Integrated intelligent interaction robot suitable for automatic fruit tree maintenance and harvesting

Abstract

The invention relates to the technical field of agricultural automation technologies, and discloses an automatic fruit tree maintenance and harvesting integrated intelligent interaction robot which comprises a movable vehicle body. The mounting plate is mounted on the mobile vehicle body; the control box body seat is arranged at the front end part of the upper surface of the mounting plate; according to the integrated intelligent interaction robot suitable for automatic fruit tree maintenance and harvesting, automatic and integrated operation of links such as spraying, watering, picking and transporting can be achieved, the robot can autonomously complete a whole process task from environment perception, decision planning to operation execution, and the robot is convenient to use and high in practicability. The manual participation degree of all links is greatly reduced, the robot can continuously work for a long time and is not influenced by factors such as human fatigue, the problem of lack of rural labor force is effectively solved, and meanwhile the labor intensity of fruit farmers is greatly relieved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of agricultural automation, in particular to an automatic fruit tree maintenance and harvesting integrated intelligent interactive robot. BACKGROUND

[0002] With the development of social economy and the progress of science and technology, family courtyard fruit tree planting is more and more popular, but current management faces many problems, for family fruit farmers, due to lack of professional equipment and scientific methods, fruit tree maintenance and harvesting operations mostly rely on experience;

[0003] Current fruit tree management usually relies on manual operation, in the maintenance link, pesticide spraying and watering operation are controlled by manual operation, it is difficult to accurately control the dosage and range, and it is easy to appear overuse or insufficient use of medicine and water, overuse will cause resource waste and environmental pollution, insufficient use cannot meet the growth needs of fruit trees, and is also easy to cause diseases and pests, affecting the health of fruit trees; and manual operation is low in efficiency, consumes a lot of time and energy, in the harvesting link, fruit farmers rely on experience to judge the picking time, which is subjective and difficult to accurately grasp the maturity of the fruit, resulting in uneven quality of the harvested fruit, affecting economic benefits, at the same time, from spraying, watering to picking and transportation, the manual participation degree is high, not only the labor cost continues to rise, but also the labor intensity of fruit farmers is high, which restricts the transformation of family orchards to intelligence and modernization, therefore, the application provides an automatic fruit tree maintenance and harvesting integrated intelligent interactive robot to solve the above problems. SUMMARY

[0004] In view of the defects of the prior art, the application provides an automatic fruit tree maintenance and harvesting integrated intelligent interactive robot, which solves the problems of low efficiency of manual operation in traditional fruit tree management, subjective judgment of picking time leading to uneven quality of fruit, and high labor cost and labor intensity caused by high manual participation degree in each link.

[0005] To achieve the above purpose, the application realizes the technical scheme as follows: an automatic fruit tree maintenance and harvesting integrated intelligent interactive robot, comprising a mobile vehicle body;

[0006] A mounting plate is mounted on the mobile vehicle body;

[0007] A control box seat is arranged on the front end of the upper surface of the mounting plate;

[0008] A display screen is installed on the control box seat and is used for presenting information and receiving user input operation, the display screen has touch sensing function and can identify the touch position and operation type of the user;

[0009] A battery is installed at the bottom of the mounting plate to output stored electrical energy to the electrical components;

[0010] A control module integrated microcontroller is installed on the upper surface of the mounting plate;

[0011] A six-degree-of-freedom mechanical clamping device is installed on the upper surface of the mounting plate through a support rod;

[0012] The clamping portion of the six-degree-of-freedom mechanical clamping device is provided with an OpenMV visual recognition module and a spray head;

[0013] A liquid delivery mechanism is installed on the mounting plate to provide real-time liquid supply to the spray head;

[0014] A collection mechanism is provided on one side of the mobile vehicle body to collect the picked fruits.

[0015] Preferably, the six-degree-of-freedom mechanical clamping device is provided with an L-shaped plate near the clamping portion, and the OpenMV visual recognition module is fixedly installed on the L-shaped plate.

[0016] Preferably, a protective shell is fixedly installed on the L-shaped plate to protect the OpenMV visual recognition module, and a projection hole corresponding to the camera of the OpenMV visual recognition module is formed on the protective shell.

