Fruit and vegetable picking vehicle based on visual guidance and picking method
By designing a fruit and vegetable picking vehicle based on vision guidance, combining machine vision and automatic robots, the problems of insufficient flexibility and low positioning accuracy in the existing technology are solved, and efficient and accurate fruit and vegetable picking are achieved.
Patent Information
- Application Number
- CN202510165849.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-14
- Publication Date
- 2025-05-02
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing fruit and vegetable picking machinery is insufficient, the positioning accuracy is not high, and it is easy to damage fruits and vegetables. It has limited identification and operation capabilities in complex environments, making it difficult to effectively pick fruits and vegetables hidden behind leaves or branches.
A fruit and vegetable picking vehicle based on visual guidance is designed, using a split structure chassis, door-shaped outer frame, distribution device, robot, camera and light source, and unmanned picking is achieved through machine vision and automatic robot. The robot is equipped with a picker, the camera is used for visual guidance and identification, and the dialing device is used to expose hidden fruits and vegetables.
High-precision fruit and vegetable picking is achieved, the picking efficiency and coverage rate are improved, the damage to fruits and vegetables is reduced, and fruits and vegetables can be effectively identified and picked in complex environments.
Smart Images
Figure CN119908236A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of intelligent vision guidance, and in particular to a fruit and vegetable picking vehicle and a picking method based on vision guidance. Background Art
[0002] With the development of agricultural automation, fruit and vegetable picking machinery has gradually become a key equipment for improving production efficiency and reducing labor costs. However, there are still some problems that need to be solved in existing fruit and vegetable picking equipment. For example, most traditional fruit and vegetable picking machinery adopts a single picking method, which is not flexible enough and cannot meet the needs of picking a variety of fruits and vegetables. The positioning accuracy of the manipulator is not high, which can easily damage fruits and vegetables, resulting in a lower commodity rate. In addition, the existing equipment has limited recognition and operation capabilities in complex environments. When fruits and vegetables are hidden behind leaves or branches, it is difficult for existing cameras and manipulators to effectively identify and pick them.
[0003] Currently, the task of picking fruits and vegetables on the market is mainly done manually, or by manually operating large agricultural machinery. However, for some types of fruits and vegetables, manual labor is time-consuming and labor-intensive, and the use of large agricultural machinery may damage the plants or make picking impossible.
[0004] Based on this, the present invention provides a fruit and vegetable picking vehicle and a picking method based on vision guidance to solve the technical problems mentioned above. Summary of the invention
[0005] The purpose of the present invention is to provide a fruit and vegetable picking vehicle based on vision guidance to solve the problems raised by the above-mentioned background technology.
[0006] To achieve the above object, the present invention provides the following technical solutions: In a first aspect of the present invention, a fruit and vegetable picking vehicle based on vision guidance comprises: A chassis of a split structure, the chassis consisting of a first chassis and a second chassis; A door-shaped outer frame, the door-shaped outer frame spans and is fixedly connected to the upper surfaces of the first chassis and the second chassis; A sorting device, which is fixedly arranged on the inner side of the gate-shaped outer frame and is used for sorting fruits and vegetables; A manipulator, wherein the manipulator is fixedly arranged on the gate-shaped outer frame, and a picker is installed on the top of the manipulator; A camera, the camera being fixedly mounted on the outer surface of the manipulator for visual guidance; A light source is fixedly arranged on the door-shaped outer frame, the first chassis and / or the second chassis and illuminates toward the center of the door-shaped outer frame.
[0007] Provided that the distribution device comprises: A telescopic mechanism, the top surface of which is fixedly connected to the top inner side surface of the door-shaped frame; A telescopic umbrella, wherein the telescopic umbrella is fixedly connected to the bottom surface of a telescopic mechanism, the telescopic umbrella is composed of an umbrella pole and a plurality of umbrella ribs, adjacent umbrella ribs are connected by a grid to form a tension structure, the umbrella ribs are centrally controlled by an umbrella hoop, and the umbrella hoop is driven by an automatic slider to control the opening and closing of the telescopic umbrella.
[0008] Provides, also includes: The sliding mechanism is fixedly arranged on the inner side of the top plate of the door-shaped outer frame. The sliding mechanism comprises a moving unit, and the moving unit is fixedly connected to the top surface of the telescopic mechanism to realize the movement of the telescopic mechanism.
