Caterpillar band gap adjustable tea chrysanthemum picking robot and picking method

Abstract

The invention belongs to the technical field of picking robots, and particularly relates to a caterpillar band gap adjustable tea chrysanthemum picking robot and a picking method.The caterpillar band gap adjustable tea chrysanthemum picking robot comprises double-foot caterpillar band moving chassis symmetrically distributed on the two sides of the robot and a supporting frame fixed to the upper portions of the double-foot caterpillar band moving chassis; the crawler belt gap adjusting mechanism penetrates through a supporting frame above the double-foot crawler belt moving chassis, the picking executing device is connected with the supporting frame, the conveying platform is used for conveying picked tea chrysanthemums, and the collecting frame is used for collecting the tea chrysanthemums conveyed through the conveying belt platform; the picking execution device comprises a space moving part and a flower and stem separating part, the space moving part is used for controlling the flower and stem separating part to move in a three-dimensional space defined by the double-foot crawler belt moving chassis and the supporting frame, and the flower and stem separating part is used for completing flower and stem separating operation of the tea chrysanthemums. According to the invention, the crawler belt gap is adjusted to adapt to different ground conditions, so that the stability and accuracy of the picking process are ensured, the damage to plants is reduced, and the picking efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of picking robots, and particularly relates to a tea chrysanthemum picking robot with adjustable crawler clearance and a picking method thereof. Background Technique

[0002] Tea and tea chrysanthemums are important cash crops in China. However, the traditional manual picking method has problems such as low efficiency, high labor intensity, and unstable picking quality. With the advancement of agricultural modernization, automated picking has become the key to solving these problems. Although existing tea and tea chrysanthemum picking robots have certain applications, they still have limitations in adapting to different terrains and crop heights.

[0003] In response to this need, the present invention proposes a tea chrysanthemum picking robot with adjustable crawler clearance. By adjusting the crawler clearance, the robot can adapt to different ground conditions, ensure the stability and accuracy of the picking process, reduce damage to plants, and improve picking efficiency. Summary of the Invention

[0004] Object of the Invention: In order to enhance the adaptability of tea chrysanthemums to different agronomic requirements, improve the picking success rate, and reduce target damage, the present invention provides a tea chrysanthemum picking robot with adjustable crawler clearance and a picking method thereof.

[0005] Technical Solution: The tea chrysanthemum picking robot with adjustable crawler clearance of the present invention includes: A biped crawler mobile chassis, symmetrically distributed on both sides of the robot; A support frame, fixed above the biped crawler mobile chassis; A crawler clearance adjustment mechanism, passing through the support frame above the biped crawler mobile chassis, for adjusting the clearance between the biped crawler mobile chassis; A picking execution device, connected to the support frame, including a spatial movement component for moving within a predetermined space and a flower stem separation component fixed at the end of the spatial movement component for completing the flower stem separation operation of the target tea chrysanthemum; A transfer platform, fixed on the crawler on one side of the biped crawler mobile chassis and extending out through a cantilever, for transferring the picked tea chrysanthemums; A collection box, fixed on the crawler of the biped crawler mobile chassis on the same side as the transfer platform, for collecting the tea chrysanthemums transferred by the conveyor platform.

[0006] To further improve the above technical solution, the crawler clearance adjustment mechanism includes: a front clearance adjustment guide rod and a rear clearance adjustment guide rod, which penetrate through the support frame and are distributed front and rear along the support frame; a front threaded rod and a rear threaded rod, which penetrate through the support frame and are respectively distributed adjacent to the inner sides of the front clearance adjustment guide rod and the rear clearance adjustment guide rod; a tensioning sleeve, which is sleeved on the front clearance adjustment guide rod and the rear clearance adjustment guide rod and is used to fasten the connection between the front clearance adjustment guide rod, the rear clearance adjustment guide rod and the support frame; a thickened nut, which is sleeved on the front threaded rod and the rear threaded rod and is used to adjust the connection position between the front threaded rod, the rear threaded rod and the support frame; by screwing the thickened nut and cooperating with loosening or locking the tensioning sleeve, the relative movement of the support frame on the front clearance adjustment guide rod, the rear clearance adjustment guide rod, the front threaded rod and the rear threaded rod is realized, so as to realize the adjustment of the crawler clearance on both sides of the biped crawler mobile chassis.

[0007] Further, it also includes: a light shield, which is erected on the support frame; a target recognition module, which is fixed on the light shield and is used to obtain the image information of the target tea chrysanthemum; a navigation module, which is fixed in front of the support frame on one side of the biped crawler mobile chassis and is used to obtain the road condition information during travel; a power supply, which is fixed on the support frame on the same side as the navigation module and is used to output a power source; an electronic control system, which is fixed on the support frame on the same side as the navigation module and is connected to the target recognition module, the navigation module and the power supply, and is used to process the obtained image information of the target tea chrysanthemum and the road condition information, and perform corresponding control on the crawler clearance adjustment mechanism, the picking execution device and the conveying platform according to the processing results.

