Multi-arm visual synergy grape harvester
Through the multi-arm visual collaborative grape harvester integrating a six-degree of freedom robotic arm, high-definition vision sensor and adaptive fill light group, the problems of low control accuracy, poor terrain adaptability and insufficient energy in the prior art are solved, and efficient and damage-free grape picking and long-term operation capabilities are achieved.
Patent Information
- Application Number
- CN202510853145.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-24
- Publication Date
- 2025-07-29
AI Technical Summary
The existing grape harvesters have problems such as low robotic arm control accuracy, poor terrain adaptability, insufficient visual system and insufficient energy supply, resulting in low picking efficiency, low accuracy and easy damage to the fruit, and inability to operate continuously for a long time.
It adopts a six-degree of freedom robotic arm, high-definition vision sensor, adaptive fill light group and distributed control components, combining high-capacity lithium battery pack and fast charging function to realize multi-arm coordinated operation, terrain adaptation and high-precision visual recognition, ensuring stable driving and efficient picking.
It improves the picking accuracy and efficiency of the grape harvester, reduces fruit damage, can operate stably in complex terrain and variable environments, and supports long-term continuous work.
Smart Images
Figure CN120380931A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of agricultural automation, in particular to an intelligent harvesting equipment suitable for large-scale vineyards, and specifically relates to key technologies such as multi-robot arm collaborative control, machine vision recognition, and hydraulic profiling walking. Background Art
[0002] With the development of agricultural automation technology, intelligent devices have gradually been widely used in agricultural production. Grapes are a common fruit. The traditional grape picking method mainly relies on manual operation, which not only has a large labor intensity and low efficiency, but also is easy to damage the fruits during the operation, affecting the quality and yield of grapes. Therefore, developing an efficient and precise grape harvester has become one of the demands of modern agricultural development.
[0003] Existing grape harvesters mostly rely on a single robot arm structure and mostly lack the ability to adapt to complex terrains and real-time visual perception functions, resulting in the following problems in their practical applications: low control accuracy of the robot arm: The control components of the robot arm of existing grape harvesters mostly adopt a single drive mode, with low accuracy and it is difficult to achieve precise picking of grapes. The flexibility and flexible grasping ability of the robot arm are limited, which is easy to damage the fruits and reduce the picking quality; poor terrain adaptability: Many existing grape harvesters use fixed wheels and cannot effectively adapt to different terrains, such as slopes or uneven ground, resulting in unstable movement of the harvester and affecting the picking efficiency; insufficient vision system: The positioning accuracy and image processing ability of the vision system of traditional grape harvesters are relatively weak, and it is difficult to accurately identify the position of grapes under different lighting conditions, resulting in a high picking error rate; energy supply problem: The battery capacity of existing grape harvesters is limited, unable to support long-term operation, and the charging efficiency is low, restricting the operation time and continuous working ability of the harvester. Therefore, there is an urgent need for a new type of grape harvester that can achieve multi-robot arm collaborative operation, has a high ability to adapt to complex terrains, and can accurately identify grapes through an advanced vision system to ensure efficient and non-damaging picking. At the same time, the harvester should have the ability to work continuously for a long time and be able to autonomously adjust the working state under changing environmental conditions to meet the needs of modern grape picking.
[0004] The present invention provides an innovative solution by integrating a six-degree-of-freedom robot arm, a drive mechanism, a high-precision vision sensor, an adaptive supplementary light group, and a distributed control component, effectively improving the accuracy, efficiency, and adaptability of the grape harvester. Summary of the Invention
[0005] The technical problem to be solved by the present invention is to provide a multi-arm vision collaborative grape harvester for the above-mentioned defects of the prior art.