[0017] Preferably, the spray head is fixedly installed near the clamping portion of the six-degree-of-freedom mechanical clamping device through an L-shaped sheet.

[0018] Preferably, the mobile vehicle body adopts a wheeled differential drive chassis and is provided with independent drive wheels and driven universal wheels.

[0019] Preferably, the liquid delivery mechanism includes a chassis plate fixedly installed on the mounting plate and a liquid storage tank fixedly installed on the upper surface of the chassis plate. A small water pump is fixedly installed on the upper surface of the mounting plate near the liquid storage tank through a fixing plate. A connecting pipe is fixedly installed on the input end of the small water pump. The other end of the connecting pipe is fixedly and communicatively connected to the bottom side of the liquid storage tank. A soft water pipe is fixedly installed on the output end of the small water pump. The other end of the soft water pipe is connected to the spray head.

[0020] Preferably, the liquid storage tank is made of transparent material, and one side of the liquid storage tank is provided with a scale line.

[0021] Preferably, a driving motor is fixedly installed on the top of the liquid storage tank. A stirring rod for stirring the liquid in the liquid storage tank is fixedly installed on the output end of the driving motor, and the stirring rod is located in the liquid storage tank.

[0022] Preferably, the collection mechanism includes a movable frame disposed on one side of the mobile vehicle body, and a fruit basket is fixedly installed on the upper surface of the movable frame.

[0023] Preferably, a U-shaped plate is fixed to the upper surface of the chassis plate at the end away from the liquid storage tank, a servo motor is installed on the U-shaped plate, and the movable frame is connected to the output end of the servo motor.

[0024] Beneficial effects

[0025] This invention provides an intelligent interactive robot suitable for automated fruit tree maintenance and harvesting. Compared with existing technologies, it has the following advantages:

[0026] This intelligent interactive robot, applicable to automated fruit tree maintenance and harvesting, achieves precise control of pesticide spraying and watering through the coordinated operation of an OpenMV vision recognition module and a six-degree-of-freedom mechanical gripping device in conjunction with a liquid delivery mechanism. It can precisely adjust the spraying amount and range according to the actual growth needs of the fruit trees and the status of pests and diseases, avoiding the problems of excessive or insufficient application of pesticides or water in manual operations. Utilizing advanced image recognition algorithms, the robot can quickly and accurately identify the maturity of fruit trees and accurately distinguish fruits at different maturity stages, providing a reliable basis for harvesting and avoiding the subjectivity of fruit farmers relying on experience. This device eliminates blind spots and ensures that fruit is harvested at the right time, improving fruit quality and yield. It automates and integrates spraying, watering, harvesting, and transportation. The robot can autonomously complete the entire process from environmental perception and decision-making to execution, significantly reducing human intervention in each stage. The robot can work continuously for long periods without being affected by human fatigue, effectively solving the problem of rural labor shortage. At the same time, it greatly reduces the labor intensity of fruit farmers, freeing them from heavy and inefficient mechanical production work and promoting the development of family orchards towards intelligence and modernization. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a rear view of the overall structure of the present invention;

[0029] Figure 3 This is a partial cross-sectional view of the liquid storage tank structure of the present invention;

[0030] Figure 4 This is a cross-sectional view of the protective shell structure of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the six-degree-of-freedom mechanical clamping device and the connecting parts such as the spray head of the present invention;

[0032] Figure 6This is a schematic diagram of the folding structure of the six-degree-of-freedom mechanical clamping device of the present invention.

[0033] In the diagram: 101. Mobile vehicle body; 102. Control box base; 103. Display screen; 104. Battery; 105. Mounting plate; 106. L-shaped plate; 107. OpenMV visual recognition module; 108. Protective housing; 109. Spray head; 110. Control module integrated microcontroller; 2. Six-degree-of-freedom mechanical clamping device; 3. Liquid conveying mechanism; 301. Chassis plate; 302. Liquid storage tank; 303. Drive motor; 304. Stirring rod; 305. Scale line; 306. Small water pump; 307. Connecting pipe; 308. Flexible water pipe; 4. Collection mechanism; 401. U-shaped plate; 402. Servo motor; 403. Movable frame; 404. Fruit basket. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figures 1-6 As shown:

[0036] A smart interactive robot suitable for automated fruit tree maintenance and harvesting includes a mobile vehicle 101, which adopts a wheeled differential drive chassis and is equipped with independent drive wheels and driven universal wheels.

