Picking robot and control method thereof
By introducing soft pipes and drive mechanisms into the harvesting robot, the target object is controlled to fall into the collection container under its own gravity, which solves the problem of low harvesting efficiency caused by the swinging of the robotic arm and realizes a highly efficient harvesting process.
Patent Information
- Application Number
- CN202511132466.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-13
- Publication Date
- 2025-11-07
AI Technical Summary
Existing harvesting robots require the robotic arm to swing back above the collection container to release the target object after harvesting, resulting in low harvesting efficiency.
A flexible tube is used to connect the robotic arm and the storage container. The movement of the flexible tube is controlled by a drive mechanism and a detection component, so that the target object falls into the storage container under its own gravity, reducing the swinging motion of the robotic arm.
It improved harvesting efficiency, reduced the risk of target objects piling up and being damaged, and increased the yield of high-quality products.
Smart Images
Figure CN120898623A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The embodiment of the present application relates to the technical field of picking, in particular to a picking robot and a control method of the picking robot. BACKGROUND
[0002] The current picking robot often comprises a chassis, a picking mechanism, a mechanical arm and a storage container, the mechanical arm and the storage container are both installed on the chassis, and the picking mechanism is installed at the end of the mechanical arm. The mechanical arm is used to move the picking mechanism, the picking mechanism is used to pick the target object, after the picking is completed, the mechanical arm swings back until the target object enters the storage container, then the picking mechanism releases the target object, and the target object falls into the storage container.
[0003] The inventor of the present application finds that, during picking, the mechanical arm needs to drive the picking mechanism to stretch to the target object, then pick the target object, after the picking is completed, the mechanical arm still needs to swing back until the target object enters the storage container or is located above the storage container, then releases the target object, so that the target object falls into the storage container, the mechanical arm needs to perform two actions of stretching and picking and swinging back and releasing, and the picking efficiency is not high. SUMMARY
[0004] The embodiment of the present application provides a picking robot and a control method of the picking robot, and the picking efficiency can be improved.
[0005] To solve the above technical problems, the present application adopts one technical scheme: provide a picking robot, the picking robot includes a mobile chassis, a mechanical arm, a storage container, a soft pipe, a driving mechanism, a detection assembly and a controller; the mechanical arm is arranged on the mobile chassis; a picking mechanism is installed at the end of the mechanical arm, and the picking mechanism is used for picking target objects; the storage container is arranged on the mobile chassis, and the storage container is provided with a storage space; the soft pipe is installed on the mechanical arm, and the soft pipe is provided with an inlet end and an outlet end; the inlet end of the soft pipe extends to the end of the mechanical arm, and the inlet end is located below the picking mechanism; the outlet end of the soft pipe extends to communicate with the storage space; when the picking mechanism releases the picked target objects, the target objects can enter the soft pipe from the inlet end and fall into the storage space from the outlet end; the driving mechanism includes a bracket and a first driving assembly, the first driving assembly includes a first driving piece and a mounting piece, the bracket is arranged on the mobile chassis, the first driving piece is arranged on the bracket, the first driving piece is connected with the mounting piece, the outlet end of the soft pipe is arranged on the mounting piece, and the first driving piece is used to drive the outlet end of the soft pipe to move along the first axis X, wherein the first axis X is perpendicular to the depth direction of the storage space; the detection assembly is arranged on the mounting piece, and the detection assembly is used to detect the distance between the outlet end of the soft pipe and the target objects located below along the second axis Y, and the second axis Y is the depth direction of the storage space; the controller is connected with the detection assembly and the first driving assembly respectively, and the controller is used to control the first driving assembly to drive the outlet end to move along the first axis X when the detection assembly detects that the distance between the outlet end of the soft pipe and the target objects located below is less than or equal to a preset threshold.
[0006] Optionally, the soft pipe is further provided with a buffer protrusion, the buffer protrusion is arranged on the inner wall of the soft pipe, and at least the buffer protrusion is located at the outlet end, and the buffer protrusion is used for buffering the target objects.
[0007] Optionally, the number of buffer protrusions is multiple, and the multiple buffer protrusions are sequentially and spacedly arranged along the length direction of the soft pipe, and adjacent two buffer protrusions are staggered along the circumferential direction of the soft pipe.
[0008] Optionally, the detection assembly further includes a distance sensor, and the distance sensor is used to detect the distance between the outlet end of the soft pipe and the target objects located below along the second axis Y.
[0009] Optionally, the detection assembly further includes a camera device, and the camera device collects images below the mounting piece, and the images are used to identify the distance between the outlet end of the soft pipe and the target objects located below.