[0009] It is provided that the shifting device is a shifting fork, and the shifting fork comprises: At least one straight arm, one end of which is hinged to the gate-shaped frame; At least one curved arm, the curved arm being hinged to the other end of the straight arm; At least one fork hand, the fork hand is hinged to the curved arm and is used for distributing fruits and vegetables.
[0010] It is provided that the straight arm and the curved arm are both telescopic arms to adjust the working range of the shifting fork.
[0011] It is provided that there are multiple manipulators, and cameras are fixedly installed on the multiple manipulators to improve the picking efficiency.
[0012] Provided, the picker includes: A rotator, wherein the fixed end of the rotator is connected to the manipulator, and the rotating end of the rotator is fixedly connected to the cutting knife; The rotating wheel is fixedly arranged at the bottom of the manipulator, and a plurality of grooves are arranged on the rotating wheel. Electric-controlled clamps are fixed in the grooves, and the grooves correspond to the cutting positions of the cutting knives.
[0013] Provided is a collecting mechanism with an open opening, the collecting mechanism is fixed to the inner surface of the gate-shaped outer frame, and the collecting mechanism includes: A base platform is provided with a slide rail fixed on the top of the base platform, and the slide rail is connected with the entrance of the storage box and is used for guiding fruits and vegetables into the storage box.
[0014] It is provided that at least one outer side surface of the gate-shaped outer frame is equipped with an external camera to expand the visual monitoring range; The camera and the external camera are 3D cameras capable of color information recognition, and at least one light source is fixedly arranged on the door-shaped outer frame and / or the manipulator to optimize the visual guidance effect.
[0015] A fruit and vegetable picking method based on vision guidance comprises the following steps: S1. The chassis is driven by a power mechanism to cross over the plants to be picked, and the camera visually guides the manipulator to determine whether there are parts that can be picked on the current plant. If there are parts that can be picked, the picking vehicle will stay or adjust the position according to the working area of the manipulator. If there are no parts that can be picked, the picking vehicle will continue to move forward until it moves to the top of the next plant; S2. When the plant has a part that can be picked, the robot extracts the position information of the part that can be picked through the camera, plans a picking path, and drives the robot to pick the current plant. The robot will give priority to picking the fruits and vegetables that are closest and can be fully identified as a whole; S3. The camera obtains the position information of fruits and vegetables, determines the growth direction of fruits and vegetables, confirms the coordinates of the position on fruits and vegetables or fruit stems that can be cut, and transmits them to the picker, which picks the fruits and vegetables or fruit stems; S4. When the camera determines that there is nothing to be picked on the current plant, the sorting device is controlled to invade and sort the current plant according to visual recognition or a preset program, so that the harvestable fruits and vegetables that may be hidden inside the plant are exposed within the camera's field of view. After the exposed fruits and vegetables are picked by the picker, the sorting device is withdrawn to the next point and the sorting task is performed again. After repeated multiple times, the picking task of the current plant is completed; S5. After all visible fruits and vegetables of the current plant are picked, the manipulator retracts and returns to the initial position. In the initial position, the camera carried by the manipulator faces the middle position of the first chassis and the second chassis to identify whether the plant is in a position for picking. The fruit and vegetable picking vehicle moves in the direction of the next plant based on the visual guidance of the external camera, and determines the stop position for the next picking cycle based on the image captured by the camera set on the manipulator.
[0016] Compared with the prior art, the present invention has the following beneficial effects: Unmanned picking is achieved through the combination of machine vision and automatic machinery, with high picking accuracy.
[0017] By setting up a sorting device, it is possible to carry out multiple and step-by-step identification and picking of the parts of the plant that are difficult to identify and grasp, thereby increasing the coverage rate of picking. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a side view schematic diagram of the overall structure of the fruit and vegetable picking vehicle of the present invention; Figure 2 It is a cross-sectional schematic diagram of the AA surface of the fruit and vegetable picking vehicle of the present invention; Figure 3 It is a schematic diagram of the structure of the manipulator and the picker of the present invention; Figure 4 It is a schematic diagram of the structure of a telescopic umbrella of the present invention; Figure 5 This is a schematic diagram of the overall structure of the fruit and vegetable picking vehicle of the present invention; Figure 6 It is a top view schematic diagram of the shifting fork of the present invention.