[0037] Mounting plate 105 is installed on the mobile vehicle body 101;

[0038] The control box base 102 is located at the front end of the upper surface of the mounting plate 105;

[0039] The display screen 103 is mounted on the control box base 102 and is used to display information and receive user input operations. The display screen 103 has a touch sensing function and can recognize the user's touch position and operation type.

[0040] The storage battery 104 is installed at the bottom of the mounting plate 105 and is used to output the stored electrical energy to the electrical components.

[0041] The control module integrates a microcontroller 110, which is mounted on the upper surface of the mounting plate 105;

[0042] A six-degree-of-freedom mechanical clamping device 2 is mounted on the upper surface of a mounting plate 105 via a support rod. The device includes a base, on which a first servo motor is mounted. A rotating disk is fixedly mounted on the output end of the first servo motor, and a second servo motor is fixedly mounted on the rotating disk via a U-shaped support plate. A first movable frame is mounted on the output end of the second servo motor. The second movable frame is fixedly mounted on the first movable frame via a connecting frame, and a third servo motor is mounted on the second movable frame. The output end of the third servo motor is connected to the second movable frame, and two sets of connecting plates are used to fix a third servo motor to the second movable frame. The fourth servo motor has a third movable frame installed at its output end. The fifth servo motor is installed on the third movable frame. The output end of the fifth servo motor is fixedly installed with a support plate. A symmetrically meshing transmission gear rod is rotatably installed on one side of the support plate via a bearing. The sixth servo motor is fixedly installed on the back side of the support plate. The output end of the sixth servo motor is fixedly connected to one of the transmission gear rods. The other end of the transmission gear rod is hinged to a gripper via a hinge shaft. A limit link rod is connected between the gripper and the support plate. A force sensor is installed on the gripper. A temperature and humidity sensor is also installed on the support plate.

[0043] The six-degree-of-freedom mechanical clamping device 2 is equipped with an OpenMV vision recognition module 107 and a spray head 109 at its clamping part. An L-shaped plate 106 is located near the clamping part of the six-degree-of-freedom mechanical clamping device 2. The L-shaped plate 106 is fixedly installed on the third movable frame. The OpenMV vision recognition module 107 is fixedly installed on the L-shaped plate 106. A protective shell 108 is fixedly installed on the L-shaped plate 106 to protect the OpenMV vision recognition module 107. The protective shell 108 has a projection hole corresponding to the camera of the OpenMV vision recognition module 107. The spray head 109 is fixedly installed near the clamping part of the six-degree-of-freedom mechanical clamping device 2 via an L-shaped piece. The L-shaped piece can be connected to the sixth servo motor.

[0044] Liquid delivery mechanism 3, mounted on mounting plate 105, is used to provide liquid supply to spray head 109 in real time. Liquid delivery mechanism 3 includes chassis plate 301 fixed to mounting plate 105 by bolts and liquid storage tank 302 fixed to the upper surface of chassis plate 301. A small water pump 306 is fixedly mounted on the upper surface of mounting plate 105 near liquid storage tank 302 by fixing plate. A connecting pipe 307 is fixedly mounted at the input end of small water pump 306. The other end of connecting pipe 307 is fixed and connected to the bottom side of liquid storage tank 302. A flexible water pipe 308 is fixedly mounted at the output end of small water pump 306. The other end of flexible water pipe 308 is connected to spray head 109.

[0045] The liquid storage tank 302 is made of transparent material, and a scale line 305 is provided on one side of the liquid storage tank 302;

[0046] A drive motor 303 is fixedly installed on the top of the liquid storage tank 302. A stirring rod 304 for stirring the liquid inside the liquid storage tank 302 is fixedly installed at the output end of the drive motor 303. The stirring rod 304 is located inside the liquid storage tank 302.

