. When the collection operation is not performed, the collection net 141 can be in a closed state, which can reduce the occupied space and avoid unnecessary collisions with other components or the surrounding environment during the movement of the mobile loading platform 110.

[0091] When it is necessary to collect the harvested crops, the collection net 141 can be opened to form a larger collection area. The collection net 141 can flexibly adjust the collection state according to factors such as the type, size and cutting frequency of the crops.

[0092] The collecting net 141 is fixed on the mobile loading platform 110 through the collecting bracket 142 and is located on one side of the tracking and aiming assembly 120. This arrangement is conducive to timely collection of the crops picked by the cutting member 130. The tracking and aiming assembly 120 is responsible for locating and aiming the crops to be picked, and the cutting member 130 performs the cutting operation under its guidance, while the collecting net 141 is nearby, so that the cut crops can quickly fall into the collecting net 141, reducing the loss of crops falling during the collection process.

[0093] The outer edge of the collecting net 141 is also provided with a collecting rod 143 located above the collecting bracket 142, and the collecting rod 143 can effectively enhance the structural stability of the collecting net 141. At the same time, the collecting rod 143 can effectively define the edge of the collecting net 141, prevent the crops from sliding off the edge during the collection process, and improve the accuracy of the collection.

[0094] The collecting bracket 142 is configured to open in response to a collecting instruction issued by the main control system 150 to collect the cut crops. After receiving the instruction, the collecting bracket 142 realizes the opening action through a corresponding mechanical or electric device (such as an electric push rod, a hinge, etc.). For example, after receiving the signal, the electric push rod extends and pushes the components of the collecting bracket 142 to move, so that the collecting net 141 is unfolded to form a collecting state.

[0095] In the large-scale crop picking process, the automated collection operation can greatly improve the picking efficiency. The main control system 150 can accurately control the opening and closing time of the collection bracket 142 according to factors such as the picking rhythm and the yield of the crop, so that the collection net 141 can collect the crops at the correct time and position, avoiding the situation where the crops are scattered in the field and cannot be collected, thereby improving the harvest rate of the crops.

[0096] like Figure 1 and Figure 2 As shown, in some embodiments, the crop picking device 100 further includes a positioning module 160, and the positioning module 160 is configured to locate the real-time position of the mobile loading platform 110 based on a GPS positioning method and / or a Beidou positioning method.

[0097] Among them, in the crop picking operation, accurate location information can help the main control system 150 plan the best moving path, for example, using a dual positioning method, that is, the positioning module is a dual positioning method of GPS positioning method and Beidou positioning method, and through a data fusion algorithm, the positioning data from GPS and Beidou are comprehensively processed to obtain more accurate and reliable real-time location information of the mobile loading platform 110. For example, in farmland in some border areas, this dual positioning method can avoid signal interference or positioning deviation problems that may exist in a single system.

[0098] The position determined by the positioning module 160 can help the cutting element 130 and the collecting assembly 140 to better adapt to the position change of the mobile loading platform 110, ensuring the smooth progress of the cutting and collecting work. For example, when the mobile loading platform 110 moves in an uneven farmland, the positioning information can allow the cutting element 130 and the collecting assembly 140 to adjust their working state in time to adapt to the change in the relative position of the crops.

[0099] like Figure 3 As shown, an exemplary embodiment of the present invention provides a crop picking method for a crop picking device, which is used to control the crop picking device 100 of any of the above embodiments. The control method includes the following steps:

[0100] Step S100: the main control system obtains the current position of the mobile loading platform through the positioning module, and forms a control instruction to control the mobile loading platform to move to a specified position.

[0101] Step S200: After the mobile loading platform moves to the designated position, the aiming device is controlled to start and obtain image recognition information of the crops to be picked. After the main control system obtains the image recognition information, it measures the target distance between the aiming device and the crops to be picked.

[0102] Step S300: Based on the target distance, the main control system controls the six-axis robotic arm to adjust the angle of the aiming piece and the working distance between the crops to be picked and the aiming piece.

[0103] Step S400: According to the working distance and in response to the collecting instruction and the cutting instruction, the main control system controls the collecting component to open and starts the cutting element to cut, so as to complete the collection of the cut crops by using the collecting component.