[0019] Legend: 1. Gate-shaped outer frame; 101. Manipulator; 1011. Connecting shaft; 1012. Cutting knife; 1013. Rotating wheel; 1014. Electric-controlled gripper; 1015. Camera; 102. Sliding mechanism; 103. Telescopic mechanism; 104. Telescopic umbrella; 1041. Grille; 1042. Automatic slider; 105. Collecting mechanism; 1051. Conveyor belt; 1052. Material taking window; 106. External camera; 107. Light source; 1071. Straight arm; 1072. Curved arm; 1073. Fork arm; 2. First chassis; 3. Second chassis. DETAILED DESCRIPTION
[0020] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.
[0021] Example 1: Reference Figure 1 and Figure 2 , Figure 1 It is a side view schematic diagram of the overall structure of the fruit and vegetable picking vehicle of the present invention. Figure 2 1 is a cross-sectional schematic diagram of the fruit and vegetable picking vehicle of the present invention at the AA' plane, and the figure includes a first chassis 2 and a second chassis 3, and the first chassis 2 and the second chassis 3 together serve as the action mechanism of the present invention, and the bottom of the gate-shaped outer frame 1 is connected across the top surfaces of the first chassis 2 and the second chassis 3, and the gate-shaped outer frame 1 is a hollow structure, and a fully enclosed or semi-enclosed structure can be formed on all sides, and the overall structure can be fully automatically moved under the visual guidance of an external camera 106 fixedly arranged on the outer surface of the gate-shaped outer frame 1; at least one manipulator 101 is arranged on the inner surface of the gate-shaped outer frame 1, and the manipulator 101 is mainly used to carry a picker, and the picker can have many forms according to the types of fruits and vegetables to be picked. Any that meet the conditions and can be effectively installed in the structure of the present invention should be regarded as within the protection scope of the present invention and will not be repeated in the subsequent description; a multifunctional preferred picker can be referred to Figure 3 , Figure 31 is a schematic side view of a manipulator 101 and a picker of the present invention, including a manipulator 101, a connecting shaft 1011, a cutting knife 1012, a rotating wheel 1013, an electric-controlled clamp 1014 and a camera 1015. The manipulator 101 is preferably a six-axis manipulator 101, which has a high degree of freedom and can pick fruits and vegetables on plants at various angles. The preferred structure of the manipulator 101 should ensure that all positions where fruits and vegetables may be distributed on the currently picked plants can be covered, or the preferred manipulator 101 is slidably connected to the gate-shaped outer frame 1 through a guide rail structure. In another preferred structure, the manipulator 101 will be provided with a plurality of manipulators, which cooperate with each other in a collaborative manner to jointly complete the picking of plants. Picking, a camera 1015 is fixedly set on the manipulator 101, and the manipulator 101 is accurately positioned through the visual guidance of the camera 1015 to capture the distribution of fruits and vegetables on the plant, and to guide the cutting position of the cutting knife 1012; one end of the connecting shaft 1011 is fixed on the manipulator 101, and the other end is fixed to the cutting knife 1012. Preferably, the connecting shaft 1011 is a universal shaft, which can carry the cutting knife 1012 in front to rotate at multiple angles. Based on this design, it can have better adaptability for some fruits and vegetables with special growth directions (for example: chili peppers), and can further increase the flexibility of the picker. It should be noted that for each additional manipulator 101, a camera 1015 should be added accordingly.
[0022] The camera 1015 is preferably a 3D camera with color information recognition, and specifically can be an RGB-D camera. The main advantage of using an RGB-D camera is that a large number of fruits and vegetables have large color differences between mature and unripe states. The pickable parts of the fruits and vegetables can be efficiently judged through RGB recognition, and then the spatial coordinate position information of the fruits and vegetables to be picked is judged through depth information, and the position information is transmitted to the manipulator 101, so that the manipulator 101 can accurately pick the fruits and vegetables; considering outdoor night picking or insufficient lighting due to structural problems and application scenario problems, a light source 107 as shown in the figure can be added. The preferred light source 107 is fixedly arranged on the gate-shaped outer frame 1, the first chassis 2 and / or the second chassis 3 and illuminates toward the center of the gate-shaped outer frame 1. The use of a fixed position light source can make the light distribution more uniform, which is beneficial to the effect of visual detection, but setting the light source 1016 on the manipulator 101 or the camera 1015 is still a possible implementation method of the present invention.
[0023] The cutting knife 1012 is generally used to cut the branches and stems of fruits and vegetables to complete the process of peeling fruits and vegetables from plants. Figure 3 The electric-controlled clamping claw 1014 in the fruit and vegetable flexibly clamps the main part of the fruit and vegetable to complete the process from cutting to picking. Figure 3A preferred structure shown includes a rotating wheel 1013, which is fixedly arranged below the cutting knife 1012. A plurality of electrically controlled clamps 1014 are arranged on the edge of the rotating wheel 1013. When a cutting and clamping task is completed, the next electrically controlled clamp 1014 in an idle state is rotated to the bottom of the cutting knife 1012 through the axial rotation of the rotating wheel 1013 to wait for the next cutting.