[0047] The collection mechanism 4 is located on one side of the mobile vehicle body 101 and is used to collect the harvested fruits. The collection mechanism 4 includes a movable frame 403 located on one side of the mobile vehicle body 101, and a fruit basket 404 is fixedly installed on the upper surface of the movable frame 403.

[0048] A U-shaped plate 401 is fixed to the upper surface of the chassis plate 301 at the end away from the liquid storage tank 302. A servo motor 402 is installed on the U-shaped plate 401. The movable frame 403 is connected to the output end of the servo motor 402.

[0049] In this implementation plan: This is an intelligent interactive robot that integrates automated fruit tree maintenance and harvesting. When in use, after the mobile vehicle 101 is started, the battery 104 supplies power to the control module integrated microcontroller 110, display screen 103, six-degree-of-freedom mechanical clamping device 2 and other electrical components.

[0050] The wheeled differential drive chassis of the mobile vehicle 101 was initialized and calibrated. The speed difference between the left and right wheels was tested to ensure the accuracy of translation and rotation. Then it was moved to the side of the fruit tree to prepare for subsequent operations.

[0051] Users can input the operation mode through the display screen 103, such as spraying maintenance, fruit harvesting, and comprehensive operation, and can set specific parameters, such as spraying range and fruit type to be harvested.

[0052] The system generates task instructions based on user input. The control module integrates a microcontroller 110 to call the corresponding algorithm library. The OpenMV visual recognition module 107 is fixed near the gripper of the robotic arm via an L-shaped plate 106. Its OV7725 camera chip supports 640×480 resolution image acquisition and achieves real-time image processing through the MicroPython programming interface. It acquires fruit tree images at a frame rate of 15-30fps. The projection hole of the protective shell 108 ensures that the lens is not interfered with by external debris. Its core functions include color recognition, shape detection, and edge tracking, which can accurately identify pest and disease characteristics.

[0053] The OpenMV library functions are used for grayscale conversion and filtering to remove noise. Fruit color features (such as red and yellow) or pest and disease features (such as leaf spots) are extracted by setting thresholds. For example, for apples, the RGB threshold range is set to R>200, G<150, B<150.

[0054] By using the input matrix (5×5 feature matrix) and training process of the ART neural network learning algorithm, or the deployment method of the deep learning model, it is determined whether the target is a harvestable fruit or an area that needs to be sprayed. At the same time, combined with the coordinate system of the robotic arm, the three-dimensional coordinates (x, y, z) and attitude angles (pitch, yaw, roll) of the target are calculated. Meanwhile, the collaborative processing flow of OpenMV vision recognition module 107 with force sensor and temperature and humidity sensor data is used for pest and disease detection and spraying decision-making.

[0055] The control module integrates a microcontroller 110 to plan the movement path based on the target position and the current position of the moving vehicle 101 using a pure tracking algorithm.

[0056] Pure tracking algorithm;

[0057] Objective: To control the car to travel along a predetermined path.

[0058] formula:

[0059]

[0060] PID steering control

[0061] The target path point coordinates are converted into steering error, and the speed difference between the left and right wheels is adjusted by PID control.

[0062] Where: δ is the front wheel steering angle, L is the wheelbase of the vehicle (m), and α is the angle between the target point and the current direction of the vehicle (rad).

[0063] For spraying tasks, the six-degree-of-freedom mechanical gripping device 2 uses forward and inverse kinematics analysis of the DH model and combines it with the Jacobian matrix to generate the three-dimensional trajectory of the spray head 109, ensuring that the coverage area is free of blind spots; for harvesting tasks, the gripping posture of the six-degree-of-freedom mechanical gripping device 2 is planned to ensure that the gripping force is closed and does not damage the fruit.

