Fruit and vegetable picking robot positioning detection device based on boundary attention mechanism

Abstract

The invention discloses a fruit and vegetable picking robot positioning detection device based on a boundary attention mechanism, and relates to the technical field of picking robot detection, the fruit and vegetable picking robot positioning detection device comprises a base, a direction detection mechanism, an angle detection mechanism and a displacement detection mechanism; the robot has the advantages of being reasonable and simple in structure, low in production cost and convenient to install, the direction detection mechanism can accurately detect direction changes caused by movement of the robot, all the components work cooperatively, the rotating base rotates flexibly, and the movement direction of the robot each time can be determined; the angle detection mechanism can detect the angle change caused by the movement of the robot, and the detection effects under different conditions can be met by loosening or tightening a locking screw; the displacement detection mechanism can detect the distance change caused by the movement of the robot, the universal clamped head can rotate, it is guaranteed that the movement change of the robot does not affect the device, and the clamping block and the spring structure guarantee that the clamping block does not move freely after the robot is loosened.

Description

Technical field:

[0001] The present invention relates to the technical field of picking robot detection, and in particular to a fruit and vegetable picking robot positioning detection device based on a boundary attention mechanism. Background technology:

[0002] In the process of agricultural production automation development, fruit and vegetable picking, as a key link, faces many challenges. Traditional fruit and vegetable picking mainly relies on manual labor, but manual picking has problems such as low efficiency, high cost, and susceptibility to labor shortage and labor intensity. With the continuous rise in labor costs and the increasing requirements for the timeliness and stability of agricultural product supply, the realization of automation and intelligence of fruit and vegetable picking has become an important issue that needs to be solved in the agricultural field. Under the current technical background, the research and development of fruit and vegetable picking robots has become a research hotspot. However, accurate positioning and detection of fruit and vegetable positions has always been a key technical problem that restricts their widespread application. Due to the complex and diverse growth environment of fruits and vegetables, irregular distribution of fruits, and interference from factors such as shading by branches and leaves and uneven illumination, the existing positioning and detection technology is difficult to meet the actual picking needs. For example, some positioning systems based on visual recognition are prone to recognition errors or inaccurate positioning when facing complex backgrounds and overlapping fruits. Simple mechanical positioning devices lack adaptability to different growth environments and changes in fruit positions. In order to improve the positioning accuracy and adaptability of fruit and vegetable picking robots, many researchers are committed to developing new positioning and detection technologies. As an emerging technical means, the boundary attention mechanism has shown good application potential in the fields of image processing and target recognition. It can focus on the boundary features of the target object and improve the detection and positioning accuracy of the target. Based on this, it is of great practical significance to design a positioning detection device for fruit and vegetable picking robots based on the boundary attention mechanism. This device is expected to overcome the shortcomings of existing technologies and realize accurate detection of the positions of fruits and vegetables, thereby promoting the practical application of fruit and vegetable picking robots, improving agricultural production efficiency, reducing production costs, and promoting agricultural modernization. Summary of the invention:

[0003] The purpose of the present invention is to provide a fruit and vegetable picking robot positioning detection device based on a boundary attention mechanism in order to solve the above problems, thereby solving the problems of insufficient positioning detection accuracy, great interference from complex environments and poor adaptability of traditional fruit and vegetable picking robots.

[0004] In order to solve the above problems, the present invention provides a technical solution: a positioning detection device for a fruit and vegetable picking robot based on a boundary attention mechanism, comprising a base, a direction detection mechanism, an angle detection mechanism and a displacement detection mechanism; a direction detection mechanism is provided in the center of the upper side of the base; the bottom of the angle detection mechanism is fixedly connected to a rotating component on the upper side of the direction detection mechanism, and the end of the rotating component on the upper side of the angle detection mechanism is fixedly connected to a displacement detection mechanism.

[0005] Preferably, the specific structure of the direction detection mechanism includes a fixed seat, an angle scanning head 1, a circular grating scale 1, a rotating seat, a thrust ball bearing and a circular clamping seat; the bottom of the fixed seat is fixedly connected to the top of the base; the circular grating scale 1 is fixedly connected to the outer periphery of the fixed seat; the outside of the circular clamping seat is movably connected to the central interior of the fixed seat, and the top of the circular clamping seat is fixedly connected to the rotating seat; a thrust ball bearing is provided between the bottom of the rotating seat and the top of the fixed seat, and an angle scanning head 1 is fixedly connected to the bottom edge of the rotating seat, and the angle scanning head 1 is connected to the circular grating scale 1.