[0008] Further, the spatial movement component includes: a first driving mechanism for driving the flower stem separation component to move in the XY plane and a second driving mechanism for driving the flower stem separation component to move in the Z-axis direction; the XY plane is constructed by Y-axis movement mechanisms symmetrically distributed on both sides and an X-axis movement mechanism connected between the Y-axis movement mechanisms on both sides, and the Z-axis direction is constructed by a Z-axis movement mechanism vertically connected to the X-axis movement mechanism; the first driving mechanism includes a left stepping motor, a right stepping motor, an upper synchronous belt and a lower synchronous belt, and idlers and synchronous wheels for supporting and guiding the movement of the upper synchronous belt and the lower synchronous belt are distributed on the X movement mechanism and the Y movement mechanism, and the upper synchronous belt and the lower synchronous belt are connected to the Z-axis movement mechanism; the left stepping motor and the right stepping motor cooperate to drive the upper synchronous belt and the lower synchronous belt to move, so as to drive the Z-axis movement mechanism connected to the upper synchronous belt and the lower synchronous belt to move in the XY plane, and the flower stem separation component is connected to the Z-axis movement mechanism and moves along the Z-axis direction under the drive of the second driving mechanism.

[0009] Further, the Y-axis moving mechanism includes a fixed Y-right base and Y-left base, and a Y-right slide rail and a Y-left slide rail respectively installed on the Y-right base and Y-left base; the X-axis moving mechanism includes an X-fixed base and an X-moving base. The two ends of the X-fixed base are respectively connected to the Y-right base and Y-left base, and the right stepping motor and the left stepping motor are respectively fixed at the connection points. The X-moving base is connected to the sliders on the Y-right slide rail and Y-left slide rail through an X-right adapter and an X-left adapter, so that the X-moving base can move along the Y-axis direction defined by the Y-axis slide rail. A guide rail extending in the X-axis direction is provided on the X-moving base. The Z-axis moving mechanism includes a Z connecting plate, a Z base installed on the Z connecting plate, a Z stepping motor fixed on the Z base, a gear connected to the output shaft of the Z stepping motor, a Z slide rail arranged along the Z-axis direction, a rack meshing with the gear to drive up and down movement, and a Z slider fixed on the rack and sliding along the Z slide rail. The flower stem separating component is fixed on the Z slider. The Z connecting plate is installed on the guide rail extending in the X-axis direction provided on the X-moving base through a Z-upper slider and a Z-lower slider, so that the Z connecting plate can move along the X-axis direction. The first driving mechanism controls the movement of the Z connecting plate along the X-axis direction and the movement of the X-moving base along the Y-axis direction by driving the upper synchronous belt and the lower synchronous belt, so as to realize the movement of the flower stem separating component in the XY plane. The Z stepping motor drives the Z slider to move along the Z-axis direction, so as to realize the movement of the flower stem separating component in the Z-axis direction.

[0010] Further, the flower stem separating component includes: a picking hand connecting plate fixed below the Z base; a left picking claw and a right picking claw symmetrically arranged and connected to both sides of the picking hand connecting plate, which are closed and opened by moving towards each other to clamp or release the target chrysanthemum for tea use; a left cutter and a right cutter, which are respectively fixed on the end surfaces of the left picking claw and the right picking claw, and realize the separation operation of the flower head and the stem during the closing and opening process of the left picking claw and the right picking claw; a left servo board and a right servo board, on which a left servo and a right servo are respectively fixed. The output shafts of the left servo and the right servo are respectively connected with a left servo disc and a right servo disc. The left servo disc and the right servo disc are respectively rotatably connected with a left main rotating arm and a right main rotating arm. The left main rotating arm and the right main rotating arm are respectively rotatably connected with a left fixed guide shaft and a right fixed guide shaft through a left moving guide shaft and a right moving guide shaft. The left moving guide shaft and the right moving guide shaft respectively pass through the left sub-rotating arm and the right sub-rotating arm, so that the rotation of the left sub-rotating arm and the right sub-rotating arm can push the left picking claw and the right picking claw to make circular motions; a front photoelectric switch and a rear photoelectric switch respectively used to detect whether the left picking claw and the right picking claw reach the predetermined picking positions; a front pressure sensor and a rear pressure sensor respectively used to detect the pressure changes of the left picking claw and the right picking claw during the picking process.

[0011] Furthermore, the biped tracked mobile chassis includes: a multi-wheel connecting frame for connecting a plurality of load-bearing wheels; a driving wheel fixed in front of the multi-wheel connecting frame; a tensioning wheel fixed behind the multi-wheel connecting frame; a crawler wound around the driving wheel, load-bearing wheels and tensioning wheel; and a worm and worm gear motor connected to the driving wheel through a speed reducer, a chain and a sprocket for driving the driving wheel to rotate.

[0012] Furthermore, the conveying platform includes: a conveying platform support plate fixed on the biped tracked mobile chassis; a conveyor belt platform fixed on the conveying platform support plate; a driving motor fixed below the conveyor belt platform; and a driving motor protective cover covering the outside of the driving motor for protecting the driving motor.

[0013] The picking method of the above-mentioned tea chrysanthemum picking robot with adjustable crawler gap includes the following steps: adjusting the crawler gap on both sides of the biped tracked mobile chassis through the crawler gap adjusting mechanism to adapt to the agronomic specifications of the ridge; obtaining the road condition information through the navigation module to control the traveling direction and speed of the robot; identifying the target tea chrysanthemum through the target recognition module and controlling the robot to stop; controlling the stem separation component of the picking execution device to align with the target tea chrysanthemum in the X-axis and Y-axis directions through the spatial movement component of the picking execution device; moving the stem separation component to the target position in the Z-axis direction, and when the photoelectric switch of the stem separation component is triggered, the stem separation component stops moving and the left and right cutters are aligned with the stem cutting point of the target tea chrysanthemum; the left and right steering gears of the stem separation component synchronously drive the left and right picking claws of the stem separation component to perform a circular motion, driving the left and right cutters to complete the separation operation of the flower head and the stem of the tea chrysanthemum at the stem separation point, and the tea chrysanthemum is wrapped between the left and right picking claws; controlling the stem separation component to move upward through the spatial movement component to complete the reset of the stem separation component in the Z-axis, X-axis, and Y-axis directions in sequence; the left and right steering gears of the stem separation component act to separate the left and right picking claws, and the tea chrysanthemum falls on the conveyor belt of the conveying platform, moves from one end of the conveyor belt to the other end, and finally falls into the collection box to complete the picking operation of a single tea chrysanthemum; repeating the picking and collection operations of all target tea chrysanthemums obtained by the target recognition module; and conveying the picked tea chrysanthemums to the collection box through the conveying platform.