[0064] The moving vehicle 101 adopts a differential drive model, and the linear velocity formula is:

[0065]

[0066] Angular velocity formula:

[0067]

[0068] Linearization assumption for the relationship between PWM duty cycle and speed:

[0069] PWM duty =k v ·v+b

[0070] Where: v is the linear velocity of the trolley in m / s, r is the wheel radius in m, and w left w rightLet ω be the angular velocity of the left and right wheels in rad / s, d be the distance between the left and right wheels in m, and k be the angular velocity of the trolley in rad / s. v Here, b represents the speed-PWM gain, and b is the start-up threshold to overcome static friction.

[0071] Precise movement and steering are achieved by adjusting the speed of the left and right wheels through PID closed-loop control.

[0072] Objective: To achieve stable speed control through encoder feedback. Formula:

[0073]

[0074] Where: e(t) is the error between the target velocity and the actual velocity, K p K i K d For PID parameters;

[0075] Obstacle avoidance algorithm

[0076] When the ultrasonic sensor detects an obstacle ahead at a distance d less than a safety threshold such as 0.5m, the system triggers an obstacle avoidance algorithm, prioritizes turning right, and replans the path.

[0077] Logic: Distance d of the obstacle ahead <d safe At that time, stop or turn;

[0078] Steering strategy: Prioritize right turns as long as there are no obstacles on the right. PID obstacle avoidance steering error e = d safe -d, calculates the steering angle using PID.

[0079] Where: d is the distance m between the car and the target point;

[0080] After the small water pump 306 is started, it draws liquid medicine or water from the storage tank 302 through the connecting pipe 307, and delivers it to the spray head 109 through the flexible water pipe 308 for precise spraying to the designated area of ​​the fruit trees.

[0081] The small water pump 306 can be equipped with a 365 motor and a six-degree-of-freedom mechanical clamping device 2 carrying a spray head 109. Under the action of the OpenMV vision recognition module 107, it scans the work area in real time and generates the optimal spraying path, which can achieve precise spraying, reduce pesticide usage by 20%-30%, and ensure spray uniformity.

[0082] During the spraying process, the drive motor 303 is started, which drives the stirring rod 304 to rotate, thereby stirring the liquid inside the storage tank 302. This makes the liquid mix with water more evenly, avoids drug precipitation, and further improves the spraying effect. The storage tank 302 is provided with a scale line 305 on one side. The storage tank 302 is made of transparent material, such as acrylic sheet. The acrylic sheet and the scale line 305 make it easier to judge the liquid level inside the storage tank 302.

[0083] The six-degree-of-freedom mechanical clamping device 2 can achieve millimeter-level positioning of the spray head 109 in three-dimensional space through multi-joint coordinated motion, with a three-dimensional positioning accuracy of ≤1mm;

[0084] The first servo motor is mounted on the base, driving the rotating disk to rotate. The rotating disk is connected to the second servo motor via a U-shaped support plate, causing the first movable frame to pitch. The first movable frame is connected to the second movable frame via a connecting frame. The third servo motor controls its oscillation. The fourth servo motor is mounted on the third servo motor via a connecting plate, driving the third movable frame to extend and retract. The fifth servo motor is fixed to the third movable frame, driving the support plate to rotate. The sixth servo motor is mounted on the back side of the support plate, driving the transmission gear rod to mesh and rotate. Through the limit lever, the gripper opens and closes, realizing gripping and transportation.

[0085] The OpenMV visual recognition module 107 accurately identifies ripe fruit using color and shape features, achieving a positioning accuracy of ±0.5cm. For example, when identifying apples, it uses a circular fitting algorithm to filter candidate targets and eliminate interference from leaves and other elements. The six-degree-of-freedom mechanical gripping device 2 employs a force-closure-based grasping algorithm to calculate the optimal gripping point, such as near the apple's stem, ensuring stable gripping without damaging the fruit. The pressure is controlled between 0.2-0.5N. Each joint of the six-degree-of-freedom mechanical gripping device 2 is controlled by servo motors driving PWM signals to control the joint angular displacement, folding from the initial position, such as... Figure 6 As shown, the end-effector pose is calculated using forward kinematics, and the angles of each joint are solved using inverse kinematics to achieve precise grasping.