[0010] Optionally, the driving mechanism further includes a second driving assembly, the second driving assembly is installed on the first driving assembly, and the mounting piece is installed on the second driving assembly; the first driving assembly is used to drive the second driving assembly to move along the first axis X, and the second driving assembly is used to drive the mounting piece to move along the second axis Y.
[0011] Optionally, the bracket includes a first upright and a second upright, one end of the first upright and one end of the second upright are fixed to the movable base, and the first upright and the second upright are located on both sides of the storage container; the first driving component includes a moving component, a lead screw, a guide rod and a rotating component, the two ends of the lead screw are respectively disposed on the first upright and the second upright, the two ends of the guide rod are respectively fixed to the first upright and the second upright, the rotating component is fixed to the first upright, the moving component is provided with a guide hole and a screw hole, the lead screw passes through the screw hole and is screwed to the screw hole, the second driving component is fixed to the moving component, the guide rod passes through the guide hole, the rotating component is connected to the lead screw, and the rotating component is used to drive the lead screw to rotate, thereby driving the second driving component to move along the first axis X.
[0012] Optionally, the flexible pipe is also equipped with a funnel-shaped component. The funnel-shaped component is located at the inlet end of the flexible pipe, with the larger end of the funnel-shaped component facing the harvesting mechanism. The funnel-shaped component is used to receive the target object released by the harvesting mechanism and guide the target object to flow into the flexible pipe from the inlet end.
[0013] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is: providing a control method for a harvesting robot as described in any of the above embodiments, the control method comprising: acquiring all preset fruit-dropping positions where the outlet end of the flexible pipe can move along a first axis X; controlling a first driving component to move the outlet end of the flexible pipe to a preset fruit-dropping position; when the outlet end of the flexible pipe moves to a preset fruit-dropping position, acquiring the distance between the outlet end of the flexible pipe detected by the detection component of the harvesting robot and the target object located below it; determining whether a preset movement condition is met based on the distance; if the preset movement condition is met, determining whether the preset fruit-dropping positions have been traversed; if the preset fruit-dropping positions have not been traversed, controlling the first driving component to drive the outlet end to move along the first axis X to move to the next preset fruit-dropping position, and returning to the step of acquiring the distance between the outlet end of the flexible pipe detected by the detection component of the harvesting robot and the target object located below it, until all preset fruit-dropping positions have been traversed.
[0014] Optionally, the step of determining whether the preset movement condition is met based on the spacing further includes: determining whether the outlet end of the flexible pipe is located at the highest point along the second axis Y, and whether the spacing is less than or equal to a preset threshold; if the outlet end of the flexible pipe is located at the highest point along the second axis Y, and the spacing is less than or equal to the preset threshold, then it is determined that the preset movement condition is met; if the outlet end of the flexible pipe is not located at the highest point along the second axis Y, or the spacing is greater than the preset threshold, then it is determined that the preset movement condition is not met, and when the spacing is less than or equal to the preset threshold, the second driving component is controlled to drive the outlet end of the flexible pipe to move along the second axis Y until the spacing is greater than the preset threshold.
[0015] The beneficial effects of the embodiment of the present application are: different from the prior art, the embodiment of the present application provides a picking robot, the picking robot comprises a mobile chassis, a mechanical arm, a storage container and a soft pipe, the mechanical arm is arranged on the mobile chassis, a picking mechanism is installed at the end of the mechanical arm, the picking mechanism is used for picking target objects, the storage container is arranged on the mobile chassis, the storage container is provided with a storage space, the soft pipe is installed on the mechanical arm, the soft pipe is provided with an inlet end and an outlet end, the inlet end of the soft pipe extends to the end of the mechanical arm, and the inlet end is located below the picking mechanism, the outlet end of the soft pipe extends to communicate with the storage space, when the picking mechanism releases the picked target object, the target object can enter the soft pipe from the inlet end and fall into the storage space from the outlet end, reducing the backswing action of the mechanical arm driving the picking mechanism to return to the storage container or above the storage container when the picking mechanism completes picking, realizing that the target object can be immediately released after the picking mechanism picks one and releases the target object, the target object can fall into the storage container through the soft pipe under the action of its own gravity, and the mechanical arm can continue to drive the picking mechanism to pick next time, greatly improving the efficiency.