[0014] Further, adjusting the gap between the two tracks of the biped tracked mobile chassis includes: adjusting the tensioning sleeve of one track in the biped tracked mobile chassis. When it is necessary to increase the distance between the two tracks, screw the tensioning sleeve outside one track outward to the target position, and screw the two tensioning sleeves of the four tensioning sleeves of the single-track inside the two tracks outward by 2 cm. When the screwing distance is less than 2 cm, then screw the corresponding target distance, and then control the robot to move forward and backward slightly; repeat screwing the tensioning sleeves inside the two tracks and control the robot to move forward and backward slightly to complete the distance adjustment of the two tracks of the robot.

[0015] Advantages: Compared with the prior art, the advantages of the present invention are as follows: 1. Strong adaptability and wide application range: By setting a track gap adjustment mechanism (including a threaded rod, a guide rod, a tensioning sleeve, and a thickened nut), the present invention can conveniently adjust the distance between the two tracks of the biped tracked mobile chassis. This enables the robot to adapt to the ridges of chrysanthemums for tea cultivation with different planting row spacings, realizing the picking operation of chrysanthemums for tea under different agronomic conditions. There is no need to customize robots with different chassis for different specifications of ridges, greatly improving the versatility of the robot and its adaptability to different planting environments, and reducing the purchase and use costs of users.

[0016] 2. High degree of automation and significantly improved picking efficiency: The present invention integrates a biped tracked mobile chassis, a navigation module, a target recognition module, a picking execution device, a transfer platform, and a collection box, and they work together under the unified control of the electric control system. The robot can navigate and move autonomously, automatically identify the target chrysanthemums for tea, accurately locate and complete the whole process of picking, transferring, and collecting, realizing the automated operation of picking chrysanthemums for tea, greatly reducing the dependence on manual labor, significantly improving the picking efficiency, and reducing the labor intensity.

[0017] 3. High picking accuracy and small damage to flowers: The spatial moving components in the picking execution device (including the X, Y, and Z axis moving mechanisms that work together) can drive the flower stem separation component to accurately locate to the flower stem cutting point of the target chrysanthemum for tea in three-dimensional space based on the accurate position information obtained by the target recognition module. The flower stem separation component confirms the position through an optoelectronic switch, and the steering gear drives the picking claws and the cutter to perform synchronous and coordinated actions to achieve rapid and accurate cutting of the flower stem. At the same time, the picking claws can stably hold the flowers. The flower stem separation method of the flower stem separation component is cutting, which reduces the damage to the filaments of the chrysanthemums for tea. This precisely controlled picking method effectively avoids damage to the flowers themselves and the surrounding plants, ensuring the picking quality.

[0018] 4. Good operation stability and reliability: The target recognition module is installed inside the light shield, reducing the interference of environmental light changes on the visual recognition accuracy and improving the reliability of target recognition. The biped-crawler mobile chassis provides good terrain adaptability and movement stability, making it suitable for operating in complex field environments. The support frame provides a stable support for the upper working components. The chain box in the chassis transmission part can effectively prevent the intrusion of dirt, weeds, etc., protect the transmission mechanism, and extend the service life and operation reliability of the equipment.

[0019] 5. Integrated collection with a smooth process: The picked chrysanthemum morifolium is directly placed on the transfer platform through the flower stem separation component and then automatically transferred to the collection box. This integrated design of picking, transferring, and collecting makes the entire picking process coherent and smooth, avoiding the problems of flower scattering after picking or the need for secondary collection, and further improving the overall operation efficiency.

[0020] Through the unique crawler clearance adjustment design, high-precision recognition and execution system, and integrated operation process, the present invention effectively solves the problems existing in the existing picking of chrysanthemum morifolium, such as poor adaptability, low efficiency, high labor intensity, and easy damage to flowers, and has significant technological progress and practical value. The present invention can be applied to the picking operation of chrysanthemum morifolium under various agronomic conditions, realizing the high-efficiency and low-loss harvesting of chrysanthemum morifolium and improving the automation level of the harvesting link of chrysanthemum morifolium. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the overall structural schematic diagram of the crawler clearance adjustable chrysanthemum morifolium picking robot; Figure 2 is the bottom view of the overall structure; Figure 3 is the structural schematic diagram of the unilateral crawler mobile chassis (without the chain box); Figure 4 is the structural schematic diagram of the unilateral crawler mobile chassis; Figure 5 is the structural schematic diagram of the crawler clearance adjustment mechanism in the present invention; Figure 6 is the structural schematic diagram of the spatial moving component in the present invention; Figure 7 is the XY plane transmission structural schematic diagram of the spatial moving component in the present invention; Figure 8 is the structural schematic diagram of the X right-rotation connection component in the present invention; Figure 9 is the structural schematic diagram of the flower stem separation component in the present invention; Figure 10 is the structural schematic diagram of the transfer platform in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the described embodiments.