[0086] The grasping process uses impedance control. M d B d K d For the desired impedance parameter, F ext It can adjust the end stiffness in real time to adapt to the deformation of the fruit surface and prevent slippage when subjected to external force;

[0087] During the fruit grasping process, the six-degree-of-freedom mechanical gripping device 2 places the grasped fruit into the fruit basket 404 on the movable frame 403 for fruit collection. At the same time, the movable frame 403 is driven to rotate by the servo motor 402, and the fruit basket 404 can be tilted for unloading. The servo motor 402 can drive the rotation angle range of the movable frame 403 (such as 0°-45°). The fruit basket 404 is equipped with cushioning material (such as flexible silicone) to reduce contact damage to the fruit.

[0088] This solution, through the collaborative operation of the OpenMV visual recognition module 107 and the six-degree-of-freedom mechanical gripping device 2 with the liquid delivery mechanism 3, achieves precise control of pesticide spraying and irrigation. It can precisely adjust the spraying amount and range according to the actual growth needs of the fruit trees and the status of pests and diseases, avoiding the problems of excessive or insufficient use of pesticides and water in manual operations. Utilizing advanced image recognition algorithms, the robot can quickly and accurately identify the maturity of the fruit trees, accurately distinguishing fruits at different maturity stages, providing a reliable basis for harvesting. This avoids the subjectivity and blindness of fruit farmers relying on experience, ensuring that the timing of fruit harvesting is just right, improving fruit quality and yield. This device realizes the automation and integrated operation of spraying, irrigation, harvesting, and transportation. The robot can autonomously complete the entire process from environmental perception and decision-making to execution, significantly reducing human intervention in each stage. The robot can work continuously for long periods without being affected by human fatigue, effectively solving the problem of rural labor shortage. At the same time, it has greatly reduced the labor intensity of fruit farmers, freeing them from heavy and inefficient mechanized production work, and promoting the development of family orchards towards intelligence and modernization.

[0089] It should be noted that the display screen 103 can use a CZ007X5 series 4.3-inch industrial touch screen, with an 800×480 IPS high-definition screen as its core, combining industrial-grade reliability with intelligent interaction capabilities. Its IPS technology achieves a 178° full viewing angle and 500 cd / m² resolution. 2 High brightness ensures clear display even in strong light; supports capacitive / resistive touch control, suitable for operation with gloves and wet hands, meeting the needs of complex environments; built-in serial communication and expansion interface, compatible with Modbus and other protocols, allowing seamless connection to PLCs, sensors and other devices.

[0090] It should be noted that the six-degree-of-freedom mechanical clamping device 2 is analyzed through forward and inverse kinematics using the DH model, and the specific algorithm is as follows;

[0091] DH parameter modeling:

[0092] Based on the improved DH parameter method, a coordinate system is established for each joint of the robotic arm of the six-DOF mechanical gripper 2. All six joints of the robotic arm are rotational joints. The first three joints determine the position of the wrist reference point, and the last three joints determine the orientation of the wrist. The coordinate system of each joint is defined as follows:

[0093] The base coordinate system ({0}) coincides with the first joint coordinate system ({1}).

[0094] Joint i connects links i-1 and i. The Z-axis of coordinate system {i} is along the axis of joint i, and the X-axis is along the common perpendicular of links i-1 and i.

[0095] Link parameters include: joint rotation angle θi, link length ai, link offset di, and link torsion angle αi.

[0096] Kinematic analysis

[0097] Positive kinematics:

[0098] The pose of the robotic arm's end effector relative to the base coordinate system is calculated using link parameters and joint variables. The forward kinematics equations can be expressed as:

[0099]

[0100] Inverse kinematics:

[0101] Given the pose of the end effector, solve for the joint variables. Inverse kinematics can be solved analytically or numerically. Analytical methods are suitable for robotic arm structures where joint axes intersect at a single point or are parallel.

[0102] in: Let be the homogeneous transformation matrix of joint i. This is the pose matrix of the end effector.

[0103] Joint space trajectory planning:

[0104] To express joint variables as functions of time, cubic or quintic polynomial interpolation methods are commonly used. Cubic polynomial interpolation can simultaneously constrain the angles and angular velocities of both the starting and target points; the formula is:

[0105] θ(t)=a0+a1t+a2t 2 +a3t 3

[0106] Descartes spatial trajectory planning:

[0107] The displacement, velocity, and acceleration of the end effector are expressed as functions of time, and linear interpolation or circular interpolation methods are commonly used.