[0016] In addition, the picking robot further comprises a driving mechanism, a detection assembly and a controller, the driving mechanism comprises a support and a first driving assembly, the first driving assembly comprises a first driving piece and a mounting piece, the support is arranged on the mobile chassis, the first driving piece is arranged on the support, the first driving piece is connected with the mounting piece, the outlet end of the soft pipe is arranged on the mounting piece, and the first driving piece is used for driving the outlet end of the soft pipe to move along the first axis X, wherein the first axis X is perpendicular to the depth direction of the storage space. The detection assembly is arranged on the mounting piece, and the detection assembly is used for detecting the distance between the outlet end of the soft pipe and the target object located below the outlet end along the second axis Y, the second axis Y being the depth direction of the storage space; the controller is connected with the detection assembly and the first driving assembly respectively, and the controller is used for controlling the first driving assembly to drive the outlet end to move along the first axis X when the detection assembly detects that the distance between the outlet end of the soft pipe and the target object located below the outlet end is less than or equal to a preset threshold, so that the target object can fall into the storage container uniformly when the target object falls along the soft pipe, and compared with the mode that the outlet end of the soft pipe is fixedly arranged, the technical scheme of the present application reduces the risk that the target objects are accumulated at one place of the storage container while the target objects fall along the soft pipe, but the other places of the storage container are empty. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any creative labor on the premise of the drawings.
[0018] Figure 1 is a perspective view of a picking robot according to an embodiment of the present application; Figure 2 is an exploded view of a picking robot according to an embodiment of the present application; Figure 3 is a relative position view of a driving mechanism and a receiving container according to an embodiment of the present application; Figure 4 is a flow chart of a control method of a picking robot according to an embodiment of the present application; Figure 5 is a detailed flow chart of step 04 of a picking robot according to an embodiment of the present application.
[0019] BRIEF DESCRIPTION OF DRAWINGS 1, picking robot; 10, mobile chassis; 20, mechanical arm; 21, end; 22, mounting end; 30, picking mechanism; 40, receiving container; 41, receiving space; 42, opening; 50, flexible pipe; 51, inlet end; 52, outlet end; 53, funnel member; 60, driving mechanism; 61, bracket; 611, first vertical rod; 612, second vertical rod; 62, first driving assembly; 621, first driving member; 6211, moving member; 6212, screw rod; 6213, guide rod; 6214, rotating member; 622, mounting member; 63, second driving assembly. DETAILED DESCRIPTION
[0020] For the purpose of facilitating the understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "vertical", "horizontal", "left", "right", and similar expressions used in the present specification are for the purpose of illustration only.
[0021] Unless otherwise defined, all technical and scientific terms used in the present specification are the same as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the present specification and the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the present specification includes any and all combinations of one or more related listed items.
[0022] Please refer to Figure 1The picking robot 1 comprises a mobile chassis 10, a mechanical arm 20, a picking mechanism 30, a receiving container 40, a soft pipe 50, a driving mechanism 60, a detection assembly and a controller. The mechanical arm 20 is arranged on the mobile chassis 10, and the picking mechanism 30 is arranged on the mechanical arm 20. The picking mechanism 30 is used for picking target objects, and the mechanical arm 20 is used for driving the picking mechanism 30 to move. The receiving container 40 is arranged on the mobile chassis 10, and the receiving container 40 is used for collecting target objects. The soft pipe 50 is arranged on the mechanical arm 20, and the soft pipe 50 is used for receiving the target objects loosened by the picking mechanism 30 and transporting the target objects into the receiving container 40. The driving mechanism 60 is used for driving the soft pipe 50 to move, so that the soft pipe 50 can drop the target objects in the soft pipe 50 into the receiving container 40 at different positions. The detection assembly is arranged on the driving assembly, and the detection assembly is used for detecting the distance between the soft pipe 50 and the target objects located below the soft pipe 50. The controller is electrically connected with the detection assembly and the driving mechanism 60 respectively, and the controller is used for controlling the driving mechanism 60 to move when the detection assembly detects that the distance between the soft pipe 50 and the target objects located below the soft pipe 50 is less than or equal to a preset threshold value, so as to avoid the collision or extrusion between the soft pipe 50 and the target objects, and improve the yield of the target objects.
[0023] For the mobile chassis 10 described above, please refer to Figure 1 The mobile chassis 10 is used for walking on the ground. The mobile chassis 10 can be a wheel mechanism or a track mechanism, and the user can select according to the needs.
[0024] For the mechanical arm 20 described above, please refer to Figure 2 The mechanical arm 20 comprises a mounting end 22 and a terminal end 21. The mounting end 22 of the mechanical arm 20 is arranged on the mobile chassis 10.