[0006] Preferably, an electromagnetic lock is provided on one side of the central interior of the fixed seat, and the locking tongue of the electromagnetic lock is connected to the lock hole provided on the outer side of the rotating seat.

[0007] Preferably, the specific structure of the angle detection mechanism includes a connecting seat, a movable seat, a fixed disk, a fixed shaft, a connecting block 1, an angle scanning head 2, a circular grating scale 2, a connecting block 2 and a locking screw; the bottom of the connecting seat is fixedly connected to the center of the top of the direction detection mechanism, and a fixed shaft is fixedly connected to the center of the front upper side of the connecting seat; the lower central interior of the movable seat is movably connected to the outside of the fixed shaft, and a locking screw is movably connected to the threaded hole provided on the upper side of the movable seat, and the inner end of the locking screw is connected to the front side of the connecting seat; the circular grating scale 2 is fixedly connected to the front side of the movable seat through several connecting blocks 2; the center of the fixed disk is fixedly connected to the front end of the fixed shaft, and a connecting block 1 is fixedly connected to the front edge of the fixed disk; an angle scanning head 2 is fixedly connected to the outside of the connecting block 1, and the angle scanning head 2 is connected to the circular grating scale 2.

[0008] Preferably, the specific structure of the displacement detection mechanism includes a mounting seat, a guide hole, a linear grating scale 1, a two-axis detection mechanism, a linear scanning head 1, a movable block, a connecting rod, a spring 1 and a universal chuck; a horizontal guide hole is provided in the lower central interior of the mounting seat, and a linear grating scale 1 is fixedly connected to the groove provided on the upper side of the guide hole, and a two-axis detection mechanism is provided in the upper interior of the mounting seat; the outside of the movable block is horizontally movably connected to the inside of the guide hole, a linear scanning head 1 is fixedly connected to the top of the movable block, and the linear scanning head 1 is connected to the linear grating scale 1 on the upper side, a connecting rod is fixedly connected to the center of the right side of the movable block, and a universal chuck is fixedly connected to the right end of the connecting rod, and a spring 1 is provided between the right side of the movable block and the right side inside of the guide hole.

[0009] Preferably, the specific structure of the universal clamping chuck includes a connecting cylinder, a first sphere, a first spherical groove, a first clamping block, a second spring, and a first clamped block; the connecting cylinder is fixedly connected to the right end of the connecting rod, and the right end of the connecting cylinder is fixedly connected to the first sphere; the first spherical groove is arranged inside the left side of the first clamped block, and the first spherical groove is movably connected to the outside of the first sphere; the first clamping block is movably connected to the groove arranged on the right side of the first spherical groove, a second spring is arranged between the right side of the first clamping block and the groove arranged on the right side of the first spherical groove, and the left side of the first clamping block is connected to the outside of the first sphere.

[0010] Preferably, the specific structure of the two-axis detection mechanism includes a second linear grating scale, a second linear scanning head, a first guide groove, a first slider, a first guide post, a connecting hole block, a universal clamping mechanism, a second guide post, a second slider, a third linear grating scale, an installation groove, a second guide groove, and a third linear scanning head; the installation groove is opened on the top surface of the mounting base, longitudinal first guide grooves are opened on both the left and right sides of the installation groove, and second linear grating scales are fixedly connected to the inner sides of the first guide grooves, transverse second guide grooves are opened on both the front and back sides of the installation groove, and third linear scanning heads are fixedly connected to the inner sides of the second guide grooves; there are two first sliders, the outer parts of the two first sliders are respectively movably connected to the inside of the corresponding first guide groove, a first guide post is fixedly connected between the opposite sides of the two first sliders, second linear scanning heads are fixedly connected to the opposite sides of the two first sliders, and the second linear scanning heads are respectively connected to the corresponding second linear grating scales; there are two second sliders, the outer parts of the two second sliders are respectively movably connected to the inside of the corresponding second guide groove, a second guide post is fixedly connected between the opposite sides of the two second sliders, third linear scanning heads are fixedly connected to the opposite sides of the two second sliders, and the third linear scanning heads are respectively connected to the corresponding third linear grating scales; the transverse hole arranged on the lower side of the connecting hole block is movably connected to the outside of the first guide post, the longitudinal hole arranged in the center of the connecting hole block is movably connected to the outside of the second guide post, and a universal clamping mechanism is arranged inside the upper side of the connecting hole block.