[0023] Embodiment 1: Refer to the attached Figure 1-8 The crawler gap adjustable tea chrysanthemum picking robot provided by the present invention includes a biped crawler mobile chassis 1, a navigation module 2, a power supply 3, an electric control system 4, a crawler gap adjustment mechanism 5, a light shield 6, a support frame 7, a picking execution device 8, a conveying platform 9, a collection box 10, and a target recognition module 11.

[0024] The biped crawler mobile chassis 1 is symmetrically distributed on the left and right of the whole robot. Taking the left side as an example, the worm and gear motor 107 is connected to the reducer 106 by bolts. The reducer 106 is fixed on the upper cross plate 108 by bolts. The output sprocket 105 is fixed at the end of the output shaft of the reducer 106. The input sprocket 103 is fixed on the input shaft of the driving wheel 102. The chain 104 is wound around the output sprocket 105 and the input sprocket 103. The power of the worm and gear motor 107 drives the output sprocket 105 to rotate through the reducer 106, and drives the input sprocket 103 to rotate through the chain 104, so as to drive the driving wheel 102 to rotate. The driving wheel 102 is fixed in front of the multi-wheel connecting frame 111. The load-bearing wheels 101 are distributed and fixed at the bottom of the multi-wheel connecting frame 111. The tensioning wheel 112 is fixed behind the multi-wheel connecting frame 111. The crawler 113 is wound around the driving wheel 102, the load-bearing wheel 101 and the tensioning wheel 113, and rotates by relying on the rotation of the driving wheel 102, so as to drive the load-bearing wheel 101 and the tensioning wheel 112 to rotate. The left side plate 109 and the right side plate 110 are respectively fixed on the multi-wheel connecting frame 111 by extended bolts. The chain box 114 covers the outside of the driving sprocket 105, the driven sprocket 103 and the chain 104 to play a protective role.

[0025] The navigation module 2 is fixed on the right support frame 7 of the robot and is at an angle of 45° to the horizontal plane for obtaining the road condition information during travel.

[0026] There is one power supply 3, which is fixed above the right support frame 7 of the whole machine to provide a power source for the electronic components of the whole machine.

[0027] The electric control system 4 is fixed above the upper cross plate 108 on the right side of the biped crawler mobile chassis 1 by bolts, and is used for processing the obtained target information and controlling each mechanism to work in sequence.

[0028] The target recognition module 11 is installed inside the light shield 6 to obtain target information from top to bottom.

[0029] The light shield 6 is installed above the robot and is connected and fixed to the support frame 7 by bolts, which plays a role in reducing the influence of light on the operation of the target recognition module.

[0030] The collection box 10 is fixed above the left crawler chassis to collect the target chrysanthemum morifolium after the flower stalk separation operation.

[0031] There are two sets of support frames 7, which are fixed above the crawler mobile chassis on the left and right sides of the robot by welding and bolt connection, and play a role in supporting the power supply 3, the picking execution device 8, the light-shielding cover 6, etc.

[0032] The crawler gap adjustment mechanism 5 passes through the support frames 7 on both sides of the robot. Taking the right side as an example, the front threaded rod 502, the rear threaded rod 505, the front gap adjustment guide rod 501 and the rear gap adjustment guide rod 506 pass through the support frame 7 from the front and rear of the robot respectively. The left and right sides of the support frame 7 of the front gap adjustment guide rod 501 are fixed with the front left tightening sleeve 509 and the front right tightening sleeve 503 by bolts respectively. The left and right sides of the support frame 7 of the rear gap adjustment guide rod 506 are fixed with the rear left tightening sleeve 511 and the rear right tightening sleeve 508 by bolts respectively. The front threaded rod 502 is located on both sides of the support plate and is screwed and fixed with the front left thickened nut 510 and the front right thickened nut 504 respectively. The rear threaded rod 505 is located on both sides of the support frame 7 and is screwed and fixed with the rear left thickened nut 512 and the rear right thickened nut 507 respectively. When adjusting the crawler gap, taking the reduction of the crawler gap on both sides as an example, first loosen the 8 tightening sleeves for fixing the guide rods, screw the 4 thickened nuts on the inner sides of the support frames 7 on the left and right sides towards the inner side of the robot, and then screw the four thickened nuts on the outer side of the support plate towards the inner side of the robot. Control the robot to move slowly and slightly forward and backward until the inner support frame 7 of the robot moves to the position of the thickened nut on the inner side of the robot, and then stop moving. Then screw the four thickened nuts on the outer side of the support plate towards the inner side of the robot until they are close to the support frame 7, and complete the adjustment operation of reducing the crawler gap of the robot. When increasing the crawler gap of the robot, just screw the thickened nuts on the inner and outer sides of the support frame 7 in the opposite direction to that during the operation of reducing the crawler gap.