[0025] For the picking mechanism 30 described above, please refer to Figure 2 The picking mechanism 30 is arranged on the terminal end 21 of the mechanical arm 20. According to different types of target objects, corresponding picking mechanisms 30 can be selected. The picking mechanism 30 can pick the target objects and loosen the target objects, so that the target objects fall off from the picking mechanism 30 under the action of gravity.
[0026] For the receiving container 40 described above, please refer to Figure 2 and Figure 3 The receiving container 40 is arranged on the mobile chassis 10. The receiving container 40 is provided with a receiving space 41 and an opening 42. The opening 42 is arranged above the receiving space 41, and the opening 42 is in communication with the receiving space 41.
[0027] For the convenience of understanding, the directions are defined as follows. The direction perpendicular to the depth direction of the receiving space 41 is the first axial direction X, and the depth direction of the receiving space 41 is the second axial direction Y.
[0028] For the above-mentioned soft pipe 50, please refer to Figure 2 The inlet end 51 of the soft pipe 50 is arranged on the mechanical arm 20 and is located below the picking mechanism 30, so that the target object loosened by the picking mechanism 30 can fall into the soft pipe 50 from the inlet end 51. The outlet end 52 of the soft pipe 50 is in communication with the receiving space 41, so that the target object falling from the outlet end 52 of the soft pipe 50 can fall into the receiving space 41. It can be understood that the outlet end 52 of the soft pipe 50 can be located above the opening 42 of the receiving container 40, and the target object falling from the outlet end 52 of the soft pipe 50 can fall into the receiving space 41 through the opening 42. Alternatively, the outlet end 52 of the soft pipe 50 can also pass through the opening 42 of the receiving container 40 and extend into the receiving space 41.
[0029] Through the arrangement of the above-mentioned soft pipe 50, after the picking mechanism 30 picks the target object, it is not necessary to move the picking mechanism 30 to the upper side of the receiving container 40 by the mechanical arm 20, then loosen the target object, and make the target object fall into the receiving container 40 to complete the collection of the target object. In the embodiment of the present application, after the picking mechanism 30 finishes picking, it can loosen the target object, and the target object can automatically fall into the receiving space 41 under the action of its own gravity through the soft pipe 50, thereby greatly improving the picking efficiency.
[0030] In some embodiments, the soft pipe 50 is provided with a buffer protrusion (not shown in the figure). The buffer protrusion is arranged on the inner wall of the soft pipe 50, and is arranged at least on the outlet end 52. The buffer protrusion is used for buffering the target object falling in the soft pipe 50, so as to reduce the speed of the target object, thereby avoiding the collision of the target object at a large speed, and reducing the damage of the target object.
[0031] Further, along the circumference of the soft pipe 50, the buffer protrusion is arranged on a part of the inner wall of the soft pipe 50, and a spacing area for the target object to pass through is formed between the buffer protrusion and another part of the inner wall of the soft pipe 50, thereby reducing the risk of the target object being stuck by the buffer protrusion.
[0032] It can be understood that the buffer protrusion plays a buffering role by colliding with the target object. The buffer protrusion can be deformed when being hit by the target object, so as to expand the spacing area, thereby reducing the risk of the target object being stuck, and the buffer protrusion can restore the deformation when the external force disappears. Optionally, the buffer protrusion can be arranged as an air bag.
[0033] For the above-mentioned buffer protrusions, the number of buffer protrusions is multiple, and the multiple buffer protrusions are sequentially arranged along the length direction of the soft pipe 50. Along the circumferential direction of the soft pipe 50, the adjacent two buffer protrusions are staggered. The multiple buffer protrusions can buffer the target object multiple times, further reducing the speed of the target object falling from the outlet end 52 of the soft pipe 50. The staggered buffer protrusions can reduce the probability of the target object avoiding the buffer protrusions, thereby ensuring the buffering effect.
[0034] In some other embodiments, the shape of the buffer protrusion is annular, and the buffer protrusion is arranged on the inner wall of the soft pipe 50 along the circumferential direction of the soft pipe 50.
[0035] In some embodiments, the soft pipe 50 is further provided with a funnel member 53, the small end of the funnel member 53 is arranged at the inlet end 51 of the soft pipe 50, and the large end of the funnel member 53 is arranged towards the picking mechanism 30, so that the target object loosened by the picking mechanism 30 can enter the soft pipe 50 from the large end of the funnel member 53. The setting of the funnel member 53 enlarges the area of the soft pipe 50 to receive the target object, thereby reducing the risk of the target object loosened by the picking mechanism 30 falling outside the soft pipe 50.