[0011] Preferably, the specific structure of the universal clamping mechanism includes a movable cylinder, a third spring, a sliding cavity, a second sphere, a second clamped block, a fourth spring, and a second clamping block; the sliding cavity is arranged inside the upper side of the connecting hole block; the outer part of the lower side of the movable cylinder is movably connected to the inside of the sliding cavity, a third spring is arranged between the stepped surface of the lower side of the movable cylinder and the upper side inside the sliding cavity, and the top of the movable cylinder is fixedly connected to the second sphere; the spherical cavity arranged inside the lower side of the second clamped block is movably connected to the outside of the second sphere, the second clamping block is movably connected to the upper side inside the second clamped block, the lower side of the second clamping block is connected to the outside of the second sphere; a fourth spring is arranged between the upper side of the second clamping block and the upper side inside the second clamped block.

[0012] Advantages of the present invention: (1) The present invention has the characteristics of reasonable and simple structure, low production cost, and convenient installation. Here, the direction detection mechanism can accurately detect the direction changes brought about by the movement of the robot. Each component works together, and the rotating seat rotates flexibly, enabling the determination of the movement direction of the robot each time.

[0013] (2) In the present invention, the angle detection mechanism can detect the angle changes brought about by the movement of the robot. By loosening or tightening the locking screw, the detection effect can be satisfied under different circumstances.

[0014] (3) In the present invention, the displacement detection mechanism can detect the distance changes brought about by the movement of the robot. The universal chuck can rotate, ensuring that the movement changes of the robot do not affect this device, and the block and spring structure ensure that the block will not move freely after the robot is released.

[0015] (4) In the present invention, through the combined action of the direction, angle, and displacement detection mechanisms, the movement data of the robot can be detected each time to determine whether it can meet the requirements of precise movement positioning for picking.

[0016] (5) In the present invention, the two-axis detection mechanism can detect the displacement data of the robot moving in a plane to determine whether it can meet the requirements of precise picking in different planes. The structure design of the universal clamping mechanism can adapt to different situations and prevent damage to this device. Description of the drawings:

[0017] Figure 1 is a schematic structural diagram of the present invention.

[0018] Figure 2 is Figure 1 a cross-sectional view of

[0019] Figure 3 is a schematic structural diagram of the direction detection mechanism.

[0020] Figure 4 is a schematic structural diagram of the angle detection mechanism.

[0021] Figure 5 is a schematic structural diagram of the displacement detection mechanism.

[0022] Figure 6 is a schematic structural diagram of the universal chuck.

[0023] Figure 7 is a schematic structural diagram of the two-axis detection mechanism.

[0024] Figure 8 is Figure 7 a top view of

[0025] Figure 9 is Figure 7 a side cross-sectional view of

[0026] Figure 10 It is a schematic structural diagram of a universal clamping mechanism.

[0027] 1 - Base; 2 - Direction detection mechanism; 3 - Angle detection mechanism; 4 - Displacement detection mechanism; 31 - Connecting seat; 32 - Movable seat; 33 - Fixed disk; 34 - Fixed shaft; 35 - Connecting block one; 36 - Angle scanning head two; 37 - Circular grating scale two; 38 - Connecting block two; 39 - Locking screw; 41 - Mounting seat; 42 - Guide hole; 43 - Linear grating scale one; 44 - Two-axis detection mechanism; 45 - Linear scanning head one; 46 - Movable block; 47 - Connecting rod; 48 - Spring one; 49 - Universal clamping head; 491 - Connecting cylinder; 492 - Sphere one; 493 - Ball groove one; 494 - Clamping block one; 495 - Spring two; 496 - Clamped block one; 441 - Linear grating scale two; 442 - Linear scanning head two; 443 - Guide groove one; 444 - Slide block one; 445 - Guide post one; 446 - Connecting hole block; 447 - Universal clamping mechanism; 448 - Guide post two; 449 - Slide block two; 4410 - Linear grating scale three; 4411 - Mounting groove; 4412 - Guide groove two; 4413 - Linear scanning head three; 4471 - Movable cylinder; 4472 - Spring three; 4473 - Slide cavity; 4474 - Sphere two; 4475 - Clamped block two; 4476 - Spring four; 4477 - Clamping block two. Specific implementation manner:

[0028] As Figure 1 and Figure 2 shown, the present specific implementation manner adopts the following technical solution: a positioning and detection device for a fruit and vegetable picking robot based on a boundary attention mechanism, including a base 1, a direction detection mechanism 2, an angle detection mechanism 3, and a displacement detection mechanism 4; a direction detection mechanism 2 is provided in the center of the upper side of the base 1; the bottom of the angle detection mechanism 3 is fixedly connected to the rotating component on the upper side of the direction detection mechanism 2, and the end of the rotating component on the upper side of the angle detection mechanism 3 is fixedly connected to a displacement detection mechanism 4.