[0006] The present invention provides a multi-arm vision collaborative grape harvester, which includes: a traveling mechanism, the traveling mechanism includes: a frame (1), wheels (5) and a driving mechanism (4), the driving mechanism (4) is installed at the bottom of the frame (1), the wheels (5) are connected to the driving mechanism (4), and the driving mechanism (4) includes: a driving motor (11), a shock absorber (12), an upper movable connecting rod (13), a lower movable connecting rod (14), which can provide sufficient power for the harvester to travel, and at the same time can automatically adjust the shock absorber (12) according to terrain changes to provide stable walking support; a picking mechanism, the picking mechanism includes six six-degree-of-freedom robotic arms (6) symmetrically distributed on both inner sides of the frame (1), and the robotic arm (6) includes: a base servo motor (15), a base (16), an upper arm (17), a swing motor (18), a forearm (19), and an end effector (20), the base (16) is fixedly connected to the inner side of the frame (1) by bolts, the base servo motor (15) is installed on the base (16), the upper arm (17) is connected to the base (16), a swing motor (18) is installed at the connection between the upper arm (17) and the forearm (19), and the end effector (20) is installed at the top of the forearm (19), and the end effector (20) includes: a shear claw (21), a flexible grasping claw (22), and the flexible grasping claw (22) is made of a flexible material to ensure damage-free fruit picking; a vision system, the vision system includes a photosensitive sensor (10) arranged on the frame (1), 16 rotatable high-definition vision sensors (9) and an adaptive supplementary lighting lamp group (8) distributed at the four corners, and the rotatable high-definition vision sensor (9) integrates a high-precision positioning module and an image processing unit; a power supply component, the power supply component (3) is installed at the bottom of both sides of the frame (1) to provide the power required for the operation of the harvester; a control component, the control component (7) is installed at the upper left part of the frame (1) to be responsible for the coordinated work of the system and ensure the efficient operation of each module; a positioning component, the positioning component (2) is installed at the upper right part of the frame (1), and a plurality of high-precision positioning sensors are installed inside to provide precise positioning for the harvester.
[0007] For the above-mentioned multi-arm vision collaborative grape harvester, four adaptive supplementary lighting lamp groups (8) are respectively installed at the four corners of the top of the frame (1), and each adaptive supplementary lighting lamp group (8) is adjusted according to the signal fed back by the photosensitive sensor (10) to the control component (7).
[0008] For the above-mentioned multi-arm vision collaborative grape harvester, six wheels (5) with shock absorbers (12) are installed at the bottom of the harvester, with 3 wheels evenly distributed on each side, and each wheel is independently connected to the driving mechanism (4).
[0009] The above-mentioned multi-arm vision collaborative grape harvester, the six robotic arms (6) are connected to the control component (7) through servo motors and a servo drive system to achieve precise control of the position and angle of each robotic arm (6).
[0010] The above-mentioned multi-arm vision collaborative grape harvester, the drive mechanism (4) is also connected to the control component (7) of the harvester, and is used to adjust the driving height of the harvester in real time according to the ground height data collected by the sensor.
[0011] The above-mentioned multi-arm vision collaborative grape harvester, the control component (7) adopts a distributed control method, and can globally coordinate and optimize the position of the robotic arm (6), the rotatable high-definition vision sensor (9) and the power supply component (3) according to real-time environmental data.
[0012] The above-mentioned multi-arm vision collaborative grape harvester, the power supply component (3) is a high-capacity lithium battery pack, which provides the long-term continuous operation ability of the harvester and has a fast charging function.
[0013] The above-mentioned multi-arm vision collaborative grape harvester, the adaptive supplementary lighting lamp group (⑧) is equipped with a photosensitive sensor (10), which can automatically adjust the lighting brightness according to the environmental light intensity, so as to provide sufficient lighting under different lighting conditions.
[0014] Based on the above technical solutions, the multi-arm vision collaborative grape harvester of the present invention can realize an efficient and intelligent grape picking process by integrating a number of innovative technologies, such as the flexibility of the six-degree-of-freedom robotic arm, the precise positioning of the rotatable high-definition vision sensor, and the lighting adjustment of the adaptive supplementary lighting lamp group. Through the coordinated work of the shock absorber of the traveling mechanism and the drive mechanism, the smooth driving of the harvester on different terrains is ensured; while the distributed coordination and optimization of the control component guarantee the efficient cooperation of each module, further improving the picking efficiency and accuracy. At the same time, the power supply component and the fast charging function provide guarantee for long-term continuous operation, meeting the requirements for efficient and reliable operation in the grape harvesting process. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic structural diagram of the harvester according to an embodiment of the present invention.
[0016] Figure 2 It is a front view of the structure of the harvester according to an embodiment of the present invention.
[0017] Figure 3 It is a schematic structural diagram of the robotic arm according to an embodiment of the present invention.
[0018] Figure 4 It is a schematic structural diagram of the end effector of the robotic arm according to an embodiment of the present invention.
[0019] Figure 5 Schematic structural diagram of the drive mechanism according to an embodiment of the present invention.