[0036] For the above-mentioned driving mechanism 60, please refer to Figure 2 and Figure 3 The driving mechanism 60 includes a bracket 61 and a first driving assembly 62. The bracket 61 is arranged on the mobile chassis 10, and the first driving assembly 62 is arranged on the bracket 61. The first driving assembly 62 includes a first driving frame and a mounting member 622, and the mounting member 622 is connected to the first driving member 621. The outlet end 52 of the soft pipe 50 is arranged on the mounting member 622. The first driving member 621 is used to drive the mounting member 622 to move along the first axial direction X, thereby driving the outlet section of the soft pipe 50 to move along the first axial direction X.
[0037] It should be noted that the continuous falling of the target object at the same position of the outlet end 52 of the soft pipe 50 may cause the target object to quickly accumulate, so that the target object is prone to collide or be extruded with the soft pipe 50 or the mounting member 622, thereby causing damage to the target object. By driving the outlet section of the soft pipe 50 to move along the first axial direction X through the first driving member 621, the outlet end 52 of the soft pipe 50 can be staggered with the accumulated target object, thereby reducing the risk of collision between the target object and the soft pipe 50, thereby improving the yield.
[0038] In some embodiments, the outlet end 52 of the soft conduit 50 is rotatably connected to the mounting member 622, so that during the movement of the soft conduit 50 or the mechanical arm 20, when the soft conduit 50 is about to be twisted, the outlet end 52 of the soft conduit 50 can be adaptively rotated, thereby reducing the risk of the soft conduit 50 being twisted, so as to not only reduce the risk of the soft conduit 50 being twisted off, but also reduce the risk of the twisted soft conduit 50 being stuck to the target object.
[0039] For the above-mentioned support 61, the support 61 includes a first vertical rod 611 and a second vertical rod 612, which are respectively arranged on both sides of the storage container 40. One end of the first vertical rod 611 is fixed to the mobile chassis 10, and the other end of the first vertical rod 611 is higher than the opening 42 of the storage container 40. One end of the second vertical rod 612 is fixed to the mobile chassis 10, and the other end of the second vertical rod 612 is higher than the opening 42 of the storage container 40.
[0040] For the above-mentioned first driving member 621, the first driving member 621 includes a moving member 6211, a lead screw 6212, a guide rod 6213, and a rotating member 6214. The lead screw 6212 and the guide rod 6213 are both arranged along the first axial direction X, both ends of the lead screw 6212 are rotatably connected to the ends of the first vertical rod 611 and the second vertical rod 612 away from the mobile chassis 10, both ends of the guide rod 6213 are fixed to the ends of the first vertical rod 611 and the second vertical rod 612 away from the mobile chassis 10, and the lead screw 6212 and the guide rod 6213 are both located above the opening 42. The moving member 6211 is provided with a guide hole and a threaded hole, the guide rod is arranged in the guide hole, and the lead screw 6212 is arranged in and screwed to the threaded hole. The rotating member 6214 is arranged on the first vertical rod 611, and the rotating member 6214 is connected to the lead screw 6212 to drive the lead screw 6212 to rotate. The mounting member 622 is arranged on the moving member 6211, so that when the lead screw 6212 rotates, the mounting member 622 on the moving member 6211 moves along the first axial direction X.
[0041] In some embodiments, the driving mechanism 60 further includes a second driving assembly 63 arranged on the moving member 6211. The second driving mechanism 60 includes a moving end movable along a second axial direction Y, and the mounting member 622 is arranged on the moving end of the second driving assembly 63.
[0042] For the detection assembly (not shown in the figure) described above, the detection assembly is arranged on the mounting member 622. The detection assembly comprises a distance sensor electrically connected to the controller, and the distance sensor is used to detect the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52 along the second axial direction Y. Optionally, the detection assembly further comprises a camera electrically connected to the controller, and the camera is used to capture an image below the mounting member 622, and the image is used to identify the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52.
[0043] For the controller (not shown in the figure) described above, the controller is connected with the first driving assembly 62, the second driving assembly 63 and the detection assembly respectively. When the detection assembly detects that the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52 is less than or equal to a preset threshold value, the controller controls the first driving assembly 62 to drive the outlet end 52 of the soft pipe 50 to move along the first axial direction X, so as to stagger the target objects accumulated below the outlet end 52 of the soft pipe 50. The controller can also be used to control the first driving assembly 62 to drive the outlet end 52 of the soft pipe 50 to move along the second axial direction Y when the detection assembly detects that the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52 is less than or equal to a preset threshold value, so as to increase the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52, thereby leaving a space for the target objects to continue to accumulate, thereby reducing the risk of collision or extrusion between the target objects and the outlet end 52 of the soft pipe 50.