[0029] As Figure 3 shown, the specific structure of the direction detection mechanism 2 includes a fixed seat 21, an angle scanning head one 22, a circular grating scale one 23, a rotating seat 24, a thrust ball bearing 25, and a circular clamping seat 26; the bottom of the fixed seat 21 is fixedly connected to the top of the base 1; the circular grating scale one 23 is fixedly connected to the outer periphery of the fixed seat 21; the outside of the circular clamping seat 26 is movably connected to the inner center of the fixed seat 21, and the top of the circular clamping seat 26 is fixedly connected to a rotating seat 24; a thrust ball bearing 25 is provided between the bottom of the rotating seat 24 and the top of the fixed seat 21, and an angle scanning head one 22 is fixedly connected to the bottom edge of the rotating seat 24, and the angle scanning head one 22 is connected to the circular grating scale one 23.

[0030] Wherein, an electromagnetic lock is provided on one side inside the center of the fixed seat 21, and the locking tongue of the electromagnetic lock is connected to a lock hole formed on the outer side of the rotating seat 24.

[0031] As Figure 4 shown, the specific structure of the angle detection mechanism 3 includes a connecting seat 31, a movable seat 32, a fixed disk 33, a fixed shaft 34, a first connecting block 35, a second angle scanning head 36, a second circular grating scale 37, a second connecting block 38, and a locking screw 39; the bottom of the connecting seat 31 is fixedly connected to the center of the top of the direction detection mechanism 2, and the center of the front upper side of the connecting seat 31 is fixedly connected with a fixed shaft 34; the center inside the lower side of the movable seat 32 is movably connected to the outside of the fixed shaft 34, and a locking screw 39 is movably connected to a threaded hole provided on the upper side of the movable seat 32, and the inner end of the locking screw 39 is connected to the front side of the connecting seat 31; the second circular grating scale 37 is fixedly connected to the front side of the movable seat 32 through a plurality of second connecting blocks 38; the center of the fixed disk 33 is fixedly connected to the front end of the fixed shaft 34, and a first connecting block 35 is fixedly connected to the front edge of the fixed disk 33; the first connecting block 35 is fixedly connected with a second angle scanning head 36 on the outside, and the second angle scanning head 36 is connected to the second circular grating scale 37.

[0032] As Figure 5 shown, the specific structure of the displacement detection mechanism 4 includes a mounting seat 41, a guide hole 42, a first linear grating scale 43, a two-axis detection mechanism 44, a first linear scanning head 45, a movable block 46, a connecting rod 47, a first spring 48, and a universal chuck 49; a horizontal guide hole 42 is provided inside the center of the lower side of the mounting seat 41, and a first linear grating scale 43 is fixedly connected to a groove provided on the upper side of the guide hole 42, and a two-axis detection mechanism 44 is provided inside the upper side of the mounting seat 41; the outside of the movable block 46 is horizontally movably connected to the inside of the guide hole 42, the top of the movable block 46 is fixedly connected with a first linear scanning head 45, and the first linear scanning head 45 is connected to the first linear grating scale 43 on the upper side, the center of the right side of the movable block 46 is fixedly connected with a connecting rod 47, and the right end of the connecting rod 47 is fixedly connected with a universal chuck 49, and a first spring 48 is provided between the right side of the movable block 46 and the right side inside the guide hole 42.

[0033] As Figure 6As shown in the figure, the specific structure of the universal chuck 49 includes a connecting cylinder 491, a first sphere 492, a first spherical groove 493, a first clamping block 494, a second spring 495, and a first clamped block 496. The connecting cylinder 491 is fixedly connected to the right end of the connecting rod 47. The right end of the connecting cylinder 491 is fixedly connected to the first sphere 492. The first spherical groove 493 is provided inside the left side of the first clamped block 496, and the first spherical groove 493 is movably connected to the outside of the first sphere 492. The first clamping block 494 is movably connected to the groove provided on the right side of the first spherical groove 493. A second spring 495 is provided between the right side of the first clamping block 494 and the groove provided on the right side of the first spherical groove 493. The left side of the first clamping block 494 is connected to the outside of the first sphere 492.