[0020] In the figure: 1. Frame, 2. Positioning component, 3. Power supply component, 4. Drive mechanism, 5. Wheels, 6. Robotic arm, 7. Control component, 8. Adaptive supplementary lighting lamp group, 9. Rotatable high-definition vision sensor, 10. Photosensitive sensor, 11. Drive motor, 12. Shock absorber, 13. Upper movable connecting rod, 14. Lower movable connecting rod, 15. Base servo motor, 16. Base, 17. Upper arm, 18. Swing motor, 19. Forearm, 20. End effector, 21. Shearing claw, 22. Flexible grasping claw. Detailed implementation manners
[0021] Figures 1 to 5 Related drawings of the embodiment of the intelligent grape harvester of the present invention. For ease of understanding, the embodiments of the present invention will be described one by one according to functional modules.
[0022] A multi-arm vision collaborative grape harvester, the harvester includes a traveling mechanism, a picking mechanism, a vision system, a power supply component and a control component. Specifically in implementation, the traveling mechanism of the harvester includes a frame (1), wheels (5) and a drive mechanism, and the drive mechanism is installed at the bottom of the frame (1), and the wheels (5) are driven by the drive mechanism (4). The drive mechanism (4) includes a drive motor (11), a shock absorber (12), an upper movable connecting rod (13) and a lower movable connecting rod (14). By adjusting the shock absorber (12), the shock absorption effect during walking is realized according to the terrain change, so as to ensure the stable driving of the harvester on uneven ground.
[0023] In specific implementation, the picking mechanism is composed of six six-degree-of-freedom robotic arms (6), and these robotic arms (6) are distributed symmetrically inside the frame (1). Each robotic arm (6) includes a base servo motor (15), a base (16), an upper arm (17), a swing motor (18), a forearm (19) and an end effector (20). The base (16) is fixed to the frame (1) by bolts, and the base servo motor (15) is connected to the base (16), which can enable the robotic arm (6) to perform a rotation operation; the upper arm (17) is connected to the base (16), the forearm (19) is connected to the upper arm (17), and the swing motor (18) is arranged at the connection between the upper arm (17) and the forearm (19). The end effector (20) is installed at the top of the forearm (19), and includes a shearing claw (21) and a flexible grasping claw (22). The flexible grasping claw (22) is made of flexible material to ensure that the fruit will not be damaged when picking grapes. This structure ensures that the robotic arm (6) can accurately grasp grapes and perform efficient picking.
[0024] The visual system consists of a photosensitive sensor (10) mounted on the frame (1), 16 rotatable high-definition visual sensors (9), and an adaptive supplementary lighting lamp group (8). The rotatable high-definition visual sensors (9) integrate high-precision positioning modules and image processing units, which are used to monitor the distribution and maturity of grapes in the picking area in real time, so as to provide accurate operation data for the picking robotic arm (6). The supplementary lighting lamp group provides uniform lighting through four adaptive supplementary lighting lamp groups (8), ensuring that visual data can be effectively collected even in low-light environments.
[0025] The power supply assembly (3) is installed at the bottom on both sides of the frame (1), usually a high-capacity lithium battery pack, providing continuous power support. The power supply assembly (3) can support the long-term operation of the harvester and has a fast charging function, capable of providing stable power during the operation.
[0026] The control assembly (7) is installed in the upper left part of the frame (1) and is responsible for the coordinated work of the entire system. In specific implementation, the control assembly (7) adopts a distributed control method. By obtaining environmental data and sensor feedback in real time, it optimizes the position, angle of the robotic arm (6), and the adjustment of the visual sensors, ensuring the efficiency and accuracy of the picking process.
[0027] Six wheels (5) with shock absorbers (12) are installed at the bottom of the harvester. The wheels are evenly distributed, with 3 wheels on each side, and each wheel is connected to an independent drive mechanism (4). In specific implementation, the shock absorbers (12) of the wheels can be adjusted in real time according to the ground height and terrain changes, ensuring that the harvester can drive stably on complex terrains.
[0028] In order to adapt to the lighting conditions in different environments, the adaptive supplementary lighting lamp group (8) is equipped with a photosensitive sensor (9), which can automatically adjust the brightness of the supplementary lighting lamp group according to the real-time environmental light intensity. This function ensures that the harvester can still effectively illuminate the working area at different times and in different environments, ensuring the normal operation of the visual system.