[0044] In the embodiment of the present application, the picking robot 1 comprises a mobile chassis 10, a mechanical arm 20, a receiving container 40 and a soft pipe 50. The mechanical arm 20 is arranged on the mobile chassis 10, a picking mechanism 30 is installed at the end 21 of the mechanical arm 20, the picking mechanism 30 is used to pick target objects, the receiving container 40 is arranged on the mobile chassis 10, the receiving container 40 is provided with a receiving space 41, the soft pipe 50 is installed on the mechanical arm 20, the soft pipe 50 is provided with an inlet end 51 and an outlet end 52, the inlet end 51 of the soft pipe 50 extends to the end 21 of the mechanical arm 20, and the inlet end 51 is located below the picking mechanism 30, the outlet end 52 of the soft pipe 50 extends to communicate with the receiving space 41. When the picking mechanism 30 releases the picked target object, the target object can enter the soft pipe 50 from the inlet end 51 and fall into the receiving space 41 from the outlet end 52, which reduces the back-and-forth movement of the mechanical arm 20 with the picking mechanism 30 to the receiving container 40 or above the receiving container 40 when the picking mechanism 30 completes picking. When the picking mechanism 30 picks one target object and releases it, the target object can immediately fall into the receiving container 40 under the action of its own gravity through the soft pipe 50, and the mechanical arm 20 can continue to drive the picking mechanism 30 to pick the next target object, thereby greatly improving the efficiency.
[0045] In addition, the picking robot 1 further comprises a driving mechanism 60, a detection assembly and a controller. The driving mechanism 60 comprises a bracket 61 and a first driving assembly 62. The first driving assembly 62 comprises a first driving piece 621 and a mounting piece 622. The bracket 61 is arranged on the mobile chassis 10. The first driving piece 621 is arranged on the bracket 61 and connected with the mounting piece 622. The outlet end 52 of the soft pipe 50 is arranged on the mounting piece 622. The first driving piece 621 is used to drive the outlet end 52 of the soft pipe 50 to move along the first axial direction X, wherein the first axial direction X is perpendicular to the depth direction of the accommodation space 41. The detection assembly is arranged on the mounting piece 622. The detection assembly is used to detect the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52 along the second axial direction Y, wherein the second axial direction Y is the depth direction of the accommodation space 41. The controller is connected with the detection assembly and the first driving assembly 62 respectively. When the detection assembly detects that the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52 is less than or equal to a preset threshold, the controller controls the first driving assembly 62 to drive the outlet end 52 to move along the first axial direction X, so that when the target object falls along the soft pipe 50, the target object can uniformly fall into the accommodation container 40. Compared with the mode that the outlet end 52 of the soft pipe 50 is fixedly arranged, the technical scheme of the present application reduces the risk that the target objects are accumulated at one place of the accommodation container 40 when the target objects fall along the soft pipe 50, but the other places of the accommodation container 40 are empty.
[0046] The embodiment of the present application also provides a control method of the picking robot 1. Please refer to Figure 4 , the control method comprises the following steps. Step 01, all preset fruit dropping positions at which the outlet end 52 of the soft pipe 50 can move along the first axial direction X are obtained. The preset fruit dropping position refers to the position along the first axial direction X. The preset fruit dropping positions are uniformly distributed along the first axial direction X.
[0047] Step 02, the first driving assembly 62 is controlled to move the outlet end 52 of the soft pipe 50 to a preset fruit dropping position.
[0048] Step 03, when the outlet end 52 of the soft pipe 50 moves to a preset fruit dropping position, the distance between the outlet end 52 of the soft pipe 50 and the target object located below the outlet end 52 is obtained by the detection assembly of the picking robot 1.
[0049] Step 04, whether the preset movement condition is met is determined according to the distance.
[0050] Step 05, if the preset movement condition is met, whether the preset fruit dropping position is traversed is determined.
[0051] Step 06, if the preset fruit dropping position is not traversed, the first driving assembly 62 is controlled to drive the outlet end 52 to move along the first axial direction X to the next preset fruit dropping position, and the step of acquiring the distance between the outlet end 52 of the soft tube 50 and the target object located thereunder detected by the detection assembly of the picking robot 1 is returned until all preset fruit dropping positions are traversed.
[0052] In some embodiments, along the first axial direction X, the starting fruit dropping position is located at one end of the storage space 41, and the ending fruit dropping position is located at the other end of the storage space 41.