[0034] As Figures 7 to 9 shown in the figure, the specific structure of the two-axis detection mechanism 44 includes a second linear grating scale 441, a second direct scanning head 442, a first guide groove 443, a first slider 444, a first guide post 445, a connecting hole block 446, a universal clamping mechanism 447, a second guide post 448, a second slider 449, a third linear grating scale 4410, a mounting groove 4411, a second guide groove 4412, and a third direct scanning head 4413. The mounting groove 4411 is opened on the top surface of the mounting base 41. Longitudinal first guide grooves 443 are opened on both the left and right sides of the mounting groove 4411, and second linear grating scales 441 are fixedly connected to the inner sides of the first guide grooves 443. Transverse second guide grooves 4412 are opened on both the front and back sides of the mounting groove 4411, and third direct scanning heads 4413 are fixedly connected to the inner sides of the second guide grooves 4412. There are two first sliders 444. The outer parts of the two first sliders 444 are respectively movably connected to the inside of the corresponding first guide grooves 443. A first guide post 445 is fixedly connected between the opposite sides of the two first sliders 444. Second direct scanning heads 442 are fixedly connected to the opposite sides of the two first sliders 444, and the second direct scanning heads 442 are respectively connected to the corresponding second linear grating scales 441. There are two second sliders 449. The outer parts of the two second sliders 449 are respectively movably connected to the inside of the corresponding second guide grooves 4412. A second guide post 448 is fixedly connected between the opposite sides of the two second sliders 449. Third direct scanning heads 4413 are fixedly connected to the opposite sides of the two second sliders 449, and the third direct scanning heads 4413 are respectively connected to the corresponding third linear grating scales 4410. The transverse hole provided on the lower side of the connecting hole block 446 is movably connected to the outside of the first guide post 445. The longitudinal hole provided in the center of the connecting hole block 446 is movably connected to the outside of the second guide post 448. A universal clamping mechanism 447 is provided inside the upper side of the connecting hole block 446.

[0035] As Figure 10As shown, the specific structure of the universal clamping mechanism 447 includes a movable cylinder 4471, a third spring 4472, a sliding cavity 4473, a second sphere 4474, a second clamping block 4475, a fourth spring 4476, and a second clamping block 4477; the sliding cavity 4473 is arranged inside the upper side of the connecting hole block 446; the outer side of the lower side of the movable cylinder 4471 is movably connected inside the sliding cavity 4473, and a third spring 4472 is arranged between the stepped surface of the lower side of the movable cylinder 4471 and the upper side inside the sliding cavity 4473. A second sphere 4474 is fixedly connected to the top of the movable cylinder 4471; the spherical cavity arranged inside the lower side of the second clamping block 4475 is movably connected to the outer side of the second sphere 4474. A second clamping block 4477 is movably connected to the upper side inside the second clamping block 4475, and the lower side of the second clamping block 4477 is connected to the outer side of the second sphere 4474; a fourth spring 4476 is arranged between the upper side of the second clamping block 4477 and the upper side inside the second clamping block 4475.