[0104] During the laser cutting process, the cutting parameters of the cutting piece 130 are adjusted in real time based on the main control system 150 , that is, at least the cutting power, spot size and continuous light emission time of the pump laser are adjusted in real time by the main control system 150 .

[0105] The crop picking device in this example can perform picking across spatial distances through the collaborative operation of various components, thereby improving the efficiency of collaborative picking of various crops, and can also be applied to the picking of various crops, with high applicability.

[0106] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0107] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A crop picking device, characterized in that: include: A mobile loading platform, a tracking and aiming assembly, a cutting piece, a collecting assembly and a main control system arranged on the mobile loading platform; The mobile loading platform is configured to be movable to a designated position based on a control instruction; The tracking and aiming component forms real-time positioning, aiming and ranging of the crops to be picked based on the action instructions and using a dynamic focusing method; The cutting element cuts the crops to be picked that are positioned and targeted in real time based on the cutting instructions; The collecting component collects the cut crops based on the collecting instruction; The main control system is at least used to generate and issue the control instructions, the action instructions, the cutting instructions and the collection instructions to complete the control of the mobile loading platform, the tracking and aiming component, the cutting piece and the collection component.

2. The crop picking device according to claim 1, characterized in that: The tracking and aiming assembly includes a six-axis mechanical arm and a sighting component; The six-axis mechanical arm is arranged at the middle position of the mobile loading platform; The aiming member is arranged at the end of the six-axis mechanical arm; The six-axis robotic arm adjusts the incident angle of the aiming device and its relative position to the crops to be picked based on the action instructions, and drives the aiming device to move according to environmental changes to complete real-time positioning and aiming of the crops to be picked.

3. The crop picking device according to claim 2, characterized in that: The aiming member comprises a laser lens assembly, and the laser lens assembly comprises a binocular camera and an indication light source; The laser lens group is configured to obtain image recognition information of the crops to be picked based on the binocular camera, and to complete dynamic focusing and ranging of the target position of the crops to be picked through the virtual aiming point formed by the indicating light source.

4. The crop picking device according to claim 1, characterized in that: The mobile loading platform is provided with a moving component, and the moving component drives the mobile loading platform to move in response to the control instruction.

5. The crop picking device according to claim 4, characterized in that: The moving component is a crawler structure.

6. The crop picking device according to claim 1, characterized in that: The cutting element includes a pump laser; The pump laser is configured to cut the crops to be picked according to the cutting instruction issued by the main control system; The cutting parameters of the pump laser are controlled in real time by the main control system, and the cutting parameters at least include cutting power, spot size and continuous light emission time.

7. The crop picking device according to claim 1, characterized in that: The collecting assembly comprises a collecting net with an opening and closing function; The collecting net is fixed on the mobile loading platform through a collecting bracket and is located on one side of the tracking and aiming assembly. The outer edge of the collecting net is also provided with a collecting rod located above the collecting bracket; The collecting bracket is configured to open in response to the collecting instruction issued by the main control system to collect the cut crops.

8. The crop picking device according to any one of claims 1 to 7, characterized in that: Also includes a positioning module; The positioning module is configured to locate the real-time position of the mobile loading platform based on GPS positioning method and / or Beidou positioning method.

9. A crop picking method using a crop picking device, applied to the crop picking device according to any one of claims 1 to 8, characterized in that: The picking method of the crop picking device comprises: The main control system obtains the current position of the mobile loading platform through the positioning module and forms a control instruction to control the mobile loading platform to move to the specified position; After the mobile loading platform moves to the designated position, the aiming device is controlled to start and obtain image recognition information of the crops to be picked, and after the main control system obtains the image recognition information, it measures the target distance between the aiming device and the crops to be picked; Based on the target distance, the main control system controls the six-axis robotic arm to adjust the angle of the aiming member and the working distance between the crops to be picked and the aiming member; According to the working distance and in response to the collecting instruction and the cutting instruction, the main control system controls the collecting component to open and starts the cutting element to cut, so as to complete the collection of the cut crops by using the collecting component; During the laser cutting process, the cutting parameters of the cutting piece are adjusted in real time based on the main control system.

10. The crop picking method according to claim 9, characterized in that: The real-time regulation of the cutting parameters of the cutting piece based on the main control system includes: The main control system at least performs real-time regulation on the cutting power, the spot size and the continuous light emission time of the pump laser.

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