[0053] Step 02 further comprises: step 021, controlling the first driving assembly 62 to move the outlet end 52 of the soft tube 50 to the starting fruit dropping position.
[0054] Step 06 further comprises: step 061, if the preset fruit dropping position is not traversed, the first driving assembly 62 is controlled to drive the outlet end 52 to move in the direction from the starting fruit dropping position to the ending fruit dropping position to the next preset fruit dropping position, and the step of acquiring the distance between the outlet end 52 of the soft tube 50 and the target object located thereunder detected by the detection assembly of the picking robot 1 is returned until all preset fruit dropping positions are traversed.
[0055] In some embodiments, referring to Figure 5 , step 04 further comprises: Step 041, judging whether the outlet end 52 of the soft tube 50 is located at the highest point along the second axial direction Y and whether the distance is less than or equal to the preset threshold value. The highest point refers to the highest height that the outlet end 52 of the soft tube 50 can move along the second axial direction Y, and the height of the highest point is the same as the height of the opening 42 of the storage container 40.
[0056] Step 042, if the outlet end 52 of the soft tube 50 is located at the highest point along the second axial direction Y and the distance is less than or equal to the preset threshold value, it is determined that the preset movement condition is met. When the distance is equal to the preset threshold value, the distance between the outlet end 52 of the soft tube and the target object thereunder is not enough to accommodate a new target object, and at this time, moving the outlet end 52 of the soft tube along the first axial direction X makes the outlet end 52 staggered with the target objects stacked thereunder.
[0057] Step 043, if the outlet end 52 of the soft tube 50 is not located at the highest point along the second axial direction Y, or the distance is greater than the preset threshold value, it is determined that the preset movement condition is not met, and when the distance is less than the preset threshold value, the second driving assembly 63 is controlled to drive the outlet end 52 of the soft tube 50 to move along the second axial direction Y until the distance is equal to or greater than the preset threshold value.
[0058] It can be understood that if the outlet end 52 of the soft tube 50 is not located at the highest point along the second axial direction Y, the outlet end 52 of the soft tube 50 can also be moved upward along the second axial direction Y, so as to continue to drop the target object at this position, without moving the outlet end 52 of the soft tube 50 along the first axial direction X, moving the outlet end 52 of the soft tube 50 along the second axial direction X until the distance is greater than or equal to the preset threshold, so that the outlet end 52 of the soft tube 50 can continue to drop the target object. If the distance is greater than the preset threshold, the distance between the outlet end 52 of the soft tube and the target object below it is sufficient to accommodate at least one new target object, and again without moving the outlet end 52 of the soft tube 50 along the first axial direction X, moving the outlet end 52 of the soft tube 50 along the second axial direction X until the distance is greater than or equal to the preset threshold.
[0059] It should be noted that the preferred embodiments of the present application are given in the specification and drawings of the present application, but the present application can be implemented in many different forms, and is not limited to the embodiments described in the specification. These embodiments are not additional limitations on the content of the present application, and the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Furthermore, the above technical features continue to be combined with each other to form various embodiments not listed above, which are all considered to be within the scope of the present application. Furthermore, those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes shall fall within the scope of the appended claims of the present application.
Claims
1. A picking robot, characterized in that The picking robot comprises: a mobile chassis; a mechanical arm arranged on the mobile chassis; a picking mechanism mounted at the end of the mechanical arm, the picking mechanism being used for picking target objects; a storage container arranged on the mobile chassis, the storage container being provided with a storage space; a flexible pipe mounted on the mechanical arm, the flexible pipe being provided with an inlet end and an outlet end, the inlet end of the flexible pipe extending to the end of the mechanical arm and being located below the picking mechanism, the outlet end of the flexible pipe extending to communicate with the storage space, when the picking mechanism releases the picked target object, the target object can enter the flexible pipe from the inlet end and fall into the storage space from the outlet end; a driving mechanism comprising a bracket and a first driving assembly, the first driving assembly comprising a first driving member and a mounting member, the bracket being arranged on the mobile chassis, the first driving member being arranged on the bracket, the first driving member being connected with the mounting member, the outlet end of the flexible pipe being arranged on the mounting member, the first driving member being used for driving the outlet end of the flexible pipe to move along a first axial direction X, wherein the first axial direction X is perpendicular to the depth direction of the storage space; a detection assembly arranged on the mounting member, the detection assembly being used for detecting the distance between the outlet end of the flexible pipe and the target object located below the outlet end along a second axial direction Y, the second axial direction Y being the depth direction of the storage space; a controller connected with the detection assembly and the first driving assembly respectively, the controller being used for controlling the first driving assembly to drive the outlet end to move along the first axial direction X when the detection assembly detects that the distance between the outlet end of the flexible pipe and the target object located below the outlet end is less than or equal to a preset threshold value.