[0033] The picking execution device 8 is fixed on the support frame 7, including a spatial movement component and a flower stalk separation component 8126. The spatial movement component is fixed on the support frame 7, and the flower stalk separation component 8126 is fixed at the end of the spatial movement component. See the appendix Figure 6, the spatial movement components include a Y right base 8101, a Y right slide rail 8102, a right stepper motor 8103, a right motor mounting plate 8104, a right wheel set 8105, an upper synchronous belt 8106, a lower synchronous belt 8107, an X right adapter component 8108, an X right slider 8109, an X movement slide rail 8110, an X movement base 8111, a Y left base 8112, a left wheel set 8113, a left motor mounting plate 8114, an X fixed base 8115, a left stepper motor 8116, an X left adapter component 8117, an X left slider 8118, a Y left slide rail 8119, a Z lower slider 8120, a Z upper slider 8121, a Z slide rail 8122, a rack 8123, a Z slider 8124, a Z base 8125, a flower stem separation component 8126, a gear 8127, a Z stepper motor 8128, and a Z connecting plate 8129. The Y right base 8101 and the Y left base 8112 are fixed to the support frame by floor bolts. The Y right slide rail 8102 and the Y left slide rail 8119 are respectively fixed to the inner sides of the Y right base 8101 and the Y left base 8112 by bolts, serving as supports for other spatial components. The left stepper motor 8116 and the right stepper motor 8103 are respectively fixed to the left motor mounting plate 8114 and the right motor mounting plate 8104 of the Y right base 8101, the Y left base 8112, and the X fixed base 8115. The output torque of the output shafts of the left stepper motor 8116 and the right stepper motor 8103 drives the Z connecting plate 8129 to move in the XY plane through idler pulleys, motor synchronous pulleys, and the upper synchronous belt 8106 and the lower synchronous belt 8107 wound around them.

[0034] As Figure 7 shown, the output shaft of the right stepper motor fixes the motor synchronous pulley 8130. Two motor idler pulleys 8131 are fixed to the right motor mounting plate. The X right adapter component fixes the adapter idler pulley 81806. An idler pulley 8132 is fixed to one end of the Y right base away from the right stepper motor. The output shaft of the left stepper motor fixes the motor synchronous pulley 8136. Two motor idler pulleys 8135 are fixed to the left motor mounting plate. The X left adapter component fixes the adapter idler pulley 8134. An idler pulley 8133 is fixed to one end of the Y left base away from the left stepper motor. The winding methods of the upper synchronous belt 8106 and the lower synchronous belt 8107 are the same, only the synchronous belts are at different heights. One end of the upper synchronous belt 8106 is fixed to the Z connecting plate 8129, successively passing around the idler pulley at one end of the Y right fixed base away from the right stepper motor, the motor idler pulleys and the motor synchronous pulley of the two right stepper motors, one motor idler pulley of the left stepper motor, and the adapter idler pulley of the Y left base. Finally, the other end of the upper synchronous belt is fixed to the Z connecting plate.

[0035] The X right-rotating adapter 8108 connects the X moving base 8111 and the Y right slide rail 8102, and the X left-rotating adapter 8117 connects the X moving base 8111 and the Y left slide rail 8119. The two adapter components move synchronously to achieve the movement of the X moving base 8111. The X right-rotating adapter 8108 and the X left-rotating adapter 8117 have the same structure. Taking the X right-rotating adapter 8108 as an example, as Figure 8 shown, the Y right linear guide 81801 is fixed on the Y right base 8101, the Y right slider 81803 is fixed on the Y right linear guide 81801 and can move along the Y right linear guide 81801. The Y right slider adapter plate 81802 is fixed on the Y right slider 81803, and the Y right upper adapter plate 81804 is fixed on the Y right adapter plate 81802 and is connected to the X moving base 8111 through bolts. The upper right fixing plate 81808 of the Y is fixed on the upper surface of the right end of the X moving base 8111 through bolts. The upper right fixing plate 81808 of the Y is connected to the Y right upper adapter plate 81804 through the fixing copper column 81807, and the transfer idler 81806 and the isolation column 81805 are installed between the two. The upper and lower synchronous belts bypass the transfer idler 81806.

[0036] The Z connecting plate 8129 is fixed on the Z upper slider 8121 and the Z lower slider 8120 through bolts, and the Z base 8125 is fixed on the Z connecting plate 8129. When the left stepping motor 8116 and the right stepping motor 8103 rotate, the upper synchronous belt 8106 and the lower synchronous belt 8107 generate a linear displacement, generating a pulling force on the Z connecting plate 8129, causing the Y right slider and the Y left slider to slide on the Y right linear guide and the Y left linear guide respectively; the Z upper slider 8121 and the Z lower slider 8120 slide on the linear guide of the X moving base 8111, realizing the movement of the flower stem separation component 8126 in the XY plane. The Z stepping motor 8128 is fixed on the Z base 8125 through a connecting piece. The output shaft of the Z stepping motor 8128 drives the rack 8123 to move up and down through the gear 8127, thereby driving the Z slider 8124 fixed on the side of the rack 8123 and moving on the Z slide rail 8122. The flower stem separation component 8126 is fixed on the Z slider 8124, and the operation execution component is controlled to perform spatial movement by the left stepping motor 8116, the right stepping motor 8103 and the Z stepping motor 8128.