[0036] The usage state of the present invention is as follows: The present invention has a reasonable and simple structure, low production cost, and convenient installation. During detection, the base 1 is firmly installed at the detection position to provide stable basic support for the entire positioning and detection device. Then, the gripper of the robot clamps the universal chuck 49, and then the robot moves according to the detection requirements. Here, the direction detection mechanism 2 can detect the direction changes brought about by each movement of the robot. The bottom of the fixed seat 21 is fixedly connected to the base 1 to ensure its stability. The angle scanning head one 22, the circular grating scale one 23, the rotating seat 24, the thrust ball bearing 25, and the circular clamping seat 26 work together. If the rotating seat 24 needs to rotate, the electromagnetic lock is unlocked (the lock tongue of the electromagnetic lock on one side of the central interior of the fixed seat 21 is separated from the lock hole opened on the outer side of the rotating seat 24). The thrust ball bearing 25 can reduce the frictional resistance between the bottom of the rotating seat 24 and the top of the fixed seat 21, enabling the rotating seat 24 to rotate flexibly. During the rotation of the rotating seat 24, the angle scanning head one 22 fixedly connected to the bottom edge thereof will scan and detect the circular grating scale one 23 fixed around the outer side of the fixed seat 21, thereby obtaining the rotation angle information to determine the movement direction of the robot each time. And the angle detection mechanism 3 can detect the angle changes brought about by each movement of the robot. Here, the bottom of the connecting seat 31 is fixed at the center of the top of the direction detection mechanism 2 to provide an installation basis for the angle detection mechanism 3. The central interior of the lower side of the movable seat 32 is sleeved outside the fixed shaft 34 and can rotate around the fixed shaft 34. When the angle needs to be adjusted, the locking screw 39 is loosened (the inner end of the locking screw 39 movably connected in the threaded hole provided on the upper side of the movable seat 32 is separated from the front side of the connecting seat 31), and the movable seat 32 can rotate freely. During the rotation of the movable seat 32, the circular grating scale two 37 fixedly connected to its front side through several connecting blocks two 38 will be scanned and detected by the angle scanning head two 36 on the outside of the connecting block one 35 fixedly connected to the front side edge of the fixed disk 33, thereby obtaining the angle change information to accurately adjust the detection angle. And the displacement detection mechanism 4 can detect the distance changes brought about by each movement of the robot. Here, a horizontal guide hole 42 is provided in the central interior of the lower side of the mounting seat 41. During each movement of the robot, the movable block 46 will move horizontally inside the guide hole 42. The straight scanning head one 45 fixedly connected to the top of the movable block 46 will scan the straight grating scale one 43 fixed in the groove opened on the upper side of the guide hole 42, thereby obtaining the displacement information of the movable block 46. The connecting rod 47 fixedly connected to the central right side of the movable block 46 and the universal chuck 49 fixedly connected to the right end. For the universal chuck 49, the connecting column body 491 is fixedly connected to the right end of the connecting rod 47. The sphere one 492 at the right end of the connecting column body 491 is movably connected to the ball groove one 493 inside the left side of the clamped block one 496, enabling a certain angle of rotation, so as to ensure that the changes brought about by each movement of the robot will not affect this device. In addition, the clamping block one 494 moves in the groove provided on the right side of the ball groove one 493.Moreover, a second spring 495 is provided between the right side of the first clamping block 494 and the groove provided on the right side of the first spherical groove 493. The left side of the first clamping block 494 is connected to the outside of the first sphere 492, thus ensuring that the robot will not move freely after being released by the first clamping block 496. Through the combined action of the above-mentioned direction detection mechanism 2, angle detection mechanism 3 and displacement detection mechanism 4, the motion data of the robot can be detected each time, and it can be judged in turn whether the fruit and vegetable picking robot based on the boundary attention mechanism can meet the needs of precise moving positioning for picking. In addition, the two-axis detection mechanism 44 provided can detect the displacement data of the robot moving in the plane, and it can be judged in turn whether the fruit and vegetable picking robot based on the boundary attention mechanism can meet the needs of precise picking in different planes. Specifically, the installation groove 4411 is opened on the top surface of the installation base 41. When the first slider 444 moves inside the first guide groove 443, the first guide post 445 fixedly connected between its opposite sides and the second direct sweeping dock 442 fixed on the opposite side of the first slider 444 will scan and detect the second direct grating scale 441 fixed on the inner side of the first guide groove 443 to obtain the displacement information in one axial direction; similarly, when the second slider 449 moves inside the second guide groove 4412, the second guide post 448 fixedly connected between its opposite sides and the third direct sweeping dock 4413 fixed on the opposite side of the second slider 449 will scan and detect the third direct grating scale 4410 fixed on the inner side of the second guide groove 4412 to obtain the displacement information in the other axial direction. The transverse hole provided on the lower side of the connecting hole block 446 is movably connected to the outside of the first guide post 445, and the longitudinal hole provided in the center is movably connected to the outside of the second guide post 448, and it can move flexibly in two axial directions. The universal clamping mechanism 447 is arranged inside the upper side of the connecting hole block 446. For the universal clamping mechanism 447, the lower outside of the movable cylinder body 4471 moves inside the sliding cavity 4473. The third spring 4472 between the stepped surface on the lower side of the movable cylinder body 4471 and the upper side inside the sliding cavity 4473 plays a buffering and resetting role. The second sphere 4474 fixedly connected to the top of the movable cylinder body 4471 is movably connected to the spherical cavity provided inside the lower side of the second clamping block 4475. The second clamping block 4477 moves inside the upper side of the second clamping block 4475, and the lower side of the second clamping block 4477 is connected to the outside of the second sphere 4474. The fourth spring 4476 between the upper side of the second clamping block 4477 and the upper side inside the second clamping block 4475 also plays a certain buffering and fixing role. Such a structure enables the universal clamping mechanism 447 to better adapt to different situations during operation, thus avoiding damage to the device.