2. The picking robot according to claim 1, characterized in that, The flexible pipe is further provided with a buffer protrusion, the buffer protrusion being arranged on the inner wall of the flexible pipe and at least the buffer protrusion being located at the outlet end, the buffer protrusion being used for buffering the target object.
3. The picking robot according to claim 2, characterized in that, The number of the buffer protrusions is multiple, the multiple buffer protrusions being arranged in sequence and at intervals along the length direction of the flexible pipe, and adjacent two buffer protrusions being staggered along the circumferential direction of the flexible pipe.
4. The picking robot according to claim 1, characterized in that, The detection assembly further comprises a distance sensor, the distance sensor being used for detecting the distance between the outlet end of the flexible pipe and the target object located below the outlet end along the second axial direction Y.
5. The picking robot according to claim 1, characterized in that, The detection assembly further comprises a camera device, the camera device being used for collecting an image below the mounting member, the image being used for identifying the distance between the outlet end of the flexible pipe and the target object located below the outlet end.
6. The picking robot according to claim 1, characterized in that, The driving mechanism further comprises a second driving assembly, the second driving assembly being mounted on the first driving assembly, the mounting member being mounted on the second driving assembly; The first driving assembly is used for driving the second driving assembly to move along the first axial direction X, and the second driving assembly is used for driving the mounting member to move along the second axial direction Y.
7. The picking robot according to claim 6, wherein The support comprises a first vertical rod and a second vertical rod, one end of the first vertical rod and one end of the second vertical rod are fixed to the mobile chassis, and the first vertical rod and the second vertical rod are located on both sides of the storage container; The first driving member comprises a moving piece, a lead screw, a guide rod and a rotating piece, two ends of the lead screw are respectively arranged on the first vertical rod and the second vertical rod, two ends of the guide rod are respectively fixed on the first vertical rod and the second vertical rod, the rotating piece is fixed on the first vertical rod, the moving piece is provided with a guide hole and a screw hole, the lead screw is arranged in the screw hole, the lead screw is screwed with the screw hole, the second driving assembly is fixed on the moving piece, the guide rod is arranged in the guide hole, the rotating piece is connected with the lead screw, and the rotating piece is used to drive the lead screw to rotate, so as to drive the second driving assembly to move along the first axial direction X.
8. The picking robot according to claim 1, wherein, The soft pipe is further provided with a funnel member, the funnel member is arranged at the inlet end of the soft pipe, the large end of the funnel member faces the picking mechanism, and the funnel member is used to receive the target object loosened by the picking mechanism and guide the target object to flow into the soft pipe from the inlet end.
9. A control method of the picking robot as claimed in any one of claims 6-7, characterized by, The control method comprises: obtaining all preset fruit dropping positions of the outlet end of the soft pipe which can move along the first axial direction X; controlling the first driving assembly to move the outlet end of the soft pipe to a preset fruit dropping position; when the outlet end of the soft pipe moves to a preset fruit dropping position, obtaining the distance between the outlet end of the soft pipe and the target object located below the outlet end detected by the detection assembly of the picking robot; judging whether the preset movement condition is met according to the distance; if the preset movement condition is met, judging whether the preset fruit dropping position is traversed completely; if the preset fruit dropping position is not traversed completely, controlling the first driving assembly to drive the outlet end to move along the first axial direction X to move to the next preset fruit dropping position, and returning to the step of obtaining the distance between the outlet end of the soft pipe and the target object located below the outlet end detected by the detection assembly of the picking robot until all the preset fruit dropping positions are traversed completely.
10. The control method according to claim 9, wherein, the step of judging whether the preset movement condition is met according to the distance further comprises: judging whether the outlet end of the soft pipe is located at the highest point along the second axial direction Y and whether the distance is less than or equal to a preset threshold value; if the outlet end of the soft pipe is located at the highest point along the second axial direction Y and the distance is less than or equal to the preset threshold value, it is determined that the preset movement condition is met; if the outlet end of the soft pipe is not located at the highest point along the second axial direction Y or the distance is greater than the preset threshold value, it is determined that the preset movement condition is not met, and when the distance is less than or equal to the preset threshold value, the second driving assembly is controlled to drive the outlet end of the soft pipe to move along the second axial direction Y until the distance is greater than the preset threshold value.