[0037] See the appendix Figure 9, the flower stalk separation component 8126 includes a right servo board 8201, a right main rotating arm 8202, a right steering wheel 8203, a right servo 8204, a right auxiliary rotating arm 8205, a right moving guide shaft 8206, a right fixed guide shaft 8207, a picking hand connection board 8208, a picking hand mounting board 8209, a rear photoelectric switch board 8210, a left servo board 8211, a left fixed guide shaft 8212, a left main rotating arm 8213, a left auxiliary rotating arm 8214, a left moving guide shaft 8215, a left servo 8216, a left picking claw 8217, a front photoelectric switch board 8218, a front photoelectric switch 8219, a left cutter 8220, a left pressure sensor 8221, a right cutter 8222, a right pressure sensor 8223, a rear photoelectric switch 8224 and a right picking claw 8225. The picking hand connection board 8208 is fixed on the Z slider 8124, establishing a connection between the entire picking component and the spatial movement component, and fixing the rear photoelectric switch board 8224 and the picking hand mounting board 8209 below. The right servo 8204 is fixed on the right servo board 8201 by bolts, and the right servo board 8201 is fixed on the right side of the picking hand connection board 8208. The right steering wheel 8203 is fixed on the output shaft of the right servo 8204, the right steering wheel 8203 is connected to the right main rotating arm 8202, the right main rotating arm 8202 is connected to the right auxiliary rotating arm 8205 through a bearing, the right moving guide shaft 8206 passes through the right picking claw 8225 and the right auxiliary rotating arm 8205, and rotates through the output shaft of the right servo 8204, driving the right steering wheel 8203 to rotate, realizing the coordinated rotation of the right main rotating arm 8202 and the right auxiliary rotating arm 8205, and finally pushing the right picking claw 8225 to perform a circular motion through the right moving guide shaft 8206. The right fixed guide shaft 8207 passes through the right picking claw 8225 and the picking hand mounting board 8209, establishing a connection between the right picking claw 8225 and the spatial movement component and enabling the right picking claw 8225 to perform a circular motion around the straight line where the right fixed guide shaft 8027 is located. The bottom end of the right picking claw 8225 is equipped with a right pressure sensor 8223 and a right cutter 8222, which can coordinately complete the target flower stalk separation operation under the control of the electronic control system 4. The front photoelectric switch 8218 and the rear photoelectric switch 8210 are respectively fixed below the front photoelectric switch board and the rear photoelectric switch board. During the flower stalk separation operation, they detect whether the target reaches the specified position and send signals to the electronic control system 4. The components on the left side of the flower stalk separation component 8126 are symmetrically distributed with those on the right side and move synchronously to complete the target flower stalk separation operation.

[0038] Such as Figure 10As shown in the figure, the transfer platform 9 includes a transfer platform bottom plate 901, a transfer platform support plate 902, a drive motor protective cover 903, a drive motor 904, and a conveyor belt platform 905. The transfer platform 9 is integrally fixed to the upper cross plate 108 through the transfer platform bottom plate 901. The conveyor belt platform 905 is fixed to the transfer platform support plate 902 by bolts. The drive motor 904 is installed below the conveyor belt platform 905, and the internal transmission mechanism is protected by the drive motor protective cover 903 on the outside. When the drive motor 904 works, it drives the driving roller of the conveyor belt platform 905 to rotate through the transmission mechanism, thereby driving the conveyor belt to rotate and realizing the movement of the target.

[0039] Embodiment 2: The working method of the tea chrysanthemum picking robot with adjustable crawler clearance provided in Embodiment 1 is as follows: Step 1: Adjust the four tensioning sleeves on one side of the crawler. When it is necessary to increase the distance between the two crawlers, screw out the two tensioning sleeves outside the two crawlers of the four tensioning sleeves on one side of the crawler to the target position, and screw out the two tensioning sleeves inside the two crawlers of the four tensioning sleeves on one side of the crawler by 2 cm (when the screwing distance is less than 2 cm, then screw the corresponding target distance). Then, control the robot to move forward and backward slightly. Repeat screwing the tensioning sleeves inside the two crawlers and controlling the robot to move forward and backward slightly to complete the distance adjustment of the two crawlers of the robot.

[0040] Step 2: The navigation module extracts the road condition information in front of the robot, and the electronic control system controls the traveling direction and speed of the robot.

[0041] Step 3: The robot travels on the target tea chrysanthemum ridge. When the target recognition module obtains the information of the target, the electronic control system controls the robot to stop moving forward.

[0042] Step 4: According to the information of the target tea chrysanthemum extracted by the target recognition module, the electronic control system controls the spatial moving part of the picking execution device to move from the reset position to the target position, so that the flower stem separation part is aligned with the target tea chrysanthemum in the X and Y directions.

[0043] Step 5: The electronic control system controls the movement of the flower stem separation part in the Z-axis direction. When the photoelectric switch of the flower stem separation part is triggered, the flower stem separation part stops moving, and the left and right cutters on it are aligned with the flower stem cutting point of the target tea chrysanthemum.

[0044] Step 6: The left and right servos of the flower stem separation part synchronously drive the left picking claw and the right picking claw of the flower stem separation part to make a circular motion, driving the left and right cutters to complete the separation operation of the flower head and the stem of the tea chrysanthemum at the flower stem separation point, and the tea chrysanthemum is wrapped between the left picking claw and the right picking claw.

[0045] Step 7: The electronic control system controls the flower stem separation part to move upward to complete its reset in the Z-axis direction.

[0046] Step Eight: The electric control system controls the spatial moving component to actuate, and the flower stalk separating component is reset on the X-axis and Y-axis.

[0047] Step Nine: The left and right servos of the flower stalk separating component actuate to separate the left picking claw from the right picking claw. The tea chrysanthemum falls onto the conveyor belt of the conveying platform, moves with it from one end of the conveyor belt to the other end, and finally falls into the collection box, completing the picking operation of a single tea chrysanthemum.

[0048] Step Ten: Repeat Steps Four to Nine to complete the picking and collection operations of all target tea chrysanthemums obtained by the target recognition module.

[0049] Step Eleven: Repeat Steps Two to Ten to complete the picking of tea chrysanthemums in a single ridge.

[0050] Step Twelve: The electric control system controls the robot to move to the starting picking position of the next target ridge, and repeat Steps Two to Eleven to complete the picking operation of the new tea chrysanthemum ridge.