[0024] After cutting, the robot 101 will carry the picked fruits and vegetables to the surface of the collecting mechanism 105. The collecting mechanism 105 opens the inner surface of the gate-shaped outer frame 1 and is connected to the inside of the gate-shaped outer frame 1, and includes a conveyor belt 1051 and a storage mechanism. The storage mechanism is arranged inside the gate-shaped outer frame 1, and the end of the conveyor belt 1051 is connected to the storage mechanism. The conveyor belt 1051 is a fully automatic structure. After the robot 101 places the picked fruits and vegetables on the conveyor belt 1051, the conveyor belt 1051 carries the fruits and vegetables into the storage mechanism, and the user can take out the collected fruits and vegetables through the material taking window 1052.
[0025] refer to Figure 4 , Figure 4 It is a schematic diagram of the side view structure of the telescopic umbrella of the present invention. In actual picking tasks, since some types of fruits and vegetables grow in a multi-layer branching structure, this means that many fruits and vegetables may be hidden in a position that cannot be photographed by the camera 1015. Therefore, it is necessary to use a sorting device to sort the plants so that the fruits that may be hidden inside the plants are exposed to the field of view of the camera 1015, so that the camera 1015 can identify them and the robot 101 can pick them.
[0026] In this embodiment, the distribution device is composed of a telescopic mechanism 103 and a telescopic umbrella 104. The telescopic mechanism 103 and the telescopic umbrella 104 are arranged on the inner side of the top plate of the gate-shaped outer frame 1. The telescopic umbrella 104 is composed of an umbrella pole and a plurality of umbrella ribs. Two adjacent umbrella ribs are fixedly connected by a non-rigid grille 1041 to form a tension structure. The aperture of the grille 1041 can be adjusted according to the type of fruits and vegetables to be picked; the telescopic mechanism 103 can push and pull the telescopic umbrella 104 in the vertical direction through the action of the power cylinder, and collect the sparse point cloud of the plant through the visual recognition of the camera 1015 to simulate the basic outline of the plant, so as to fine-tune the position of the fruit and vegetable picking vehicle. After determining that the telescopic umbrella 104 is in the ideal position, the fruit and vegetable picking vehicle stops moving and remains in place, and the telescopic umbrella 104 pushes the umbrella ribs through the automatic control mechanism to open the telescopic umbrella 104. The automatic control device includes an automatic slider 1042, the automatic slider 1042 realizes automatic control of the telescopic umbrella 104 through the power cylinder; when in use, the telescopic umbrella 104 will be pressed down to different predetermined positions or positions guided by machine vision according to different plants, and the non-rigid grille 1041 will be used to separate the plants, exposing more fruits and vegetables for visual identification and picking by the manipulator 101. After picking is completed, the power cylinder works to make the telescopic mechanism 103 lift the telescopic umbrella 104 and tighten the umbrella ribs, and decide whether to change the position and press down and open again for picking preparation according to the current volume of the plant; a preferred structure is to set a sliding mechanism 102 on the inner surface of the top plate of the gate-shaped outer frame 1, and fix the telescopic mechanism 103 on the moving unit of the sliding mechanism 102 to realize the function of adjusting the position of the telescopic umbrella 104 through the sliding mechanism 102, and the preferred sliding mechanism 102 is a multi-axis truss.
[0027] Embodiment 2: The difference from Embodiment 1 is that the present embodiment adopts a shifting fork 107, referring to Figure 5 and Figure 6 , Figure 5 This is a schematic side view of the overall structure of the fruit and vegetable picking vehicle with a split fork structure according to the present invention. Figure 6 It is a top view schematic diagram of the shift fork of the present invention, the shift fork 107 includes at least one straight arm 1071, at least one curved arm 1072 and at least one fork hand 1073, and the shift fork 107 shown in the figure only shows an optional structure, including a straight arm 1071 and two curved arms 1072, the straight arm 1071 and the curved arm 1072 are hinged, and several curved arms 1072 are hinged, and the hinge shaft is an electric shaft, which is automatically controlled by electric power, and the end of the curved arm 1072 is connected to the fork hand 1073. The connection method can be a fixed connection, or it can be the same as the connection of the curved arm 1072, that is, connected by an electric shaft to ensure the freedom of the fork hand 1073.