[0037] In the control mode of the present invention, it is controlled by manual start or through existing automation technologies. The wiring diagram of the power element and the power supply are common knowledge in the art, and the present invention mainly aims to protect mechanical devices, so the control mode and wiring layout of the present invention will not be explained in detail.

[0038] In the description of the invention, it should be understood that the orientation or positional relationship indicated by terms such as "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "center", "both ends", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the invention.

[0039] In the invention, unless otherwise clearly specified and defined, terms such as "installed", "set", "connected", "fixed", "rotary connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0040] The above shows and describes the basic principles, main features and advantages of the invention. Those skilled in the art should understand that the invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the invention. Without departing from the spirit and scope of the invention, the invention will have various changes and improvements, and these changes and improvements all fall within the scope of the invention claimed. The scope of the invention claimed is defined by the appended claims and their equivalents.

Claims

1. A positioning and detection device for a fruit and vegetable picking robot based on a boundary attention mechanism, characterized in that: It includes a base (1), a direction detection mechanism (2), an angle detection mechanism (3), and a displacement detection mechanism (4); A direction detection mechanism (2) is provided in the center of the upper side of the base (1); The bottom of the angle detection mechanism (3) is fixedly connected to the rotating part on the upper side of the direction detection mechanism (2), and the end of the rotating part on the upper side of the angle detection mechanism (3) is fixedly connected to a displacement detection mechanism (4).

2. The positioning and detection device for a fruit and vegetable picking robot based on a boundary attention mechanism according to claim 1, wherein: The specific structure of the direction detection mechanism (2) includes a fixed seat (21), an angle scanning head one (22), a circular grating scale one (23), a rotating seat (24), a thrust ball bearing (25), and a circular clamping seat (26); The bottom of the fixed seat (21) is fixedly connected to the top of the base (1); The circular grating scale one (23) is fixedly connected to the outer periphery of the fixed seat (21); The outside of the circular clamping seat (26) is movably connected to the inner part of the center of the fixed seat (21), and the top of the circular clamping seat (26) is fixedly connected to a rotating seat (24); A thrust ball bearing (25) is provided between the bottom of the rotating seat (24) and the top of the fixed seat (21). An angle scanning head one (22) is fixedly connected to the bottom edge of the rotating seat (24), and the angle scanning head one (22) is connected to the circular grating scale one (23).

3. The positioning and detection device of the fruit and vegetable picking robot based on the boundary attention mechanism according to claim 2, wherein: An electromagnetic lock is provided on one side of the inner part of the center of the fixed seat (21), and the locking tongue of the electromagnetic lock is connected to the lock hole opened on the outer side of the rotating seat (24).

4. The positioning and detection device for a fruit and vegetable picking robot based on a boundary attention mechanism according to claim 1, characterized in that: The specific structure of the angle detection mechanism (3) includes a connecting seat (31), a movable seat (32), a fixed disk (33), a fixed shaft (34), a connecting block one (35), an angle scanning head two (36), a circular grating scale two (37), a connecting block two (38), and a locking screw (39); The bottom of the connecting seat (31) is fixedly connected to the center of the top of the direction detection mechanism (2), and the fixed shaft (34) is fixedly connected to the center of the front upper side of the connecting seat (31); The inner part of the center of the lower side of the movable seat (32) is movably connected to the outside of the fixed shaft (34). A locking screw (39) is movably connected to the threaded hole provided on the upper side of the movable seat (32), and the inner end of the locking screw (39) is connected to the front side of the connecting seat (31); The circular grating scale two (37) is fixedly connected to the front side of the movable seat (32) through several connecting blocks two (38); The center of the fixed disk (33) is fixedly connected to the front end of the fixed shaft (34), and a connecting block one (35) is fixedly connected to the front edge of the fixed disk (33); An angle scanning head two (36) is fixedly connected to the outside of the connecting block one (35), and the angle scanning head two (36) is connected to the circular grating scale two (37).

5. The positioning and detection device of the fruit and vegetable picking robot based on the boundary attention mechanism according to claim 1, wherein: The specific structure of the displacement detection mechanism (4) includes a mounting seat (41), a guide hole (42), a linear grating scale one (43), a two-axis detection mechanism (44), a linear scanning head one (45), a movable block (46), a connecting rod (47), a spring one (48), and a universal chuck (49); Inside the center of the lower side of the mounting base (41), there is a horizontal guide hole (42), and a linear grating scale one (43) is fixedly connected in the groove opened on the upper side of the guide hole (42). Inside the upper side of the mounting base (41), there is a two-axis detection mechanism (44); The outside of the movable block (46) is horizontally movably connected inside the guide hole (42). The top of the movable block (46) is fixedly connected with a linear scanning dock one (45), and the upper side of the linear scanning dock one (45) is connected to the linear grating scale one (43). In the center of the right side of the movable block (46), there is a connecting rod (47) fixedly connected, and at the right end of the connecting rod (47), there is a universal chuck (49) fixedly connected. Between the right side surface of the movable block (46) and the right side inside the guide hole (42), there is a spring one (48).