[0051] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation of the present invention itself. Various changes can be made in its form and details without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. A tea chrysanthemum picking robot with adjustable track clearance, characterized in that: include: The two-legged crawler mobile chassis is symmetrically distributed on both sides of the robot; A support frame, fixed above the double-footed crawler mobile chassis; A track gap adjustment mechanism, which passes through the support frame above the double-foot track moving chassis and is used to adjust the gap between the double-foot track moving chassis; A picking execution device connected to the support frame includes a space moving component for moving in a predetermined space and a flower stem separation component fixed to the end of the space moving component for completing the flower stem separation operation of the target tea chrysanthemum; A conveying platform is fixed on the crawler on one side of the double-foot crawler mobile chassis and is extended through a cantilever, and is used to convey the picked tea chrysanthemums; A collecting frame is fixed on the crawler of the double-foot crawler mobile chassis on the same side as the conveying platform, and is used for collecting the chrysanthemum for tea conveyed by the conveyor belt platform.

2. The crawler gap adjustable tea chrysanthemum picking robot according to claim 1, characterized in that: The track clearance adjustment mechanism comprises: A front gap adjustment guide rod and a rear gap adjustment guide rod, wherein the front gap adjustment guide rod and the rear gap adjustment guide rod penetrate the support frame and are distributed front and back along the support frame; A front threaded rod and a rear threaded rod, wherein the front threaded rod and the rear threaded rod penetrate the support frame and are respectively adjacent to the inner sides of the front gap adjustment guide rod and the rear gap adjustment guide rod; A tensioning screw sleeve, which is sleeved on the front clearance adjustment guide rod and the rear clearance adjustment guide rod and is used to tighten the connection between the front clearance adjustment guide rod and the rear clearance adjustment guide rod and the support frame; A thickened nut, which is sleeved on the front threaded rod and the rear threaded rod and is used to adjust the connection position between the front threaded rod and the rear threaded rod and the support frame; By screwing the thickened nut and loosening or tightening the tensioning screw sleeve, the support frame can move relative to the front gap adjustment guide rod, the rear gap adjustment guide rod, the front threaded rod and the rear threaded rod, thereby adjusting the track gaps on both sides of the double-foot tracked mobile chassis.

3. The tea chrysanthemum picking robot with adjustable crawler gap according to claim 1, characterized in that: Also includes: A sunshade, mounted on the support frame; A target recognition module, fixed on the light shield, for obtaining image information of the target tea chrysanthemum; A navigation module, fixed in front of a support frame on one side of the double-foot tracked mobile chassis, for obtaining traveling road condition information; A power source, fixed on the support frame on the same side as the navigation module, for outputting a power source; The electric control system is fixed on the support frame on the same side as the navigation module, connected to the target recognition module, the navigation module, and the power supply, and is used to process the acquired target tea chrysanthemum image information and road condition information, and control the track gap adjustment mechanism, the picking execution device, and the conveying platform accordingly according to the processing results.

4. The tea chrysanthemum picking robot with adjustable crawler gap according to claim 1, characterized in that: The spatial moving component comprises: a first driving mechanism for driving the flower stem separation component to move in the XY plane and a second driving mechanism for driving the flower stem separation component to move in the Z-axis direction; the XY plane is constructed by the Y-axis moving mechanisms symmetrically distributed on both sides and the X-axis moving mechanism connected between the Y-axis moving mechanisms on both sides, and the Z-axis direction is constructed by the Z-axis moving mechanism vertically connected to the X-axis moving mechanism; The first driving mechanism includes a left stepping motor, a right stepping motor, an upper synchronous belt, and a lower synchronous belt. The X moving mechanism and the Y moving mechanism are provided with idler wheels and synchronous wheels for supporting and guiding the movement of the upper synchronous belt and the lower synchronous belt. The upper synchronous belt and the lower synchronous belt are connected to the Z-axis moving mechanism. The left stepping motor and the right stepping motor cooperate to drive the upper synchronous belt and the lower synchronous belt to move, thereby driving the Z-axis moving mechanism connected to the upper synchronous belt and the lower synchronous belt to move in the XY plane. The flower stem separation component is connected to the Z-axis moving mechanism and moves along the Z-axis direction under the drive of the second driving mechanism.

5. The crawler gap adjustable tea chrysanthemum picking robot according to claim 4, characterized in that: The Y-axis moving mechanism comprises a fixed Y right base and Y left base and a Y right slide rail and a Y left slide rail respectively mounted on the Y right base and the Y left base; The X-axis moving mechanism comprises an X-fixed base and an X-moving base, wherein two ends of the X-fixed base are respectively connected to the Y-right base and the Y-left base, and the right stepping motor and the left stepping motor are respectively fixed at the connection points; the X-moving base is connected to the sliders on the Y-right slide rail and the Y-left slide rail through the X-right transfer component and the X-left transfer component, so that the X-moving base can move along the Y-axis direction defined by the Y-axis slide rail; the X-moving base is provided with a guide rail extending along the X-axis direction; The Z-axis moving mechanism includes a Z connecting plate, a Z base mounted on the Z connecting plate, a Z stepping motor fixed on the Z base, a gear connected to the output shaft of the Z stepping motor, a Z slide rail arranged along the Z-axis direction, a rack meshing with the gear to drive the up and down movement, and a Z slider fixed on the rack and sliding along the Z slide rail; the flower stem separating component is fixed on the Z slider; The Z connecting plate is mounted on a guide rail extending along the X-axis direction provided on the X-moving base through a Z upper slider and a Z lower slider, so that the Z connecting plate can move along the X-axis direction; The first driving mechanism drives the upper synchronous belt and the lower synchronous belt to move, and cooperatively controls the movement of the Z connecting plate along the X-axis direction and the movement of the X movable base along the Y-axis direction, so as to realize the movement of the flower stem separation component in the XY plane; the Z stepping motor drives the Z slider to move along the Z-axis direction, so as to realize the movement of the flower stem separation component in the Z-axis direction.