[0029] In specific implementation, the combination of the control assembly (7) and sensor data can dynamically adjust the driving height of the harvester to adapt to different ground and operating conditions. When the sensor detects a change in the ground height, the control system automatically adjusts the drive mechanism (4) and the shock absorbers (12) to maintain the best operating posture.
[0030] The robotic arm (6) is connected to the control assembly through a servo motor and a servo drive system, making the movement of each robotic arm (6) more flexible and precise. In specific implementation, the movement range, angle, and operating force of each robotic arm (6) can be finely adjusted according to real-time feedback, ensuring the best effect for each picking.
[0031] The power system, vision system, and picking system of this harvester work closely together, making the grape picking process not only efficient and precise but also reducing damage to the grapes, greatly improving the operation efficiency. Through the optimization of the distributed control system, the harvester can adaptively adjust the operation parameters according to environmental changes, thus ensuring that each harvest can be completed in the best state.
[0032] Through the above implementation methods, the multi-arm vision collaborative grape harvester not only has the ability of efficient picking but also can operate stably in various environments and complex terrains, ensuring the high-quality picking of grapes.
Claims
1. A multi-arm vision collaborative grape harvester, characterized in that Including: A traveling mechanism, the traveling mechanism includes: a frame (1), wheels (5) and a driving mechanism (4). The driving mechanism (4) is installed at the bottom of the frame (1), and the wheels (5) are connected to the driving mechanism (4). The driving mechanism (4) includes: a driving motor (11), a shock absorber (12), an upper movable connecting rod (13), and a lower movable connecting rod (14), which can provide sufficient power for the traveling of the harvester and can automatically adjust the shock absorber according to terrain changes to provide stable traveling support; A picking mechanism, the picking mechanism includes six six-degree-of-freedom robotic arms (6) symmetrically distributed on both inner sides of the frame (1). The robotic arm includes: a base servo motor (15), a base (16), an upper arm (17), a swing motor (18), a forearm (19), and an end effector (20). The base (16) is fixedly connected to the inner side of the frame (1) by bolts. The base servo motor (15) is installed on the base (16). The upper arm (17) is connected to the base (16). A swing motor (18) is installed at the connection between the upper arm (17) and the forearm (19). The end effector (20) is installed at the top of the forearm (14). The end effector includes: a shearing claw (21) and a flexible grasping claw (22). The flexible grasping claw (22) is made of flexible material to ensure damage-free fruit picking; A vision system, the vision system includes a photosensitive sensor (10) arranged on the frame (1), 16 rotatable high-definition vision sensors (9), and an adaptive fill light lamp group (8) distributed at the four corners. The rotatable high-definition vision sensor (9) integrates a high-precision positioning module and an image processing unit; A power supply component, the power supply component (3) is installed at the bottom of both sides of the frame (1) to provide the power required for the operation of the harvester; A control component, the control component (7) is installed at the upper left of the frame (1) to be responsible for system coordination work to ensure the efficient operation of each module; A positioning component, the positioning component (2) is installed at the upper right of the frame (1), and multiple high-precision positioning sensors are installed inside to provide precise positioning for the harvester.
2. The grape harvester according to claim 1, characterized in that, Four adaptive fill light lamp groups (8) are respectively installed at the four corners of the top of the frame (1), and each adaptive fill light lamp group (8) is adjusted through the control component (7); The adaptive fill light lamp group (8) is equipped with a photosensitive sensor (10), which can automatically adjust the illumination brightness according to the ambient light intensity, so as to provide sufficient illumination under different lighting conditions.
3. The grape harvester according to claim 1, characterized in that, The six robotic arms (6) are connected to the control component (7) through a servo motor and a servo drive system to achieve precise control of the position and angle of each robotic arm (6); The control component (7) adopts a distributed control method, which can globally coordinate and optimize the position of the robotic arm (6), the rotatable high-definition vision sensor (9), and the power supply component (3) according to real-time environmental data.
4. The grape harvester according to claim 1, wherein, Six wheels (5) with shock absorbers (12) are installed at the bottom of the harvester, with 3 wheels evenly distributed on each side, and each wheel is independently connected to a drive mechanism (4); the drive mechanism (4) is also connected to the control component (7) of the harvester for adjusting the driving height of the harvester in real time according to the ground height data collected by the sensor.