[0028] The present invention can refer to the following work flow when working: first, ensure that the first chassis 2 and the second chassis 3 are respectively straddling the left and right sides of the plants to be picked, then use the external camera 106 to guide the fruit and vegetable picking vehicle, drive the chassis forward through the power mechanism, and use the camera 1015 to visually guide the manipulator 101 to confirm whether the fruit and vegetable picking vehicle has reached a position where picking can be done. After determining that it is in a position where picking can be done, the fruit and vegetable picking vehicle stops moving forward.
[0029] The camera 1015 determines whether there are parts that can be picked on the current plant. If there are parts that can be picked, the picking vehicle stays or adjusts the position of the picking vehicle according to the working area of the manipulator 101. If there are no parts that can be picked, the picking vehicle continues to move forward until it moves to the top of the next plant. When the plant has a part that can be picked, the robot 101 extracts the position information of the part that can be picked through the camera 1015, and plans a picking path, and drives the robot 101 to pick the current plant. The robot 101 will give priority to picking the fruits and vegetables that are closest and can be fully identified as a whole; The camera 1015 obtains the position information of the fruits and vegetables, determines the growth direction of the fruits and vegetables, confirms the coordinates of the positions on the fruits and vegetables or the fruit stems that can be cut, and transmits them to the picker, which picks the fruits and vegetables or the fruit stems; When the camera 1015 determines that there are no fruits and vegetables to be picked on the current plant, the sorting device is controlled to invade and sort the current plant according to visual recognition or a preset program, so that the pickable fruits and vegetables that may be hidden inside the plant are exposed within the field of view of the camera 1015. After the exposed fruits and vegetables are picked by the picker, the sorting device is withdrawn to the next point and the sorting task is performed again. After repeated multiple times, the picking task of the current plant is completed; After all visible fruits and vegetables of the current plant are picked, the manipulator 101 is retracted and returned to the initial position. In the initial position, the camera 1015 carried by the manipulator 101 is directed toward the middle position between the first chassis 2 and the second chassis 3 to identify whether the plant is in a position where it can be picked. The fruit and vegetable picking vehicle moves toward the next plant based on the visual guidance of the external camera 106, and determines the stopping position for the next picking cycle based on the image captured by the camera 1015 set on the manipulator 101.
[0030] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0031] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.
Claims
1. A fruit and vegetable picking vehicle based on vision guidance, characterized in that: include: A chassis with a split structure, the chassis consisting of a first chassis (2) and a second chassis (3); A door-shaped outer frame (1), the door-shaped outer frame (1) spanning and fixedly connected to the upper surfaces of the first chassis (2) and the second chassis (3); A sorting device, the sorting device being fixedly arranged on the inner side of the gate-shaped outer frame (1) and used for sorting fruits and vegetables; A manipulator (101), the manipulator (101) being fixedly mounted on the gate-shaped outer frame (1), and a picker being mounted on the top of the manipulator (101); A camera (1015), wherein the camera (1015) is fixedly mounted on the outer surface of the manipulator (101) and is used for visual guidance; A light source is fixedly arranged on the door-shaped outer frame (1), the first chassis (2) and / or the second chassis (3) and illuminates towards the center of the door-shaped outer frame (1).
2. The fruit and vegetable picking vehicle based on vision guidance according to claim 1, characterized in that: The distribution device includes: A telescopic mechanism (103), wherein the top surface of the telescopic mechanism (103) is fixedly connected to the top inner side surface of the door-shaped frame; A telescopic umbrella (104), the telescopic umbrella (104) being fixedly connected to the bottom surface of a telescopic mechanism (103), the telescopic umbrella (104) being composed of an umbrella pole and a plurality of umbrella ribs, adjacent umbrella ribs being connected via a grid (1041) to form a tension structure, the umbrella ribs being centrally controlled by an umbrella hoop, and the umbrella hoop being driven by an automatic slider (1042) to control the opening and closing of the telescopic umbrella (104).
3. The fruit and vegetable picking vehicle based on vision guidance according to claim 2, characterized in that: Also includes: A sliding mechanism (102), the sliding mechanism (102) being fixedly arranged on the inner side of the top plate of the door-shaped outer frame (1), the sliding mechanism (102) comprising a moving unit, the moving unit being fixedly connected to the top surface of the telescopic mechanism (103) for realizing the movement of the telescopic mechanism (103).