6. The tea chrysanthemum picking robot with adjustable crawler gap according to claim 5, characterized in that: The flower stem separation component comprises: A picking hand connecting plate fixed below the Z base; The symmetrically arranged left and right picking claws are connected to both sides of the picking hand connecting plate, and are closed and opened by moving towards each other to clamp or release the target tea chrysanthemum; A left cutter and a right cutter, wherein the left cutter and the right cutter are respectively fixed to the end surfaces of the left picking claw and the right picking claw, and follow the left picking claw and the right picking claw in the process of closing and opening to separate the flower head from the stem; The left servo plate and the right servo plate are respectively fixed with the left servo and the right servo, the output shafts of the left servo and the right servo are respectively connected with the left steering wheel and the right steering wheel, the left steering wheel and the right steering wheel are respectively rotatably connected with the left main rotating arm and the right main rotating arm, the left main rotating arm and the right main rotating arm are respectively rotatably connected with the left fixed guide shaft and the right fixed guide shaft through the left moving guide shaft and the right moving guide shaft; the left moving guide shaft and the right moving guide shaft pass through the left auxiliary rotating arm and the right auxiliary rotating arm respectively, so that the rotation of the left auxiliary rotating arm and the right auxiliary rotating arm can drive the left picking claw and the right picking claw to make a circular motion; The front photoelectric switch and the rear photoelectric switch are used to detect whether the left picking claw and the right picking claw have reached the predetermined picking position respectively; The front pressure sensor and the rear pressure sensor are used to detect the pressure changes of the left picking claw and the right picking claw during the picking process respectively.

7. The tea chrysanthemum picking robot with adjustable crawler gap according to claim 1, characterized in that: The single-side crawler mobile chassis in the double-foot crawler mobile chassis comprises: A multi-wheel connecting frame is used to connect several load-bearing wheels; A driving wheel, the driving wheel is fixed in front of the multi-wheel connecting frame; A tensioning wheel, the tensioning wheel is fixed behind the multi-wheel connecting frame; A crawler belt, wherein the crawler belt is wound around the driving wheel, the load-bearing wheel and the tensioning wheel; A worm gear motor is connected to the driving wheel through a reducer, a chain and a sprocket, and is used to drive the driving wheel to rotate.

8. The tea chrysanthemum picking robot with adjustable crawler gap according to claim 1, characterized in that: The transmission platform comprises: A conveying platform bottom plate, wherein the conveying platform bottom plate is fixed on the double-foot crawler mobile chassis; A conveyor belt platform, wherein both sides of the conveyor belt platform are fixed by conveyor belt platform support plates and supported on the conveyor platform bottom plate; A driving motor, the driving motor is fixed below the conveyor belt platform and drives the driving roller of the conveyor belt platform; A drive motor protection cover is arranged on the outside of the drive motor and is used to protect the drive motor.

9. The picking method of the tea chrysanthemum picking robot with adjustable crawler gap according to claim 1, characterized in that: The following steps are involved: The track clearance adjustment mechanism can be used to adjust the track clearance on both sides of the double-foot track mobile chassis to adapt to the agronomic specifications of the field ridges; Obtain road condition information through the navigation module to control the robot's direction and speed; The target tea chrysanthemum is identified by the target recognition module, and the robot is controlled to stop moving; The spatial moving component of the picking execution device controls the flower stem separation component to align with the target tea chrysanthemum in the X-axis and Y-axis directions; The flower stem separation component of the picking execution device moves to the target position in the Z-axis direction, and when the photoelectric switch of the flower stem separation component is triggered, the flower stem separation component stops moving and controls the left and right cutters to align with the cutting points of the flower stems of the target tea chrysanthemums; The left and right servos of the flower stem separation component synchronously drive the left and right picking claws to make circular motions, driving the left and right cutters to complete the separation of the flower heads and stems of the tea chrysanthemums at the flower stem separation point, so that the tea chrysanthemums are wrapped in the left and right picking claws; The flower stem separation component is controlled to move upward by the spatial moving component, and the flower stem separation component is reset in the Z axis, X axis, and Y axis in sequence; By controlling the left and right servos of the flower stem separation component, the left picking claw is separated from the right picking claw, and the tea chrysanthemum falls on the conveyor belt of the conveying platform, moves from one end of the conveyor belt to the other end, and finally falls into the collection box, completing the picking operation of a single tea chrysanthemum; Repeat the picking and collecting operation of all target tea chrysanthemums acquired by the target recognition module; The picked tea chrysanthemum is conveyed to the collecting frame via the conveying platform.

10. The picking method according to claim 9, characterized in that: The adjustment of the track gap on both sides of the double-foot track mobile chassis includes: adjusting the tensioning screw sleeve of one track on the double-foot track mobile chassis, when the distance between the two tracks needs to be increased, the tensioning screw sleeve located outside one track is screwed outward to the target position, and the two tensioning screw sleeves of the four tensioning screw sleeves of the single-side track located inside the two tracks are screwed outward by 2 cm. When the screwing distance is less than 2 cm, the corresponding target distance is screwed, and then the robot is controlled to move forward and backward in a small range; repeatedly screwing the tensioning screw sleeves in the tracks on both sides and controlling the robot to move forward and backward in a small range to complete the distance control of the tracks on both sides of the robot.

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