[0108] Lagrange method modeling: Based on the Lagrange equations, the dynamic equations of the robotic arm are derived. The Lagrange function is:

[0109]

[0110] Where: K is kinetic energy, P is potential energy, and τ is... i Let q be the driving torque of joint i. i For joint variables.

[0111] Control algorithm, PID control

[0112] The input voltage of the joint motor is adjusted through three stages: proportional (P), integral (I), and derivative (D), so that the actual joint angle tracks the desired joint angle. The PID control formula is:

[0113]

[0114] Applications: Suitable for speed and position control of articulated motors; PID parameters can be tuned experimentally.

[0115] Where: u(t) is the control input, e(t) is the error signal, and K p K i K d These are PID parameters.

[0116] Calculation torque control

[0117] Based on the dynamic model of the robotic arm, the required driving torque for the joints is calculated, compensating for nonlinear factors such as gravity and inertia. The torque control formula is as follows:

[0118]

[0119] Applications: Suitable for high-precision trajectory tracking control, reducing tracking errors;

[0120] Where M(q) is the inertia matrix. Let G(q) be the matrix of Coriolis force and centrifugal force, and G(q) be the gravity term.

[0121] Adaptive control

[0122] By estimating the dynamic parameters of the robotic arm online, the controller gain is adjusted to adapt to parameter changes and external disturbances. The adaptive control formula is:

[0123]

[0124] Applications: Suitable for robotic arm systems with uncertain or time-varying parameters;

[0125] in: These are estimated values ​​for the dynamic parameters. Let K be the desired joint acceleration and velocity, e be the tracking error, and K be the velocity. v To control the gain.

[0126] Specific working principle: This type of intelligent interactive robot, suitable for automated fruit tree maintenance and harvesting, uses a wheeled differential drive chassis for its mobile body 101. Translation and steering are achieved through the difference in speed between the left and right wheels. Combined with a pure tracking algorithm for path planning, when the ultrasonic sensor detects an obstacle less than a safety threshold (e.g., 0.5m), an obstacle avoidance algorithm is triggered, prioritizing a right turn and replanning the path to precisely move to the work area. The OpenMV visual recognition module 107 is fixed near the clamping part of the six-degree-of-freedom mechanical clamping device 2 via an L-shaped plate 106. Its onboard camera operates at 15-30fps. The system acquires fruit tree images at a high frame rate and utilizes color recognition algorithms (such as setting RGB thresholds for apples to R>200, G<150, B<150) and shape detection algorithms to accurately identify fruit maturity, pest and disease characteristics, and target locations with a positioning accuracy of ±0.5cm. This provides data support for subsequent operations. After the small water pump 306 in the liquid delivery mechanism 3 starts, it draws liquid medicine or water from the storage tank 302 through the connecting pipe 307 and delivers it to the spray head 109 via the flexible water pipe 308. The six-degree-of-freedom mechanical clamping device 2 generates the three-dimensional trajectory of the spray head 109 through forward and inverse kinematics analysis using the DH model and the Jacobian matrix. Achieving precise spraying reduces pesticide usage by 20%-30%. The drive motor 303 on top of the storage tank 302 rotates the stirring rod 304, ensuring uniform mixing of the pesticide and water and preventing sedimentation. The storage tank 302 is made of transparent material and features graduation lines 305 for easy observation of the liquid level. The six-degree-of-freedom mechanical gripping device 2, based on data from the OpenMV vision recognition module 107, uses a force-closed gripping algorithm through multi-joint coordinated motion to calculate the optimal gripping point, such as near the apple stem, controlling the gripping force between 0.2-0.5N for precise fruit gripping and to avoid damage. The gripped fruit is then placed on the movable frame 40. In the fruit basket 404 on the 3rd floor, the servo motor 402 drives the movable frame 403 to rotate 0°-45°, tilting the fruit basket 404 to unload the fruit. The cushioning material inside the fruit basket 404 reduces fruit damage. The control module integrates a microcontroller 110 to receive the operation mode, such as spraying maintenance, fruit harvesting, etc., and parameters input by the user through the touch screen 103. Combined with data from force sensors, temperature and humidity sensors, etc., the robot coordinates various components to complete the fully automated task from environmental perception, decision planning to execution through algorithms such as PID control and torque calculation. The degree of human intervention in each link is greatly reduced, and the robot can work continuously for a long time.