4. The fruit and vegetable picking vehicle based on vision guidance according to claim 1, characterized in that: The shifting device is a shifting fork, which includes: At least one straight arm (1071), one end of the straight arm (1071) being hinged to the gate-shaped frame; at least one curved arm (1072), the curved arm (1072) being hinged to the other end of the straight arm (1071); At least one fork hand (1073), the fork hand (1073) being hinged to the curved arm (1072) and used for distributing fruits and vegetables.
5. The fruit and vegetable picking vehicle based on vision guidance according to claim 4, characterized in that: The straight arm (1071) and the curved arm (1072) are both telescopic arms for adjusting the working range of the shifting fork.
6. The fruit and vegetable picking vehicle based on vision guidance according to claim 1, characterized in that: There are a plurality of manipulators (101), and each of the plurality of manipulators (101) is fixedly mounted with a camera (1015) to improve picking efficiency.
7. The fruit and vegetable picking vehicle based on vision guidance according to claim 1, characterized in that: The picker comprises a connecting shaft (1011): A rotator, wherein the fixed end of the rotator is connected to the manipulator (101), the rotating end of the rotator is fixedly connected to the cutting knife (1012), one end of the connecting shaft (1011) is fixed to the manipulator, and the other end of the connecting shaft (1011) is fixedly connected to the cutting knife (1012); A rotating wheel (1013) is fixedly arranged at the bottom of the manipulator (101), and a plurality of grooves are provided on the rotating wheel (1013), in which electrically controlled clamping claws (1014) are fixed, and the grooves correspond to the cutting positions of the cutting blades (1012).
8. The fruit and vegetable picking vehicle based on vision guidance according to claim 1, characterized in that: It also includes a collecting mechanism (105) having an open opening, the collecting mechanism (105) being fixed to the inner surface of the gate-shaped outer frame (1), and the collecting mechanism (105) comprising: A base platform is provided with a slide rail fixed on the top of the base platform, and the slide rail is connected with the entrance of the storage box and is used for guiding fruits and vegetables into the storage box.
9. The fruit and vegetable picking vehicle based on vision guidance according to claim 1, characterized in that: At least one outer surface of the door-shaped outer frame (1) is mounted with an external camera (106) to expand the visual monitoring range; The camera (1015) and the external camera (106) are 3D cameras capable of color information recognition, and at least one light source is fixedly arranged on the door-shaped outer frame (1) and / or the manipulator (101) to optimize the visual guidance effect.
10. A fruit and vegetable picking method based on vision guidance, applied to the fruit and vegetable picking vehicle based on vision guidance as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1. The chassis is driven by a power mechanism to cross over the plants to be picked, and the camera (1015) visually guides the manipulator (101) to determine whether there are parts that can be picked on the current plant. If there are parts that can be picked, the picking vehicle stays or adjusts the position of the picking vehicle according to the working area of the manipulator (101). If there are no parts that can be picked, the picking vehicle continues to move forward until it moves to the top of the next plant; S2. When the plant has a part that can be picked, the robot (101) extracts the position information of the part that can be picked through the camera (1015), plans a picking path, and drives the robot (101) to pick the current plant. The robot (101) will give priority to picking the fruits and vegetables that are closest and can be completely identified as a whole; S3. The camera (1015) obtains the position information of the fruits and vegetables, determines the growth direction of the fruits and vegetables, confirms the coordinates of the positions on the fruits and vegetables or the fruit stems that can be cut, and transmits them to the picker, which picks the fruits and vegetables or the fruit stems; S4. When the camera (1015) determines that there is nothing to be picked on the current plant, the sorting device is controlled to invade and sort the current plant according to visual recognition or a preset program, so that the pickable fruits and vegetables that may be hidden inside the plant are exposed within the field of view of the camera (1015). After the exposed fruits and vegetables are picked by the picker, the sorting device is withdrawn to the next point and the sorting task is performed again. After repeating this multiple times, the picking task of the current plant is completed; S5. After all visible fruits and vegetables of the current plant have been picked, the manipulator (101) is retracted and returned to the initial position. In the initial position, the camera (1015) carried by the manipulator (101) is directed toward the middle position between the first chassis (2) and the second chassis (3) to identify whether the plant is in a position where it can be picked. The fruit and vegetable picking vehicle moves in the direction of the next plant based on the visual guidance of the external camera (106), and determines the stop position based on the image captured by the camera (1015) provided on the manipulator (101) to carry out the next picking cycle.