6. The positioning and detection device of the fruit and vegetable picking robot based on the boundary attention mechanism according to claim 5, characterized in that: The specific structure of the universal chuck (49) includes a connecting column body (491), a sphere one (492), a spherical groove one (493), a clamping block one (494), a spring two (495), and a clamped block one (496); The connecting column body (491) is fixedly connected to the right end of the connecting rod (47), and the right end of the connecting column body (491) is fixedly connected with a sphere one (492); Inside the left side of the clamped block one (496), there is a spherical groove one (493), and the spherical groove one (493) is movably connected to the outside of the sphere one (492); The clamping block one (494) is movably connected in the groove arranged on the right side of the spherical groove one (493). Between the right side of the clamping block one (494) and the groove arranged on the right side of the spherical groove one (493), there is a spring two (495), and the left side of the clamping block one (494) is connected to the outside of the sphere one (492).

7. The positioning and detection device for a fruit and vegetable picking robot based on a boundary attention mechanism according to claim 5, characterized in that: The specific structure of the two-axis detection mechanism (44) includes a linear grating scale two (441), a linear scanning dock two (442), a guide groove one (443), a slider one (444), a guide post one (445), a connecting hole block (446), a universal chuck mechanism (447), a guide post two (448), a slider two (449), a linear grating scale three (4410), a mounting groove (4411), a guide groove two (4412), and a linear scanning dock three (4413); The mounting groove (4411) is opened on the top surface of the mounting base (41). On both the left and right sides of the mounting groove (4411), there are longitudinal guide grooves one (443) opened, and linear grating scales two (441) are fixedly connected to the inner sides of the guide grooves one (443). On both the front and back sides of the mounting groove (4411), there are horizontal guide grooves two (4412) opened, and linear scanning docks three (4413) are fixedly connected to the inner sides of the guide grooves two (4412); There are two sliders one (444). The outsides of the two sliders one (444) are respectively movably connected inside the corresponding guide grooves one (443). Between the opposite sides of the two sliders one (444), there is a guide post one (445) fixedly connected. On the opposite sides of the two sliders one (444), there are linear scanning docks two (442) fixedly connected, and the linear scanning docks two (442) are respectively connected to the corresponding linear grating scales two (441); There are two second sliders (449). The outer parts of the two second sliders (449) are respectively movably connected inside the corresponding second guide grooves (4412). A second guide post (448) is fixedly connected between the opposite sides of the two second sliders (449). Third direct-sweeping docks (4413) are fixedly connected to the opposite sides of the two second sliders (449), and the third direct-sweeping docks (4413) are respectively connected to the corresponding third linear gratings (4410). The transverse hole provided on the lower side of the connection hole block (446) is movably connected to the outside of the first guide post (445). The longitudinal hole provided in the center of the connection hole block (446) is movably connected to the outside of the second guide post (448). A universal clamping mechanism (447) is provided inside the upper side of the connection hole block (446).

8. The positioning and detection device of the fruit and vegetable picking robot based on the boundary attention mechanism according to claim 7, characterized in that: The specific structure of the universal clamping mechanism (447) includes a movable cylinder (4471), a third spring (4472), a sliding cavity (4473), a second sphere (4474), a second clamping block (4475), a fourth spring (4476), and a second latch (4477). The sliding cavity (4473) is provided inside the upper side of the connection hole block (446). The outside of the lower side of the movable cylinder (4471) is movably connected inside the sliding cavity (4473). A third spring (4472) is provided between the stepped surface on the lower side of the movable cylinder (4471) and the upper side inside the sliding cavity (4473). A second sphere (4474) is fixedly connected to the top of the movable cylinder (4471). The spherical cavity provided inside the lower side of the second clamping block (4475) is movably connected to the outside of the second sphere (4474). A second latch (4477) is movably connected to the upper side inside the second clamping block (4475), and the lower side of the second latch (4477) is connected to the outside of the second sphere (4474). A fourth spring (4476) is provided between the upper side of the second latch (4477) and the upper side inside the second clamping block (4475).

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