[0127] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent interactive robot suitable for automated fruit tree maintenance and harvesting, characterized in that: Including the mobile vehicle body (101); Mounting plate (105) is mounted on the mobile vehicle body (101); The control box base (102) is located at the front end of the upper surface of the mounting plate (105); The display screen (103) is mounted on the control box base (102) and is used to display information and receive user input operations. The display screen (103) has a touch sensing function and can identify the user's touch position and operation type. A storage battery (104) is installed at the bottom of the mounting plate (105) for outputting stored electrical energy to electrical components; The control module integrates a microcontroller (110) and is mounted on the upper surface of the mounting plate (105); A six-degree-of-freedom mechanical clamping device (2) is mounted on the upper surface of the mounting plate (105) via a support rod; The six-degree-of-freedom mechanical clamping device (2) is equipped with an OpenMV visual recognition module (107) and a spray head (109) at its clamping part; A liquid delivery mechanism (3) is installed on the mounting plate (105) and is used to provide liquid supply status to the spray head (109) in real time; A collection mechanism (4) is provided on one side of the mobile vehicle body (101) for collecting the harvested fruits.

2. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 1, characterized in that: The six-degree-of-freedom mechanical clamping device (2) has an L-shaped plate (106) near the clamping part, and the OpenMV visual recognition module (107) is fixedly installed on the L-shaped plate (106).

3. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 2, characterized in that: A protective housing (108) for protecting the OpenMV visual recognition module (107) is fixedly installed on the L-shaped plate (106). The protective housing (108) has a projection hole corresponding to the camera of the OpenMV visual recognition module (107).

4. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 1, characterized in that: The spray head (109) is fixedly installed near the clamping part of the six-degree-of-freedom mechanical clamping device (2) by an L-shaped plate.

5. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 1, characterized in that: The mobile vehicle body (101) adopts a wheeled differential drive chassis and is equipped with independent drive wheels and driven universal wheels.

6. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 1, characterized in that: The liquid delivery mechanism (3) includes a chassis plate (301) fixed to the mounting plate (105) by bolts and a liquid storage tank (302) fixed to the upper surface of the chassis plate (301). A small water pump (306) is fixedly installed on the upper surface of the mounting plate (105) near the liquid storage tank (302) by a fixing plate. A connecting pipe (307) is fixedly installed at the input end of the small water pump (306). The other end of the connecting pipe (307) is fixedly connected to the bottom side of the liquid storage tank (302). A flexible water pipe (308) is fixedly installed at the output end of the small water pump (306). The other end of the flexible water pipe (308) is connected to the spray head (109).

7. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 6, characterized in that: The liquid storage tank (302) is made of transparent material, and a scale line (305) is provided on one side of the liquid storage tank (302).

8. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 6, characterized in that: A drive motor (303) is fixedly installed on the top of the liquid storage tank (302), and a stirring rod (304) for stirring the liquid inside the liquid storage tank (302) is fixedly installed at the output end of the drive motor (303). The stirring rod (304) is located inside the liquid storage tank (302).

9. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 6, characterized in that: The collection mechanism (4) includes a movable frame (403) located on one side of the mobile vehicle body (101), and a fruit basket (404) is fixedly installed on the upper surface of the movable frame (403).

10. The intelligent interactive robot for automated fruit tree maintenance and harvesting as described in claim 9, characterized in that: A U-shaped plate (401) is fixed to the upper surface of the chassis plate (301) at the end away from the liquid storage tank (302). A servo motor (402) is installed on the U-shaped plate (401). The movable frame (403) is connected to the output end of the servo motor (402).

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